Automated warehouse

Abstract

To provide an automated warehouse capable of suitably transporting cargoes.SOLUTION: An automated warehouse 100 comprises: a plurality of drive tiles fixedly arranged in a plane; a tray for placing cargoes thereon and movable in two-dimensional directions on the plurality of drive tiles; a central control device for instructing the plurality of drive tiles regarding the movement of the tray; and a power box for supplying power to each of the drive tiles. The tray comprises a magnet array arranged in two directions on its bottom surface. The drive tile comprises: a coil array arranged in two directions; one or more detection units for detecting the magnet position on the bottom surface of the tray; a control unit for selectively and repeatedly exciting the coils arranged in a row based on magnet position information obtained from the detection units to form a synchronous linear motor between the magnets on the bottom surface of the tray and the coils on the drive tiles; and a communication unit for performing communication between the central control device and the control unit.SELECTED DRAWING: Figure 1

Description

[Technical field]

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

[0002] As an automated warehouse capable of automatically transporting cargo, one that uses a linear motor to move cargo has been proposed. For example, Patent Document 1 discloses an automated warehouse that includes containers and a plurality of container drive tiles arranged two-dimensionally on each of a predetermined number of layers, and that moves the containers on each layer by a linear motor. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Patent No. 6526446 Summary of the Invention [Problem to be solved by the invention]

[0004] To provide an automated warehouse capable of suitably transporting luggage. [Means for solving the problem]

[0005] The automated warehouse comprises a plurality of drive tiles fixedly arranged in a plane, a tray for placing cargo on it that can move in two dimensions on the plurality of drive tiles, a central control device for instructing the movement of the tray to the plurality of drive tiles, and a power box for supplying power to each of the drive tiles.The tray comprises a magnet array arranged in two directions on its bottom surface, and the drive tile comprises a coil array arranged in two directions, one or more detection units for detecting the magnet position on the bottom surface of the tray, a control unit for selectively and repeatedly exciting the coils arranged in a row based on magnet position information obtained from the detection units to form a synchronous linear motor between the magnets on the bottom surface of the tray and the coils on the drive tile, and a communication unit for communicating between the central control device and the control unit. Effect of the Invention

[0006] The luggage can be transported efficiently. [Brief description of the drawings]

[0007] [Figure 1] FIG. 1 is a perspective view showing an example of use of an automated warehouse. [Diagram 2] FIG. 1 is a perspective view showing an example of use of an automated warehouse. [Diagram 3] FIG. 2 is a perspective view showing the bottom surface of the tray. [Figure 4] FIG. 2 is a perspective view showing a driving tile. [Diagram 5] FIG. 2 is a diagram showing an example of a coil configuration. [Figure 6] FIG. 2 is a perspective view showing a configuration example of a coil unit. [Figure 7] FIG. 2 is an explanatory diagram showing the operating principle of a linear motor. [Figure 8] FIG. 2 is a block diagram showing the relationship between the central control device, the power box, and the driving tiles. [Figure 9] FIG. 2 is a perspective view showing both end faces of a driving tile. [Figure 10] FIG. 13 is a bottom view showing the connection structure of the driving tiles. [Figure 11] FIG. 2 is a block diagram showing a configuration of a power box. [Figure 12] FIG. 2 is a block diagram showing the configuration of a driving tile. [Figure 13] FIG. [Figure 14] FIG. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0008] The present invention will now be described in detail with reference to the drawings showing embodiments thereof. (Embodiment) 1 and 2 are perspective views showing an example of use of the automated warehouse 100. The automated warehouse 100 includes a tray 1 for placing cargo, a drive tile 2 for moving the tray 1 on a plane, and a central control device 3 (not shown in FIGS. 1 and 2) for instructing the drive tile 2 to move the tray 1.

[0009] The tray 1 is a member made of metal and resin in a plate shape that is substantially square in plan view. The shape of the tray 1 is not limited to a square shape. In the present embodiment, the tray 1 is flat, but the tray 1 may have any configuration that allows it to store luggage, and may have a shelf shape, for example. Luggage is placed on the upper surface of the tray 1, and the tray 1 moves over a number of drive tiles 2, 2, 2.... As will be described later, a number of magnets are arranged in rows in two directions on the bottom surface of the tray 1 (see FIG. 3), and form a synchronous linear motor with the coil 22 on the drive tile 2 side (see FIG. 4, etc.).

