Automated warehouse

Abstract

To provide an automated warehouse capable of correcting the positional deviation of all packages within a shelf through simplified control.SOLUTION: An automatic warehouse 1 of the present invention comprises: a rack 2 capable of storing a plurality of packages in a depth direction; and a loading / unloading cart 4a with a transfer device 12 for transferring packages between a shelf 6 of the rack and itself. A controller 22 (50) calculates an elapsed storage time of a package A1 stored at a rear side L1 of the shelf 6 (storage time calculation unit 104), determines whether or not the calculated elapsed time exceeds a predetermined threshold (replacement timing determination unit 108), and when the elapsed time exceeds the predetermined threshold, executes a replacement operation for the package at the rear side (replacement operation execution unit 112). The replacement operation execution unit 112, if a package exists in front of the package at the rear side, moves it to another shelf (shelf 6 of L4), loads the package at the rear side A1 onto the loading / unloading cart 4, and then returns the loaded package to a placement position L1 at the same rear side of the same shelf 6.SELECTED DRAWING: Figure 7

Description

[Technical Field]

[0001] The present invention relates to an automated warehouse, and in particular to an automated warehouse that includes a rack that can store a plurality of items of cargo in the depth direction, the rack having a plurality of levels with each level having a plurality of shelves, an entry / exit cart equipped with a transfer device that transports the items to the shelves of the rack and transfers the items between the shelves, and a controller that controls the operation of the entry / exit cart equipped with the transfer device. [Background technology]

[0002] Conventionally, an automated warehouse has been disclosed in which cargo can be stored at the front and rear depths of the shelves of a rack, and cargo is picked up and unloaded using a rear hook type transfer device equipped with a side arm and a hook (for example, Patent Document 1). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Publication No. 2023-107024 Summary of the Invention [Problem to be solved by the invention]

[0004] In an automated warehouse, when cargo is stored on a shelf in a rack, there is a problem in that the stored cargo may shift from its designated storage position due to vibrations transmitted to the storage shelf caused by the transfer of other cargo onto the rack or the travel of a loading / unloading cart (transport vehicle). In particular, cargo is likely to shift on each shelf provided between multiple rack columns that make up the rack due to vibrations transmitted when transferring cargo other than the currently stored cargo or when a loading / unloading cart passes through rail joints. If such cargo shifts significantly, problems may arise, such as the side arm of a transfer device interfering with cargo already stored when transferring cargo.

[0005] Therefore, the present invention has been made to solve the above-mentioned problems, and has an object to provide an automated warehouse that can correct the positional deviation of all cargo on a shelf with simple control. [Means for solving the problem]

[0006] In order to achieve the above object, the present invention provides an automated warehouse that includes a rack capable of storing a plurality of items in the depth direction, the rack having a plurality of stages with a plurality of shelves on each stage; an entry / exit cart equipped with a transfer device that transports items to the shelves of the rack and delivers items to and from the shelves; and a controller that controls the operation of the entry / exit cart equipped with the transfer device, in which the controller calculates the elapsed time since an item stored in a placement position on the back side of the shelf of the rack was stored, and determines whether the calculated elapsed time exceeds a predetermined threshold value. The storage system is characterized by comprising a storage time determination means, and a re-placing operation execution means for causing the transfer device to execute a re-placing operation of the luggage stored in the rear loading position when the calculated elapsed time exceeds a predetermined threshold value, and for executing another shelf movement control for moving the luggage in front of the luggage stored in the rear loading position to another shelf when there is luggage in a loading position in front of the luggage stored in the rear loading position, and a re-placing operation control for loading the luggage stored in the rear loading position onto a loading / unloading cart and then returning the loaded luggage to the same rear loading position on the same shelf.

[0007] According to the present invention configured in this manner, by detecting only the storage time of the luggage stored at the back of the shelf and repositioning the luggage at a predetermined timing, it is possible to effectively correct the positional deviation of all luggage placed on the shelf. In a rack shelf capable of loading multiple items in the depth direction, items are typically stored at the rear end first, followed by items at the front end. Therefore, the storage time for the items at the rear end is longer than the storage time for the items at the front end. Therefore, by detecting the storage time for the items at the rear end, it is possible to effectively correct the positional deviations of all items, including those at the rear and front ends, at the appropriate time. As a result, it is possible to correct the positional deviations of all items on the shelf with simple control.

[0008] Also, in the present invention, the controller preferably comprises an operating status detection means for grasping the operating status of the loading / unloading cart, and a re-placing timing correction means for correcting the reference timing for re-placing the cargo when the calculated elapsed time exceeds a predetermined threshold value, wherein the operating status detection means calculates the time when the loading / unloading cart is not operating, and the re-placing timing correction means corrects the reference timing for the re-placing operation based on the time when the loading / unloading cart is not operating. According to the present invention configured in this manner, it is possible to correct misalignment by repositioning the luggage at an appropriate time. Here, the time when the loading / unloading cart is not operating is the time when vibrations caused by its operation are not transmitted to the shelves, and therefore, it is assumed that displacement of the goods will not occur. Therefore, depending on the time when the loading / unloading cart is not operating, for example, the calculated elapsed time can be subtracted or a predetermined threshold value can be increased to correct the reference timing for repositioning to be later. As a result, displacement can be corrected at a more appropriate timing.

[0009] In the present invention, the controller preferably comprises an operating status detection means for detecting the operating status of the loading / unloading cart, and a re-placing timing correction means for correcting the reference timing for re-placing the luggage when the calculated elapsed time exceeds a predetermined threshold value, wherein the operating status detection means calculates the time that the loading / unloading cart is operating on the same level as the level of the luggage stored in the rear loading position, and the re-placing timing correction means corrects the reference timing for the re-placing operation based on the time that the loading / unloading cart is operating. According to the present invention configured in this manner, it is possible to correct misalignment by repositioning the luggage at an appropriate time. Here, the time when the loading / unloading cart is in operation is a time when vibrations, etc., transmitted to the shelves due to its operation are likely to cause misalignment of cargo on the same shelf as the loading / unloading cart. Therefore, the reference timing for repositioning can be corrected to be earlier by, for example, adding elapsed time or decreasing a predetermined threshold value depending on the time the loading / unloading cart has been in operation. As a result, according to the present invention, it is possible to correct the misalignment at a more appropriate time for cargo that is thought to have misaligned by an amount greater than the amount corresponding to the elapsed time.

[0010] Also, in the present invention, preferably, the shelves of the rack have a predetermined width area in the direction of travel of the loading / unloading cart and are capable of storing a plurality of pieces of luggage in that width area, and the controller comprises an operating status detection means for grasping the operating status of the loading / unloading cart, and a re-placing timing correction means for correcting the reference timing for re-placing the luggage when the calculated elapsed time exceeds a predetermined threshold value, wherein the operating status detection means calculates the time that the loading / unloading cart is operating within the predetermined width area of ​​the shelf for the luggage stored in the rear loading position, and the re-placing timing correction means corrects the reference timing for the re-placing operation based on the time that the loading / unloading cart is operating within the predetermined width area. According to the present invention configured in this manner, it is possible to correct misalignment by repositioning the luggage at an appropriate time. Here, the shelves of a rack are generally formed by placing beams between the rack supports in the direction of travel of the loading / unloading carts, and forming a storage area for the cargo so that it is supported by the beams (for example, by arranging multiple slats in the depth direction perpendicular to the direction of travel of the loading / unloading carts). It is believed that vibrations caused by the operation of the loading / unloading carts are easily transmitted within the width of such a shelf, making it easy for cargo to become misaligned. Therefore, the reference timing for repositioning can be corrected to be earlier by, for example, adding elapsed time or decreasing a predetermined threshold value depending on the time the loading / unloading carts have been operating within the width of the shelf. As a result, according to the present invention, it is possible to correct the positional deviation of cargo that is thought to be more than the deviation corresponding to the elapsed time at a more appropriate time.

