Moving carriage system, and automated warehouse

Abstract

To allow an object stored in a shelf to be rapidly taken in from an inside of a moving carriage.SOLUTION: A moving carriage system 40S comprises a moving carriage 42 provided with an arm 54 for moving an object, and a control part. The moving carriage transfers the object between the moving carriage and a shelf 32 by driving the arm for moving the object in an advancing / retracting manner in a state where the arm for moving the object is brought into contact with the object. The arm for moving the object comprises sensors 58a, 58b each for detecting the object on the shelf by moving forward to the shelf. A control part determines whether or not the arm for moving the object advances until exceeding a deep side end part of the object, based on detection results of the sensors while advancing the arm for moving the object by a first distance L1, when taking the object stored in the shelf in the moving carriage; and additionally advancing-controls for advancing the arm for moving the object by a second distance L2 longer than the first distance, when it is determined that the arm for moving the object dose not advance until exceeding the deep side end part of the object.SELECTED DRAWING: Figure 8

Description

Technical Field

[0001] This disclosure relates to a mobile cart system and an automated warehouse for picking up objects and moving them.

Background Art

[0002] Patent Document 1 discloses a technique for efficiently performing loading and unloading operations of a load by accurately detecting the depth dimension and position of the load when transferring the load between a mobile cart and a shelf using a mobile frame that can move forward and backward in the shelf and is provided with sensors for detecting the load at positions near both ends of the mobile frame provided with pickers.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] There is a demand for being able to quickly take in an object stored on a shelf into a mobile cart.

[0005] Therefore, an object of the present disclosure is to enable an object stored on a shelf to be quickly taken into a mobile cart.

Means for Solving the Problems

[0006] The mobile cart system includes a mobile cart having an article transfer arm that supports an article and travels along a traveling direction, and advances and retreats toward a shelf arranged along the traveling direction, and a control unit that controls the mobile cart. The mobile cart transfers the article between the mobile cart and the shelf by driving the article transfer arm to advance and retreat while the article transfer arm is in contact with the article. The article transfer arm has a sensor that detects the article on the shelf by advancing toward the shelf. When taking in the article stored on the shelf into the mobile cart, the control unit advances the article transfer arm by a first distance, and determines whether or not the article transfer arm has advanced beyond the inner end of the article based on the detection result of the sensor. When it is determined that the article transfer arm has not advanced beyond the inner end of the article, additional advancement control is performed to advance the article transfer arm by a second distance that is longer than the first distance. It is a mobile cart system.

Effect of the Invention

[0007] According to this mobile cart system, the article stored on the shelf can be quickly taken into the mobile cart.

Brief Description of the Drawings

[0008]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

Figure 6

Figure 7

Figure 8

Figure 9

Figure 10

Figure 11

MODE FOR CARRYING OUT THE INVENTION

[0009] {Embodiment} Hereinafter, a mobile cart system and an automatic warehouse according to an embodiment will be described.

[0010] <Automatic Warehouse> The overall configuration of an automatic warehouse equipped with a mobile cart system will be described. FIG. 1 is a schematic side view showing the automatic warehouse, and FIG. 2 is a schematic plan view showing the automatic warehouse.

[0011] The automatic warehouse 20 includes a storage shelf 30 and a mobile cart 40 including the mobile cart 40. In the present embodiment, the automatic warehouse 20 further includes a lifting device 26, an incoming conveyor 16, an outgoing conveyor 18, and a transfer shelf 36.

[0012] The incoming conveyor 16 is an example of an outer conveying device that conveys the object 10 from a position outside the storage shelf 30 toward a position closer to the storage shelf 30. The outgoing conveyor 18 is an example of an outer conveying device that conveys the object 10 from a position close to the storage shelf 30 toward an outer position farther from the storage shelf 30. The incoming conveyor 16 and the outgoing conveyor 18 are, for example, roller conveyors or belt conveyors.

[0013] The incoming conveyor 16 or the outgoing conveyor 18 may be omitted. For example, the object 10 may be directly carried into the lifting device 26 by a robot device or an operator, etc. Also, for example, the object 10 may be directly carried out from the lifting device 26 to the outside by a robot device or an operator, etc.

[0014] The storage shelf 30 stores items in multiple levels with different height positions. The storage shelf 30 is provided on at least one side of the travel path 34 of the mobile cart 40. Here, a pair of storage shelves 30 are provided on both sides of the travel path 34. The storage shelf 30 has a plurality of levels of shelves 32 supported at intervals in the vertical direction. Each level of the shelf 32 can support and store the item 10. Each level of the shelf 32 is arranged along the travel direction of the mobile cart 40.

[0015] Also, in the shelf 32 at each level, a plurality of items 10 can be supported. Therefore, when looking at the entire storage shelf 30, the plurality of items 10 are stored in a state of being arranged vertically, horizontally, and in all directions. In the storage shelf 30, the space where the item 10 is stored is the storage space. For this reason, in the storage shelf 30, a plurality of storage spaces are formed side by side along the moving direction of the mobile cart 40 traveling on the travel path 34. Each storage space may be continuous without a partition or may be partitioned.

[0016] The travel path 34 is provided along the extending direction of the storage shelf 30. Here, it is provided between a pair of storage shelves 30 along the extending direction therebetween. The travel path 34 extends along the extending direction of the storage shelf 30 and also extends to the transfer shelf 36. The travel path 34 is provided corresponding to each of the upper and lower multiple levels of the shelf 32. Each travel path 34 may be configured, for example, to include a pair of rails. The rails may also serve as the horizontal frame of the storage shelf 30 or may be configured as a separate body from the storage shelf 30.

[0017] The mobile cart 40 is a device also called a picker or a dolly and is configured to be able to travel back and forth on the above-mentioned travel path 34. Also, the mobile cart 40 is configured to be able to take in and out the item 10 with respect to the storage shelf 30 and the transfer shelf 36.

[0018] The mobile cart 40 horizontally moves between the lifting device 26 and the storage shelf 30 to transport the object 10. Here, horizontally moving between the lifting device 26 and the storage shelf 30 means horizontally moving between a position where the object 10 can be directly or indirectly transferred to the lifting device 26 and a position where the object 10 can be transferred to the storage shelf 30. In the present embodiment, an example is described in which the mobile cart 40 transfers the object 10 to and from the lifting device 26 via the transfer shelf 36. In an automated warehouse, the transfer shelf may be omitted, and the mobile cart 40 may directly transfer objects to and from the lifting device.

[0019] In the present embodiment, an example will be described in which a plurality of running paths 34 and a plurality of mobile carts 40 are provided corresponding to each upper and lower shelf level, but this is not essential. For example, one running path common to a plurality of upper and lower shelf levels may be provided, and the mobile cart 40 may run on the running path. In this case, it is preferable to provide a lifting mechanism for the mobile cart 40 so that stored items can be taken in and out with respect to a plurality of upper and lower shelves. Also, a plurality of mobile carts 40 may run on one running path.

[0020] The lifting device 26 and the transfer shelf 36 are provided in a part of the extending direction of the storage shelf 30. In the present embodiment, an in - warehousing transfer shelf 36, an in - warehousing lifting device 26, and an in - warehousing conveyor 16 are provided at each one end of a pair of storage shelves 30. Also, an out - warehousing transfer shelf 36, an out - warehousing lifting device 26, and an out - warehousing conveyor 18 are provided at each other end of a pair of storage shelves 30. In the middle part in the longitudinal direction of a pair of storage shelves 30, a transfer shelf, a lifting device, and an in - out warehousing conveyor may be provided. The transfer shelf, the lifting device, and the conveyor do not necessarily need to be divided into in - warehousing use and out - warehousing use, and may be used for both in - warehousing and out - warehousing.