[0010] The driving tile 2 is a flat part having a substantially square shape in a plan view. The shape of the driving tile 2 is not limited to a square shape. The automated warehouse 100 according to this embodiment is configured by arranging a plurality of driving tiles 2 three-dimensionally. Specifically, the driving tiles 2, 2, 2... are fixedly arranged in a plane on each of a plurality of stories, and each story is arranged above and below by a frame. As will be described later, the automated warehouse 100 includes a lift mechanism 6 (see Figs. 13 and 14) for moving the tray 1 up and down between each story, and transports the tray 1 to each story.

[0011] The central control device 3 is configured, for example, by a general personal computer, but may also be a server computer, etc. As will be described later, the central control device 3 is connected to the driving tiles 2 by a LAN (Local Area Network) cable via a power box 4 (see FIG. 8), and transmits control signals for controlling the movement of the tray 1 to the driving tiles 2, while receiving status signals of the driving tiles 2 and the tray 1 from the driving tiles 2.

[0012] 3 is a perspective view showing the bottom surface of the tray 1. The tray 1 includes a plurality of magnets 11 arranged in a row, an RFID (Radio Frequency Identification) tag 12 (a radio signal transmitter), and wheels 13.

[0013] The magnets 11 are permanent magnets that form a linear motor together with the coils 22 (see FIG. 4, etc.) on the drive tile 2 side. The tray 1 is equipped with a plurality of magnets 11 arranged in two directions. Specifically, the magnets 11 are arranged in a cross shape passing through the bisectors of each side of the bottom surface. On the bottom surface of the tray 1, the N-pole magnets 11 and the S-pole magnets 11 are arranged alternately.

[0014] The RFID tag 12 is a tag that transmits an identifier signal of the tray 1. The driving tile 2 according to this embodiment is provided with an RFID antenna 23 (see FIG. 4) that receives the identifier signal transmitted by the RFID tag 12, and the RFID antenna 23 receives the identifier signal to identify the tray 1 moving on the driving tile 2.

[0015] The wheels 13 are ball rollers fixed to the bottom surface of the tray 1 so that the tray 1 can move freely in two directions and support the tray 1. For example, as shown in Fig. 3, one wheel 13 is provided at each of the four corners of the bottom surface of the tray 1. The wheels 13 fit into guide grooves 24 of the drive tile 2, which will be described later, and guide the movement of the tray 1.

[0016] Fig. 4 is a perspective view showing the driving tile 2. The driving tile 2 includes a control board 21 (control unit), a coil 22, an RFID antenna 23 (receiving unit), a guide groove 24, a plug 25, a plug receptacle 26, and a connector 27. Note that, although Fig. 4 etc. shows a state in which the control board 21 etc. are exposed, they are covered with a cover (not shown) when the automated warehouse 100 is in use.

[0017] The control board 21 is a board having, for example, a CPU (Central Processing Unit) and controls the operation of the drive tile 2. Specifically, the control board 21 selectively and repeatedly excites a plurality of coils 22, 22, 22 ... arranged in a row, thereby forming a synchronous linear motor between the magnet 11 on the bottom surface of the tray 1 and the coil 22 on the drive tile 2, and moves the tray 1.

[0018] The coil 22 is a coil that forms part of the linear motor. The coils 22 are arranged in a cross shape on the drive tile 2, passing through the bisectors of each side of the upper surface in accordance with the magnets 11 of the tray 1, and are arranged surrounded by a guide groove 24, which will be described later.

[0019] As described above, a high thrust can be achieved by arranging magnets 11 on the bottom surface of tray 1 and coils 22 in a row on drive tile 2. In contrast, in the invention of Patent Document 1, the magnets of the tray are arranged independently, and the thrust is low.

[0020] The RFID antenna 23 is a receiving mechanism that receives an identifier signal transmitted from the RFID tag 12 of the tray 1. The control board 21 identifies the tray 1 located on the driving tile 2 based on the identifier signal received by the RFID antenna 23.

[0021] The guide grooves 24 are guide grooves that engage with the wheels 13 of the tray 1. In this embodiment, two guide grooves 24 are provided in each of two directions in a # shape corresponding to the four wheels 13 provided at the four corners of the tray 1. As shown in Fig. 4, the guide grooves 24 extend to the edge of the drive tile 2, and are continuous with the guide grooves 24 of adjacent drive tiles 2 when the drive tiles 2, 2, 2... are arranged.

