Automatic warehouse system

Abstract

To provide an automatic warehouse system which can suppress the generation of read errors upon optically reading each identifier for recognizing a position of a movable body.SOLUTION: An automatic warehouse system according to an aspect of the present invention comprises: an identifier arrangement part which is provided along a passage set in a warehouse, and in which each identifier is arranged along the passage so that a position on the passage matches the arrangement of each identifier including positional information showing the position; a reading unit which optionally reads each identifier arranged at the identifier arrangement part; a movement unit which moves along the passage based on the positional information included in each identifier read by the reading unit; and a removal unit which removes obstructive substances that may hinder the reading of each identifier by the reading unit.SELECTED DRAWING: Figure 1

Description

[Technical Field]

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

[0002] Conventionally, automated warehouse systems have been put into practical use, using a mobile object such as a transport vehicle that moves along a predetermined route within a warehouse to load and unload items onto shelves within the warehouse. Generally, in an automated warehouse system, the route of the mobile object is set in advance so that it passes in front of the shelves within the warehouse, and rails are laid along the set route. The mobile object moves along the route within the warehouse while being guided by the laid rails. For example, the position of a target shelf among multiple shelves installed within the warehouse is specified by a predetermined management device, and the mobile object automatically moves toward the specified shelf position.

[0003] As prior art related to the above-mentioned automated warehouse system, for example, an article transport vehicle has been proposed that travels along a rail and blows air toward the running surface of the rail to remove dust from the running surface (see Patent Document 1). Another proposed automated warehouse facility can remove condensation that may form on a rail by blowing hot air toward the rail that guides the travel of a loading / unloading device (moving body) along a fixed path that passes in front of the shelves (see Patent Document 2). Another proposed device can control the operation of an article transfer machine that travels on a track along the shelves based on temperature data provided in advance (see Patent Document 3). [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Japanese Patent Application Publication No. 2018-115066 [Patent Document 2] Japanese Patent Application Publication No. 6-56212 [Patent Document 3] Japanese Patent Application Laid-Open No. 2006-96532 Summary of the Invention [Problem to be solved by the invention]

[0005] In an automated warehouse system that automatically performs a series of operations from moving to a shelf position to taking in and out of items as described above, a plurality of identifiers such as barcodes that can individually identify a plurality of positions on the path of a moving object are arranged along the path within the warehouse. The moving object is equipped with a reading device that optically reads the identifiers, and moves from the position identified by the read identifier (current location) toward the target shelf position (destination) while sequentially reading the plurality of identifiers lined up along the path.

[0006] However, if foreign matter such as dust adheres to the identifier or the optical system of the reader, the light (scanning light) used to optically read the identifier may be blocked by the foreign matter, which may cause an error in reading the identifier. As a result, the mobile object will not be able to recognize its current location within the warehouse, making it difficult to move to its destination.

[0007] Furthermore, if a fire breaks out inside a warehouse, a fire extinguishing agent such as carbon dioxide is released to extinguish the fire. Because the specific gravity of the fire extinguishing agent is greater than that of air, the released fire extinguishing agent is likely to accumulate in the lower part of the warehouse (for example, near the floor) after the fire has been extinguished, and is likely to adhere to the identifiers and the optical system of the reading device. Similar to the dust and other particles mentioned above, such fire extinguishing agents can become foreign matter that hinders the optical reading of the identifiers by the reading device, and can cause identifier reading errors.

[0008] It should be noted that the above-mentioned Patent Documents 1 to 3 make no mention at all of foreign matter or the like that may hinder the optical reading of the identifier by a reader of a mobile body. With the conventional techniques described in such Patent Documents 1 to 3, it is difficult to prevent identifier reading errors caused by the above-mentioned foreign matter.

[0009] The present invention has been made in consideration of the above, and aims to provide an automated warehouse system that can suppress the occurrence of reading errors when optically reading identifiers to recognize the position of moving objects. [Means for solving the problem]

[0010] In order to solve the above-mentioned problems and achieve the object, the automated warehouse system of the present invention is characterized by comprising: an identifier placement unit that is arranged along a route set within a warehouse, and in which identifiers are placed along the route so that their positions on the route match the placement of identifiers containing position information indicating those positions; a reading unit that optically reads the identifiers placed in the identifier placement unit; a mobile unit that moves along the route based on the position information contained in the identifiers read by the reading unit; and a removal unit that removes obstructing substances that may hinder the reading unit from reading the identifiers.

[0011] In addition, the automated warehouse system according to the present invention is characterized in that, in the above invention, the removal unit removes the obstructing substances by blowing air.

[0012] In addition, the automated warehouse system according to the present invention is characterized in that, in the above invention, the removal unit is mounted on the mobile unit, blows air as the mobile unit moves, and stops blowing air as the mobile unit stops.

[0013] Furthermore, the automated warehouse system according to the present invention, in the above invention, further comprises a fire extinguishing unit mounted on the mobile unit and configured to extinguish a fire by releasing a fire extinguishing agent, a smoke detection unit configured to detect smoke generated within the warehouse, and a management device configured to identify the source of the smoke detected by the smoke detection unit, wherein the mobile unit moves to the source of the smoke identified by the management device, the fire extinguishing unit releases the fire extinguishing agent toward the source of the smoke, and the removal unit removes the fire extinguishing agent remaining as the obstruction substance by blowing air after the fire has been extinguished.

[0014] In addition, in the automated warehouse system according to the present invention, in the above invention, the removal unit removes the obstructing substances by blowing high-temperature air that is hotter than the air temperature inside the warehouse.

[0015] In addition, in the automated warehouse system according to the present invention, in the above invention, the removal unit increases the amount of air blowing when an error occurs in reading the identifier by the reading unit.

[0016] In addition, in the automated warehouse system according to the present invention, the removal unit increases the blower temperature when an error occurs in reading the identifier by the reading unit.

[0017] In addition, the automated warehouse system according to the present invention is characterized in that, in the above invention, the removal unit blows air to an area including a path of light used by the reading unit to read the identifier. [Effects of the Invention]

[0018] According to the present invention, it is possible to suppress the occurrence of reading errors when optically reading an identifier to recognize the position of a moving object. [Brief explanation of the drawings]

[0019] [Figure 1] FIG. 1 is a schematic diagram showing an example of the configuration of an automated warehouse system according to an embodiment of the present invention. [Figure 2] FIG. 2 is a schematic diagram showing the general configuration of the automated warehouse system shown in FIG. 1 when viewed from the side. [Figure 3] FIG. 3 is a schematic diagram showing the general configuration of the automated warehouse system shown in FIG. 1 when viewed from above. [Figure 4] FIG. 4 is a block diagram showing an example of the configuration of an automated warehouse system according to an embodiment of the present invention. [Figure 5]FIG. 5 is a schematic diagram showing an example of the configuration of a removal unit in an embodiment of the present invention. [Figure 6] FIG. 6 is a flow diagram showing an example of the operation of the automated warehouse system according to the embodiment of the present invention. [Figure 7] FIG. 7 is a flow diagram showing an example of the operation of the automated warehouse system when smoke occurs inside the warehouse. DETAILED DESCRIPTION OF THE INVENTION

[0020] A preferred embodiment of an automated warehouse system according to the present invention will be described in detail below with reference to the accompanying drawings. Note that the present invention is not limited to this embodiment. It should be noted that the drawings are schematic, and the dimensional relationships and ratios of each element may differ from those in reality. The drawings may also include parts with different dimensional relationships and ratios. In addition, the same components are designated by the same reference numerals in each drawing.

[0021] (Automated warehouse system configuration) First, the configuration of an automated warehouse system according to an embodiment of the present invention will be described. FIG. 1 is a schematic diagram showing an example of the configuration of an automated warehouse system according to an embodiment of the present invention. FIG. 2 is a schematic diagram showing the general configuration of the automated warehouse system shown in FIG. 1 when viewed from the side. FIG. 3 is a schematic diagram showing the general configuration of the automated warehouse system shown in FIG. 1 when viewed from above. FIG. 4 is a block diagram showing an example of the configuration of an automated warehouse system according to an embodiment of the present invention. An automated warehouse system 100 according to an embodiment of the present invention is a facility that uses a mobile object that moves along a predetermined path within a warehouse to load and unload items onto shelves within the warehouse. For example, as shown in FIGS. 1 to 4, the automated warehouse system 100 includes a stacker crane 1, an identifier placement unit 31, a power supply unit 40, shelves 50, a management device 60, and guide rails 71 and 72.

[0022] For the sake of convenience, the automated warehouse system 100 is defined as having an X, Y, and Z direction as shown in FIGS. 1 to 3 , but these directions do not limit the present invention. The X, Y, and Z directions are the directions of the respective axes in a Cartesian coordinate system of the X, Y, and Z axes, respectively. In this embodiment, the X direction is the left-right direction of the stacker crane 1, the Y direction is the front-rear direction of the stacker crane 1, and the Z direction is the up-down direction of the stacker crane 1. For example, the right side of the stacker crane 1 facing the front is defined as the positive X direction, and the left side is defined as the negative X direction. The front side of the stacker crane 1 is defined as the positive Y direction, and the rear side is defined as the negative Y direction. The upper side of the stacker crane 1 is defined as the positive Z direction, and the lower side is defined as the negative Z direction.