[0021] The transfer shelf 36 is a part also called a temporary storage shelf, and is a device for relaying objects between the lifting device 26 and the mobile cart 40. The transfer shelf 36 is provided with a plurality of transfer platforms corresponding to each of the plurality of shelf levels. The plurality of transfer platforms are provided at the same height position as the corresponding shelf 32 at a position adjacent to the storage shelf 30. The transfer platform is, for example, a roller conveyor. By rotationally driving a motor built into the roller, the object 10 can be moved along the transport direction P. The object 10 on the transfer platform may be pushed and moved along the transport direction P by a pusher driven by an actuator such as a separately provided cylinder. The mobile cart 40 provided corresponding to each shelf level can transfer the object 10 to the transfer platform and the shelf 32 at that shelf level. The object 10 is transferred from the lifting platform 28 to the mobile cart 40 via the transfer platform of the transfer shelf 36. Alternatively, conversely, the object 10 is transferred from the mobile cart 40 to the lifting platform 28 via the transfer platform of the transfer shelf 36.

[0022] The lifting device 26 is a lifting device that directly or indirectly delivers or receives the object 10 to or from the mobile cart 40, or the inbound conveyor 16 or the outbound conveyor 18 which is an outer transfer device. In the present embodiment, the inbound lifting device 26 directly receives the object 10 from the inbound conveyor 16. The inbound lifting device 26 indirectly delivers the object 10 to the mobile cart 40 via the inbound transfer shelf 36. Also, the outbound lifting device 26 indirectly receives the object from the mobile cart 40 via the outbound transfer shelf 36. The outbound lifting device 26 directly delivers the object to the outbound conveyor 18. The lifting device 26 may directly deliver or receive the object 10 to or from the transfer shelf 36.

[0023] The above-mentioned lifting device 26 is a device for lifting the object 10, and is also called a reservoir. The lifting device 26 is provided with a lifting platform 28 on which the object 10 is placed. The lifting platform 28 is lifted while supporting the object 10. The lifting platform 28 can move the object 10 along the transport direction P connecting the inbound conveyor 16 and the transfer platform, or along the transport direction P connecting the outbound conveyor 18 and the transfer platform.

[0024] The lifting platform 28 is driven to lift by a lifting drive mechanism 29. The lifting drive mechanism 29 has, for example, a drive source and a circulating rotating body. The drive source is, for example, a motor that is electrically driven and controlled. The circulating rotating body is a chain or a circulating belt, and is wound around a sprocket or a pulley rotatably supported above and below the column 27. By rotating the drive source, the circulating rotating body is circulated and rotated, and thereby, the lifting platform 28 connected to the circulating rotating body is lifted and lowered. The lifting platform 28 is lifted and lowered to positions corresponding to each of the plurality of transfer tables at a position adjacent to the transfer shelf 36. When the lifting platform 28 is positioned at a height corresponding to any one of the transfer tables, the object 10 can be horizontally moved and transferred between the lifting platform 28 and the transfer table. Further, the lifting platform 28 is lifted and lowered to a position corresponding to the infeed conveyor 16 or the outfeed conveyor 18. When the lifting platform 28 is positioned at a height corresponding to the infeed conveyor 16 or the outfeed conveyor 18, the object 10 can be horizontally moved and transferred between the lifting platform 28 and the infeed conveyor 16 or the outfeed conveyor 18.

[0025] FIG. 3 is a perspective view showing the mobile cart system 40S. The mobile cart system 40S includes a mobile cart 40 and a cart control unit 60.

[0026] The mobile cart 40 is a cart that supports the object 10 and travels on the traveling path 34 along the traveling direction. Further, the mobile cart 40 has an object transfer arm 54 that moves forward and backward toward the shelf 32 arranged along the traveling direction. The cart control unit 60 controls the mobile cart 40.

[0027] More specifically, the mobile cart 40 includes a cart 42 and an object transfer mechanism 50.

[0028] The carriage 42 is configured to move the article transfer mechanism 50 between the positions corresponding to the shelves 32 or the transfer shelves 36. For example, the carriage 42 incorporates a traveling drive unit including a motor, gears, and the like. By driving the traveling drive unit, the wheels 44 rotate, and the carriage 42 can travel along the traveling path 34. In each stage, as the carriage 42 travels back and forth on the traveling path 34, the article transfer mechanism 50 moves to a position facing any of the shelves 32 in that stage (specifically, a position facing the position where the article 10 is placed or the empty position where the article should be placed on the shelf 32), or a position facing the transfer shelf 36.

[0029] The article transfer mechanism 50 is a device that takes in the article 10 from the outside into itself or sends out the article 10 from itself to the outside. The article transfer mechanism 50 includes, for example, a mounting table 52, a pair of article moving arms 54, and a hook piece 56. The mounting table 52 is configured to be able to mount the article 10. For example, the upper surface of the mounting table 52 is formed as a flat surface that is the same as or larger than the bottom surface of the article 10 and extends along the horizontal direction. The pair of article moving arms 54 are provided on both side portions of the mounting table 52 at intervals in the extending direction of the traveling path 34. The pair of article moving arms 54 are provided so as to be able to project and retract from the mounting table 52 in both directions orthogonal to the extending direction of the traveling path 34. The pair of article moving arms 54 are driven to advance and retreat by driving an arm drive unit 66 including a motor and the like. The article moving arm 54 may have, for example, a telescopic structure in which the tip-side member expands and contracts with respect to the intermediate member. Hook pieces 56 are provided at both ends of the tip-side members of the pair of article moving arms 54. The hook piece 56 is drivable to change its posture between a state where it falls out from the end of the article moving arm 54 by driving a hook piece drive unit including a motor and the like and a state where it extends along the vertical direction at the end of the article moving arm 54.

[0030] When loading the object 10 onto the object transfer mechanism 50, with the object transfer mechanism 50 facing the object 10 placed on the shelf 32 or the transfer shelf 36, the pair of object moving arms 54 are advanced so as to be disposed at positions where they sandwich the object 10 from both sides. In this state, the engaging piece 56 is projected from the protruding side end of the object moving arm 54 and engaged with the back side of the object 10. Then, when the pair of object moving arms 54 are retracted toward the carriage 42 side, a force acts to transfer the object 10 so as to draw it toward the mounting table 52 side at both sides of the object 10. As a result, the object 10 is taken into the object transfer mechanism 50 side.

[0031] Also, when sending out the object 10 on the object transfer mechanism 50 to the shelf 32 or the transfer shelf 36, the posture is changed so that the engaging piece 56 on the sending direction side or the side opposite to the sending direction projects from the object moving arm 54 and engages with both sides of the object 10. In this state, the pair of object moving arms 54 are advanced from the mounting table 52. Then, a force acts to transfer the object 10 so as to send it into the shelf 32 or the transfer shelf 36 at both sides of the object 10. As a result, the object 10 is sent into the shelf 32 or the transfer shelf 36.

[0032] The configuration in which the object moving arm 54 transfers the object 10 is not limited to the above example. For example, the object moving arm may move forward and backward above or below the object. Also, the object moving arm is not limited to the configuration in which the object is hooked and moved by the engaging piece 56, and as long as the object can be transferred by pushing or pulling any part of the object while in contact with the object. The number of object moving arms may be one or three or more.

