Automatic warehouse system

Abstract

To provide an automatic warehouse system whose maintenance is easy.SOLUTION: An automatic warehouse system includes: a rack for storing a container in which an article is placed; a crane for conveying the container to a storage position of the rack and carrying out the container from the storage position of the rack; a mobile robot for conveying the container, and receiving / delivering the container between itself and the crane; and a rail where the crane can slide. The rail includes a protrusion part protruding from an end part of the rack, and the protrusion part is rotatable toward the end part of the rack around a vertical direction.SELECTED DRAWING: Figure 1

Description

[Technical Field]

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

[0002] Non-Patent Document 1 describes a technique in which a crane transports containers to and from a rack. [Prior art documents] [Non-patent literature]

[0003] [Non-Patent Document 1] Libiao Robotics - Sorting Robot, [online], [Searched on April 25, 2020], Internet<URL: https: / / www.libiaorobot.com / en / airrob> Summary of the Invention [Problem to be solved by the invention]

[0004] Cranes are subject to maintenance either periodically or when they break down, but depending on the location of the crane, maintenance can be difficult.

[0005] An object of the present disclosure is to provide an automated warehouse system that is easy to maintain. [Means for solving the problem]

[0006] An automated warehouse system according to a first aspect of the present invention comprises: (1) a rack for storing containers for storing items; a crane that transports a container to a storage position on the rack and removes the container from the storage position on the rack; a mobile robot that transports a container and transfers the container between the mobile robot and the crane; a rail on which the crane can slide; Equipped with the rail includes a protrusion that protrudes from an end of the rack; The protrusion is rotatable about a vertical direction toward the end of the rack.

[0007] An automated warehouse system according to one embodiment of the present invention comprises: (2) The crane can be retracted to the protruding portion of the rail, Or, it is detachable from the rail. The automated warehouse system described in (1) above.

[0008] An automated warehouse system according to one embodiment of the present invention comprises: (3) A plurality of the cranes are provided, When at least one of the cranes is retracted to the protruding portion of the rail, the remaining cranes are still operating. The automated warehouse system according to (1) or (2) above.

[0009] An automated warehouse system according to one embodiment of the present invention comprises: (4) The crane includes a lift that moves up and down and supports the container. The automated warehouse system according to any one of (1) to (3) above.

[0010] An automated warehouse system according to one embodiment of the present invention comprises: (5) the mobile robot includes a platform on which the container is placed, The mounting table is movable up and down. The automated warehouse system according to any one of (1) to (4) above.

[0011] An automated warehouse system according to one embodiment of the present invention comprises: (6) The mobile robot moves to below the rack in a direction perpendicular to the longitudinal direction of the rack, and carries the container in and out from the bottom of the rack, and the crane moves the container between a predetermined storage position of the container and the bottom of the rack. The automated warehouse system according to any one of (1) to (5) above.

[0012] An automated warehouse system according to one embodiment of the present invention comprises: (7) Further provided is a reader for reading information contained in the article, managing the items in the containers stored in each storage position of the rack based on the information read by the reader; The automated warehouse system according to any one of (1) to (6) above. [Effects of the Invention]

[0013] According to the present disclosure, an automated warehouse system that is easy to maintain can be provided. [Brief explanation of the drawings]

[0014] [Figure 1] 1 is a diagram illustrating an automated warehouse system according to an embodiment of the present invention. FIG. [Figure 2] FIG. 1 shows a container supported by a mobile robot at a GTP station. [Figure 3] FIG. 2 is a perspective view showing the automated warehouse system of FIG. 1. [Figure 4] FIG. 1 is a diagram illustrating a picking robot of an automated warehouse system according to an embodiment of the present invention. [Figure 5] FIG. 2 is a perspective view showing a part of a rack in the automated warehouse system of FIG. 1. [Figure 6] 2 is a diagram showing a state in which a mobile robot in the automated warehouse system of FIG. 1 carries a container into the bottom shelf of a rack. FIG. [Figure 7] 2 is a diagram showing how a crane in the automated warehouse system of FIG. 1 moves a container from the bottom shelf of a rack. FIG. [Figure 8] 1 is a block diagram showing an automated warehouse system according to an embodiment of the present invention. FIG. [Figure 9] 2 is a diagram showing the vicinity of a protruding portion of a rail in the automated warehouse system of FIG. 1. FIG. [Figure 10] 10 is a diagram showing a state in which the protrusion in FIG. 9 is rotated around the vertical direction toward the end 10E of the rack 10. FIG. [Figure 11] FIG. 1 is a diagram illustrating a GTP station of an automated warehouse system according to an embodiment of the present invention. [Figure 12] FIG. 12 is a partial enlarged view of the GTP station in FIG. 11. [Figure 13] 10 is a flowchart showing an example of a procedure for storing a container in a rack of an automated warehouse system. [Figure 14] 10 is a flowchart showing an example of a procedure for removing a container from a rack in an automated warehouse system and packing the items in the container. DETAILED DESCRIPTION OF THE INVENTION