[0023] Stacker crane 1 is an example of a mobile object within a warehouse in automated warehouse system 100, and as shown in Figures 1 to 3, for example, includes a load handling unit 2 for processing loads of items and a mobile unit 7 for moving within the warehouse. Stacker crane 1 also includes a reading unit 10 for acquiring location information within the warehouse, a removal unit 12 for removing obstructing materials that may hinder the acquisition of location information, and a support base 16 for supporting removal unit 12. Stacker crane 1 also includes a camera 17 for checking the status of its current location within the warehouse, a fire extinguishing unit 18 for extinguishing fires, a function unit 19 with various functions, and a power receiving unit 22 for receiving drive power.

[0024] The cargo handling unit 2 is a unit that performs cargo handling, such as loading and unloading of articles onto shelves 50 installed in a warehouse. In detail, as shown in FIGS. 1 to 3 , the cargo handling unit 2 includes a lifting body 3, a lifting drive unit 4, an access unit 5, and a support column 6. The lifting body 3 is a structure with a bottom that opens on both the positive and negative sides in the X direction, and is attached to the support column 6 so that it can move up and down along the support column 6. The support column 6 is erected on the moving unit 7 so as to extend from the moving unit 7 in the Z direction. The lifting drive unit 4 is composed of an electric motor or the like, and is connected to the lifting body 3 via a drive chain (not shown) or the like. The lifting drive unit 4 raises and lowers the lifting body 3 along the support column 6. The access unit 5 is provided on the bottom of the lifting body 3, and is driven to move in and out of the lifting body 3 on both the positive and negative sides in the X direction. The cargo handling unit 2 raises and lowers the lifting body 3 to the position of a target storage section 51 on the shelf 50 by the operation of the lifting drive section 4, and then puts an article in and takes an article out of the storage section 51 by the operation of the entrance and exit section 5. In this way, the cargo handling unit 2 stores an article in the storage section 51 or carries an article out of the storage section 51.

[0025] The moving unit 7 is a unit that allows the stacker crane 1 to move along a predetermined path within the warehouse. Specifically, as shown in FIGS. 1 to 3, the moving unit 7 includes drive wheels 8a, driven wheels 8b, and a traveling drive unit 9, and functions as a self-propelled carriage for the stacker crane 1. The drive wheels 8a are rotatably mounted via an axle or the like on the rear of the main body of the moving unit 7. The drive wheels 8a are in contact with the floor surface within the warehouse and rotate by the driving force applied from the traveling drive unit 9. The driven wheels 8b are rotatably mounted via an axle or the like on the front of the main body of the moving unit 7. The driven wheels 8b are in contact with the floor surface like the drive wheels 8a and rotate in conjunction with the rotation of the drive wheels 8a. The traveling drive unit 9 is configured, for example, by an electric motor or the like, and generates the driving force required for the moving unit 7 to move (travel). The travel drive unit 9 applies the driving force to the drive wheels 8a via gears and axles (neither of which are shown), thereby rotating the drive wheels 8a so that the moving unit 7 can move forward or backward.

[0026] The moving unit 7 also includes guide wheels 24, 25 for regulating its movement direction to the route direction within the warehouse. More specifically, as shown in FIGS. 1 and 3 , the guide wheels 24 are rotatably supported on the lower part of the main body of the moving unit 7 so as to sandwich a guide rail 71, which is provided on the floor surface of the warehouse, from both the positive and negative sides in the X direction. These guide wheels 24 rotate while contacting the guide rail 71 from both the positive and negative sides in the X direction, thereby regulating the movement direction of the moving unit 7 to the extension direction (longitudinal direction) of the guide rail 71. Furthermore, the guide wheels 25 are rotatably supported on the upper part of the support column 6 on the moving unit 7 so as to sandwich a guide rail 72, which is provided on the upper part of a shelf 50 within the warehouse, from both the positive and negative sides in the X direction. These guide wheels 25 rotate while contacting the guide rail 72 from both the positive and negative sides in the X direction, thereby regulating the movement direction of the moving unit 7 to the extension direction (longitudinal direction) of the guide rail 72.

[0027] Here, the guide rails 71, 72 are provided along a path (a travel path in this embodiment) along which the mobile unit 7 moves within the warehouse. For example, this path is set in advance so that it passes in front of shelves 50 installed within the warehouse. The mobile unit 7 moves along this path within the warehouse while being guided along the guide rails 71, 72 by the action of the above-mentioned guide wheels 24, 25.

[0028] The reading unit 10 is a unit for reading position information of the stacker crane 1 within the warehouse. More specifically, the reading unit 10 is composed of an optical output unit, an image sensor, an optical system, etc. (none of which are shown), and is fixedly disposed relative to the moving unit 7. For example, as shown in FIGS. 1 and 3 , the reading unit 10 is supported by an arm-shaped support 11 attached to a power receiving unit 22 of the stacker crane 1, and is fixed to the main body of the moving unit 7 via the support 11 and the power receiving unit 22. At this time, the support 11 supports the reading unit 10 so that the optical system of the reading unit 10 and the front surface of the identifier placement unit 31 (the surface on which the identifier 30 is disposed) face each other. The reading unit 10 irradiates a scanning light onto the identifier 30 disposed on the identifier placement unit 31, receives the scanning light reflected from the identifier 30, and optically reads the identifier 30 by photoelectrically converting the received scanning light.

[0029] The identifier 30 is, for example, a barcode, a two-dimensional code, or the like, in which various pieces of information are coded so that they can be optically read. Specifically, the identifier 30 includes position information indicating a position on a route set within the warehouse. This route is the movement route (in this embodiment, the travel route) of the mobile unit 7 of the stacker crane 1 that moves within the warehouse, and is set in advance to pass in front of the shelves 50 installed within the warehouse. Hereinafter, unless otherwise specified, the term "route" refers to the movement route of the stacker crane 1 (specifically, the mobile unit 7) within the warehouse.

[0030] The identifier placement unit 31 is a unit provided along a route set in a warehouse, with the identifiers 30 arranged along the route. For example, the identifier placement unit 31 is provided on the floor of the warehouse so as to extend along the route within the warehouse. A required number of identifiers 30 (plural in FIG. 2) are arranged along the route on the front of the identifier placement unit 31 so that the positions on the route match the arrangement of the identifiers 30, which contain position information indicating the positions. As shown in FIGS. 1 to 3, the front of the identifier placement unit 31 faces the route (positive side in the X direction) and faces the optical system of the reading unit 10 described above. Note that in FIG. 2, the guide wheels 24 of the moving unit 7 and the guide rails 71 on the floor are omitted from the illustration in order to facilitate explanation of the identifiers 30 and the identifier placement unit 31.

[0031] Such an identifier placement unit 31 positions a plurality of identifiers 30 along a route within the warehouse, facing the route as shown in Figures 1 to 3. The reading unit 10 optically reads each of the plurality of identifiers 30. The mobile unit 7 can move (self-propel) along the route within the warehouse based on the position information included in the identifiers 30 read by the reading unit 10.

[0032] The removal unit 12 is a unit for removing obstructing substances that may hinder the reading unit 10 from reading the identifier 30. Specifically, the removal unit 12 is configured with a blower or the like, and is mounted on the moving unit 7. For example, as shown in FIGS. 1 and 3, the removal unit 12 is supported by a support base 16 provided on the main body of the moving unit 7. The support base 16 is fixed to the main body of the moving unit 7 so as to extend from the main body of the moving unit 7 toward the identifier placement section 31 (the negative side in the X direction in FIGS. 1 and 3). The removal unit 12 is disposed near the reading unit 10 while being supported by this support base 16. The removal unit 12 removes the above-mentioned obstructing substances from the reading unit 10, the identifier 30, etc., by, for example, blowing air.

[0033] Fig. 5 is a schematic diagram showing an example of the configuration of a removal unit in an embodiment of the present invention. As shown in Fig. 5, removal unit 12 includes a drive fan 13 for blowing air, a heater 14 for increasing the temperature of the blown air, and a housing 15. Housing 15 has an air outlet 15a and an air intake 15b, and houses drive fan 13 and heater 14.

[0034] As shown in FIG. 5, the drive fan 13 is composed of a fan 13a and an electric motor 13b. The fan 13a is attached to the drive shaft of the electric motor 13b. The electric motor 13b rotates the fan 13a via the drive shaft. As the fan 13a rotates, the drive fan 13 draws in outside air (gas inside the warehouse) through the air intake 15b of the housing 15 (see the arrow in FIG. 5), thereby generating room-temperature air. The room-temperature air has the same temperature as the air temperature inside the warehouse. The drive fan 13 sends out the generated room-temperature air from the air outlet 15a of the housing 15.

[0035] Heating unit 14 is configured using an electric heating wire or the like, and is disposed within housing 15 closer to air outlet 15a than drive fan 13, as shown in FIG. 5 . Heating unit 14 comes into contact with the room-temperature air generated by drive fan 13 and heats the room-temperature air. In this way, heating unit 14 generates high-temperature air. The high-temperature air is air (warm air) that is hotter than the temperature inside the warehouse. Heating unit 14 uses the blowing action of drive fan 13 to send the high-temperature air from air outlet 15a of housing 15. Although not shown, heating unit 14 may include a temperature sensor and a fuse, and when the temperature of the high-temperature air detected by the temperature sensor exceeds a predetermined upper temperature limit, the fuse may cut off the conduction of current to heating unit 14 to stop heating of the room-temperature air (generation of high-temperature air).