[0011] In addition, in the present invention, the controller preferably includes an operating status detection means for detecting the operating status of the loading / unloading cart, and a re-placing timing correction means for correcting the reference timing for re-placing the cargo when the calculated elapsed time exceeds a predetermined threshold value, wherein the operating status detection means calculates the number of times that the loading / unloading cart has transferred cargo stored in the rear loading position to the front loading position, and the re-placing timing correction means corrects the reference timing for the re-placing operation based on the number of times that the loading / unloading cart has transferred cargo to the front loading position. According to the present invention configured in this manner, it is possible to correct misalignment by repositioning the luggage at an appropriate time. Here, when a load stored in a rear loading position is placed in a front loading position, vibrations or the like are transmitted to the rear load, which is likely to cause the rear load to become misaligned. Therefore, the reference timing for repositioning can be corrected to be earlier by, for example, adding elapsed time or decreasing a predetermined threshold value depending on the number of times the loading / unloading cart has transferred loads to the front loading position. As a result, according to the present invention, it is possible to correct the positional deviation of loads that are thought to be misaligned by more than the amount corresponding to the elapsed time at a more appropriate time.

[0012] Also, in the present invention, preferably, the shelves of the rack have a predetermined width in the direction of travel of the loading / unloading cart and are capable of storing a plurality of pieces of luggage in that width, and the controller comprises an operating status detection means for grasping the operating status of the loading / unloading cart, and a re-placing timing correction means for correcting the reference timing for re-placing the luggage when the calculated elapsed time exceeds a predetermined threshold, wherein the operating status detection means calculates the number of times the loading / unloading cart has transferred luggage to the same shelf as the shelf of the luggage stored in the farthest loading position, and the re-placing timing correction means corrects the reference timing for the re-placing operation based on the number of times the loading / unloading cart has transferred luggage to the same shelf. According to the present invention configured in this manner, it is possible to correct misalignment by repositioning the luggage at an appropriate time. Here, shelves of a rack are generally formed by placing beams between the rack supports along the travel direction (width direction) of the loading / unloading cart, and forming a storage area for the cargo so that it is supported by the beams (for example, by arranging multiple slats in the depth direction perpendicular to the travel direction of the loading / unloading cart). Within the width of such a shelf, vibrations caused by the operation of the loading / unloading cart are easily transmitted, making it easy for cargo to become misaligned. Therefore, the reference timing for repositioning can be corrected to be earlier by, for example, adding elapsed time or decreasing a predetermined threshold value depending on the number of times the loading / unloading cart has transferred cargo to the same shelf having a predetermined width. As a result, according to the present invention, it is possible to correct the positional deviation of cargo that is thought to be more than the deviation corresponding to the elapsed time at a more appropriate time.

[0013] In addition, in the present invention, preferably, in the case of another shelf movement control, when a load already stored in a rear loading position is scheduled to be released from another shelf to which the load is to be moved, the re-placing operation execution means moves the load to another front loading position other than the front loading position. According to the present invention configured in this manner, unnecessary transfer operations can be prevented by excluding the placement positions on the shelves that require immediate movement from the movement destinations. [Effects of the Invention]

[0014] According to the present invention, it is possible to correct the positional deviation of all packages on the shelf with simple control. [Brief explanation of the drawings]

[0015] [Figure 1] 1 is a front view showing a schematic configuration of an automated warehouse according to an embodiment of the present invention. [Figure 2] 1 is a plan view showing a schematic configuration of an automated warehouse according to an embodiment of the present invention. [Figure 3] 3 is a partially enlarged front view showing a shelf provided between rack columns of the rack according to the embodiment of the present invention. FIG. [Figure 4] 1 is a perspective view showing a schematic configuration of an entry / exit cart and its transfer device for an automated warehouse according to an embodiment of the present invention. FIG. [Figure 5] 1 is a block diagram showing a schematic configuration of a control system for a transfer device provided in a loading / unloading cart according to an embodiment of the present invention. FIG. [Figure 6] 1 is a block diagram showing a schematic configuration of a control device provided in an automated warehouse according to an embodiment of the present invention. FIG. [Figure 7] 4 is a flowchart showing processing executed by a control device provided in the automated warehouse according to the embodiment of the present invention. [Figure 8] FIG. 10 is a schematic diagram for explaining the operation of rearranging a far-side item in the first example according to the embodiment of the present invention. [Figure 9] FIG. 10 is a schematic diagram for explaining the operation of moving the front luggage to another placement position in the second example according to the embodiment of the present invention. [Figure 10] 10 is a schematic diagram for explaining the operation of re-placing the baggage at the back according to the second example of this embodiment, which is performed following the movement operation of FIG. 9. FIG. DETAILED DESCRIPTION OF THE INVENTION

[0016] Next, an automated warehouse according to an embodiment of the present invention will be described with reference to the accompanying drawings.

[0017] First, the schematic configuration of an automated warehouse according to an embodiment of the present invention will be described with reference to Figures 1 to 3. Figure 1 is a front view showing the schematic configuration of an automated warehouse according to an embodiment of the present invention, Figure 2 is a plan view showing the schematic configuration of an automated warehouse according to an embodiment of the present invention, and Figure 3 is a partially enlarged front view showing an enlarged view of a shelf provided between each rack column of a rack according to an embodiment of the present invention. Note that Figure 3 is a front view seen from the same direction as Figure 1. 1 and 2, reference numeral 1 denotes an automated warehouse according to this embodiment (hereinafter referred to as an "automated warehouse"). In this embodiment, this automated warehouse 1 is a shuttle-type automated warehouse equipped with a plurality of loading / unloading carts 4 each having a transfer device 12.

[0018] As a modification of this embodiment, the automated warehouse 1 may be a well-known stacker crane type automated warehouse. In this case, the operation of the loading / unloading cart 4 and the transfer operation of the transfer device 12 of the loading / unloading cart 4, which will be described later, can be applied in accordance with the operation of the stacker crane and the transfer operation of a transfer device (for example, a double-reach slide fork) provided on the stacker crane (not shown).

[0019] As a modified example of the automated warehouse 1 of this embodiment, the automated warehouse 1 may be an automated warehouse 1 that uses a shuttle cart with a known lifting function, in which one loading / unloading cart with a lifter is arranged for every three shelves 8, for example, and that one cart can store cargo on each of the three shelves 8. In that case, the operation of the loading / unloading cart 4 and the transfer operation of the transfer device 12 of the loading / unloading cart 4, which will be described later, can be similarly applied in correspondence with the transfer operation of the transfer device provided on the shuttle cart.