[0015] Hereinafter, embodiments of the present disclosure will be described with reference to the drawings. In the following drawings, the same components are designated by the same reference numerals.

[0016] An automated warehouse system 100 according to one embodiment of the present invention will be described with reference to FIG. 1. The automated warehouse system 100 includes a rack 10, a crane 20, a mobile robot 30, and rails 40. The automated warehouse system 100 may be installed in any location, but in this embodiment, it is installed in a warehouse of a mail-order company. The automated warehouse system 100 may also be installed as a raw material warehouse or parts warehouse in the manufacturing industry. The automated warehouse system 100 is also called an "AS / RS (Automated Storage / Retrieval System)."

[0017] The rack 10 stores a plurality of containers 210. Referring to FIG. 2, each container 210 contains one or more items 200. The crane 20 moves the container 210 to the transfer area 1100 (the lowest level of the rack 10). The mobile robot 30 then transports the container 210 from the transfer area 1100 to the work area 1000 (see FIG. 3). Referring to FIG. 2, the user 220 or the picking robot 130 (see FIG. 4) removes at least one item 200 from the container 210 removed by the rack 10. These procedures will be described later with reference to FIGS. 13-14.

[0018] When the picking robot 130 automatically removes the item 200 from the container 210, the user 220 does not need to remove the item 200 from the container 210 by hand, which improves convenience and alleviates the problem of a shortage of personnel.

[0019] A control device 120, which will be described later, controls the picking by the picking robot 130. Any method may be used to control the picking. In this embodiment, however, a method may be used in which identification information such as a barcode, a two-dimensional code, or an RFID attached to the item 200, or an image of the item 200, is input to the picking robot 130, causing the picking robot 130 to identify the item 200 and remove it from the container 210. "RFID" is an abbreviation for radio-frequency identification. The characteristics of the item 200 may be taken into consideration when picking. For example, if the item 200 is fragile, the item 200 may be picked at a slow speed. The characteristics of the item 200 may be ascertained from the identification information or the image of the item 200.

[0020] In this embodiment, instead of the picking robot 130, a person such as a user 220 may manually remove the items 200 from the container 210 removed by the rack 10. In this case, the control device 120 assists the person in picking. Any method may be used to assist the picking. In this modification, however, a method may be used in which identification information such as a barcode, a two-dimensional code, or an RFID tag attached to the items 200 is input into the reader 53, allowing the person to identify the items 200 using the reader 53 and remove them from the container 210. Alternatively, a method may be used in which an image of the items 200 is displayed on the display device 52, allowing the person to visually identify the items 200 and remove them from the container 210. Referring to FIG. 5 , the rack 10 may include a segment indicator 11 for displaying numerical values ​​and a completion button / completion lamp 12. The segment indicator 11 may display the number of items 200 stored in the container 210. The completion lamp 12 may be lit when sorting of the items 200 in the container 210 is complete. Specifically, the lighting of the completion lamp 12 may indicate that the item 200 is stored in the container 210 and prompts the user to remove the item 200.

[0021] The user 220 presses the complete button 12 when removing the container 210 from the rack 10 for packing or the like. After the complete button 12 is pressed, the lamp 12 goes out. The lamp 12 also goes out when the crane 20 removes the container 210 for packing or the like. The lamp 12 going out may indicate that sorting of the items 200 in the container 210 has not been completed and the items 200 should not be removed.