[0033] Also, the object moving arm 54 has sensors 58a and 58b. The sensors 58a and 58b are sensors for detecting the object 10 on the shelf 32 when the object moving arm 54 advances onto the shelf 32. In the present embodiment, the object moving arm 54 includes a first sensor 58a and a second sensor 58b. Note that the number of sensors provided in the object moving arm 54 is arbitrary.

[0034] The first sensor 58a and the second sensor 58b are located at different positions in the advancing direction of the object moving arm 54. The second sensor 58b is located on the tip side in the advancing direction of the object moving arm 54 with respect to the first sensor 58a.

[0035] For example, the second sensor 58b is provided at a position where it can detect the presence or absence of the object 10 on the posture change locus of the hooking piece 56. For example, the second sensor 58b is located on the front side with respect to the hooking piece 56. Further, for example, the second sensor 58b is located within 5 cm in front of the hooking piece 56, preferably within 3 cm, more preferably within 1 cm.

[0036] For example, the first sensor 58a is located away from the second sensor 58b on the side opposite to the hooking piece 56. For example, the first sensor 58a may be located 5 cm or more away from the second sensor 58b.

[0037] Since the hooking pieces 56 are provided at both ends of the object moving arm 54, the sensors 58a and 58b may be provided corresponding to each of the hooking pieces 56 on both ends. The first sensor 58a may be provided as a sensor shared by the hooking pieces 56 on both ends in the advancing and retracting directions of the object moving arm 54.

[0038] The sensors 58a and 58b may be any sensors as long as they can detect the presence or absence of the object 10. For example, the sensors 58a and 58b may be light transmission type sensors including a light source such as a light emitting diode and a light sensor. For example, the light source may be attached to one object moving arm 54 and the light sensor may be attached to the other object moving arm 54. In this case, the object 10 located between the pair of object moving arms 54 can be detected.

[0039] The sensor may be a reflection type optical sensor. The sensor may be a sensor that can detect the presence or absence of the object according to the properties of the object, and may be a contact type sensor, an ultrasonic sensor, or a magnetic sensor.

[0040] The cart control unit 60 is incorporated into the above-described mobile cart 40. By the control of the cart control unit 60, the movement control of the cart 42 and the operation control of the article transfer arm 54 are performed. The cart control unit 60 may not be incorporated into the cart 42. For example, the cart control unit 60 may be disposed outside the mobile cart 40, and the cart control unit 60 and the mobile cart may be connected by wire or wirelessly.

[0041] FIG. 4 is a block diagram showing the electrical configuration of the automatic warehouse 20. The automatic warehouse 20 includes at least one storage unit 70 and a general control unit 80. The storage unit 70 is a unit of two facing storage shelves 30 via the mobile cart 40. The automatic warehouse 20 may have only one storage unit 70 of two storage shelves 30, or may have a plurality of them.

[0042] The general control unit 80 performs control to allocate the article 10 to any one of the storage units 70 at the time of warehousing. For example, the general control unit 80 controls the warehousing conveyor 16 so as to be sent toward the storage unit 70 to which the article 10 to be warehoused is allocated. Further, the general control unit 80 performs control to convey the article 10 to be shipped out from any one of the storage units 70 to the outside at the time of shipping.

[0043] The storage unit 70 includes a shelf unit control unit 72. The shelf unit control unit 72 controls the lifting device 26 and the transfer shelf 36 in each storage unit 70 to perform warehousing processing and shipping processing. Further, the shelf unit control unit 72 gives an warehousing command or a shipping command of the article 10 to the mobile cart system 40S.

[0044] The mobile cart system 40S includes a cart control unit 60, a traveling drive unit 65, an arm drive unit 66, a hook piece drive unit 67, and further a first sensor 58a and a second sensor 58b. Based on the warehousing command or the shipping command, the cart control unit 60 controls the traveling drive unit 65, the arm drive unit 66, and the hook piece drive unit 67 to perform the warehousing and shipping operations of the article 10. During the warehousing and shipping operations, control is performed according to the detection results of the first sensor 58a and the second sensor 58b.

[0045] More specifically, the overall control unit 80 is constituted by a computer including a processor 81, a storage unit 82, and the like. The storage instruction and the withdrawal instruction may be received, for example, through the overall control unit 80. The storage instruction and the withdrawal instruction may be made by designating the identification code of the stored item 10 or the name associated with the identification code. The storage instruction and the withdrawal instruction are given from the overall control unit 80 to the shelf unit control unit 72.

[0046] A size database 82a may be stored in the storage unit 82. The size database 82a is information regarding the size of the item 10, and particularly includes information regarding the depth dimension of the item 10. The depth dimension of the item 10 is the dimension in the advancing and retreating direction of the item transfer arm 54 in a state where the item 10 is stored on the shelf 32. When the size of the item 10 is classified into a plurality of size patterns, the size database 82a may be the size for each size pattern. For example, when the item 10 is a plurality of types of containers, the size database 82a may be the size for each type. In this case, it is preferable that the detailed pattern or the container type of the item 10 is associated with the database regarding the item 10 to be stored. The size database 82a may be the size associated with the identification code of the item 10 to be stored.

[0047] The shelf unit control unit 72 is constituted by a computer including a processor 73, a storage unit 74, and the like. A position database 74a is stored in the storage unit 74. The position database 74a is a database that associates the identification code of the item 10 stored on the shelf 32 with the storage position on the shelf 32. In the position database 74a, the storage position not associated with the identification code of the item 10 is an empty position.

[0048] When a storage instruction is given from the overall control unit 80, the processor 73 can identify an empty position among the shelves 32 by referring to the position database 74a. The shelf unit control unit 72 gives an instruction to the mobile cart system 40S corresponding to the identified empty position to store the item 10 at the empty position. The storage instruction includes the identification code of the item 10. After the storage instruction or after the storage, the processor 73 updates the position database 74a so that the item 10 with the identification code is stored at the empty position.

[0049] When a retrieval instruction is given from the overall control unit 80, the processor 73 can identify the position where the item 10 to be retrieved is stored among the shelves 32 by referring to the position database 74a. The shelf unit control unit 72 gives an instruction to the mobile cart system 40S corresponding to the identified storage position to retrieve the item 10 from the storage position. After the retrieval instruction or after the retrieval, the processor 73 updates the position database 74a so that the storage position becomes an empty position.

[0050] As described above, the storage unit 82 stores a size database 82a. The shelf unit control unit 72 can obtain the size of the item 10 to be retrieved by referring to the size database 82a. Further, when giving a retrieval instruction to the mobile cart system 40S, the shelf unit control unit 72 can give the size of the item 10 to be retrieved.

[0051] For example, it is assumed that the size database 82a stores the sizes of the items 10 by type (e.g., by container type), and the position database 74a includes the type-specific information (e.g., by container type) of the item 10 associated with the identification code of the item 10. In this case, the processor 73 refers to the position database 74a to identify the type-specific information (e.g., by container type) of the item 10 to be retrieved, and can identify the size of the item 10 to be retrieved by referring to the size database 82a based on the identified type-specific information (e.g., by container type).

[0052] Also, for example, it is also assumed that the size database 82a stores sizes for each identification code of the article 10. In this case, the processor 73 can specify the size of the article 10 to be shipped out by referring to the size database 82a based on the identification code of the article 10 to be shipped out.