[0022] The plug 25 and the plug receptacle 26 are connectors that transmit power supplied from the power source and control signals transmitted from the central control device 3. As shown in Fig. 4, the plug 25 and the plug receptacle 26 are provided on both end faces of the driving tile 2, respectively, and are electrically connected within the driving tile 2. When the driving tiles 2, 2, 2... are installed, the plug 25 and the plug receptacle 26 are connected to the plug receptacle 26 and the plug 25 of the adjacent driving tile 2.

[0023] The connectors 27 are components that slide between adjacent drive tiles 2. The connectors 27 are provided on each end surface of the drive tile 2, and as will be described later, engage with connector receiving portions 28 (see FIGS. 9C and 9D) provided on each end surface of the drive tile 2.

[0024] Fig. 5 is a diagram showing a configuration example of the coil 22. Fig. 5A shows a flat coil 22a and a convex coil 22b which are the coil 22. Fig. 5B shows an enlarged view of the arrangement of the flat coil 22a and the convex coil 22b.

[0025] As shown in Fig. 5a, the coil 22 according to the present embodiment includes two types of coils 22: a flat coil 22a and a convex coil 22b. The flat coil 22a has a substantially rectangular ring shape in a plan view, and is a flat coil with no ups and downs. In contrast, the convex coil 22b has a substantially rectangular ring shape in a plan view like the flat coil 22a, but has a shape in which the long side is convex upwards.

[0026] As shown in FIG. 5B, when arranging the flat coil 22a and the convex coil 22b, the multiple convex coils 22b, 22b, 22b... are arranged on the lower side with their long sides aligned, and the multiple flat coils 22a, 22a, 22a... are arranged on the upper side with the long side portions of the convex coils 22b, 22b, which are convex upward, sandwiched between the air core.

[0027] As described above, a plurality of coils 22 (flat coils 22a and convex coils 22b) are arranged in a row on the driving tile 2, but in order to simplify assembly, it is preferable to divide the row of coils into a predetermined number of units. Fig. 6 is a perspective view showing a configuration example of a coil unit 220. In this embodiment, coil units 220, each unit of which has a predetermined number of coils 22, are arranged in a cross shape (see Fig. 10), so that coil rows in two directions are arranged on the driving tile 2.

[0028] The coil unit 220 includes a flat coil 22a, a convex coil 22b, a magnetic sensor 22c, and a control device 22d.

[0029] The magnetic sensor 22c is a magnetic sensor that detects the magnet 11 attached to the bottom surface of the tray 1. The magnetic sensor 22c functions as a detection unit that detects the position of the magnet on the bottom surface of the tray 1, and the control board 21 excites the coil 22 based on the magnet position information obtained from the magnetic sensor 22c. In contrast, the invention of Patent Document 1 does not have a magnetic sensor and is not a synchronous linear motor. As shown in FIG. 6, the magnetic sensor 22c is provided at a position corresponding to the coils 22 (flat coils 22a and convex coils 22b) arranged in a row.

[0030] In the present embodiment, two magnetic sensors 22c are provided in one coil unit 220, but the number of magnetic sensors 22c may be one, or three or more. In particular, by increasing the number of magnetic sensors 22c, the position of the magnet 11 can be detected more accurately.

[0031] The control device 22d is a control board that controls the excitation of the coil 22 based on a control signal sent from the control board 21. The control device 22d selectively energizes the coil 22 that generates a moving magnetic field based on the position information of the magnet 11 obtained by the magnetic sensor 22c.

[0032] 7A to 7D are explanatory diagrams showing the operating principle of a linear motor, and show how the tray 1 is moved by selectively and repeatedly exciting the coils 22 arranged in a row.

[0033] Consider the case where the tray 1 moves from left to right as shown by the arrow in Fig. 7. First, as shown in Fig. 7A, when the magnetic sensor 22c detects the N-pole magnet 11 at the head of the magnet row of the tray 1, the control device 22d magnetizes the first coil 22 from the left (flat coil 22a) so that the tray 1 side becomes the S pole, thereby attracting the tray 1.

[0034] Next, as shown in Fig. 7B, when the tray 1 moves forward and the magnetic sensor 22c detects the gap between the magnets 11, the control device 22d stops exciting the first coil 22 and excites the second coil 22 (the convex coil 22b). As a result, the tray 1 is attracted and moves further to the right.