[0020] Next, the automated warehouse 1 of this embodiment includes racks 2 and a plurality of loading / unloading carts (hereinafter referred to as "carts") 4. The racks 2 are arranged in the left-right direction (the X direction in the figure) and have a plurality of shelf levels 8, each with a series of shelves 6, arranged in the up-down direction (the Z direction in the figure). As shown in Figures 1 and 3, each series of shelves 6 is formed between a plurality of rack columns 3, and both sides of the shelf 6 are separate bodies fixed to the rack columns 3. Note that the series of shelves 6 may also be formed as a single unit.

[0021] As shown in Fig. 3, each shelf 6 has a width W in the traveling direction of the cart 4, and in the example shown in Fig. 3, it is formed so that a total of three pieces of luggage A can be stored in an area (width area) of width W. Note that the number of pieces of luggage that can be stored in the width area of ​​the shelf 6 is not limited to three as in this example, and may be one or more.

[0022] Although not shown in FIG. 3 , as is well known in the technical field of automated warehouses, the shelf 6 is supported by two beam members extending in the same direction as the traveling direction of the cart 4, and the shelf 6 itself is formed by a plurality of crosspieces spanning the two beam members so as to extend in a direction perpendicular to the traveling direction of the cart 4. Each crosspiece has a length in its depth direction that allows it to store a plurality of items (two items in this embodiment). Furthermore, the beam members described above are generally fixed at both ends to the rack columns 3. With this structure, each shelf 6 is susceptible to vibrations due to the transmission of vibrations caused by the traveling of the cart 4, etc., within the width region (W) of the shelf 6. Furthermore, because the rigid rack columns themselves are not easily shaken, the vibrations of the shelf 6 itself are also structurally characterized by being less likely to be transmitted to the adjacent shelf 6 across the rack column 3.

[0023] Next, as shown in Fig. 2, the multiple carts 4 move independently from one another in the left-right direction along a travel path 10 having a pair of rails, and a transfer device 12, which will be described later, transfers cargo to and from the rack 2, i.e., unloads (transfers) cargo onto the rack 2 and picks up cargo from the rack 2 onto the carts 4. The multiple carts 4 are arranged one per multiple shelf level 8. As shown in Fig. 2, the rack 2 has a pair of racks 2 facing each other across the travel path 10 for the carts 4.

[0024] Next, as shown in FIGS. 1 and 2, the automated warehouse 1 is provided with first and second stations 14, 16 on both sides thereof for receiving packages to be stored on the racks 2 and for receiving packages removed from the racks 2. In this embodiment, the first station 14 is disposed at a vertical position corresponding to the lowest shelf 8, and the second station 16 is disposed at a vertical position corresponding to the highest shelf 8.

[0025] The automated warehouse 1 also includes first and second lifting devices 18, 20 that raise and lower cargo. The first and second lifting devices 18, 20 mediate the delivery of cargo between the first and second stations 14, 16 and the carts 4, respectively.

[0026] The automated warehouse 1 is equipped with a controller (control device) 22 that controls the operation of these trolleys 4, etc. The trolleys 4, etc. operate in accordance with control signals transmitted from the controller 22 via wireless or wired communication. The controller 22 is composed of a computer equipped with a processing device (circuit) that is one or more processors (typically CPUs), memory (ROM, RAM, etc.) that stores various programs, and input / output devices, etc.

[0027] Here, the basic operations of the controller 22 for storing and retrieving goods in and from the automated warehouse 1 will be described. First, in the warehousing operation, the cargo transported by the warehousing conveyor 24 of the first station 14 is placed by the first lifting device 18 in the warehousing placement area 26 at a height position corresponding to the shelf 8 to which the cargo is to be stored. The cargo placed in this warehousing placement area 26 is picked up by the cart 4 of the corresponding shelf 8 and transferred (unloaded) onto one of the shelves 6 of that shelf 8. Next, as a retrieval operation for the cargo, the cargo placed on one of the shelves 6 of the shelf 8 to be received is loaded onto the cart 4 of the corresponding shelf 8 and transported to the retrieval loading area 28 at a height position corresponding to that shelf 8. The cargo transported to this retrieval loading area 28 is moved to the retrieval conveyor 30 via the first lifting device 18, and further transported to a destination connected to the retrieval conveyor 30.

[0028] The second station 16 is similar to the first station 14, and includes an incoming conveyor 25, an incoming placement area 27, an outgoing placement area 29, and an outgoing conveyor 31, and performs the above-mentioned incoming and outgoing operations. In addition, the incoming and outgoing operations via one of the first station 14 and the second station 16 can be performed independently of the incoming and outgoing operations via the other station.

[0029] In the modified stacker crane type automated warehouse, instead of the multiple trolleys 4 and lifting devices 18, 20 described above, a single stacker crane (not shown) operates in accordance with control signals sent from the controller 22, and a transfer device provided on the stacker crane transfers cargo to multiple storage positions on the rack 2.

[0030] Next, the schematic configuration of an loading / unloading cart and its transfer device for the automated warehouse of this embodiment will be described with reference to Figures 4 and 5. Figure 4 is a perspective view showing the schematic configuration of an loading / unloading cart and its transfer device for the automated warehouse of this embodiment, and Figure 5 is a block diagram showing the schematic configuration of a control system for the transfer device provided on the loading / unloading cart of this embodiment. First, as shown in Fig. 4, the carriage 4 is equipped with a transfer device 12. The transfer device 12 is equipped with a pair of side arms 32, which extend and retract in the front-rear direction (the Y direction shown in Figs. 1 and 2) to transfer (pick up and unload) cargo. Each of the pair of side arms 32 has a base arm 34, a middle arm 36 connected to the base arm 34, and a top arm 38 connected to the middle arm 36. The configurations of the arms 34, 36, 38 of the pair of side arms 32 are the same on the left and right, so the following description will focus on one of the arms. Although not described below, the stacker crane according to the modified example is provided with a transfer device that has the same configuration as the transfer device 12 of this embodiment or that can perform the same operation.

[0031] The base arm 34 is fixed to the carriage 4. A spline shaft 40 extends through the center of the base arm 34 in the left-right direction (the X direction shown in FIGS. 1 and 2), and this spline shaft 40 is rotated by a motor (arm extension / retraction motor 52 shown in FIG. 4) built into the carriage 4. Four pinion gears 42 are arranged in a row on each side of the spline shaft 40 so as to mesh with one another, and a rack gear 44 of the middle arm 36 is arranged so as to mesh with these pinion gears 42. Although not shown, pulleys are provided on both ends of the middle arm 36 in the front-rear direction, and belts are passed across these pulleys and fixed to both ends of the top arm 38 in the front-rear direction.

[0032] In this embodiment, mainly due to these configurations, when the spline shaft 40 is rotated in a predetermined direction, the driven pinion gears 42 rotate, and the rack gear 44, receiving the rotation, moves in either the forward or backward direction, causing the middle arm 36 to extend or retract relative to the base arm 34. Furthermore, as the middle arm 36 extends or retracts, the top arm 38 extends or retracts by twice the amount of the middle arm 36 due to the action of the belt wrapped around the pulley. In this way, the top arm 38 extends or retracts in conjunction with the extension or retraction of the middle arm 36.