[0022] In this embodiment, instead of the user 220 or the picking robot 130 manually picking up the item 200 from the storage position of the rack 10, the crane 20 automatically picks up the container 210 containing the item 200 from the storage position and carries it to the mobile robot 30. Therefore, the space around the storage position may be so narrow that a person cannot pass through, and the height of the storage position may be so high that a person cannot reach it. Therefore, the number of items that can be stored according to the site area of ​​the location where the rack 10 is installed, i.e., the product density relative to the site area, can be increased.

[0023] In this embodiment, the item 200 is a product sold by a mail-order business. The types of the item 200 include, for example, food, daily necessities, and magazines, but there may be various other types, or conversely, there may be only one or two types. In this embodiment, the types of the item 200 are distinguished as SKUs. "SKU" is an abbreviation for stock keeping unit. The item 200 received by the user 220 may be a product that the user 220 packs.

[0024] The vessel 210 is a container in this embodiment, but may also be, for example, a tote, carton, bag, box, pallet, case, or bucket.

[0025] Each container 210 may contain only one type of article 200, or may contain two or more types of articles 200. When two or more types of articles 200 are contained in the same container 210, the two or more types of articles 200 may be sorted according to the destinations of the articles 200. Any sorting method may be used, but in this embodiment, a method may be used in which the inside of the container 210 is divided into multiple spaces by partitions 210D, and each article 200 is placed in a space for a specific destination. The sorting operation may be performed before each container 210 is loaded onto the rack 10, or may be performed when the articles 200 are loaded into the container 210 on the rack 10.

[0026] A plurality of containers 210, each containing an item 200, are loaded into the rack 10. The rack 10 stores the loaded containers 210. Referring to FIG. 7, the rack 10 includes columns 23 arranged at predetermined intervals in the longitudinal direction and one or more plate-like members 22 protruding laterally from the columns 23. A plurality of through-holes may be formed in the height direction of the columns 23. The height of the plate-like members 22 can be changed by screwing the through-holes formed in the plate-like members 22 into selected through-holes in the columns 23. Therefore, the rack 10 can store containers 210 of various heights. Gaps 22S may be present between the plate-like members 22. In other words, in the rack 10, the containers 210 may be supported from below by the plate-like members 22 only at both longitudinal edges, and may not be supported near the lower longitudinal center (gaps 22S). As will be described later, the crane 20 can use the gap 22S between the plate-like members 22 to lift the container 210 from below and carry it in or out.

[0027] Referring to FIG. 8, the automated warehouse system 100 further includes a control device 120, a database 140, an input device 150, an output device 160, and a packing shelf 180.

[0028] The control device 120 is installed in the rack 10, the work area 1000, the delivery area 1100, or another area. The control device 120 is a computer.

[0029] The picking robot 130 is installed in the work area 1000. The number of picking robots 130 may be any number. The picking robot 130 is a system including, for example, an articulated robot as shown in FIG. 4, a camera that photographs an object to be picked by the robot from above, and a motion controller that controls the operation of the robot. For example, the picking robot 130 identifies the item 200 by analyzing an image of the item 200 taken by the camera using the motion controller. Then, the picking robot 130 removes the item 200 from the container 210 by controlling the picking operation of the articulated robot using the motion controller.

[0030] The database 140, like the control device 120, is installed in the rack 10, the work area 1000, the delivery area 1100, or another area. The database 140 is, for example, an RDBMS. "RDBMS" is an abbreviation for relational database management system. In this embodiment, the database 140 is separate from the control device 120, but may be integrated into the control device 120.

[0031] The database 140 holds inventory information 240 of the rack 10. The inventory information 240 includes identification information such as a barcode, a two-dimensional code, or an RFID tag attached to each container 210, or a combination of information indicating the storage position of each container 210 in the rack 10 and information indicating the type of item 200 contained in each container 210. The inventory information 240 may be updated when each container 210 is carried into the rack 10 and when each container 210 is carried out from the rack 10.

[0032] The input device 150 is installed in the work area 1000 or other area where the user 220 can enter. The input device 150 is, for example, a physical key, a capacitive key, a pointing device, a touch screen integrated with a display, or a microphone. The input device 150 may include the reader 53 described above. The input device 150 may be separate from the control device 120 or may be integrated into the control device 120.