[0035] Next, as shown in FIG. 7C, when the magnetic sensor 22c detects the next south pole magnet 11, the control device 22d stops exciting the second coil 22, excites the third coil, and inversely excites the first coil 22.

[0036] Then, as shown in Fig. 7D, when the tray 1 moves further forward, the control device 22d stops excitation of the first coil 22 and the third coil 22, excites the fourth coil 22, and reversely excites the second coil 22. By repeating this operation, the tray 1 can be moved accurately. By counting the number of magnetic poles passing the magnetic sensor 22c, the tray 1 can be stopped accurately.

[0037] The principle diagram shown in Figure 7 is an example in which one magnetic sensor 22c is installed, but by increasing the number of magnetic sensors 22c, it becomes easier to detect the movement direction of the tray 1 and it is possible to improve the stopping accuracy.

[0038] During stoppage, the fixing force can be increased by continuing to pass the current through the coil 22. Moreover, power consumption can be reduced by cutting off the current.

[0039] If the tray 1 should shift from its original position due to an external disturbance, the magnetic sensor 22c detects the shift and excites the coil 22 to correct the shift, thereby allowing the tray 1 to stay in the position where it should have been.

[0040] The number of coils to be excited simultaneously is determined to be an optimum number in consideration of the thrust for moving the tray 1, the capacity of the power source, power saving, and the like.

[0041] Fig. 8 is a block diagram showing the relationship between the central control unit 3, the power box 4, and the driving tiles 2. Fig. 8 illustrates paths for transmitting power and control signals to each control board 21 and coil unit 220 of the driving tiles 2.

[0042] The power box 4 is a power supply device that supplies power to each driving tile 2. The power box 4 converts AC power supplied from an AC power source 5 into DC power and supplies it to the driving tiles 2.

[0043] Furthermore, the power box 4 is connected to the central control device 3 via a LAN cable, and receives a control signal from the central control device 3 via LAN communication. The power box 4 transmits the received control signal to each control board 21 of the driving tile 2 via bus communication. Furthermore, the control board 21 of the driving tile 2 transmits control signals to multiple coil units 220, 220, 220... disposed downstream. For convenience of illustration, only the coil units 220 for the topmost row of control boards 21 are shown in Fig. 8.

[0044] In this embodiment, a power box 4 is provided for each of the drive tiles 2, 2, 2... arranged in one direction, and power and control signals are transmitted between the drive tiles 2, 2, 2... arranged in one direction, for a plurality of drive tiles 2, 2, 2... arranged in a plane. As will be described in detail below, a plug 25 and a plug receptacle 26 are connected between adjacent drive tiles 2, 2, to transmit power and control signals between the drive tiles 2, 2, 2... arranged in a row.

[0045] As described above, in this embodiment, power is supplied to each of the driving tiles 2, 2, 2, ... aligned in one direction. In contrast, the invention of Patent Document 1 requires power to be supplied to each individual tile.

[0046] Fig. 9 is a perspective view showing both end faces of the driving tile 2. Figs. 9A and 9B show one end of the driving tile 2 provided with a plug 25, and Figs. 9C and 9D show the other end of the driving tile 2 provided with a plug receptacle 26.

[0047] As shown in Figures 9A and 9B, a plug 25 and a connector 27 are provided on one end surface of the driving tile 2. The plug 25 has a structure that allows it to rotate up and down. When connecting to a plug receptacle 26 of another driving tile 2 (Figure 9A), the plug 25 is used as is without rotating downward, but when transmitting power or a control signal independently (Figure 9B), it is rotated downward and connected to the power box 4 from below. The connector 27 slides to the outside of the driving tile 2 by operating a knob 271, and connects the driving tiles 2 together by engaging with a connector receptacle 28 described later.

[0048] 9C and 9D, the other end surface of the drive tile 2 is provided with a plug receptacle 26 and a connector receptacle 28. The plug receptacle 26 has a structure that allows it to slide outward from the drive tile 2 by operating a knob 261, and when slid, it can be connected to the plug 25 of another adjacent drive tile 2. The connector receptacle 28 is a hole into which a connector 27 is inserted, and allows the drive tile 2 to be slidably connected to another adjacent drive tile 2.

[0049] In this embodiment, plug 25 is described as having a structure that allows it to pivot up and down, and plug receiver 26 is described as having a structure that allows it to slide. However, the relationship between the two may be reversed, with plug receiver 26 having a structure that allows it to pivot up and down, and plug 25 having a structure that allows it to slide.