[0053] Note that the storage locations of the size database 82a and the position database 74a are arbitrary. Both the size database and the position database may be stored in the overall control unit, may be stored in the shelf unit control section, may be stored in the mobile cart system 40S, or may be stored in a separately provided server.

[0054] The cart control section 60 is configured by a computer including a processor 61, a storage section 62, etc. A traveling drive section 65, an arm drive section 66, and a hook piece drive section 67 are connected to the cart control section 60. The cart control section 60 controls the driving of the traveling drive section 65, the arm drive section 66, and the hook piece drive section 67. A first sensor 58a and a second sensor 58b are connected to the cart control section 60, and the detection results of the first sensor 58a and the second sensor 58b are given to the cart control section 60.

[0055] A program 62a is stored in the storage section 62. The processor 61 controls the driving of the traveling drive section 65, the arm drive section 66, and the hook piece drive section 67 so as to receive the article 10 at a predetermined position or send out the article 10 toward a predetermined position in accordance with a command from the shelf unit control section 72 according to the program 62a.

[0056] As described above, the sizes of the articles 10 to be stored, particularly the depth dimensions, may be different.

[0057] When storing the object 10 on the shelf 32 with the mobile cart 40, even if the sizes of the objects 10 are different, the positions of the hooking pieces 56 for pushing in the objects 10 can be aligned to a fixed position near the front of the shelf 32. As a result, the advancing amount of the object moving arm 54 during the intake of the object 10 can be reduced. If the advancing amount of the object moving arm 54 can be reduced, the intake of the object 10 by the mobile cart 40 can be performed quickly.

[0058] When transferring the object 10 on the shelf 32 to the mobile cart 40 with the mobile cart 40, it is conceivable to advance the object moving arm 54 so that the hooking piece 56 can be hooked on the back side of the object 10. Here, as described above, it is assumed that the sizes of the objects 10, particularly the depth dimensions, are different.

[0059] In order to be able to transfer the object 10 on the shelf 32 with a uniform advancing amount of the object moving arm 54, it is conceivable to set the advancing amount of the object moving arm 54 to a value corresponding to the object 10 with the largest depth dimension. In this case, regardless of the size of the object 10, the object moving arm 54 will be advanced significantly. Therefore, for the object 10 with a small size, an operation with an excessive advancing amount will be performed, and it is assumed that the cycle time for taking in the object 10 will become long.

[0060] Hereinafter, a processing example for quickly taking in the object stored on the shelf 32 by the mobile cart 40 when the objects 10 with different depth dimensions are taken in and out of the shelf 32 by the mobile cart 40 will be described.

[0061] <Regarding the processing for taking in the object> FIG. 5 is a flowchart showing an example of the intake process of the object 10 by the processor 61.

[0062] In step S1, a shipping instruction is given from the shelf unit control unit 72 to the cart control unit 60. The shipping instruction includes the shipping position and the depth information of the item 10. Thereby, before starting the forward movement of the item moving arm 54, the cart control unit 60 can acquire in advance the depth dimension of the item 10 to be taken in by the moving cart 40. Note that the following taking-in operation by the item moving arm 54 can also be performed at the time of the stocking instruction. For example, when a stocking instruction is given from the shelf unit control unit 72 to the cart control unit 60, the following processing may be performed at the time of taking in from the transfer shelf 36.

[0063] In the next step S2, the cart control unit 60 gives a travel command to the travel drive unit 65. The travel command includes the storage position, that is, information regarding the target position of travel.

[0064] In the next step S3, it is determined whether or not the moving cart 40 has reached the target position. If it is determined that the target position has been reached, the process proceeds to the next step S4.

[0065] In step S4, in order to take in the item 10 stored on the shelf 32 by the moving cart 40, a command is given to the arm drive unit 66 to advance the item moving arm 54 by a first distance. The first distance is the amount of advancement from the initial position of the item moving arm 54. The initial position of the item moving arm 54 is the position of the item moving arm 54 when the moving cart 40 is traveling on the travel path 34. The first distance is shorter than the second distance.

[0066] The first distance is set to a value corresponding to, for example, the depth dimension of the item 10. For example, the first distance is set to a value that allows the object moving arm 54 to advance until the hook piece 56 can be hooked onto the item 10 targeted for shipment. For example, the first distance is set to a value obtained by adding the additional dimension of the hook piece 56 to the depth dimension of the item 10 included in the shipment instruction. The first distance may be set by an arithmetic process of adding the additional distance to the depth dimension of the item 10 acquired in step S1. Alternatively, a table in which the first distance is associated with the value or range of the depth dimension of the item 10 in advance is prepared, and when the depth dimension of the item 10 is acquired in step S1, the first distance is determined by referring to the table based on the depth dimension.

[0067] The first distance does not have to be set to a value corresponding to the depth dimension of the item 10. For example, the first distance may be set to a constant value regardless of the depth dimension of the item to be shipped. In this case, a shipment instruction including depth information may not be given, and the database does not have to hold the depth information of the item. For example, if the standard depth dimension of the item 10 stored in the storage shelf 30 is roughly determined and there are only a few items 10 with a depth dimension larger than the standard depth dimension, the first distance may be set to a value corresponding to the standard depth dimension.

[0068] Here, at the time when the advancement of the object moving arm 54 is disclosed, the advancement distance of the object moving arm 54 is determined. Therefore, the cart control unit 60 can control the arm drive unit 66 so that the object moving arm 54 advances the first distance accurately and quickly.

[0069] In the next step S5, it is determined whether or not the object moving arm 54 has advanced the first distance and stopped. If it is determined that the object moving arm 54 has advanced the first distance and stopped, the process proceeds to step S6. Note that the advancement state or position of the object moving arm 54 may be grasped by the output of an encoder incorporated in the motor shaft portion of the arm drive unit 66.

[0070] In step S6, the carriage control unit 60 acquires the states of the first sensor 58a and the second sensor 58b, that is, the detection results.

[0071] In the next step S7, it is determined whether or not the capture conditions are satisfied based on the detection results of the first sensor 58a and the second sensor 58b. The capture condition is that the object moving arm 54 has advanced until it has passed beyond the back end of the object 10. Here, for the object moving arm 54 to have passed beyond the back end of the object 10 means that the object moving arm 54 has passed beyond the back end of the object 10 to such an extent that the object 10 can be captured. In the present embodiment, for the object moving arm 54 to have passed beyond the back end of the object 10 means that in the advancing direction of the object moving arm 54, the hook piece 56 has passed beyond the back end of the object 10.

[0072] In the present embodiment, the object moving arm 54 has the first sensor 58a and the second sensor 58b. For example, when the hook piece 56 has exceeded the back end of the object 10, the object 10 is detected by the first sensor 58a, and the object 10 is not detected by the second sensor 58b (see (b) of FIG. 6).

[0073] Also, when the object 10 is located on the back side away from the traveling path 34 on the shelf 32, there may be a case where the object moving arm 54 has not even reached in front of the object 10. For example, when the object 10 is manually placed on the shelf 32, the position of the object 10 on the shelf 32 may become uneven. In this case, the object 10 is not detected by both the first sensor 58a and the second sensor 58b (see (b) of FIG. 7).

[0074] Also, there may be a case where the object moving arm 54 has passed beyond in front of the object 10 but has not passed beyond the back side. In this case, regardless of whether or not the object 10 is detected by the first sensor 58a, it is conceivable that the object 10 is detected by the second sensor 58b.