[0033] In this embodiment, the side arm 32 is made up of three plates 34, 36, and 38, but the side arm 32 may also be made up of four plates. In this four-plate configuration, the side arm 32 is made up of a pair of one base arm, two middle arms, and one top arm.

[0034] In this way, the side arm 32 having the base arm 34, middle arm 36, and top arm 38 can be advanced into the racks 2 (shelves 6) arranged on both sides of the running path 10 of the cart 4 by the above-mentioned drive mechanisms (40, 42, 44, etc.), and its tip can be advanced up to the rear end position of the cargo to be transferred to the innermost side in the depth direction of the rack 2. In addition, the transfer device 12 is configured as a so-called rear hook type transfer device that can take in (pick up) cargo stored in the rack 2 into the cart 4 by the end hook 46 at the tip in a protruding state (see Figure 8(A), etc.).

[0035] Next, the top arm 38 is provided with end hooks 46 at its front and rear ends, respectively. These end hooks 46 are configured to be rotatable between a retracted position (position shown in FIG. 4) where they are housed within the top arm 38, and a protruding position where they rotate approximately 90° from this retracted position and protrude between the pair of top arms 38. In the protruding position (protruding state), these end hooks 46 engage with the front or rear end of a baggage to take in or send out the baggage.

[0036] The top arm 38 also has an intermediate hook 48 at its midpoint in the front-to-rear direction. Similar to the end hooks 46 described above, this intermediate hook 48 is configured to be rotatable between a retracted position (position shown in FIG. 4) where it is housed within the top arm 38 and a protruding position where it protrudes between the pair of top arms 38, and in the protruding position (protruding state), it engages with the front or rear end of a package to take in or send out the package.

[0037] In this embodiment, the intermediate hook 48 is formed as an integrated hook by connecting two rod-shaped members 48a formed in the same shape as the end hooks 46 with one plate-shaped member 48b. Note that the shape and configuration of the intermediate hook 48 are not limited to this example, and for example, the intermediate hook 48 may have two intermediate hooks in the depth direction. Although not shown, the present invention can also be applied to a transfer device 12 that does not have an intermediate hook, as long as it is possible to perform the operation of repositioning the cargo (A1) at the back as described below.

[0038] Next, a motor (not shown) is incorporated within the dolly 4 to move the base arm 34 left and right so as to narrow or widen the gap between the entire pair of side arms 32. That is, when transferring a load of a predetermined width, this motor first narrows the gap between the top arms 38 to a distance that allows either the hooks 46, 48 to engage with the front or rear end of the load. In this case, the top arms 38 are either moved close enough to a position that maintains a predetermined small clearance between them, or are clamped to an extent that does not apply excessive pressure to the load. The top arm 38 also includes a hook opening / closing motor 54 (see FIG. 3) that rotates the end hook 46 and the intermediate hook 48.

[0039] Next, as shown in Figure 4, the transfer device 12 has a controller 50 for controlling the operations of the arms 34, 36, 38 and hooks 46, 48. This controller 50 controls an arm extension / retraction motor 52 that rotates the spline shaft 40 to extend and retract the side arm 32. The controller 50 also controls a hook opening / closing motor 54 that opens and closes each end hook 46 and the middle hook 48. The controller 50 also controls an arm opening / closing motor 56 that adjusts the spacing between the side arms 32. The controller (control device) 50 is composed of a processing device (circuit) that is one or more processors (typically a CPU), memory (ROM, RAM, etc.) that stores various programs, a computer equipped with input / output devices, etc.

[0040] As a modified example, the control functions of the controller 50 may be provided in the controller 22 that controls the basic cargo storage and retrieval operations of the automated warehouse 1. Alternatively, part of the control functions of the controller 22 (for example, the control of the travel of the carts 4 and the transfer device 12) may be provided in the controller 50.

[0041] Next, the automated warehouse 1 of this embodiment is designed assuming a case where the depth width of the cargo (hereinafter referred to as "depth width") is relatively large and a maximum of two cargoes can be stored in the depth direction of each rack 2 (see, for example, Figure 8), and a case where the depth width of the cargo is relatively small and a maximum of three cargoes can be stored in the depth direction of each rack 2 (not shown). In addition, the rack 2 in the modified example may be a dedicated rack that can store up to two items of luggage in the depth direction of each rack 2, or a dedicated rack that can store up to three items of luggage in the depth direction of each rack 2.

[0042] Next, the schematic configuration of a control device provided in the automated warehouse according to the embodiment of the present invention will be described with reference to Fig. 6. Fig. 6 is a block diagram showing the schematic configuration of a control device provided in the automated warehouse according to the embodiment of the present invention. As shown in FIG. 6, the controller (control device) 22 includes a threshold value setting unit 100 for determining the reference timing for executing an operation to rearrange an item, which will be described later; an operation time calculation unit 102 for calculating the operation time of the automated warehouse 1, which is one of the time indicators for correcting the reference timing for executing an operation to rearrange an item; a rear-side item storage time calculation unit 104 for calculating the elapsed time since an item stored in the innermost placement position of the shelf 6 of the rack 2 (for example, position L1 in FIG. 8, which will be described later) is stored, which is the main time indicator for determining the reference timing for executing an operation to rearrange an item; The automated warehouse 1 includes an operation status detection unit 106 that detects the operation time of the trolley 4, which is one of the time indicators of the operation time, a luggage re-placing timing determination unit (storage time determination unit) 108 that determines the reference timing for executing the luggage re-placing operation, a luggage re-placing timing correction unit 110 that corrects the reference timing for executing the luggage re-placing operation, a luggage re-placing operation execution unit 112 that causes the trolley 4 to execute the luggage re-placing operation, and a memory unit (memory or storage device) 114 that stores various numerical values ​​such as the threshold values ​​set by each of the above-mentioned control units (each circuit, each program), the calculated operation time of the automated warehouse 1, the calculated storage time of the luggage at the back, and the detected operation time of the trolley 4.

[0043] First, the threshold value setting unit 100 sets a "threshold value" based on the number of operating days and operating hours of the automated warehouse 1. For example, 15 to 20 days is set as the threshold value as the number of operating days of the automated warehouse 1. Alternatively, in an automated warehouse 1 installed in an environment where cargo shifting is likely to occur, the threshold value may be set to 1 day (24 hours).

[0044] Next, the operating time calculation unit 102 calculates the operating time of the automated warehouse 1 based on the number of days or time elapsed since the main power switch of the automated warehouse 1 was turned on (stored in the memory unit 114). As a variation, the time during which the automated warehouse 1 is operating automatically from the time the main power switch is turned on to the time it is turned off may be calculated as the operating time, excluding the time during which the automated warehouse 1 is operating manually.

[0045] Next, the far side luggage storage time calculation unit 104 calculates the elapsed time for the luggage stored in the farthest placement position based on the storage date and time (stored in the storage unit 114). Alternatively, as a modified example, the elapsed time may be calculated by counting the time elapsed since the data was stored using a timer. The timer may be provided in the controller 22 or another device.