[0033] Like the input device 150, the output device 160 is installed in the work area 1000 or another area where the user 220 can enter. The output device 160 is, for example, a display or a speaker. The display is, for example, an LCD or an organic EL display. "LCD" is an abbreviation for liquid crystal display. "EL" is an abbreviation for electroluminescence. In this embodiment, the output device 160 may be separate from the control device 120 or may be integrated into the control device 120.

[0034] The packing shelf 180 is installed in the work area 1000 .

[0035] The number of racks 10 may be any number, but is two in the example of Fig. 3. The rack 10 may be configured to be able to store any number of containers 210, but in the example of Fig. 1, it is configured as a high-density rack that can store 15 containers 210 in the height direction, 26 containers in the width direction, and 1 container in the depth direction.

[0036] Referring to FIG. 1, the number of cranes 20 is determined by the number and size of racks 10, and three cranes 20A, 20B, and 20C are provided for rack 10A at the front in FIG. 1. Rails 40 are installed in the aisle facing the racks 10. In the example of FIG. 3, crane 20D is installed in the aisle between two racks 10B and 10C. This aisle may be narrow enough to prevent people from passing through, as long as it is wide enough to accommodate the crane 20. In this embodiment, crane 20 is a mini-load crane, but it may also be, for example, a unit load crane or a mid-load crane.

[0037] The crane 20 can slide on the rails 40. A pair of rails 40A, 40B may be provided for one or more cranes 20. The crane 20 may be provided with wheels, which may be supported on the rails 40A, 40B. The crane 20 may be detachable from the rails 40A, 40B. The rails 40A, 40B may extend along the longitudinal direction of the rack 10. The rail 40A may be positioned below the lowest container 210 stored in the rack 10. The rail 40B may be positioned above the highest container 210 stored in the rack 10.

[0038] The wheels of the crane 20 may be driven and braked by a motor. The wheels of the crane 20 may be controlled by the control device 120. As shown in Fig. 9, when the crane 20 is out of order, a user 230 such as a technician may push the crane 20, causing the crane 20 to slide on the rails 40A, 40B.

[0039] 1, in a configuration in which multiple cranes 20 can slide on common rails 40A, 40B, multiple containers 210 can be simultaneously loaded and unloaded from the rack 10. This can improve work efficiency. In this configuration, the control device 120 controls the cranes 20 so that the cranes 20 do not collide with each other.

[0040] Referring to Fig. 9, the rails 40A, 40B include protrusions 40P that protrude from at least one end 10E of the rack 10 (both in this embodiment). The protrusions 40P are rotatable around the vertical direction toward the end 10E of the rack 10. The protrusions 40P of the rails 40A, 40B and other portions of the rails 40A, 40B may be connected by hinges. Referring to Fig. 10, the protrusions 40P may be rotated until they overlap the end 10E of the rack 10.

[0041] The crane 20 may be retractable to a protruding portion 40P of the rails 40A, 40B. Therefore, the protruding length of the protruding portion 40P may be equal to or greater than the width of the crane 10. In FIG. 1 , the cranes 20B and 20C are retracted to the protruding portion 40P. This configuration allows the remaining cranes 20 to continue operating even if one of the multiple cranes 20 malfunctions. Therefore, the remaining cranes 20 can continue to transport the container 210 to the storage position of the rack 10 and can continue to remove the container 210 from the storage position of the rack 10. The user 230 can perform maintenance, repairs, etc. on the cranes 20B and 20C retracted to the protruding portion 40P. The cranes 20B and 20C may be removed from the crane 20 for maintenance, repairs, replacement, etc.

[0042] Referring to FIG. 1 , crane 20 may include second rails 41A and 41B supported by rails 40A and 40B. The second rails 41A and 41B may extend vertically. A lift 21 of crane 20 may be able to slide on the rails 41A and 41B. In other words, the lift 21 may be able to move up and down along the rails 41A and 41B. In the event of a malfunction of crane 20, a user 230 may be able to manually lower the lift 21.

[0043] The lift 21 may be of a telescopic type. More specifically, the lift 21 may have a plurality of overlapping cylindrical members, and the cylindrical members may be displaced relative to each other.