[0036] The removal unit 12 having the above-described configuration blows room-temperature or hot air into the optical region A shown in FIG. 3, removing the above-described obstructing substances from the optical region A. The optical region A is an area including the path L of light used by the reading unit 10 to read the identifier 30. The light includes scanning light irradiated from the reading unit 10 onto the identifier 30 and scanning light (reflected light) reflected from the identifier 30 and received by the reading unit 10. That is, the optical region A includes the optical system of the reading unit 10 that transmits and receives the scanning light, the path L of the scanning light, and the identifier 30 onto which the scanning light is irradiated. Examples of the above-described obstructing substances include foreign matter attached to the optical system of the reading unit 10 or the identifier 30, and foreign matter floating in the path L of the scanning light. These foreign matters include dust, fine particles, water droplets caused by condensation, mist, frost, etc. The removal unit 12 removes the above-mentioned obstructing substances by blowing the air as described above without contacting the reading unit 10 and the identifier 30. At this time, from the viewpoint of suppressing unnecessary air blowing, it is preferable that the removal unit 12 blows the air as the moving unit 7 moves and stops blowing the air as the moving unit 7 stops. Hereinafter, unless otherwise specified, the term obstructing substances refers to substances that may obstruct the reading of the identifier 30 by the reading unit 10, as described above.

[0037] Camera 17 is a device for checking the current location of stacker crane 1 within the warehouse. Camera 17 is provided on lifting body 3 of cargo handling unit 2, as shown in FIGS. 1 and 2, for example. Camera 17 moves together with lifting body 3 and captures, for example, images of storage section 51 of shelf 50 that lifting body 3 faces in the X direction. The images captured by camera 17 may be moving images (video) or still images (photographs).

[0038] The fire extinguishing unit 18 is a unit for extinguishing a fire that breaks out in a warehouse. In detail, as shown in FIGS. 1 to 3, the fire extinguishing unit 18 is composed of a tank that stores a fire extinguishing agent such as carbon dioxide fire extinguishing agent, a hose and a nozzle (neither of which are shown) that release the fire extinguishing agent from the tank, and is mounted on the main body of the mobile unit 7 as shown in FIGS. 1 to 3. The fire extinguishing unit 18 also has an elevation mechanism (not shown) for ascending and descending in the Z direction, and can ascend and descend along the support columns 6. The fire extinguishing unit 18 ascends and descends toward a storage section 51 on a shelf 50 installed in the warehouse where a fire has broken out, and releases fire extinguishing agent toward the source of the fire in the storage section 51. In this way, the fire extinguishing unit 18 can extinguish the fire.

[0039] The functional unit 19 is a unit for executing various functions related to the automated warehouse system 100. For example, the stacker crane 1 includes, as the functional unit 19, a communication unit 20 and a control unit 21 shown in FIG.

[0040] 4, the communication unit 20 performs communication (e.g., wireless communication) to transmit and receive information to and from the management device 60. For example, the communication unit 20 transmits event information indicating an event that has occurred in the stacker crane 1, images captured by the camera 17, and the like to the management device 60. Examples of such events include the start or stop of movement of the mobile unit 7, the occurrence of an error in reading the identifier 30 by the reading unit 10, the air blowing operation by the removal unit 12, and the release of fire extinguishing agent by the fire extinguishing unit 18. The communication unit 20 also receives information for operating the stacker crane 1 from the management device 60.

[0041] The control unit 21 controls each operation of the stacker crane 1. Specifically, the control unit 21 controls each operation of the load handling unit 2, the mobile unit 7, the reading unit 10, the removal unit 12, the camera 17, the fire extinguishing unit 18, and the communication unit 20 based on instructions from the management device 60. For example, the control unit 21 recognizes the current location of the mobile unit 7 within the warehouse from the location information included in the identifier 30 read by the reading unit 10, and controls the travel drive unit 9 so that the mobile unit 7 moves from its current location to the destination instructed by the management device. The control unit 21 also controls the removal unit 12 to blow air as the mobile unit 7 moves, and controls the removal unit 12 to stop blowing air when the mobile unit 7 stops. Furthermore, the control unit 21 controls the removal unit 12 to increase the airflow rate and / or increase the air temperature in response to the occurrence of an error in reading the identifier 30 by the reading unit 10. As a result, when the above-mentioned reading error occurs, the removal unit 12 increases the amount of air blown to remove the obstructing substance, or raises the temperature of the air blown, or performs both of these.

[0042] The power receiving unit 22 is a unit for receiving the power required to drive the stacker crane 1. Specifically, as shown in FIGS. 1 and 3 , the power receiving unit 22 includes a power collecting unit 23 and is provided on the main body of the moving unit 7 so as to extend from the stacker crane 1 on the same side as the reading unit 10 and the removing unit 12 (in this embodiment, the negative side in the X direction). The power collecting unit 23 is disposed in sliding contact with the power supply unit 40. The power supply unit 40 is a unit for supplying power and is disposed along a route set in the warehouse. For example, the power supply unit 40 is disposed at a predetermined location of the identifier placement unit 31 (at the lower end in FIGS. 1 and 2 ) and is disposed between the floor of the warehouse and the identifier placement unit 31. The power receiving unit 22 receives power from the power supply unit 40 via the power collecting unit 23. The power is supplied from the power receiving unit 22 to each component of the stacker crane 1, specifically to the cargo handling unit 2, the moving unit 7, the reading unit 10, the removal unit 12, the camera 17, the fire extinguishing unit 18, the communication unit 20, and the control unit 21. Furthermore, by providing the power supply unit 40 in the identifier placement unit 31, foreign matter on the power supply unit 40 (foreign matter such as dust that may cause poor contact between the power collection unit 23 and the power supply unit 40) can be removed by air blown from the removal unit 12.

[0043] The shelves 50 are facilities for storing and keeping items in a warehouse. More specifically, the shelves 50 are made up of frame members, plate members, etc., and are installed in a warehouse so that a plurality of shelves 50 are lined up at intervals necessary for a stacker crane 1 to pass through, as shown in FIG. 1, for example. Each of the plurality of shelves 50 has a storage section 51 for storing and keeping items. A plurality of storage sections 51 are formed on each shelf 50 so that they are lined up in both the Y direction and the Z direction, as shown in FIGS. 1 and 2, for example.

[0044] The shelves 50 are also provided with smoke detectors 52 for detecting fires that occur within the warehouse. For example, as shown in Figures 1 and 2, a smoke detector 52 is provided in each of the multiple storage units 51, and detects smoke that occurs within the warehouse for each storage unit 51. When each of the multiple smoke detectors 52 detects smoke, it transmits detection information to the management device 60 to notify the management device 60 of the detection of smoke.

[0045] The management device 60 is a device for managing the operation of the stacker crane 1 within the warehouse. For example, the management device 60 is configured with a computer or the like having a communication function, and as shown in FIG. 4, includes an operation unit 61, an output unit 62, and a memory unit 63. The operation unit 61 is a device for controlling the operation of the stacker crane 1 and is configured with, for example, an input device. The operation unit 61 inputs various information to the management device 60 in response to input operations by an operator. Examples of information input by the operation unit 61 include instruction information that instructs the operation of the stacker crane 1. The output unit 62 is a device that outputs information acquired from the stacker crane 1 or the smoke detection unit 52 in a visible form and is configured with, for example, a display unit. Examples of information output by the output unit 62 include event information for the stacker crane 1, image information from the camera 17, and detection information from the smoke detection unit 52. The memory unit 63 is configured with a storage device such as a memory or a hard disk, and stores, for example, various information necessary for managing the operation of the stacker crane 1 within the warehouse. The information stored in the storage unit 63 includes position information on the route within the warehouse, position information of each storage unit 51 on the shelf 50, and identification information of the item.

[0046] The management device 60 having the above-described configuration transmits instruction information to the stacker crane 1 in response to input operations on the operation unit 61 by an operator, thereby controlling the operation of the stacker crane 1. Based on the instruction information from the management device 60, the stacker crane 1 performs operations such as moving along routes within the warehouse and loading and unloading goods. The management device 60 may be a stationary device installed in a predetermined area, such as a management room partitioned inside or outside the warehouse, or it may be a portable device that can be carried by an operator.

[0047] (Automated warehouse system operation) Next, the operation of the automated warehouse system 100 according to an embodiment of the present invention will be described. Fig. 6 is a flow diagram showing an example of the operation of the automated warehouse system according to an embodiment of the present invention. In the automated warehouse system 100, the stacker crane 1 moves along a route within the warehouse to a destination based on instruction information from the management device 60, and carries items in and out of the storage section 51 of the shelf 50 located at the destination.

[0048] 6, the stacker crane 1 first acquires transport instruction information from the management device 60 (step S101). The transport instruction information is information that instructs the stacker crane 1 to perform operations such as loading and unloading an item onto and from a shelf 50 in a warehouse. For example, the transport instruction information includes position information indicating the position of the storage section 51 of the shelf 50 from which the item is to be loaded or unloaded, movement instruction information instructing movement to the position, and load / unload instruction information instructing loading and unloading of the item into and from the storage section 51 at the position. The position information of the storage section 51 also includes position information indicating the position in the movement direction (Y direction) of the moving unit 7 (hereinafter referred to as Y-direction position information), and position information indicating the position in the lifting direction (Z direction) of the lifting body 3 in the goods handling unit 2 (hereinafter referred to as Z-direction position information).