[0046] Next, the operation status detection unit 106 detects the operation time (time during which the vehicle is in operation), standby time (time during which the vehicle is not in operation), the number of times that the cargo has been transferred, etc. for each of all the vehicle 4. More specifically, the operation time, standby time, and the number of times that the cargo has been transferred are calculated as follows. (1) The operating time and standby time of all or specific trolleys 4 in the automated warehouse 1. (2) The operating time and waiting time of the trolley 4 operating on the same shelf 8 as the shelf 8 (see Figure 1) of luggage stored in the innermost loading position that may be subject to re-placing (the elapsed time may be calculated). (3) The operating time of the trolley 4 in the width area W (see FIG. 3) of the shelf 6 of the luggage stored in the innermost loading position that may be subject to rearrangement. (4) The number of times that the trolley 4 transferred luggage to a front loading position (e.g., the front position L2 in Figure 8) of luggage stored in the furthest loading position that may be subject to repositioning (e.g., luggage A1 placed at position L1 in Figure 8). (5) The number of times that the trolley 4 has transferred luggage to all other rear and front loading positions within the width area W (see Figure 3) of the shelf 6 for luggage stored in the rearmost loading position that may be subject to re-placing, excluding that rearmost loading position.

[0047] Here, in the above (3), the "operating time of the cart 4 in the width area W of the shelf 6 (see Figure 3)" in this embodiment refers to the sum of the operating times from when the cart 4 passes over one rack pillar 3 to when it passes over the other rack pillar 3 for the target shelf 6, the left and right shelves 6 aligned in the direction of travel of the cart 4, and the shelves 6 aligned in the vertical direction of the automated warehouse 1, among the multiple shelves 6 fixed to two rack pillars 3 (see Figure 3) extending in the vertical direction that support the target shelf 6. As a modified example, the travel time of the carriage 4 on the travel path 10 corresponding to the shelf 6 storing the baggage that may be the object of rearrangement may be used.

[0048] Furthermore, in the above (4), "the number of times that the dolly 4 transferred the luggage to the loading position on the front side" is the sum of the number of times that the luggage was transferred from the dolly 4 to the loading position on the front side of the luggage that may be the target of re-placing, and the number of times that the luggage was taken into the dolly 4. Note that this is not limited to this example.

[0049] Furthermore, in the above (5), "the number of times that the cart 4 transferred luggage within the width area W of the shelf 6 for luggage stored in the innermost loading position, excluding the loading position at the innermost side" refers to the sum of the number of times that luggage was transferred from the cart 4 to the target shelf 6 and the number of times that luggage was taken into the cart 4. Note that this is not limited to this example.

[0050] Here, the standby time of the trolley 4 is basically determined based on the operating status of the automated warehouse 1 calculated by the operating time calculation unit 102 described above and stored in the memory unit 114, and the standby time of the trolley 4 is determined by adding up, for example, the downtime at night, the downtime during maintenance, the time when all power to the automated warehouse 1 is turned off, etc. In other words, the time when the trolley 4 was unable to actually operate, either automatically or manually, is determined as the standby time. As a modified example, the operating time and standby time of the carriage 4 may be determined based on the traveling status of each carriage 4 and the operating status of each transfer device 12, which are detected and stored (in the storage unit 114).

[0051] Next, the luggage re-placing timing determination unit 108 determines the timing to perform the luggage re-placing operation (see Figures 8 to 10) using the trolley 4 based on the above-mentioned threshold value and the elapsed time (since storage) of the luggage stored at the innermost side, as will be described later. Here, the luggage re-placing timing determination unit 108 sets the timing (reference timing) determined based on the elapsed time calculated by the rear luggage storage time calculation unit 104 as the execution timing, and if this reference timing is corrected, the corrected timing is set as the execution timing. Note that the execution timing is the timing at which the dolly 4 executes the luggage re-placing operation, and more specifically, the timing at which the controller 22 outputs an instruction signal.

[0052] Next, the luggage re-placing timing correction unit 110 corrects the reference timing based on the detection result by the operating status detection unit 106 of the cart 4 described above, as will be described later.

[0053] Next, the luggage re-placing operation execution unit 112 sends an instruction signal to the carriage 4, of all the carriages 4, that can transfer the luggage to be re-placing, and causes the carriage 4 to execute the luggage re-placing operation.

[0054] Next, the control content of the package rearrangement operation executed in the automated warehouse according to the embodiment of the present invention will be described with reference to Figures 6 to 10. Figure 7 is a flowchart showing the processing executed by a control device provided in the automated warehouse according to the embodiment of the present invention, Figure 8 is a schematic diagram for explaining the rearrangement operation of the package at the back according to a first example according to the embodiment of the present invention, Figure 9 is a schematic diagram for explaining the movement operation of the package at the front to another placement position according to a second example according to the embodiment of the present invention, and Figure 10 is a schematic diagram for explaining the rearrangement operation of the package at the back according to the second example of the present embodiment, which is performed following the movement operation of Figure 9. In Figure 7, each step executed by the controller 22 is indicated by the symbol S.

[0055] 7, in S1, the threshold value setting unit 100 reads a threshold value from the storage unit 114. As a modified example, the operator may input an arbitrary threshold value using a predetermined input device to change the threshold value.

[0056] Next, the process proceeds to S2, where the operation time calculation unit 102 calculates the operation time of the automated warehouse 1 as described above. Next, the process proceeds to S3, where the backside luggage storage time calculation unit 104 calculates the elapsed time since the luggage stored in the backmost placement position (for example, A1 in FIG. 8A) was stored, as described above. Note that this process of S3 is executed for each of the backmost luggage.

[0057] Next, the process proceeds to S4, where the operation status detection unit 106 detects the operation status of a predetermined cart 4. In this example, in S4, the waiting time (non-operating time) of all carts 4 in the automated warehouse 1 is calculated. Next, the process proceeds to S5, where the luggage re-placing timing correction unit 110 corrects the elapsed time calculated in S3 in accordance with the operating status of the cart 4 detected in S4. In this example, the waiting time of the carriage 4 calculated in S4 is subtracted from the elapsed time calculated in S3, and the resulting value is set as the new elapsed time. On the other hand, if the elapsed time is not corrected as in S5, the elapsed time calculated in S3 remains unchanged.

[0058] Here, various examples of correction of the re-placing timing (correction of the reference timing) performed by the luggage re-placing timing correction unit 110 in S5 will be described. For example, the following examples (1) to (5) are conceivable, and in S5, these may be performed independently or in appropriate combination. (1) When it is considered that there is almost no misalignment of the cargo, such as when the operating time of all the carts 4 in the automated warehouse 1 is short or the waiting time is long, a correction is made to delay the timing of repositioning according to those times. (2) A correction that advances the timing of repositioning when it is considered that a load shift greater than the normal load shift expected based on the actual storage time of the load has occurred, such as when a trolley 4 operating on the same shelf 8 as the load stored in the innermost loading position that may be subject to repositioning has been in operation for a long time. (3) A correction that advances the timing of repositioning when it is considered that a larger amount of cargo shift has occurred than would normally be expected based on the actual storage time of the cargo, such as when the trolley 4 has been operating for a long time in the width area W (see Figure 3) of the shelf 6 for cargo stored in the innermost loading position that may be subject to repositioning. (4) A correction that advances the timing of repositioning when it is considered that a load shift greater than the normal load shift expected based on the actual storage time of the load has occurred, such as when the trolley 4 has transferred loads to the front loading position of a load stored in the farthest loading position that may be subject to repositioning, many times. (5) In the width area W (see Figure 3) of the shelf 6 for luggage stored in the rearmost loading position that may be subject to re-placing, if it is considered that a luggage shift greater than the normal luggage shift expected based on the actual storage time of the luggage has occurred, for example, if the trolley 4 has transferred luggage many times to all other loading positions on the rear and near sides except for that rearmost loading position, a correction is made to advance the timing of re-placing.