[0044] 7, the procedure by which the lift 21 carries out the container 210 from the rack 10 will be described. The lift 21 moves so that its upper surface is positioned below and in front of the gap 22S between the plate-like members 22 in the rack 10. The crane 20 extends the lift 21 to just below the gap 22S. The crane 20 raises the lift 21 so that the top surface of the lift 21 supports the bottom surface of the container 210. The lift 21 is then retracted, allowing the container 210 to be pulled in.

[0045] The crane 20 may move the container 210 to another storage position. Referring to Fig. 7, the crane 20 may move the container 210 to the bottom level (transfer area 1100) of the rack 10. Thereafter, the mobile robot 30 may carry the container 210 out of the bottom level of the rack 10.

[0046] In this embodiment, the scalability of the automated warehouse system 100 is enhanced by treating the rack 10, the crane 20, or a combination thereof as a module. That is, the configuration of the automated warehouse system 100 can be easily determined or changed depending on various requirements, such as the site area of ​​the warehouse where the automated warehouse system 100 is installed and the number of items required. Furthermore, the scalability of the entire automated warehouse system 100 may be enhanced by treating a combination of the components of the automated warehouse system 100 as a module. That is, the overall configuration of the automated warehouse system 100 can be easily determined or changed depending on various requirements of the warehouse where the automated warehouse system 100 is installed. For example, the automated warehouse system 100 can be easily introduced into a warehouse by configuring the components of the automated warehouse system 100 with a small number of modules or small-scale modules. Alternatively, the automated warehouse system 100 can be easily introduced into a warehouse by configuring the components of the automated warehouse system 100 with a large number of modules or large-scale modules. Furthermore, if a warehouse where the automated warehouse system 100 is installed is closed, each module of the automated warehouse system 100 can be reused in another warehouse, etc.

[0047] In this embodiment, the rack 10 may store the plurality of containers 210 that have been brought in, by dividing them into two or more compartments with different temperature settings according to the type of items 200 contained in each container 210. For example, the rack 10 may be divided into four compartments corresponding to four temperature ranges, namely, frozen, refrigerated, constant temperature, and room temperature, and the plurality of containers 210 that have been brought in may be stored in these four compartments according to the type of items 200 contained in each container 210. In this case, the frozen compartment stores containers 210 that contain products that need to be kept frozen, such as frozen foods. The refrigerated compartment stores containers 210 that contain products that need to be kept refrigerated. The constant temperature compartment stores containers 210 that contain products that need to be kept at a constant temperature, such as alcoholic beverages. The room temperature compartment stores containers 210 that contain other products.

[0048] Referring to FIG. 8, the control device 120 includes a control unit 121, a storage unit 122, a communication unit 123, an input unit 124, and an output unit 125.

[0049] The control unit 121 includes one or more processors, one or more dedicated circuits, or a combination thereof. The processor may be a general-purpose processor such as a CPU, or a dedicated processor specialized for a specific process. "CPU" is an abbreviation for central processing unit. The dedicated circuit may be, for example, an FPGA or an ASIC. "FPGA" is an abbreviation for field-programmable gate array. "ASIC" is an abbreviation for application specific integrated circuit. The control unit 121 controls each part of the control unit 120 and executes information processing related to the operation of the control unit 120.

[0050] The memory unit 122 includes one or more semiconductor memories, one or more magnetic memories, one or more optical memories, or a combination of at least two of these. The semiconductor memory is, for example, RAM or ROM. "RAM" is an abbreviation for random access memory. "ROM" is an abbreviation for read only memory. RAM is, for example, SRAM or DRAM. "SRAM" is an abbreviation for static random access memory. "DRAM" is an abbreviation for dynamic random access memory. ROM is, for example, EEPROM. "EEPROM" is an abbreviation for electrically erasable programmable read only memory. The memory unit 122 functions as, for example, a main memory device, an auxiliary memory device, or a cache memory. The memory unit 122 stores information used in the operation of the control device 120 and information obtained by the operation of the control device 120.

[0051] The communication unit 123 includes one or more communication interfaces. The communication interface is, for example, a LAN interface or an interface compatible with a mobile communication standard such as LTE, 4G, or 5G. "LAN" is an abbreviation for local area network. "LTE" is an abbreviation for Long Term Evolution. "4G" is an abbreviation for 4th generation. "5G" is an abbreviation for 5th generation. The communication unit 123 receives information used in the operation of the control device 120 from the database 140 or other external devices, and transmits information obtained by the operation of the control device 120 to the database 140 or other external devices.