[0049] In step S101, the management device 60 transmits the above-mentioned transport instruction information to the stacker crane 1 for each item to be loaded or unloaded. In the stacker crane 1, the communication unit 20 receives the above-mentioned transport instruction information from the management device 60. The control unit 21 acquires the transport instruction information from the management device 60 via the communication unit 20. That is, the control unit 21 acquires position information, movement instruction information, and loading / unloading instruction information for the storage unit 51 of the target shelf 50. Furthermore, of the acquired position information, the control unit 21 recognizes the position indicated in the Y-direction position information as the destination of the movement unit 7, and the position indicated in the Z-direction position information as the destination of the lifting body 3.

[0050] After performing step S101 described above, the stacker crane 1 blows out room-temperature air to remove any obstructions that may impede the optical reading of the identifier 30, which includes position information on the path within the warehouse (step S102). In step S102, the control unit 21 controls the removal unit 12 to blow out room-temperature air. Based on this control, the removal unit 12 starts driving the drive fan 13, thereby generating room-temperature air. The removal unit 12 blows the generated room-temperature air from the air outlet 15a to the above-mentioned optical area A (see FIG. 3). By blowing air into this optical area A, the removal unit 12 can remove obstructions from the optical systems, such as the lenses of the reading unit 10, the surfaces of the identifier 30, and the path L of the scanning light (see FIG. 3).

[0051] Furthermore, in step S102, the control unit 21 generates event information indicating that the blowing of room temperature air has started, and controls the communication unit 20 to transmit the generated event information. Based on this control, the communication unit 20 transmits the event information to the management device 60. The management device 60 receives the event information from the communication unit 20, and stores the received event information in the memory unit 63. Furthermore, the output unit 62 displays this event information in a visible state, such as "Blowing of room temperature air has started."

[0052] After performing step S102 described above, the stacker crane 1 optically reads the identifier 30 (step S103). In step S103, the control unit 21 controls the reading unit 10 to optically read the identifier 30 while continuing to blow air to the removing unit 12 as described above. Based on this control, the reading unit 10 irradiates scanning light onto the identifier 30 on the front surface of the identifier placement unit 31 and receives the scanning light reflected from the identifier 30. The reading unit 10 photoelectrically converts the received scanning light (reflected light) and inputs the resulting electrical signal (hereinafter referred to as a photoelectric conversion signal) to the control unit 21. In this way, the reading unit 10 optically reads the identifier 30.

[0053] After executing step S103 described above, the stacker crane 1 determines whether or not a reading error has occurred in the identifier 30 (step S104). In step S104, the control unit 21 determines whether or not a reading error has occurred in the identifier 30 by the reading unit 10, based on the photoelectric conversion signal acquired from the reading unit 10 in the immediately preceding step S103. For example, the control unit 21 determines that a reading error has not occurred if the position information included in the identifier 30 can be acquired from the photoelectric conversion signal by the reading unit 10, and determines that a reading error has occurred if the position information cannot be acquired from the photoelectric conversion signal.

[0054] If no reading error occurs in the identifier 30 by the reading unit 10 (step S104, No), the stacker crane 1 recognizes its current location on the route within the warehouse (step S114). In step S114, the control unit 21 recognizes the position indicated in the position information obtained from the photoelectric conversion signal by the reading unit 10 as the current location of the mobile unit 7 on the route within the warehouse. This current location matches the location of the identifier 30 read by the reading unit 10, among the multiple identifiers 30 arranged along the route within the warehouse.

[0055] After executing step S114 described above, the stacker crane 1 moves from the current location to the destination (step S115). In step S115, the control unit 21 sets the position indicated in the Y-direction position information acquired in step S101 as the destination of the mobile unit 7, and controls the travel drive unit 9 of the mobile unit 7 so that the mobile unit 7 moves from the current location recognized in step S114 toward the destination. By driving the travel drive unit 9 based on this control, the mobile unit 7 moves (travels) from the current location to the destination along a route within the warehouse.

[0056] Furthermore, in step S115, the control unit 21 generates event information indicating that the mobile unit 7 has started moving, and controls the communication unit 20 to transmit the generated event information. As in the case of step S102 described above, the communication unit 20 transmits the event information to the management device 60, and the management device 60 stores the event information received from the communication unit 20 in the storage unit 63. Furthermore, the output unit 62 displays this event information in a visible state, such as "Stacker crane has started moving."

[0057] After executing step S115 described above, the stacker crane 1 determines whether it has arrived at the destination (step S116). In step S116, the control unit 21 determines whether the current location recognized in step S114 matches the destination acquired in step S101. If the current location and the destination match, the control unit 21 determines that the stacker crane 1 (more specifically, the mobile unit 7) has arrived at the destination, and if the current location and the destination do not match, the control unit 21 determines that the stacker crane 1 has not arrived at the destination.

[0058] If the destination has not been reached (step S116, No), the stacker crane 1 returns to step S102 described above and repeats the processing procedure from step S102 onwards. That is, the mobile unit 7 continues moving from its current location towards the destination, and the removal unit 12 continues blowing air as the mobile unit 7 moves. In addition, the reading unit 10 sequentially reads the multiple identifiers 30 lined up in front of the identifier placement unit 31 along the route within the warehouse as the mobile unit 7 moves.

[0059] Furthermore, in the above-described step S104, if an error occurs in reading the identifier 30 by the reading unit 10 (step S104, Yes), the stacker crane 1 increases the amount of air blown into the optical area A (step S105).

[0060] In step S105, the control unit 21 controls the reading unit 10 to temporarily suspend reading of the identifier 30, and also controls the removing unit 12 to increase the airflow rate and continue blowing air. Based on this control, the removing unit 12 increases the drive speed of the drive fan 13 (the rotation speed of the fan 13a), thereby increasing the volume of room-temperature air being blown. The removing unit 12 continues to blow the room-temperature air with the increased volume into the optical region A. Note that the reading unit 10 may continue reading the identifier 30 while the removing unit 12 is increasing the airflow rate; however, from the viewpoint of power saving, it is preferable to temporarily suspend reading of the identifier 30 based on the above control.

[0061] Furthermore, in step S105, the control unit 21 generates event information indicating that an error in reading the identifier 30 has occurred, that reading of the identifier 30 has been temporarily stopped, and that the volume of room-temperature air being blown has been increased, and controls the communication unit 20 to transmit the generated event information. As in the case of step S102 described above, the communication unit 20 transmits the event information to the management device 60, and the management device 60 stores the event information received from the communication unit 20 in the storage unit 63. Furthermore, the output unit 62 displays this event information in a visually recognizable manner, such as "An error in reading the identifier has occurred, reading of the identifier has been temporarily stopped, and the volume of room-temperature air being blown has been increased."

[0062] After performing step S105 described above, the stacker crane 1 performs optical reading of the identifier 30 (step S106). In step S106, the control unit 21 controls the reading unit 10 to resume reading of the identifier 30 while continuing the above-described air blowing to the removing unit 12. Based on this control, the reading unit 10 resumes irradiating the identifier 30 with scanning light, etc., and reads the identifier 30 again. The reading process of the identifier 30 by the reading unit 10 is the same as in step S103 described above.

[0063] Furthermore, in step S106, the control unit 21 generates event information indicating that the reading unit 10 has resumed reading of the identifier 30, and controls the communication unit 20 to transmit the generated event information. As in the case of step S102 described above, the communication unit 20 transmits the event information to the management device 60, and the management device 60 stores the event information received from the communication unit 20 in the storage unit 63. Furthermore, the output unit 62 displays this event information in a visible state, such as "Resuming reading of identifier."

[0064] After executing step S106 described above, the stacker crane 1 determines whether or not a reading error has occurred in the identifier 30 (step S107). In step S107, the control unit 21 determines whether or not a reading error has occurred in the reading unit 10 of the identifier 30, based on the photoelectric conversion signal acquired from the reading unit 10 in the immediately preceding step S106. This process of determining whether or not a reading error has occurred is the same as in step S104 described above.

[0065] If no reading error of the identifier 30 by the reading unit 10 has occurred (step S107, No), the stacker crane 1 proceeds to the above-mentioned step S114 and repeats the processing procedure from step S114 onwards. In this case, in the above-mentioned step S102, the control unit 21 may control the removing unit 12 to reduce the increased air flow rate. That is, the removing unit 12 may reduce the drive speed of the drive fan 13 based on this control, thereby continuing to blow room-temperature air with a reduced air flow rate (for example, room-temperature air at the air flow rate before the increase) into the optical area A.

[0066] On the other hand, if an error occurs in reading the identifier 30 by the reading unit 10 (Yes at step S107), the stacker crane 1 sends out hot air to the optical area A (step S108).

[0067] In step S108, the control unit 21 controls the reading unit 10 to temporarily suspend reading of the identifier 30 and controls the removal unit 12 to blow out hot air. Based on this control, the removal unit 12 continues driving the drive fan 13 and increases the air temperature using the heating unit 14. That is, the heating unit 14 heats the room temperature air generated by the drive fan 13, thereby generating hot air. The removal unit 12 blows the generated hot air from the air outlet 15a to the optical region A by the action of the drive fan 13, thereby removing obstructions from the optical region A. Note that the reading unit 10 may continue reading the identifier 30 while the removal unit 12 is increasing the air temperature (generating hot air); however, from the viewpoint of power saving, it is preferable to temporarily suspend reading of the identifier 30 based on the above control.