[0075] Therefore, in step S7, when the object 10 is detected by the first sensor 58a and not detected by the second sensor 58b, it may be determined that the object moving arm 54 extends beyond the back end of the object 10, that is, the capture condition is satisfied. In other cases, that is, when the object 10 is not detected by both the first sensor 58a and the second sensor 58b, or when the object 10 is detected by the second sensor 58b regardless of the detection result of the first sensor 58a, it may be determined that the capture condition is not satisfied.

[0076] In step S7, if it is determined that the capture condition is satisfied, the process proceeds to step S8, and a capture command is given to the hook piece drive unit 67 and the arm drive unit 66. As a result, the hook piece drive unit 67 tilts the hook piece 56 so that the hook piece 56 can be hooked on the back end of the object 10 from the back side. Subsequently, the arm drive unit 66 retracts the object moving arm 54 toward the initial position. Thereby, the object 10 is captured onto the mounting table 52.

[0077] In the next step S9, it is determined whether the capture has been completed. For example, when the object moving arm 54 returns to the initial position, it is determined that the capture is completed. When it is determined that the capture is completed, the capture operation of the object 10 ends.

[0078] In step S7, if it is determined that the capture condition is not satisfied, the process proceeds to step S11, and a retraction command to the initial position is given to the arm drive unit 66. As a result, without changing the posture of the hook piece 56, the arm drive unit 66 retracts the object moving arm 54 toward the initial position.

[0079] After that, in step S12, it is determined whether the object moving arm 54 has returned to the initial position. When it is determined that the object moving arm 54 has returned to the initial position, the process proceeds to the next step S13.

[0080] In step S13, in order to take the object 10 stored in the shelf 32 onto the trolley 40, a command is given to the arm driving unit 66 to advance the object moving arm 54 by a second distance. The second distance is the amount of advancement from the initial position of the object moving arm 54. The second distance is longer than the first distance. Thereby, additional advancement control is performed. This control is a control performed when the object 10 cannot be taken in by the control from steps S4 to S6, and may be understood as a kind of retry control for taking in.

[0081] The second distance may be the maximum distance by which the object moving arm 54 can advance. If the second distance is the maximum distance by which it can advance, during the second taking-in operation, the object 10 at the maximum depth position that can be taken in by the object moving arm 54 can be taken in. Therefore, it is not necessary to perform operations for taking in three or more times. The second distance may be a distance corresponding to the largest depth dimension among the depth dimensions of the stored objects 10. The second distance may be a distance between the maximum distance by which it can advance and the first distance.

[0082] In the next step S14, it is determined whether or not the object moving arm 54 has advanced by the second distance and stopped. If it is determined that the object moving arm 54 has advanced by the second distance and stopped, the process proceeds to step S15.

[0083] In step S15, a taking-in command is given to the hook piece driving unit 67 and the arm driving unit 66. Thereby, the hook piece driving unit 67 lowers the hook piece 56 so that the hook piece 56 can be hooked on the inner side end portion of the object 10 from the inner side. Subsequently, the arm driving unit 66 retracts and moves the object moving arm 54 toward the initial position. Thereby, the object 10 is taken onto the mounting table 52.

[0084] Note that between step S14 and step S15, the presence or absence of the object 10 may be determined based on the detection result of the second sensor 58b, and if the object 10 is present, the taking-in may be aborted.

[0085] In the next step S16 after step S15, it is determined whether the loading has been completed. If it is determined that the loading has been completed, the loading operation of the object 10 is completed.

[0086] After the loading is completed, the mobile cart 40 moves toward the transfer shelf 36 on the shipping side. The object 10 to be shipped is shipped from the mobile cart 40 through the transfer shelf 36, the lifting device 26, and the shipping conveyor 18.

[0087] The above processing is performed for each of the plurality of objects 10 to be shipped.

[0088] <Operation of the mobile cart according to the position of the object> An example of the operation of the mobile cart 40 according to the position of the object 10 will be described.

[0089] FIG. 6 is an explanatory diagram showing the operation of the mobile cart 40 when the object 10 is stored at a position near the expected traveling path 34. Note that the line P0 indicates the initial position of the tip of the object moving arm 54, and the line P1 indicates the position of the tip of the object moving arm 54 that has advanced by the first distance L1.

[0090] As shown in FIG. 6(a), the mobile cart 40 moves to a position facing the object 10.

[0091] As shown in FIG. 6(b), the object moving arm 54 moves forward by the first distance L1. Then, the hook piece 56 passes beyond the inner position of the object 10. For this reason, the object 10 is located in front of the hook piece 56 and between the pair of object moving arms 54. For this reason, the first sensor 58a detects the object 10, and the second sensor 58b does not detect the object 10. For this reason, it is determined that the object moving arm 54 has advanced until it has passed beyond the inner end of the object 10.

[0092] Then, as shown in FIG. 6(c), the hook piece 56 tilts toward the object 10 and is in a state where it can be hooked on the inner end of the object 10.

[0093] After that, as shown in FIG. 6(d), when the object moving arm 54 retracts to the initial position, the hooking piece 56 contacts the back end of the object 10 and pulls the object 10 toward the mounting table 52. As a result, the object 10 is taken into the moving carriage 40.

[0094] FIG. 7 is an explanatory diagram showing the operation of the moving carriage 40 when the object 10 is stored far away from the traveling path 34 on the back side.

[0095] As shown in FIG. 7(a), the moving carriage 40 moves to a position facing the object 10.

[0096] As shown in FIG. 7(b), the object moving arm 54 moves forward by the first distance L1. Since the object 10 is far away from the moving carriage 40, the object moving arm 54 does not reach the front side of the object 10. Therefore, neither the first sensor 58a nor the second sensor 58b detects the object 10. For this reason, it is determined that the object moving arm 54 has not exceeded the back end of the object 10.

[0097] Therefore, as shown in FIG. 7(c), the object moving arm 54 returns to the initial position.

[0098] After that, as shown in FIG. 7(d), the object moving arm 54 moves forward by the second distance L2. The second distance L2 is, for example, the maximum forward movement distance of the object moving arm 54. As a result, the hooking piece 56 exceeds the back position of the object 10. Then, the hooking piece 56 tilts toward the object 10 and becomes in a state where it can hook the back end of the object 10. Note that the line P2 indicates the position of the tip of the object moving arm 54 that has moved forward by the second distance L2.

[0099] After that, as shown in FIG. 7(e), when the object moving arm 54 retracts to the initial position, the hooking piece 56 contacts the back end of the object 10 and pulls the object 10 toward the mounting table 52. As a result, the object 10 is taken into the moving carriage 40.

[0100] FIG. 8 is an explanatory diagram showing the operation of the moving carriage 40 when the object 10 is stored on the back side away from the traveling path 34 but is located closer to the front side than in the case shown in FIG. 7.

[0101] As shown in FIG. 8(a), the moving carriage 40 moves to a position facing the object 10.

[0102] As shown in FIG. 8(b), the object moving arm 54 moves forward by the first distance L1. Since the object 10 is moderately separated from the moving carriage 40, the object moving arm 54 passes in front of the object 10 but does not cross the back end. For this reason, the first sensor 58a does not detect the object 10, but the second sensor 58b is in a state of detecting the object 10. Therefore, it is determined that the object moving arm 54 has not crossed the back end of the object 10. Depending on the size or position of the object 10, both the first sensor 58a and the second sensor 58b may be in a state of detecting the object 10. In any case, since the object 10 is detected by the second sensor 58b, it is determined that the object moving arm 54 has not crossed the back end of the object 10.