[0059] Next, various methods for correcting the luggage re-placing timing (correcting the reference timing) executed by the luggage re-placing timing corrector 110 in S5 will be described. The following examples are conceivable. (1) The "elapsed time" is subtracted, and the time until the "threshold value" is reached is delayed accordingly, thereby delaying the timing of the repositioning (the example of S5 described above). This example is effective when it is considered that the positional deviation of the cargo is hardly occurring, such as when the waiting time of the cart 4 is long and the operating time is short. (2) The "threshold value" is increased, and the time when the "elapsed time" reaches the "threshold value" is delayed accordingly, thereby delaying the execution timing of the re-placing. This example is effective when it is considered that there is almost no misalignment of the goods, such as when the waiting time of the cart 4 is long. It is also effective when an operator observes the storage status of goods in the automated warehouse 1 and delays the execution timing by arbitrarily changing the threshold value. (3) Adjust both the "elapsed time" and the "threshold value" to delay the timing of the repositioning. This example, like the above (1) and (2), is effective when it is considered that the position of the luggage is almost never shifted. (4) The "elapsed time" is increased, and the time to reach the "threshold value" is accordingly shortened, thereby advancing the timing for executing the repositioning. This example is effective when it is thought that a larger load displacement than the normal load displacement expected based on the actual storage elapsed time of the load has occurred, such as when the waiting time of the cart 4 is short and the operating time is long. (5) The "threshold value" is decreased, and the time it takes for the "elapsed time" to reach the "threshold value" is shortened accordingly, thereby advancing the timing for executing the re-placing. This example is effective when it is thought that a larger load shift has occurred than would normally be expected based on the actual elapsed time since the load was stored, such as when the waiting time of the cart 4 is short (for example, when it is in operation all day). It is also effective in cases where an operator observes the storage status of the load in the automated warehouse 1 and arbitrarily changes the threshold value to advance the execution timing. (6) Adjust both the "elapsed time" and the "threshold value" to advance the timing of the repositioning. Similar to (1) and (2) above, this example is effective when it is believed that a larger amount of cargo displacement has occurred than would normally be expected based on the actual elapsed time since the cargo was stored.

[0060] Next, we return to the description of the flowchart in FIG. In S6, the luggage re-placing timing determination unit 108 determines whether the elapsed time calculated in S3, or the corrected elapsed time if corrected in S4, exceeds the threshold value read in S1. If it is determined in S6 that the elapsed time does not exceed the threshold value (NO in S6), the process returns to S2, and the processes of S2 to S6 are repeated until the elapsed time exceeds the threshold value. On the other hand, if it is determined in S6 that the elapsed time exceeds the threshold value (YES in S6), the process proceeds to S7. These processes are executed for all of the farthest luggage, and the luggage for which the answer in S6 is YES becomes the luggage that is the target of the rearrangement operation.

[0061] Next, in S7, the luggage re-placing timing determination unit 108 determines the timing for the carriage 4 to perform the luggage re-placing operation. In S7, if the correction of S5 is not performed, the time when the elapsed time calculated in S3 exceeds a threshold value is determined as the reference timing (reference execution timing) for causing the trolley 4 to perform the luggage re-placing operation; on the other hand, if the correction of S5 is performed, the time when the elapsed time calculated after correction in S5 exceeds a threshold value is determined as the execution timing for causing the trolley 4 to perform the luggage re-placing operation.

[0062] Next, proceed to S8, and for the far-side luggage that was determined to be the target of the re-placing operation as YES in S6, determine whether or not there is luggage present (stored) at the placement position on the near side (for example, position L2 in Figure 8(A)). If there is no such baggage in the foreground (NO in S8), proceed to S9.

[0063] The luggage rearranging operation executed in S9 will be described below with reference to FIG. First, although not shown in the drawings, the cart 4 is moved to a position where it can take in the baggage A1 to be rearranged. 8(A), the side arm 32 is advanced until the tip of the top arm 38 of the transfer device 12 reaches the rear end position of the package A1 stored in the loading position L1 at the innermost side in the depth direction of the rack 2. Then, when the top arm 38 is in this rear end position, the end hook 46 at the tip is rotated to the protruding position. Next, as shown in FIG. 8(B), the side arm 32 is retracted to engage the end hook 46 with the rear end of the luggage A1 and push it back toward the cart 4, thereby taking the luggage A into the cart 4. Next, although not shown, while the dolly 4 is maintained in that position, the side arm 32 is extended or retracted as desired, and the intermediate hook 48 is rotated in front of the luggage A1 to the protruding position. Next, as shown in FIG. 8(C), the side arm 32 is extended, and the intermediate hook 48 in the protruding position is engaged with the front end, returning the cargo A1 to its original placement position L1 at the innermost side in the depth direction of the rack 2. In this way, the luggage repositioning operation according to the first example is carried out.

[0064] Next, in S8, if it is determined that there is baggage on the near side (YES in S8), the process proceeds to S10.

[0065] The operation of moving the front luggage, which is executed in S10, will be described below with reference to FIG. 9, and the operation of re-placing the luggage, which is subsequently executed in S11, will be described with reference to FIG. First, although not shown in the drawings, the cart 4 is moved to a position where it can take in the baggage A1 to be rearranged. Next, as shown in Figure 9(A), the side arm 32 is advanced until the tip of the top arm 38 of the transfer device 12 reaches the rear end position of the cargo A2 stored in the loading position L2 on the front side of the rack 2, and the end hook 46 at the tip is rotated to the protruding position. Next, as shown in FIG. 9(B), the side arm 32 is retracted to engage the end hook 46 with the rear end of the luggage A2 and push it back toward the cart 4, thereby taking the luggage A into the cart 4. Next, as shown in Fig. 9(C), the cart 4 is moved to another shelf position, which are distinguished by different reference numerals as positions L3 and L4. Then, as shown in Fig. 9(C), the taken-in cargo A2 is transferred to the front placement position L4 by the intermediate hook 48.

[0066] At this time, the controller 22 executes the normal shelf search process executed in the automated warehouse 1 to search for an empty shelf. During this search, a placement position at the back is given priority as an empty shelf and selected as the destination. On the other hand, if there is no empty placement position at the back, an empty placement position at the front is selected as the destination. In this latter case, in this embodiment, the controller 22 determines whether or not a package on the far side of the selected placement position as a candidate destination is scheduled for delivery, and if a reservation registration for delivery is found, the controller 22 avoids placing the package at that vacant position. In other words, when the package on the far side is not scheduled for delivery, the controller 22 selects an empty placement position on the far side as the destination.

[0067] In the example shown in Figure 9(C), luggage A3 stored at the rear loading position L3 has no scheduled release, and the controller 22 places luggage A2 at the front loading position L4. In this way, the movement of the luggage on the near side according to the second example is carried out.