[0068] Furthermore, in step S108, the control unit 21 generates event information indicating that an error has occurred in reading the identifier 30, that reading of the identifier 30 has been temporarily stopped, and that the blowing of hot air has started, and controls the communication unit 20 to transmit the generated event information. As in the case of step S102 described above, the communication unit 20 transmits the event information to the management device 60, and the management device 60 stores the event information received from the communication unit 20 in the storage unit 63. Furthermore, the output unit 62 displays this event information in a visible manner, such as "An error has occurred in reading the identifier, reading of the identifier has been temporarily stopped, and the blowing of hot air has started."

[0069] After performing step S108 described above, the stacker crane 1 performs optical reading of the identifier 30 (step S109). In step S109, the control unit 21 controls the reading unit 10 to resume reading of the identifier 30 while continuing the above-described air blowing to the removing unit 12. Based on this control, the reading unit 10 resumes irradiating the identifier 30 with scanning light, etc., and reads the identifier 30 again. The reading process of the identifier 30 by the reading unit 10 is the same as in step S103 described above.

[0070] Furthermore, in step S109, the control unit 21 generates event information indicating that the reading unit 10 has resumed reading of the identifier 30, and controls the communication unit 20 to transmit the generated event information. As in the case of step S102 described above, the communication unit 20 transmits the event information to the management device 60, and the management device 60 stores the event information received from the communication unit 20 in the storage unit 63. Furthermore, the output unit 62 displays this event information in a visible state, such as "Resuming reading of identifier."

[0071] After executing the above-mentioned step S109, the stacker crane 1 determines whether or not a reading error has occurred in the identifier 30 (step S110). In step S110, the control unit 21 determines whether or not a reading error has occurred in the reading unit 10 of the identifier 30, based on the photoelectric conversion signal acquired from the reading unit 10 in the immediately preceding step S109. This process of determining whether or not a reading error has occurred is the same as in the case of the above-mentioned step S104.

[0072] If no reading error of the identifier 30 by the reading unit 10 has occurred (No in step S110), the stacker crane 1 proceeds to step S114 described above and repeats the processing procedure from step S114 onwards. In this case, in step S102 described above, the control unit 21 may control the removing unit 12 to lower the increased air temperature. That is, based on this control, the removing unit 12 may lower the heating temperature of the room-temperature air by the heating unit 14 or stop the heating unit 14, thereby continuing to blow the high-temperature air or room-temperature air with the lowered air temperature into the optical area A.

[0073] On the other hand, if an error occurs in reading the identifier 30 by the reading unit 10 (Yes in step S110), the stacker crane 1 increases the amount of air blown into the optical area A (step S111).

[0074] In step S111, the control unit 21 controls the reading unit 10 to temporarily suspend reading of the identifier 30, and also controls the removing unit 12 to increase the airflow rate and continue blowing out the hot air. Based on this control, the removing unit 12 increases the drive speed of the drive fan 13 while continuing to generate the hot air (increase the airflow temperature) using the heating unit 14. This causes the removing unit 12 to increase the airflow rate of the hot air. The removing unit 12 continues to blow the hot air with the increased airflow rate into the optical region A. Note that the reading unit 10 may continue reading the identifier 30 while the removing unit 12 is increasing the airflow rate of the hot air; however, from the viewpoint of power saving, it is preferable to temporarily suspend reading of the identifier 30 based on the above control.

[0075] Furthermore, in step S111, the control unit 21 generates event information indicating that an error in reading the identifier 30 has occurred, that reading of the identifier 30 has been temporarily stopped, and that the volume of hot air being blown has been increased, and controls the communication unit 20 to transmit the generated event information. As in the case of step S102 described above, the communication unit 20 transmits the event information to the management device 60, and the management device 60 stores the event information received from the communication unit 20 in the storage unit 63. Furthermore, the output unit 62 displays this event information in a visually recognizable manner, such as "An error in reading the identifier has occurred, reading of the identifier has been temporarily stopped, and the volume of hot air being blown has been increased."

[0076] After performing step S111 described above, the stacker crane 1 performs optical reading of the identifier 30 (step S112). In step S112, the control unit 21 controls the reading unit 10 to resume reading of the identifier 30 while continuing to blow the above-described high-temperature air to the removing unit 12. Based on this control, the reading unit 10 resumes irradiating the identifier 30 with scanning light, etc., and reads the identifier 30 again. The reading process of the identifier 30 by the reading unit 10 is the same as in step S103 described above.

[0077] Furthermore, in step S112, the control unit 21 generates event information indicating that the reading unit 10 has resumed reading of the identifier 30, and controls the communication unit 20 to transmit the generated event information. As in the case of step S102 described above, the communication unit 20 transmits the event information to the management device 60, and the management device 60 stores the event information received from the communication unit 20 in the storage unit 63. Furthermore, the output unit 62 displays this event information in a visible state, such as "Resuming reading of identifier."

[0078] After executing the above-mentioned step S112, the stacker crane 1 determines whether or not a reading error has occurred in the identifier 30 (step S113). In step S113, the control unit 21 determines whether or not a reading error has occurred in the reading unit 10 of the identifier 30, based on the photoelectric conversion signal acquired from the reading unit 10 in the immediately preceding step S112. This process of determining whether or not a reading error has occurred is the same as in the case of the above-mentioned step S104.

[0079] If no reading error of the identifier 30 by the reading unit 10 has occurred (step S113, No), the stacker crane 1 proceeds to the above-mentioned step S114 and repeats the processing procedure from step S114 onwards. In this case, in the above-mentioned step S102, the control unit 21 may control the removing unit 12 to reduce both the blowing air temperature and the blowing air volume. That is, based on this control, the removing unit 12 may reduce the driving speed of the drive fan 13 and reduce the heating temperature of the room-temperature air by the heating unit 14 or stop the heating unit 14, thereby continuously blowing high-temperature air or room-temperature air with a reduced blowing air temperature and blowing air volume into the optical area A.

[0080] On the other hand, if an error occurs in reading the identifier 30 by the reading unit 10 (step S113, Yes), the stacker crane 1 notifies the management device 60 that the identifier 30 cannot be read (step S118), and ends this process. At this stage, even if the removal unit 12 sends out high-temperature air with an increased airflow rate into the optical area A, the reading unit 10 is unable to read the identifier 30 normally due to the influence of the obstructing substance.

[0081] In step S118, the control unit 21 generates event information indicating that the reading unit 10 cannot read the identifier 30, and controls the communication unit 20 to transmit the generated event information. As in step S102 described above, the communication unit 20 transmits the event information to the management device 60, and the management device 60 stores the event information received from the communication unit 20 in the storage unit 63. In this way, the information that the reading unit 10 cannot read the identifier 30 is notified to the management device 60. Furthermore, the output unit 62 displays this event information in a visible state, such as "Unable to read identifier." Furthermore, the output unit 62 may notify the worker that the reading unit 10 cannot read the identifier 30 by outputting sound, light, or the like.

[0082] On the other hand, if the destination has been reached in step S116 (step S116, Yes), the stacker crane 1 executes a transport process such as carrying in and out of the article to and from the storage section 51 of the shelf 50 (step S117).

[0083] In step S117, the control unit 21 controls the travel drive unit 9 to stop at the destination. As a result, the mobile unit 7 stops at the position of the shelf 50 indicated by the Y-direction position information from the management device 60. Next, based on the Z-direction position information from the management device 60, the control unit 21 controls the lift drive unit 4 so that the lift body 3 moves up and down to the position of the storage section 51 of the target shelf 50. Furthermore, based on the loading / unloading instruction information from the management device 60, the control unit 21 controls the loading / unloading unit 5 to load / unload items into / from the storage section 51. The goods handling unit 2 operates based on this control to load / unload items into / from the storage section 51. Thereafter, the stacker crane 1 may wait at its current location until it receives the next transport instruction information from the management device 60, or may move to a desired location in the warehouse (e.g., a collection area). The movement of the stacker crane 1 may be automatic or may be manually operated using the operation unit 61 of the management device 60.

[0084] Furthermore, in step S117, the control unit 21 generates event information indicating that the item transfer process has been executed, and controls the communication unit 20 to transmit the generated event information. As in the case of step S102 described above, the communication unit 20 transmits the event information to the management device 60, and the management device 60 stores the event information received from the communication unit 20 in the storage unit 63. Furthermore, the output unit 62 displays this event information in a visible manner, such as "Item transfer has been completed."

[0085] After executing the above-mentioned step S117, the stacker crane 1 returns to the above-mentioned step S101 and repeats the processing procedure from step S101 onwards. In this case, in the above-mentioned step S102, the removing unit 12, based on the control by the control unit 21, sends out room temperature air to the optical area A as the moving unit 7 moves.

[0086] Next, the operation of the automated warehouse system 100 when smoke breaks out due to a fire or the like inside the warehouse will be described. FIG. 7 is a flow diagram showing an example of the operation of the automated warehouse system when smoke breaks out inside the warehouse. When smoke breaks out due to a fire or the like inside the warehouse, the smoke is detected by the smoke detection unit 52 of the storage unit 51 closest to the source of the smoke (e.g., the fire) among multiple storage units 51 on shelves 50 inside the warehouse. In the automated warehouse system 100, the management device 60 identifies the source of the smoke detected by the smoke detection unit 52 and transmits instruction information to the stacker crane 1 instructing it to move to this source, etc. Based on the instruction information from the management device 60, the stacker crane 1 performs operations such as moving to the source of the smoke, extinguishing the fire, and removing obstructions.