[0103] Therefore, as shown in FIG. 8(c), the object moving arm 54 returns to the initial position.

[0104] After that, as shown in FIG. 8(d), the object moving arm 54 moves forward by the second distance L2. As a result, the hook piece 56 crosses the back position of the object 10. Then, the hook piece 56 tilts toward the object 10 and becomes in a state where it can be hooked on the back end of the object 10.

[0105] After that, as shown in FIG. 8(e), when the object moving arm 54 moves backward to the initial position, the hook piece 56 contacts the back end of the object 10 and pulls the object 10 toward the mounting table 52. As a result, the object 10 is taken onto the moving carriage 40.

[0106] Even if the object 10 is disposed near the traveling path 34, even when the depth dimension of the object 10 is larger than the depth dimension based on the databases 74a and 82a, both the first sensor 58a and the second sensor 58b may detect the object 10, and it may be determined that the object moving arm 54 does not extend beyond the inner end of the object 10.

[0107] <Effects, etc.> According to the mobile cart system 40S and the automated warehouse 20 configured as described above, when taking in the object 10 stored on the shelf 32 into the mobile cart 40, the object moving arm 54 is advanced by the first distance L1. Therefore, for an object 10 having a depth dimension that can be taken in by the advancement of the object moving arm 54 by the first distance L1, if the object moving arm 54 moves backward, it can be taken into the mobile cart 40. Further, for an object 10 having a depth dimension that cannot be taken in by the object moving arm 54 advanced by the first distance L1, it can be taken into the mobile cart 40 by driving the object moving arm 54 to advance by the second distance L2. Thus, the object 10 that can be taken in by the object moving arm 54 advanced by the first distance L1 is quickly taken in, and for an object 10 that cannot be taken in by the object moving arm 54 advanced by the first distance L1, the object moving arm 54 is exceptionally advanced by the second distance L2 to perform the taking-in operation. Therefore, the object 10 stored on the shelf 32 can be taken into the mobile cart 40 more quickly.

[0108] Further, after stopping the object moving arm 54 at the position advanced by the first distance L1, the cart control unit 60 executes additional advancement control. For this reason, during the advancement operation of the object moving arm 54, it is easy to control the advancement speed, deceleration control, etc. of the object moving arm 54 with the first distance L1 as the target advancement position. Thereby, the object moving arm 54 can be accurately and quickly advanced by the first distance L1.

[0109] Note that stopping the object moving arm 54 means that the speed of the object moving arm 54 becomes 0. Therefore, when the object moving arm 54 retracts after advancing, the speed becomes 0 at the time of switching the operation, and it can be said that the object moving arm 54 has stopped once.

[0110] Note that the arm 54 for moving an object may not stop at the first distance L1. For example, during the advancement of the arm 54 for moving an object, if the presence of the object 10 is clearly not detected, the advancement operation may be continued without stopping at the first distance L1.

[0111] In addition, in the additional advancement control, the arm 54 for moving an object is advanced by the maximum distance L2 at which the arm 54 for moving an object can advance. Therefore, if the object 10 cannot be taken in by the arm 54 for moving an object that has advanced by the first distance L1, the object 10 can be taken in by the next additional advancement control.

[0112] Further, the carriage control unit 60 acquires in advance the depth dimension of the object 10 to be taken in, and sets the first distance L1 to a value corresponding to the depth dimension of the object 10. Therefore, in many cases where the object 10 is supported on the shelf 32 in a normal state, for example, in many cases where the object 10 is supported at a position closer to the traveling path 34, by advancing the arm 54 for moving an object by the first distance L1 according to the depth dimension of the object 10, the object 10 can be quickly taken into the moving carriage 40.

[0113] Note that the process in which the carriage control unit 60 acquires in advance the depth dimension of the object 10 to be taken in and sets the first distance L1 to a value corresponding to the depth dimension of the object 10 is also effective when there is no subsequent additional advancement control. Therefore, the present disclosure discloses a moving carriage system including a moving carriage 40 having an arm 54 for moving an object and a carriage control unit 60 for controlling the moving carriage, wherein the carriage control unit 60 acquires in advance the depth dimension of the object 10 to be taken into the moving carriage 40, and sets the advancement distance of the arm 54 for moving an object for taking in the object 10 to a value corresponding to the depth dimension of the object 10.

[0114] In addition, in the additional advancement control, after the arm 54 for moving an object is retracted to the initial position, the arm 54 for moving an object is advanced by the second distance. Therefore, the arm 54 for moving an object can be accurately advanced by the second distance L2 with reference to the initial position.

[0115] Further, based on the detection results of the first sensor 58a and the second sensor 58b, it is determined whether the object moving arm 54 has advanced beyond the back end of the object 10, thereby effectively preventing false detection.

[0116] For example, when the object moving arm 54 is stopped at a position advanced by a first distance L1, the object 10 is detected by the first sensor 58a and the object 10 is not detected by the second sensor 58b, it can be determined that the object moving arm 54 has crossed the back end of the object. Further, when the object 10 is detected by the second sensor 58b in a state where the object moving arm 54 is stopped at a position advanced by the first distance L1, or when the object 10 is not detected by both the first sensor 58a and the second sensor 58b, it can be determined that the object moving arm 54 has not crossed the back end of the object 10.

[0117] Thereby, even if there is a foreign object such as a label peeled off from the object 10 during the advancement of the object moving arm 54, false detection due to the foreign object during advancement is prevented. That is, the presence or absence of the object 10 on the movement locus of the hook piece 56 is detected by the second sensor 58b, and the presence or absence of the object 10 in front of the hook piece 56 is detected by the first sensor 58a, so that the position of the object 10 relative to the hook piece 56 can be determined. Therefore, during the advancement of the object moving arm 54, the presence or absence of the object 10 is not determined based on the output of the sensor, and at the stop position where the object moving arm 54 has advanced by the first distance L1, the position of the object 10 is determined based on the detection results of the sensors 58a and 58b. Therefore, the influence of foreign objects during the advancement movement of the object moving arm 54 can be eliminated, and it can be determined whether the object moving arm 54 has crossed the back end of the object 10.

[0118] <Modification Example Regarding the Second Distance Setting> In the above embodiment, an example where the second distance L2 is the maximum advancement distance of the object moving arm 54 has been described. It is not essential that the second distance L2 is the maximum advancement distance, and it may be larger than the first distance.

[0119] For example, the second distance may be set to a distance corresponding to the sum of the distance to the front end of the object 10 and the depth dimension.

[0120] FIG. 9 is a flowchart showing a modified example of the flowchart of FIG. 5. As shown in FIG. 9, after it is determined that the capture condition is not satisfied in step S7 of the flowchart of FIG. 5, the process may proceed to step S21.

[0121] In step S21, based on the detection results of sensors 58a and 58b, the presence or absence of the object 10 between the object moving arms 54 is determined. For example, when the presence of the object 10 is detected in either based on the detection results of sensors 58a and 58b, it is determined that the object 10 exists between the object moving arms 54.

[0122] If it is determined in step S21 that the object 10 exists in front of the tip of the object moving arm 54, the process proceeds to step S22.

[0123] In step S22, the second distance is adjusted based on the detection distance. That is, assume that a value is set in advance as the second distance. For example, assume that the maximum advancement distance is set in advance as the second distance. The second distance is adjusted based on the detection distance.