[0068] Next, after the baggage on the near side has been moved, the dolly 4 is moved back to its original position, that is, to the position of the shelf at the placement position L1. 10(A) to 10(C), the rearrangement operation of the innermost cargo is performed in the same manner as in the first example described above. That is, as shown in Fig. 10(A), the side arm 32 is advanced to the innermost side and the end hook 46 at the tip is rotated to the protruding position, then, as shown in Fig. 10(B), while the cart 4 is maintained in that position, the side arm 32 is retracted and the end hook 46 pushes the cargo A1 back toward the cart 4 and takes it in, and then, as shown in Fig. 10(C), the side arm 32 is extended and the intermediate hook 48 returns the cargo A1 to its original position L1 at the innermost side in the depth direction of the rack 2. In this way, the luggage repositioning operation according to the second example is carried out.

[0069] Next, the effects of the automated warehouse according to the embodiment of the present invention will be described. First, the automated warehouse 1 according to this embodiment includes a rack 2 capable of storing a plurality of units (A1, A2) in the depth direction, the rack 2 having a plurality of stages 8, each stage 8 having a plurality of shelves 6; an entry / exit cart 4 equipped with a transfer device 12 that transports units to the shelves 6 of the rack and delivers units to and from the shelves 6; and a controller 22 (50) that controls the operation of the entry / exit cart 4 including the transfer device 12. The controller calculates the elapsed time since the unit (A1) stored at a placement position (L1) on the back side of the shelf 6 of the rack was stored, and determines whether the calculated elapsed time exceeds a predetermined threshold value (storage time determination unit 104, cargo storage time calculation unit 105). The system is provided with a re-placing timing determination unit 108), and a re-placing operation execution means (luggage re-placing operation execution unit 112) that causes the transfer device to perform a re-placing operation of the luggage stored in the rear loading position when the calculated elapsed time exceeds a predetermined threshold value, and this re-placing operation execution means executes, when luggage (A2) is present in the loading position (L2) in front of luggage (A1) stored in the rear loading position (L1), another shelf movement control that moves the front luggage (A2) to another shelf (shelf 6 at L4), and a re-placing operation control that loads the luggage (A1) stored in the rear loading position (L1) onto the storage / retrieval cart 4 and then returns the loaded luggage to the same rear loading position (L1) on the same shelf 6.

[0070] According to this embodiment configured as described above, by detecting only the storage time of the item stored at the rear of the shelf 6 and relocating the item at a predetermined timing, it is possible to effectively correct the positional deviation of all items placed on the shelf 6. In a rack shelf capable of storing multiple items in the depth direction, items are typically stored at the rear and then at the front. Therefore, the storage time of the items at the rear is longer than the storage time of the items at the front. Therefore, by detecting the storage time of the items at the rear, it is possible to effectively correct the positional deviation of all items, including those at the rear and front, at an appropriate timing. The items at the rear are relocated to the same shelf, and the items at the front that are moved to another shelf are newly placed on that other shelf (or, in other words, relocated to a different shelf). This suppresses the positional deviation of the items in both cases. As a result, it is possible to correct the positional deviation of all items on the shelf with simple control.

[0071] Next, in this embodiment, the controller 22 (50) is provided with an operation status detection means (storage / retrieval cart operation status detection unit 106) that grasps the operation status of the storage / retrieval cart 4, and a re-placing timing correction means (luggage re-placing timing correction unit 110) that corrects the reference timing for re-placing the luggage when the calculated elapsed time exceeds a predetermined threshold value.The operation status detection means calculates the time when the storage / retrieval cart is not operating, and the re-placing timing correction means corrects the reference timing for the re-placing operation based on the time when the storage / retrieval cart is not operating, so that the luggage can be re-placing at the appropriate timing to correct any positional deviation. Here, the time when the loading / unloading cart 4 is not operating is the time when it is thought that vibrations caused by its operation are not transmitted to the shelves 6, and therefore that displacement of goods will not occur. Therefore, depending on the time when the loading / unloading cart is not operating, the reference timing for repositioning can be corrected to be later by, for example, subtracting the calculated elapsed time or increasing the value of a predetermined threshold value.

[0072] Next, in this embodiment, the controller 22 (50) is provided with an operation status detection means (storage / retrieval cart operation status detection unit 106) that grasps the operation status of the storage / retrieval cart 4, and a re-placing timing correction means (baggage re-placing timing correction unit 110) that corrects the reference timing for re-placing the luggage when the calculated elapsed time exceeds a predetermined threshold value. The operation status detection means calculates the time that the storage / retrieval cart is operating on the same shelf 8 as the shelf 8 of the luggage stored in the farthest placement position, and the re-placing timing correction means corrects the reference timing for the re-placing operation based on the time that the storage / retrieval cart is operating. The luggage can be repositioned at the appropriate time to correct the misalignment. Here, the time during which the loading / unloading cart 4 is in operation is considered to be the time during which vibrations and the like are transmitted to the shelves 6 due to its operation, and in particular, the position of the goods on the same shelf as the loading / unloading cart is likely to shift. Therefore, depending on the time during which the loading / unloading cart is in operation, the reference timing for repositioning can be corrected to be earlier by, for example, adding the elapsed time or decreasing the numerical value of a predetermined threshold value.

[0073] Next, in this embodiment, the shelf 6 of the rack 2 has a predetermined width area (W) in the traveling direction of the loading / unloading cart 4, and is a shelf that can store multiple items of luggage (A) in that width area (W), and the controller 22 (50) is equipped with an operation status detection means (loading / unloading cart operation status detection unit 106) that grasps the operation status of the loading / unloading cart 4, and a re-placing timing correction means (baggage re-placing timing correction unit 110) that corrects the reference timing for re-placing the luggage when the calculated elapsed time exceeds a predetermined threshold value, and the operation status detection means calculates the time that the loading / unloading cart is operating within the predetermined width area of ​​the shelf of the luggage stored in the rear loading position, and the re-placing timing correction means corrects the reference timing for the re-placing operation based on the time that the loading / unloading cart is operating within the predetermined width area, so that the luggage can be re-placing at the appropriate timing to correct any positional deviation. Here, shelves 6 of rack 2 are generally formed by placing beams (not shown) between rack supports 3 along the travel direction (width direction) of loading / unloading carts 4, and by forming a storage area for cargo to be supported by the beams (for example, by arranging multiple ribs (not shown) in the depth direction perpendicular to the travel direction of loading / unloading carts), and it is thought that vibrations caused by the operation of loading / unloading carts 4 are easily transmitted within the width region (W) of such shelves 6, making it easy for cargo to become misaligned. Therefore, the reference timing for repositioning can be corrected to be earlier by, for example, adding elapsed time or decreasing a predetermined threshold value depending on the time that loading / unloading carts are operating within the width region (W) of shelf 6.