[0087] 7, the stacker crane 1 first acquires movement instruction information from the management device 60 (step S201). The movement instruction information is information that instructs the stacker crane 1 to move to the location where the smoke detected by the smoke detection unit 52 is occurring. For example, the movement instruction information includes location information that indicates the location where the detected smoke is occurring and instruction information that instructs movement to that location. The location information also includes Y-direction position information and Z-direction position information that identify the location of the storage unit 51 on the shelf 50 where the smoke is occurring.

[0088] In step S201, each time the management device 60 acquires smoke detection information from the smoke detection unit 52, it identifies the location of the smoke generation within the warehouse based on the acquired detection information. For example, the management device 60 identifies the location of the smoke generation, among multiple storage units 51 on a shelf 50 installed within the warehouse, where the smoke detection unit 52 that transmitted the detection information is installed. The management device 60 then transmits movement instruction information to the stacker crane 1, instructing the stacker crane 1 to move to the identified smoke generation location. In the stacker crane 1, the communication unit 20 receives the movement instruction information from the management device 60. The control unit 21 acquires the movement instruction information from the management device 60 via the communication unit 20. Of the position information included in the acquired movement instruction information, the control unit 21 recognizes the position indicated in the Y-direction position information as the destination of the mobile unit 7, and the position indicated in the Z-direction position information as the destination of the fire extinguishing unit 18 (e.g., the location of the source of the fire).

[0089] After performing step S201 described above, the stacker crane 1 blows out room-temperature air to remove obstructing substances that may hinder the optical reading of the identifier 30, which includes position information on the path within the warehouse (step S202). In step S202, the removal unit 12 blows room-temperature air into the optical region A, similar to the case of step S102 described above (see FIG. 6). By blowing air into this optical region A, the removal unit 12 can remove obstructing substances from the optical system, such as the lens of the reading unit 10, the surfaces of the identifier 30, and the path L of the scanning light (see FIG. 3).

[0090] Furthermore, in step S202, control unit 21 generates event information indicating that the blowing of room-temperature air has started, and controls communication unit 20 to transmit the generated event information. The transmission of the event information from communication unit 20 to management device 60 and the processing of the event information in management device 60 are similar to those in step S102 described above.

[0091] After executing the above-mentioned step S202, the stacker crane 1 performs optical reading of the identifier 30 (step S203). In step S103, the reading unit 10 optically reads the identifier 30 based on the control of the control unit 21, as in the case of the above-mentioned step S103, and inputs a photoelectric conversion signal indicating the reading result of the identifier 30 to the control unit 21.

[0092] After executing step S203 described above, the stacker crane 1 recognizes its current location on the route within the warehouse (step S204). In step S204, the control unit 21 acquires the position information contained in the identifier 30 based on the photoelectric conversion signal from the reading unit 10, and recognizes the position indicated in the acquired position information as the current location of the mobile unit 7 on the route within the warehouse. This current location matches the location of the identifier 30 read by the reading unit 10, among the multiple identifiers 30 arranged along the route within the warehouse.

[0093] After executing step S204 described above, the stacker crane 1 moves from its current location to its destination, the location where the smoke was generated (step S205). In step S205, the control unit 21 sets the location indicated by the Y-direction position information acquired in step S201 as the destination of the mobile unit 7, and controls the travel drive unit 9 of the mobile unit 7 so that the mobile unit 7 moves from its current location recognized in step S204 toward the destination. By driving the travel drive unit 9 based on this control, the mobile unit 7 moves (travels) from its current location to the destination, i.e., the location where the smoke was generated identified by the management device 60, along a route within the warehouse.

[0094] Furthermore, in step S205, the control unit 21 generates event information indicating that the mobile unit 7 has started moving, and controls the communication unit 20 to transmit the generated event information. The transmission of the event information from the communication unit 20 to the management device 60 and the processing of the event information in the management device 60 are the same as in step S115 described above.

[0095] After executing step S205 described above, the stacker crane 1 determines whether it has arrived at the destination (step S206). In step S206, the control unit 21 determines whether the current location recognized in step S204 matches the destination acquired in step S201. If the current location and the destination match, the control unit 21 determines that the stacker crane 1 (more specifically, the mobile unit 7) has arrived at the destination, and if the current location and the destination do not match, the control unit 21 determines that the stacker crane 1 has not arrived at the destination.

[0096] If the stacker crane 1 has not arrived at the destination (No in step S206), the stacker crane 1 returns to step S202 described above and repeats the processing procedure from step S202 onwards. That is, the mobile unit 7 continues moving from its current location towards the destination, and the removal unit 12 continues blowing air as the mobile unit 7 moves. In addition, the reading unit 10 sequentially reads the multiple identifiers 30 lined up in front of the identifier placement unit 31 along the route within the warehouse as the mobile unit 7 moves.

[0097] Furthermore, when the stacker crane 1 has arrived at the destination (step S206, Yes), the stacker crane 1 transmits an image of the location where the smoke is occurring to the management device 60 (step S207). In step S207, the control unit 21 controls the travel drive unit 9 so that the mobile unit 7 stops at the destination, and then controls the camera 17 so that it starts capturing images. Based on this control, the camera 17 captures an image (moving image or still image) of the location where the smoke is occurring, and inputs the data of the captured image to the control unit 21. The control unit 21 generates an image signal including data of the image acquired from the camera 17, and controls the communication unit 20 to transmit the generated image signal. Based on this control, the communication unit 20 transmits the generated image signal to the management device 60. The management device 60 receives the image signal from the communication unit 20, and constructs an image captured by the camera 17 based on the received image signal. The output unit 62 outputs (displays) this constructed image.

[0098] 1 and 2, when the camera 17 is provided on the lifting body 3 of the load handling unit 2, the control unit 21 controls the lifting drive unit 4 so that the lifting body 3 rises and falls to the position indicated in the Z-direction position information acquired in step S201. Based on this control, the lifting body 3 rises and falls to the position indicated in the Z-direction position information, i.e., the position of the storage unit 51 of the shelf 50 from which the smoke is occurring. The camera 17 rises and falls together with the lifting body 3, allowing it to capture the location from which the smoke is occurring within its field of view.

[0099] After executing step S207 described above, the stacker crane 1 waits for instructions from the management device 60 (step S208). At this stage, the worker can determine whether or not a fire has broken out at the location in the warehouse where the smoke is coming from by visually checking the image displayed on the output unit 62 of the management device 60. The worker operates (for example, remotely controls) the stacker crane 1 using the operation unit 61 of the management device 60 depending on the result of the determination of whether or not a fire has broken out.

[0100] In step S208, the control unit 21 determines whether or not an instruction has been received from the management device 60. For example, the management device 60 transmits instruction information instructing the operation of the stacker crane 1 to the communication unit 20 in response to an operator's operation of the operation unit 61. The communication unit 20 receives the instruction information from the management device 60 and inputs the received instruction information to the control unit 21. When the control unit 21 acquires instruction information from the management device 60 via the communication unit 20, it determines that an instruction has been received from the management device 60, and when the control unit 21 has not acquired the instruction information, it determines that an instruction has not been received from the management device 60.

[0101] If there is no instruction from the management device 60 (step S208, No), the stacker crane 1 returns to step S207 and repeats the processing procedure from step S207 onwards. In other words, the stacker crane 1 waits at the current location while waiting for an instruction from the management device 60.

[0102] On the other hand, if there is an instruction from the management device 60 (step S208, Yes), the stacker crane 1 determines whether or not the instruction from the management device 60 is an instruction to extinguish a fire (step S209). In step S209, the control unit 21 determines whether or not the instruction information acquired in step S208 is an instruction to extinguish a fire, that is, whether or not an instruction to extinguish a fire has been issued from the management device 60.

[0103] For example, if a fire breaks out in a warehouse, the management device 60 transmits fire extinguishing instruction information to the stacker crane 1 in response to an operator's operation of the operation unit 61. The communication unit 20 receives the fire extinguishing instruction information from the management device 60, and the control unit 21 acquires the fire extinguishing instruction information from the communication unit 20. When the control unit 21 acquires the fire extinguishing instruction information, it determines that the management device 60 has issued an instruction to extinguish the fire. When the control unit 21 does not acquire the fire extinguishing instruction information, it determines that the management device 60 has not issued an instruction to extinguish the fire.

[0104] If a fire extinguishing command is received from the management device 60 (step S209, Yes), the stacker crane 1 extinguishes the fire using the fire extinguishing unit 18 mounted on the mobile unit 7 (step S210). In step S210, the control unit 21 controls the fire extinguishing unit 18 to ascend and descend to the position (the position of the source of the fire) indicated in the Z-direction position information acquired in step S201. The fire extinguishing unit 18 ascends and descends based on this control, and arrives at the position of the storage section 51 of the shelf 50 where the source of the fire is located. Next, the control unit 21 controls the fire extinguishing unit 18 to begin discharging a fire extinguishing agent. Based on this control, the fire extinguishing unit 18 discharges the fire extinguishing agent toward the source of the fire (i.e., the location where smoke due to the fire is being generated). In this way, the fire extinguishing unit 18 extinguishes the fire in the warehouse.