[0050] Fig. 10 is a bottom view showing a connection structure of drive tiles 2. Fig. 10 shows a state in which a plurality of (four) drive tiles 2 are arranged and adjacent drive tiles 2 are connected to each other.

[0051] A connector 27 and a connector receptacle 28 are provided on each end surface of the driving tile 2. Adjacent driving tiles 2, 2 are connected by inserting the connectors 27 into the connector receptacles 28.

[0052] As described above, a plug 25 is provided on one end surface of the driving tile 2, and a plug receptacle 26 is provided on the other end surface, and the driving tiles 2, 2, 2... arranged in one direction are electrically joined by connecting the plug 25 and the plug receptacle 26. In the example of Fig. 10, two driving tiles 2, 2 arranged vertically are joined. The plug 25 of the driving tile 2 located at the end (the upper end in Fig. 10) is connected by wire to a power box 4 (not shown in Fig. 10), and power and control signals are transmitted from the power box.

[0053] As described above, in this embodiment, adjacent driving tiles 2 are connected by the plug 25 and the connector 27. In contrast, the invention according to Patent Document 1 is of a plug-in type, and it is difficult to replace a broken tile.

[0054] 11 is a block diagram showing the configuration of the power box 4. The power box 4 includes a gateway 41, a switching regulator 42, and a supercapacitor 43.

[0055] The gateway 41 is a gateway that converts LAN communication into bus communication. The gateway 41 receives a control signal transmitted from the central control device 3 via LAN communication, and transmits the received control signal to the driving tile 2 via bus communication.

[0056] The switching regulator 42 is a converter that converts AC power into DC power. The switching regulator 42 converts AC power supplied from the AC power supply 5 into DC power, and supplies the power to the driving tile 2, the gateway 41, and the supercapacitor 43.

[0057] The supercapacitor 43 is a large-capacity capacitor that stores power. The supercapacitor 43 stores power under normal circumstances and instantly supplements and supplies power when a large amount of power is required. "Normal circumstances" refers to, for example, a state in which the coil 22 is not driven (excited). "When a large amount of power is required" refers to, for example, a state in which the coil 22 is driven.

[0058] 12 is a block diagram showing the configuration of the driving tile 2. The driving tile 2 includes an RFID board 230 in addition to the control board 21 and coil unit 220 described above.

[0059] As shown in FIG. 12, the control board 21 and a plurality of coil units 220, 220, 220 . . . are electrically connected in series, and the coil units 220 receive DC power from the control board 21 and also receive control signals via bus communication.

[0060] The RFID board 230 is a board equipped with the above-mentioned RFID antenna 23, and receives the identifier signal of the tray 1 transmitted from the RFID tag 12. The control board 21 and the RFID board 230 perform serial communication, and the control board 21 acquires the identifier signal from the RFID board 230.

[0061] Figures 13 and 14 are perspective views showing the lift mechanism 6. Figure 13 illustrates the lift mechanism 6 when the automated warehouse 100 is in use. Figure 14 illustrates a perspective view of only the lift mechanism 6.

[0062] As already mentioned, in the automated warehouse 100 according to this embodiment, the drive tiles 2, 2, 2... are arranged in a plane on each of multiple layers, and the automated warehouse 100 is equipped with a lift mechanism 6 that raises and lowers the trays 1 between each layer.

[0063] The lift mechanism 6 includes a carriage 61, a wire 62, and a lift motor 63. The carriage 61 is a movable body that moves between each layer, and the tray 1 is placed on the carriage 61. The wire 62 is a wire that suspends the carriage 61, and the carriage 61 is raised and lowered by pulling the wire 62. The lift motor 63 is a motor that pulls the wire 62.

[0064] As shown in Fig. 14, the drive tiles 2 are arranged on the carriage 61, and one drive tile 2 is arranged on each side of the lift cage (lift mechanism 6) in each layer. As shown by the arrow in Fig. 14, the tray 1 is pulled into the lift cage by the drive tile 2. Then, the carriage 61 moves up and down to move the tray 1 to the target layer, and the drive tile 2 ejects the tray 1 from the lift cage.

[0065] As described above, the lift mechanism 6 according to this embodiment raises and lowers the carriage 61 by pulling the wire 62. In contrast, the invention according to Patent Document 1 uses a linear motor to raise and lower the load, so this mechanism is limited to ultra-lightweight objects and is not suitable for heavy objects.