[0074] Next, in this embodiment, the controller 22 (50) is provided with an operation status detection means (storage / retrieval cart operation status detection unit 106) that grasps the operation status of the storage / retrieval cart 4, and a re-placing timing correction means (luggage re-placing timing correction unit 110) that corrects the reference timing for re-placing the luggage when the calculated elapsed time exceeds a predetermined threshold value, and the operation status detection means calculates the number of times that the storage / retrieval cart has transferred luggage stored in the rear loading position to the front loading position, and the re-placing timing correction means corrects the reference timing for the re-placing operation based on the number of times that the storage / retrieval cart has transferred luggage to the front loading position, so that the luggage can be re-placed at the appropriate timing to correct any positional deviation. Here, when a load (A1) stored in the rear loading position (L1) is placed in the front loading position (L2), vibrations or the like are transmitted to the rear load (A1), which is likely to cause the rear load to shift position. Therefore, the reference timing for re-placing can be corrected to be earlier by, for example, adding the elapsed time or decreasing a predetermined threshold value depending on the number of times the loading / unloading cart has transferred loads to the front loading position (L2).

[0075] Next, in this embodiment, the shelf 6 of the rack 2 has a predetermined width area (W) in the traveling direction of the loading / unloading cart 4, and is a shelf that can store multiple items of luggage (A) in that width area (W), and the controller 22 (50) is equipped with an operation status detection means (loading / unloading cart operation status detection unit 106) that grasps the operation status of the loading / unloading cart 4, and a re-placing timing correction means (baggage re-placing timing correction unit 110) that corrects the reference timing for re-placing the luggage when the calculated elapsed time exceeds a predetermined threshold value, and the operation status detection means calculates the number of times the loading / unloading cart has transferred luggage to the same shelf as the shelf of the luggage stored in the rear loading position, and the re-placing timing correction means corrects the reference timing for the re-placing operation based on the number of times the loading / unloading cart has transferred luggage to the same shelf, so that the luggage can be re-placing at the appropriate timing to correct any positional deviation. Here, shelves 6 of rack 2 are generally formed by placing beams (not shown) between rack supports 3 along the travel direction (width direction) of loading / unloading carts 4, and by forming a storage area for cargo to be supported by the beams (for example, by arranging multiple ribs (not shown) in the depth direction perpendicular to the travel direction of loading / unloading carts), and it is thought that vibrations caused by the operation of loading / unloading carts 4 are easily transmitted within the width area (W) of such shelves 6, making it easy for cargo to become misaligned. Therefore, the reference timing for repositioning can be corrected to be earlier by, for example, adding the elapsed time or decreasing a predetermined threshold value depending on the number of times loading / unloading carts 4 have transferred cargo to the same shelf 6 having a predetermined width area (W).

[0076] Next, in this embodiment, in the case of another shelf movement control, if luggage that is already stored in a loading position at the back of another shelf 6 as the destination is scheduled to be released, the rearrangement operation execution means (luggage rearrangement operation execution unit 112) moves the luggage to another loading position at the front, excluding the loading position at the front.Therefore, by excluding the loading position of the shelf 6 that needs to be moved immediately from the destination, it is possible to prevent the occurrence of unnecessary transfer operations. [Explanation of symbols]

[0077] A, A1, A2 luggage L1: Placement position at the rear of the luggage L2 Front luggage placement position L3 Placement position at the back of a separate shelf L4 Front side placement position on separate shelf W Shelf width, width area 1. Automated warehouse 2 racks 3 Rack pillar 4. Storage and retrieval trolleys 6 shelves 8 shelves, tiers 10 Running Track 12 Transfer equipment Stations 14 and 16 22 Controller 32 Sidearm 34 Base Arm 36 Middle Arm 38 Top Arm 46 End hook 48 Middle hook 50 Controllers

Claims

1. An automated warehouse comprising: a rack capable of storing a plurality of items in a depth direction, the rack having a plurality of stages, each stage having a plurality of shelves; an entry / exit cart equipped with a transfer device that transports items to the shelves of the rack and delivers items to and from the shelves; and a controller that controls the operation of the entry / exit cart including the transfer device, The above controller is a storage time determination means for calculating the elapsed time since the luggage stored in the placement position at the rear side of the shelf of the rack and determining whether the calculated elapsed time exceeds a predetermined threshold value; a re-placing operation execution means for causing the transfer device to execute a re-placing operation of the luggage stored in the rear loading position when the calculated elapsed time exceeds the predetermined threshold value, another shelf movement control for moving the front-side luggage to another shelf when luggage is present in a front-side placement position of the luggage stored in the back-side placement position; and a rearrangement operation execution means for executing a rearrangement operation control that returns the loaded goods stored in the rear placement position to the same rear placement position on the same shelf after loading the goods stored in the rear placement position onto the loading / unloading cart.

2. The above controller is an operating status detection means for detecting an operating status of the loading / unloading cart; a resetting timing correction means for correcting a reference timing for resetting the luggage when the calculated elapsed time exceeds the predetermined threshold value; The operating status detection means calculates a time period during which the loading / unloading cart is not operating, 2. The automated warehouse according to claim 1, wherein the resetting timing correction means corrects the reference timing of the resetting operation based on a time during which the loading / unloading cart is not in operation.

3. The above controller is an operating status detection means for detecting an operating status of the loading / unloading cart; a resetting timing correction means for correcting a reference timing for resetting the luggage when the calculated elapsed time exceeds the predetermined threshold value; The operating status detection means calculates the time during which the loading / unloading cart is operating at the same level as the level of the baggage stored in the rear placement position, 3. The automated warehouse according to claim 1, wherein the resetting timing correction means corrects the reference timing of the resetting operation based on the time during which the loading / unloading cart is in operation.

4. The shelves of the rack have a predetermined width in the traveling direction of the loading / unloading cart and are capable of storing a plurality of items in the width area, The above controller is an operating status detection means for detecting an operating status of the loading / unloading cart; a resetting timing correction means for correcting a reference timing for resetting the luggage when the calculated elapsed time exceeds the predetermined threshold value; the operating status detection means calculates the time during which the loading / unloading cart is operating within the predetermined width area of ​​the luggage shelf stored in the rear loading position, 3. The automated warehouse according to claim 1, wherein the resetting timing correction means corrects the reference timing of the resetting operation based on the time during which the loading / unloading cart operates within the specified width area.

5. The above controller is an operating status detection means for detecting an operating status of the loading / unloading cart; a resetting timing correction means for correcting a reference timing for resetting the luggage when the calculated elapsed time exceeds the predetermined threshold value; The operation status detection means calculates the number of times that the loading / unloading cart transfers the luggage stored in the rear loading position to the front loading position, 3. The automated warehouse according to claim 1, wherein the resetting timing correction means corrects the reference timing of the resetting operation based on the number of times the loading / unloading cart has transferred goods to the front loading position.

6. The shelves of the rack have a predetermined width in the traveling direction of the loading / unloading cart and are capable of storing a plurality of items in the width area, The above controller is an operating status detection means for detecting an operating status of the loading / unloading cart; a resetting timing correction means for correcting a reference timing for resetting the luggage when the calculated elapsed time exceeds the predetermined threshold value; The operation status detection means calculates the number of times that the loading / unloading cart has transferred goods to the same shelf as the goods stored in the placement position at the rear side, 3. The automated warehouse according to claim 1, wherein the resetting timing correction means corrects the reference timing of the resetting operation based on the number of times the loading / unloading cart has transferred goods to the same shelf.

7. 3. The automated warehouse according to claim 1, wherein, in the control of movement to another shelf, when an item already stored in a rear loading position is scheduled to be released from the other shelf to which the item is to be moved, the rearranging operation execution means moves the item to another front loading position excluding the front loading position.

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