[0105] Furthermore, in step S210, control unit 21 generates event information indicating that the fire has been extinguished, and controls communication unit 20 to transmit the generated event information. Similar to the case of step S102 described above, communication unit 20 transmits the event information to management device 60, and management device 60 stores the event information received from communication unit 20 in storage unit 63. Furthermore, output unit 62 displays this event information in a visible state, such as "Fire extinguished."

[0106] After executing step S210 described above, the stacker crane 1 blows hot air toward the optical area A (step S211). After the fire has been extinguished, foreign matter such as the fire extinguishing agent released in step S210 or water droplets due to condensation may remain as obstructions in the identifier 30 in front of the identifier placement unit 31, the optical system of the reading unit 10, and the space between the identifier 30 and the reading unit 10 (path L of the scanning light). For example, because a fire extinguishing agent such as carbon dioxide has a higher specific gravity than air, it tends to accumulate near the identifier placement unit 31 or other areas near the floor inside the warehouse after being released from the fire extinguishing unit 18. In the stacker crane 1, the removal unit 12 blows air to remove foreign matter such as the fire extinguishing agent remaining as obstructions after the fire has been extinguished.

[0107] More specifically, in step S211, the control unit 21 controls the reading unit 10 to temporarily suspend reading of the identifier 30, and also controls the removal unit 12 to blow out hot air. The removal unit 12 generates hot air as in step S108 described above by operating based on this control, and blows the generated hot air from the air outlet 15a into the optical region A. The removal unit 12 uses this air blowing to remove obstructing substances such as fire extinguishing agents from the optical region A. Note that the reading unit 10 may continue reading the identifier 30 while the removal unit 12 is generating the hot air; however, from the viewpoint of power saving, it is preferable to temporarily suspend reading of the identifier 30 based on the above control.

[0108] Furthermore, in step S211, the control unit 21 generates event information indicating that reading of the identifier 30 has been temporarily stopped and that the blowing of hot air has started, and controls the communication unit 20 to transmit the generated event information. As in the case of step S102 described above, the communication unit 20 transmits the event information to the management device 60, and the management device 60 stores the event information received from the communication unit 20 in the storage unit 63. Furthermore, the output unit 62 displays this event information in a visible manner, such as "reading of the identifier has been temporarily stopped and the blowing of hot air has started."

[0109] After performing step S211 described above, the stacker crane 1 optically reads the identifier 30 (step S212). In step S212, the control unit 21 controls the reading unit 10 to read the identifier 30 while continuing to blow air to the removing unit 12 described above. Based on this control, the reading unit 10 performs operations such as irradiating the identifier 30 with a scanning light to read the identifier 30. The reading process of the identifier 30 by the reading unit 10 is the same as in step S103 described above.

[0110] Furthermore, in step S212, the control unit 21 generates event information indicating that the reading unit 10 has read the identifier 30, and controls the communication unit 20 to transmit the generated event information. As in the case of step S102 described above, the communication unit 20 transmits the event information to the management device 60, and the management device 60 stores the event information received from the communication unit 20 in the storage unit 63. Furthermore, the output unit 62 displays this event information in a visible state, such as "reading of identifier executed."

[0111] After executing the above-mentioned step S212, the stacker crane 1 determines whether or not a reading error has occurred in the identifier 30 (step S213). In step S213, the control unit 21 determines whether or not a reading error has occurred in the reading unit 10 of the identifier 30, based on the photoelectric conversion signal acquired from the reading unit 10 in the immediately preceding step S212. This process of determining whether or not a reading error has occurred is the same as in the case of step S104 described above.

[0112] If an error occurs in reading the identifier 30 by the reading unit 10 (Yes in step S213), the stacker crane 1 returns to step S211 described above and repeats the processing procedure from step S211 onwards. In this case, the control unit 21 generates event information indicating that an error has occurred in reading the identifier 30, as in the case of step S108 described above, and controls the communication unit 20 to transmit the generated event information. The communication unit 20 transmits the event information to the management device 60, and the management device 60 stores the event information received from the communication unit 20 in the memory unit 63. The output unit 62 also displays this event information in a visible manner, such as "An error has occurred in reading the identifier and hot air is being blown out."

[0113] Furthermore, if no reading error occurs in the identifier 30 by the reading unit 10 (step S213, No), the stacker crane 1 executes predetermined post-processing after the fire has been extinguished (step S214), and ends this process. In step S214, the control unit 21 controls each drive unit of the stacker crane 1 to execute the predetermined post-processing. For example, as the post-processing, the load handling unit 2 carries out the fire-extinguished items from the storage section 51 of the shelf 50, and the mobile unit 7 moves to the position of a water tank (not shown) set up in the warehouse, thereby transporting the fire-extinguished items to that position. The load handling unit 2 also submerges the transported items in the water tank. Thereafter, the mobile unit 7 moves back to its original position before moving to the smoke source.

[0114] On the other hand, if no fire extinguishing command has been issued from the management device 60 in the above-mentioned step S209 (step S209, No), the stacker crane 1 executes a predetermined recovery process (step S215) and ends this process. For example, the worker visually checks the image (image of the location where the smoke is coming from) displayed on the output unit 62 of the management device 60, and if no fire is seen, determines that the smoke in the warehouse is not caused by a fire (i.e., there is no fire in the warehouse).

[0115] In step S215, the management device 60 transmits instruction information instructing the stacker crane 1 to perform the return process in response to the operator's operation of the operation unit 61. The communication unit 20 receives the instruction information for the return process from the management device 60, and the control unit 21 acquires the instruction information from the communication unit 20. Based on the acquired instruction information, the control unit 21 controls each drive unit of the stacker crane 1 to execute the return process. For example, as the return process, the mobile unit 7 moves so as to return to its original position before moving to the smoke generation location.

[0116] As described above, in the automated warehouse system 100 according to an embodiment of the present invention, identifiers 30 are arranged along a route in a warehouse in identifier placement units 31 provided along the route so that the position on the route matches the position of the identifier 30, which includes position information indicating the position. The automated warehouse system 100 is equipped with a reading unit 10 that optically reads the identifier 30 arranged in the identifier placement unit 31, a mobile unit 7 that moves along the route based on the position information included in the identifier 30 read by the reading unit 10, and a removal unit 12 that removes obstructing substances that may hinder the reading of the identifier 30 by the reading unit 10. This allows the optical reading of the identifier 30 to be performed without being hindered by obstructing substances, thereby reducing the occurrence of reading errors when optically reading the identifier 30 to recognize the position of the stacker crane 1 (an example of a mobile object that moves along a route in a warehouse).

[0117] Furthermore, in the automated warehouse system 100 according to the embodiment of the present invention, obstructing substances are removed by blowing air from the removal unit 12. This allows the obstructing substances to be removed without contacting the identifier 30 and the reading unit 10, thereby preventing damage or breakage of the identifier 30 and the reading unit 10 that would otherwise occur when the obstructing substances are removed.

[0118] Furthermore, in the automated warehouse system 100 according to an embodiment of the present invention, the removal unit 12 is mounted on the mobile unit 7, and the removal unit 12 blows air as the mobile unit 7 moves, and stops blowing air when the mobile unit 7 stops. Therefore, when the mobile unit 7 is moving, which is a time when obstructing substances are relatively likely to be generated, obstructing substances can be efficiently removed by the air blown by the removal unit 12, and when the mobile unit 7 is stopped, which is a time when obstructing substances are relatively unlikely to be generated, the air blown by the removal unit 12 can be stopped, thereby reducing power consumption during the air blowing.

[0119] Furthermore, the automated warehouse system 100 according to an embodiment of the present invention includes a fire extinguishing unit 18 mounted on a mobile unit 7 and configured to extinguish a fire by releasing a fire extinguishing agent, a smoke detection unit 52 configured to detect smoke generated within the warehouse, and a management device 60 configured to identify the source of the smoke detected by the smoke detection unit 52, wherein the mobile unit 7 moves to the source of the smoke identified by the management device 60, the fire extinguishing unit 18 releases a fire extinguishing agent toward the source of the smoke, and the removal unit 12 removes by blowing air any remaining fire extinguishing agent that remains as an obstruction after the fire has been extinguished. This allows a fire that has occurred within the warehouse to be extinguished, and the reading unit 10 to read the identifier 30 without being obstructed by the fire extinguishing agent used to extinguish the fire.

[0120] Furthermore, in the automated warehouse system 100 according to the embodiment of the present invention, obstructing substances are removed by high-temperature air blown from the removal unit 12. This makes it possible to easily remove obstructing substances that are difficult to remove with room-temperature air, such as water droplets (water droplets due to condensation), fog, and frost that form on the identifier 30 or the reading unit 10 due to a drop in temperature inside the warehouse or a drop in temperature after a fire has been extinguished.

[0121] Furthermore, in the automated warehouse system 100 according to the embodiment of the present invention, if an error occurs in reading the identifier 30 by the reading unit 10, the airflow rate of the removal unit 12 is increased. This increases the power of the airflow of the removal unit 12 to remove obstructing substances, thereby removing the obstructing substance that caused the reading error and eliminating the reading error.

[0122] Furthermore, in the automated warehouse system 100 according to the embodiment of the present invention, if an error occurs in reading the identifier 30 by the reading unit 10, the air temperature of the removal unit 12 is increased. This increases the power of the air blown by the removal unit 12 to remove obstructing substances, thereby removing the obstructing substance that caused the reading error and eliminating the reading error.