[0124] The detection distance is the distance from the initial position of the object moving arm 54 to the front end of the object 10. For example, when the object moving arm 54 advances from the initial position toward the first distance L1, the carriage control unit 60 monitors the detection result of the second sensor 58b, and the advancement position when the detection result of the second sensor 58b turns on due to the detection of the object 10 can be set as the detection distance.

[0125] The second distance can be adjusted to a distance corresponding to, for example, the sum of the depth dimension of the object 10 acquired in advance and the detection distance.

[0126] Thereafter, the process proceeds to step S11. Also, if it is determined in step S21 that the object 10 does not exist in front of the tip of the object moving arm 54, the process proceeds to step S11 without going through step S22.

[0127] In step S11, the article moving arm 54 retracts to the initial position. After that, the processes after step S12 in the flowchart of FIG. 5 are performed, and the article 10 is taken in after advancing by the second distance.

[0128] FIG. 10 is an explanatory diagram showing the operation of the article moving arm 54 according to this modification when the article 10 is arranged as in FIG. 8.

[0129] As shown in FIG. 10(a), the moving carriage 40 moves to a position facing the article 10. In this state, the article moving arm 54 is located at the initial position.

[0130] As shown in FIG. 10(b), the article moving arm 54 advances. The article 10 is moderately separated from the moving carriage 40. Therefore, the second sensor 58b switches from the off state to the on state during the advancement of the article moving arm 54. Let the advancement distance of the article moving arm 54 when the second sensor 58b switches to the on state be the detection distance Ld.

[0131] As shown in FIG. 10(c), the article moving arm 54 advances and moves by the first distance L1. In this state, the first sensor 58a does not detect the article 10, but the second sensor 58b detects the article 10. Therefore, it is determined that the article moving arm 54 has not passed over the inner end of the article 10. Even when both sensors 58a and 58b detect the article 10, the same applies.

[0132] Then, based on the detection results of the sensors 58a and 58b, the presence or absence of the article 10 between the article moving arms 54 is determined. For example, based on the detection result of the second sensor 58b, the presence of the article 10 is detected. Then, the second distance L2 is adjusted to the second distance L2a based on the detection result.

[0133] After that, after the object moving arm 54 returns to the initial position as necessary, as shown in FIG. 10(d), the object moving arm 54 advances by a second distance L2a and reaches the position P2j. The second distance L2a is set to a value obtained by adding the detection distance Ld to the first distance L1 corresponding to the depth dimension of the object 10, for example. Therefore, the object 10 can be taken in by the object moving arm 54 that has advanced by the second distance L2a. Note that the adjusted second distance L2a can be made smaller than the second distance L2 set as the maximum advancement distance.

[0134] In this way, when the object moving arm 54 advances by the first distance L1, the front end portion of the object 10 on the front side is detected, and the second distance is set to the distance L2a corresponding to the sum of the distance to the front end portion of the object and the depth dimension. Therefore, when advancing by the second distance, the object 10 can be quickly taken in with as little advancement distance as possible.

[0135] <Modification Example Regarding Sensor> The number of sensors provided in the object moving arm 54 is not particularly limited.

[0136] For example, in the example shown in FIG. 11, one sensor 158 is provided in the object moving arm 54. The sensor 158 is provided at a position where it can detect the presence or absence of the object 10 on the posture change locus of the hook piece 56, similar to the second sensor 58b.

[0137] As shown in FIG. 11(a), the moving carriage 40 moves to a position facing the object 10, and then, as shown in FIG. 11(b), the object moving arm 54 moves forward. By monitoring the detection result of the sensor 158 during the forward movement of the object moving arm 54, the presence or absence of the object 10 between the pair of object moving arms 54 can be detected during the forward movement of the object moving arm 54.

[0138] As shown in FIG. 11(c), the object moving arm 54 advances by the first distance L1, and the hook piece 56 passes over the back side position of the object 10. In this state, the sensor 158 does not detect the object 10.

[0139] Therefore, when the object 10 is detected during the advancement of the object moving arm 54, and the object 10 is not detected when the object moving arm 54 has advanced by the first distance L1, it can be determined that the object moving arm 54 has advanced beyond the back end of the object 10.

[0140] As shown in FIG. 11(d), when the object 10 is positioned between the hooking pieces 56 with the object moving arm 54 having advanced by the first distance L1, the sensor 158 detects the object 10. In this case, it can be determined that the object moving arm 54 has not passed beyond the back end of the object 10.

[0141] Also, when the object 10 is positioned further back than the hooking pieces 56 with the object moving arm 54 having advanced by the first distance L1, the sensor 158 does not detect the object 10. Also, the object 10 is not detected by the sensor 158 during the advancement of the object moving arm 54. Also in this case, it can be determined that the object moving arm 54 has not passed beyond the back end of the object 10.

[0142] Therefore, even if there is only one sensor 158, it can be determined whether the object moving arm 54 has passed beyond the back end of the object 10.

[0143] <Other Modification Examples> Note that in the additional advancement control, it is not essential to retract the object moving arm 54 to the initial position. For example, in the additional advancement control, the object moving arm 54 may be advanced from the position where it has advanced by the first distance L1 to reach the second distance L2 without retracting to the initial position side. In this case, the object moving arm 54 can quickly advance by the second distance.

[0144] Also, the object loading mechanism 50 may or may not have a width variable mechanism for changing the width of the mounting table 52 and the interval between the object moving arms 54.

[0145] Note that the components described in the above embodiments and each modification example can be appropriately combined as long as they do not conflict with each other.

[0146] The present disclosure discloses each of the following aspects.

[0147] A first aspect includes a mobile cart having an article moving arm that supports an article and travels along a traveling direction, and advances and retreats toward a shelf arranged along the traveling direction, and a control unit that controls the mobile cart. The mobile cart transfers the article between the mobile cart and the shelf by driving the article moving arm to advance and retreat in a state where the article moving arm is in contact with the article. The article moving arm has a sensor that detects the article on the shelf by advancing into the shelf. When taking in the article stored on the shelf into the mobile cart, the control unit advances the article moving arm by a first distance, and determines whether or not the article moving arm has advanced beyond the back end of the article based on the detection result of the sensor. When it is determined that the article moving arm has not advanced beyond the back end of the article, additional advancement control is performed to advance the article moving arm by a second distance that is longer than the first distance. This is a mobile cart system.

[0148] According to the first aspect, when taking in the article stored on the shelf into the mobile cart, the article moving arm is advanced by a first distance. Therefore, for articles that can be taken in by the advancement of the article moving arm by the first distance, the article moving arm can be retracted and taken into the mobile cart as it is. For articles that cannot be taken in by the article moving arm advanced by the first distance, they can be taken into the mobile cart by driving the article moving arm to advance by a second distance. Therefore, articles that can be taken in by the article moving arm advanced by the first distance are quickly taken in, and for articles that cannot be taken in by the article moving arm advanced by the first distance, the article moving arm is exceptionally advanced by a second distance to perform the taking-in operation. Therefore, the article stored on the shelf can be taken into the mobile cart more quickly.

[0149] The configurations according to the second and subsequent aspects may be adopted as optional configurations that are not essential. A second aspect is the mobile cart system according to the first aspect, wherein the control unit executes the additional advancement control after stopping the article moving arm at the position advanced by the first distance.

[0150] In this case, the object transfer arm can advance the first distance accurately and quickly. Therefore, for an object that can be taken in when the object transfer arm advances the first distance, it can be quickly taken into the moving cart.