[0066] As described above, according to this embodiment, luggage can be transported suitably. Particularly in this embodiment, a synchronous linear motor is formed between the magnet 11 on the bottom surface of the tray 1 and the coil 22 on the driving tile 2, instead of an induction type linear motor. As a result, even if the tray 1 overruns, it can be positioned at the correct position by reversing the excitation.

[0067] The embodiments disclosed herein are illustrative in all respects and should not be considered as limiting. The scope of the present invention is defined by the claims, not by the above meaning, and is intended to include all modifications within the scope and meaning equivalent to the claims.

[0068] The matters described in each embodiment can be combined with each other. In addition, the independent claims and dependent claims described in the claims can be combined with each other in any and all combinations regardless of the citation format. Furthermore, the claims use a format in which a claim cites two or more other claims (multi-claim format), but this is not limited to this. They may also be written using a format in which a multiple claim cites at least one other multiple claim (multi-multi claim). [Explanation of symbols]

[0069] 1 tray 11. Magnets 12 RFID tags 13. Wheels 2. Driving Tile 21 Control Board 22 Coil 220 Coil unit 22a Flat coil 22b Convex coil 22c Magnetic Sensor 22d Control device 23 RFID antenna 230 RFID Board 24 Guide groove 25 Plug 26 Plug holder 261 Knob 27 Connectors 271 Knob 28 Connector receiving part 3. Central Control Unit 4. Power Box 41 Gateway 42 Switching Regulator 43 Supercapacitor 5 AC power supply 6 Lift mechanism 61 Carriage 62 Wire 63 Lifting motor

Claims

1. A plurality of drive tiles fixedly arranged on a plane; a tray for placing luggage thereon, the tray being movable in two dimensions on the plurality of drive tiles; a central control device for directing movement of the tray to the plurality of drive tiles; a power box for supplying power to each of the driving tiles; Equipped with The tray has magnet rows arranged in two directions on the bottom surface, The driving tile is Coil arrays arranged in two directions; one or more detectors for detecting the position of a magnet on the bottom surface of the tray; a control unit that selectively and repeatedly excites the coils arranged in a row based on magnet position information obtained from the detection unit to form a synchronous linear motor between the magnets on the bottom surface of the tray and the coils on the drive tile; a communication unit for performing communication between the central control device and the control unit; An automated warehouse equipped with

2. The tray comprises: A plurality of the magnets arranged in a cross shape on the bottom surface; a plurality of wheels fixed to the bottom surface of the tray and supporting the tray so as to be movable in two directions; Equipped with The driving tile is a plurality of guide grooves into which the wheels are fitted to guide the movement of the tray; A plurality of the coils are arranged in a cross shape at positions facing the magnet in the area surrounded by the guide groove; The automated warehouse according to claim 1 .

3. A plurality of coil units are arranged in a cross shape on the driving tile, The coil unit includes: A plurality of the coils arranged in a row; a magnetic sensor that detects a magnet attached to a bottom surface of the tray; a control device for selectively energizing the coil that generates a moving magnetic field based on position information of the magnet obtained by the magnetic sensor; Consists of structures arranged on the same substrate The automated warehouse according to claim 1.

4. The drive tile includes connectors on both end faces for transmitting power and control signals; One connector consists of a plug and the other connector consists of a plug receptacle. the plug and the plug receptacle are electrically joined within the drive tile; The plug receiver or plug has a slidable structure and can be plugged into another adjacent driving tile when slid; The plug or plug receptacle has a structure that can be rotated up and down, and has a mechanism that allows it to be connected from below when transmitting power or control signals independently. The automated warehouse according to claim 1.

5. The drive tiles include connectors that slide between adjacent drive tiles. The automated warehouse according to claim 1.

6. The power box is A gateway that converts LAN communication into bus communication; A switching regulator that converts AC power to DC power; A large-capacity capacitor that stores power under normal conditions and instantly supplies power when large amounts of power are required. The automated warehouse according to claim 1 .

7. The driving tiles are arranged in a plane in each of a plurality of layers, a lift mechanism for lifting and lowering the tray between each layer; a drive tile for retracting or ejecting the tray into the lift mechanism; The automated warehouse according to claim 1 .

8. the tray is provided with a radio signal transmitter that transmits an identifier signal of the tray; The driving tile comprises a receiver for receiving the identifier signal. The automated warehouse according to claim 1.

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