[0123] Furthermore, in the automated warehouse system 100 according to the embodiment of the present invention, air is blown from the removal unit 12 to the optical region A (a region including the path L of the scanning light used by the reading unit 10 to read the identifier 30). Therefore, obstructing substances such as foreign matter adhering to the surface of the optical system of the reading unit 10, foreign matter adhering to the surface of the identifier 30, and foreign matter floating between the reading unit 10 and the identifier 30 can be efficiently removed from the optical region A by the air blown by the removal unit 12.

[0124] In the above-described embodiment, the removal unit 12 blows air, the reading unit 10 reads the identifier 30, and a determination is made as to whether a reading error has occurred for the identifier 30 while the automated warehouse system 100 is operating, such as when the stacker crane 1 transports items. However, the present invention is not limited to this. In the present invention, the operations of the reading unit 10 and the removal unit 12, as well as the determination as to whether a reading error has occurred for the identifier 30, may be performed before the automated warehouse system 100 starts operating or after the automated warehouse system 100 has stopped operating. For example, before the automated warehouse system 100 starts operating, the stacker crane 1 may travel one or more round trips along a route within the warehouse, and the removal unit 12 may blow room-temperature air into the optical area A. This allows for the advance removal of obstructing materials that have occurred or accumulated in the optical area A before the automated warehouse system 100 starts operating. Alternatively, at a predetermined timing before the operation of the automated warehouse system 100 is stopped (for example, when the stacker crane 1 has only a few laps or round trips left to make along the route within the warehouse before it stops), the removal unit 12 may continuously blow room temperature air into the optical area A while the stacker crane 1 is moving.

[0125] Furthermore, in the above-described embodiment, a single-mast stacker crane 1 in which the lifting body 3 of the cargo handling unit 2 is supported by a single support column 6 has been given as an example of a mobile body that moves along a route within a warehouse, but the present invention is not limited to this. In the present invention, the stacker crane 1 may be a twin-mast type in which the lifting body 3 is supported by two support columns 6. Furthermore, the mobile body is not limited to the stacker crane 1, but may also be a self-propelled transport vehicle such as an automated guided vehicle (AGV), or an air vehicle such as a drone.

[0126] Furthermore, in the above-described embodiment, a non-contact type removal unit 12 that uses airflow to remove obstructing substances that may cause errors in reading the identifier 30 by the reading unit 10 has been exemplified, but the present invention is not limited to this. In the present invention, the removal unit 12 may be a contact type that removes obstructing substances while contacting the optical area A with a brush or the like. Furthermore, while the removal unit 12 is fixed to the support base 16, the present invention is not limited to this and may be rotatably supported on the support base 16 via a rotation axis (not shown) whose longitudinal axis is in the Z direction. In this case, the removal unit 12 may blow air toward the optical area A while rotating (swinging) so as to change the airflow direction between the reading unit 10 and the identifier 30.

[0127] Furthermore, in the above-described embodiment, a single removal unit 12 is provided on the stacker crane 1, but the present invention is not limited to this. In the present invention, a plurality of removal units 12 may be provided on a mobile body such as the stacker crane 1. In this case, the plurality of removal units 12 may include a removal unit that blows room temperature air and a removal unit that blows hot air, or may include a removal unit that blows air toward the identifier 30, a removal unit that blows air toward the optical system of the reading unit 10, and a removal unit that blows air toward the path L of the scanning light. Furthermore, the removal unit 12 may be provided on a self-propelled or flying mobile body separate from the mobile unit 7, and may, for example, move independently of the mobile unit 7 to approach the optical region A when removing an obstructing substance.

[0128] In addition, in the above-described embodiment, the removal unit 12 is illustrated as including the drive fan 13 that generates room-temperature air and the heating unit 14 that heats the room-temperature air to generate high-temperature air, but the present invention is not limited to this. In the present invention, the removal unit 12 may heat the room-temperature air generated by the drive fan 13, for example, by using exhaust heat from a moving body, thereby generating high-temperature air. In this case, the removal unit 12 does not need to be equipped with the heating unit 14.

[0129] Furthermore, in the above-described embodiment, when an error in reading the identifier 30 occurs, the volume of room-temperature air blown from the removal unit 12 is increased, and when another error in reading the identifier 30 occurs thereafter, the removal unit 12 blows out hot air (increasing the air temperature), and when another error in reading the identifier 30 occurs thereafter, the volume of hot air blown from the removal unit 12 is increased. However, the present invention is not limited to this. In the present invention, the removal unit 12 may switch the air blown from room-temperature air to hot air when an error in reading the identifier 30 occurs, and then increase the volume of hot air blown when another error in reading the identifier 30 occurs. Furthermore, the removal unit 12 may always blow out hot air regardless of whether an error in reading the identifier 30 occurs, and adjust the volume of hot air blown in response to the occurrence of an error in reading the identifier 30.

[0130] In the above-described embodiment, the removal unit 12 blows air as the mobile unit 7 moves and stops blowing air as the mobile unit 7 stops, but the present invention is not limited to this. In the present invention, the removal unit 12 may blow air at all times regardless of the movement of the mobile unit 7 (movement of the mobile body), or may start or stop blowing air based on instruction information from the management device 60.

[0131] In the above-described embodiment, the identifier placement unit 31 is illustrated as having a plurality of identifiers 30 arranged along the route in the warehouse, but the present invention is not limited to this. In the present invention, the identifier placement unit 31 may be arranged with at least one identifier 30 including location information of the destination.

[0132] Furthermore, in the above-described embodiment, when smoke due to a fire or the like breaks out in a warehouse, the smoke detection unit 52 detects the generated smoke and identifies the source of the smoke, the stacker crane 1 is moved to the identified source of the smoke to obtain an image of the source of the smoke, an operator visually checks the obtained image to determine whether or not a fire has occurred, and depending on the result of this determination of whether or not a fire has occurred, the operator remotely controls the stacker crane 1 using the operation unit 61 of the management device 60 to perform fire extinguishing procedures or a predetermined recovery procedure as appropriate, but the present invention is not limited to this. In the present invention, when smoke generated in a warehouse is detected by the smoke detection unit 52, the stacker crane 1 may automatically move to the source of the smoke and perform fire extinguishing procedures without the operator having to determine whether or not a fire has occurred or remotely control the stacker crane 1.

[0133] Furthermore, the present invention is not limited to the above-described embodiments, and any combination of the above-described components is also included in the present invention. In addition, other embodiments, examples, operational techniques, etc. made by those skilled in the art based on the above-described embodiments are all included in the scope of the present invention. [Explanation of symbols]

[0134] 1 stacker crane 2. Load Handling Unit 3. Lifting body 4. Lifting drive unit 5 Entrance and Exit 6 pillars 7 Mobile Units 8a Drive wheels 8b Driven wheel 9 Travel drive unit 10 Reading unit 11 Support part 12 Removal Unit 13 Drive fan 13a Fan 13b Electric motor 14 Heating section 15 Case 15a Air outlet 15b Air intake 16 Support stand 17 Camera 18 Fire Extinguishing Unit 19 Functional Units 20 Communications Department 21 Control section 22 Power receiving unit 23 Current collector 24, 25 Guide wheels 30 Identifiers 31 Identifier placement section 40 Power supply unit 50 shelves 51 Storage area 52 Smoke detector 60 Management device 61 Operation section 62 Output section 63 Memory section 71, 72 Guide rails 100 Automated Warehouse System A optical domain L route

Claims

1. an identifier placement unit that is provided along a route set in a warehouse and that places the identifiers along the route so that positions on the route match the placement of the identifiers, the identifiers including position information indicating the positions; a reading unit that optically reads the identifier placed in the identifier placement section; a mobile unit that moves along the route based on position information included in the identifier read by the reading unit; a removal unit that removes an obstructing substance that may obstruct the reading of the identifier by the reading unit; An automated warehouse system comprising:

2. The removal unit removes the obstructing substance by blowing air. The automated warehouse system according to claim 1 .

3. the removal unit is mounted on the mobile unit, and blows the air as the mobile unit moves, and stops blowing the air as the mobile unit stops. The automated warehouse system according to claim 2 .

4. a fire extinguishing unit mounted on the mobile unit for extinguishing a fire by discharging a fire extinguishing agent; a smoke detection unit that detects smoke generated in the warehouse; a management device that identifies a location where the smoke detected by the smoke detection unit is generated; Equipped with the mobile unit moves to the location of the smoke identified by the management device; The fire extinguishing unit releases the fire extinguishing agent toward a location where the smoke is generated, the removal unit removes the extinguishing agent remaining as the obstructing substance after the fire has been extinguished by blowing air.

4. The automated warehouse system according to claim 2 or 3.

5. the removal unit removes the obstructing substance by blowing hot air having a temperature higher than the air temperature inside the warehouse.

4. The automated warehouse system according to claim 2 or 3.

6. the removing unit increases the amount of air blown when an error occurs in reading the identifier by the reading unit; 4. The automated warehouse system according to claim 2 or 3.

7. the removing unit increases a blowing air temperature when an error occurs in reading the identifier by the reading unit; 4. The automated warehouse system according to claim 2 or 3.

8. the removing unit blows air to an area including a path of light used by the reading unit to read the identifier; 4. The automated warehouse system according to claim 2 or 3.

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