[0151] A third aspect is the moving cart system according to the first or second aspect, wherein in the additional advancement control, the control unit advances the object transfer arm by the maximum distance that the object transfer arm can advance.

[0152] Thereby, when an object cannot be taken in by the object transfer arm that has advanced the first distance, the object can be taken in by the next additional advancement control.

[0153] A fourth aspect is the moving cart system according to any one of the first to third aspects, wherein the moving cart takes in and out the objects with different depths with respect to the shelf, and the control unit acquires in advance the depth dimension of the object to be taken into the moving cart, and sets the first distance to a value corresponding to the depth dimension of the object.

[0154] In this way, if the first distance is set to a value corresponding to the depth dimension of the object to be taken in, in many cases where the object is supported on the shelf in a normal state, the object can be taken into the moving cart by the object transfer arm that has advanced the first distance.

[0155] A fifth aspect is the moving cart system according to any one of the first to fourth aspects, wherein the moving cart takes in and out the objects with different depths with respect to the shelf, and the control unit acquires in advance the depth dimension of the object to be taken into the moving cart, and when advancing the object transfer arm by the first distance, detects the front end portion of the object, and the second distance is a distance corresponding to the sum of the distance to the front end portion of the object and the depth dimension.

[0156] Thus, when advancing the article moving arm by the first distance, the front end portion of the article is detected, and the second distance is set to a distance corresponding to the sum of the distance to the front end portion of the article and the depth dimension. Therefore, even when advancing by the second distance, the article can be quickly taken in with as little advancing distance as possible.

[0157] A sixth aspect is the mobile cart system according to any one of the first to fifth aspects, wherein, in the additional advancing control, the control unit retracts the article moving arm to the initial position and then advances the article moving arm by the second distance.

[0158] Thus, in the additional advancing control, since the article moving arm is retracted to the initial position and then advanced by the second distance, the article moving arm can be accurately advanced by the second distance.

[0159] A seventh aspect is the mobile cart system according to any one of the first to fifth aspects, wherein, in the additional advancing control, the control unit advances the article moving arm by the second distance without retracting the article moving arm to the initial position side.

[0160] Thus, the article moving arm can be quickly advanced by the second distance.

[0161] An eighth aspect is the mobile cart system according to any one of the first to seventh aspects, wherein the article moving arm has a first sensor and a second sensor as the sensor, the second sensor is located at different positions in the advancing direction of the article moving arm, and the control unit determines whether or not the article moving arm has advanced beyond the rear end portion of the article based on the detection result of the first sensor and the detection result of the second sensor.

[0162] Thus, based on the detection result of the first sensor and the detection result of the second sensor, it is determined whether or not the article moving arm has advanced beyond the rear end portion of the article, so that false detection can be prevented.

[0163] The ninth aspect is the mobile cart system according to the eighth aspect, wherein the second sensor is located on the tip side in the advancing direction of the article transfer arm with respect to the first sensor, and the control unit stops the article transfer arm at a position advanced by the first distance. When the article is detected by the first sensor and not detected by the second sensor, it is determined that the article transfer arm has crossed the inner end of the article. When the article is detected by the second sensor in a state where the article transfer arm is stopped at a position advanced by the first distance, or when the article is not detected by both the first sensor and the second sensor, it is determined that the article transfer arm has not crossed the inner end of the article.

[0164] Accordingly, in a state where the article transfer arm is stopped at a position advanced by the first distance, based on the detection results of the first sensor and the second sensor, it is determined whether the article transfer arm has crossed the inner end of the article, so that false detection can be prevented.

[0165] The tenth aspect is an automated warehouse including the mobile cart system according to any one of the first to ninth aspects and a shelf arranged along the traveling direction.

[0166] Accordingly, articles in the automated warehouse can be quickly shipped out.

[0167] The above description is illustrative in all aspects, and the present invention is not limited thereto. Innumerable modifications not illustrated can be assumed without departing from the scope of the present invention.

Description of Reference Numerals

[0168] 10 Article 20 Automated Warehouse 32 Shelf 34 Traveling Path 40 Mobile Cart 40S Mobile Cart System 42 Cart 50 Article Transfer Mechanism 54 Article Transfer Arm 56 Hook piece 58a First sensor 58b Second sensor 60 Cart control unit 74a Position database 82a Size database 158 Sensor L1 First distance L2, L2a Second distance Ld Detection distance

Claims

1. A mobile cart having an article moving arm that supports an article, travels along a traveling direction, and moves forward and backward toward a shelf arranged along the traveling direction, a control unit that controls the mobile cart, and is provided with, The mobile cart transfers the article between the mobile cart and the shelf by driving the article moving arm forward and backward while the article moving arm is in contact with the article, The article moving arm has a sensor that detects the article on the shelf by moving forward into the shelf, When taking in the article stored on the shelf into the mobile cart, the control unit advances the article moving arm by a first distance and determines whether or not the article moving arm has advanced beyond the rear end portion of the article based on the detection result of the sensor, A mobile cart system that performs additional advancement control to advance the article moving arm by a second distance that is longer than the first distance when it is determined that the article moving arm has not advanced beyond the rear end portion of the article.

2. The mobile cart system according to claim 1, wherein the control unit executes the additional advancement control after stopping the article moving arm at the position advanced by the first distance.

3. The mobile cart system according to claim 1 or claim 2, wherein the control unit advances the article moving arm by the maximum distance that the article moving arm can advance in the additional advancement control.

4. The mobile cart system according to claim 1 or claim 2, wherein the mobile cart takes in and out articles having different depths with respect to the shelf, the control unit acquires in advance the depth dimension of the article to be taken into the mobile cart, and sets the first distance to a value corresponding to the depth dimension of the article.

5. The mobile cart system according to claim 1 or claim 2, wherein the mobile cart takes in and out articles having different depths with respect to the shelf, the control unit, acquires in advance the depth dimension of the article to be taken into the mobile cart, detects the front end portion of the article when advancing the article moving arm by the first distance, and the second distance is a distance corresponding to the sum of the distance to the front end portion of the article and the depth dimension.

6. The mobile cart system according to claim 1 or claim 2, In the additional advancement control, the control unit retracts the article transfer arm to the initial position and then advances the article transfer arm by the second distance. A mobile cart system. **Claim 7** The mobile cart system according to claim 1 or claim 2, In the additional advancement control, the control unit advances the article transfer arm by the second distance without retracting the article transfer arm to the initial position side. A mobile cart system. **Claim 8** The mobile cart system according to claim 1 or claim 2, The article transfer arm has a first sensor and a second sensor as the sensors, The second sensor is located at different positions in the advancement direction of the article transfer arm, Based on the detection result of the first sensor and the detection result of the second sensor, the control unit determines whether the article transfer arm has advanced beyond the back-end portion of the article. A mobile cart system. **Claim 9** The mobile cart system according to claim 8, The second sensor is located on the front-end side in the advancement direction of the article transfer arm with respect to the first sensor, The control unit, When the article is detected by the first sensor and the article is not detected by the second sensor in a state where the article transfer arm is stopped at a position advanced by the first distance, it is determined that the article transfer arm has exceeded the back-end portion of the article, When the article is detected by the second sensor in a state where the article transfer arm is stopped at a position advanced by the first distance, or when the article is not detected by both the first sensor and the second sensor, it is determined that the article transfer arm has not exceeded the back-end portion of the article. A mobile cart system. **Claim 10** A mobile cart system according to claim 1 or claim 2, A shelf arranged along the traveling direction, An automated warehouse comprising the same.

Images