[0052] The input unit 124 includes one or more input interfaces. The input interface is, for example, a USB interface. "USB" is an abbreviation for universal serial bus. The input unit 124 accepts an operation to input information used in the operation of the control device 120 via the input device 150.

[0053] The output unit 125 includes one or more output interfaces. The output interface is, for example, a USB interface. The output unit 125 outputs information obtained by the operation of the control device 120 via the output device 160.

[0054] The functions of the control device 120 are realized by executing a control program according to this embodiment on a processor included in the control unit 121. That is, the functions of the control device 120 are realized by software. The control program is a program that causes a computer to execute processing of steps included in the operation of the control device 120, thereby causing the computer to realize functions corresponding to the processing of those steps. That is, the control program is a program that causes a computer to function as the control device 120.

[0055] The program can be recorded on a computer-readable recording medium. Examples of computer-readable recording media include magnetic recording devices, optical discs, magneto-optical recording media, and semiconductor memories. The program can be distributed, for example, by selling, transferring, or lending portable recording media such as DVDs or CD-ROMs on which the program is recorded. "DVD" is an abbreviation for digital versatile disc. "CD-ROM" is an abbreviation for compact disc read only memory. The program can also be distributed by storing it in the storage of a server and transferring it from the server to another computer. The program can also be provided as a program product.

[0056] A computer temporarily stores a program recorded on a portable recording medium or transferred from a server in its main storage device. The computer then reads the program stored in the main storage device using a processor and executes processing in accordance with the read program. The computer may also read the program directly from a portable recording medium and execute processing in accordance with the program. The computer may also execute processing in accordance with the received program each time a program is transferred from a server to the computer. Processing may also be executed through a so-called ASP-type service that achieves its functions simply by issuing execution instructions and obtaining results, without transferring the program from the server to the computer. "ASP" is an abbreviation for application service provider. Programs include information used for processing by a computer that is equivalent to a program. For example, data that does not directly instruct a computer but has properties that define computer processing falls under the category of "equivalent to a program."

[0057] Some or all of the functions of the control device 120 may be realized by a dedicated circuit included in the control unit 121. In other words, some or all of the functions of the control device 120 may be realized by hardware.

[0058] 6 and 7, the mobile robot 30 may be an AGV (Automated Guided Vehicle). The mobile robot 30 may be a four-wheeled robot or a six-wheeled robot. The mobile robot 30 may have a built-in power source. There may be multiple mobile robots 30. The mobile robot 30 may be able to rotate without translating. The mobile robot 30 may be equipped with a collision prevention sensor. The control device 120 may control the mobile robot 30. The mobile robot 30 may be equipped with a platform 31 on which the container 210 is placed. The platform 31 may be able to rise and fall by lifting means 32. The lifting means 32 may be of a pantograph type, and may be raised and lowered by changing the angle between links. The lifting means 32 may be driven by a motor.

[0059] The mobile robot 30 transports the container 210 and transfers the container 210 to and from the crane 20 via a transfer area 1100. At this time, referring to FIG. 6 , the mobile robot 30 may move to a position below the crane 20 in a direction d perpendicular to the longitudinal direction of the rack 10. More specifically, the mobile robot 30 may move the container 210 to a position where the container 210 can be received by the lift 21 of the crane 20. At this time, the mobile robot 30 may pass between adjacent legs 10L of the rack 10.

[0060] When the mobile robot 30 hands over the container 210 to the crane 20, the mobile robot 30 may move the container 210 to a predetermined position (e.g., the bottom row) on the rack 10. More specifically, the mobile robot 30 may move to the gap 22S between the plate-like members 22 while the mounting platform 31 is raised. The mobile robot 30 may then lower the mounting platform 31 and place the container 210 on the plate-like member 22. Further thereafter, referring to FIG. 7 , the crane 20 may move to the vicinity of the container 210. The lift 21 of the crane 20 receives the container 210 and transports it to a storage position on the rack 10.

[0061] The mobile robot 30 can also transport the container 210 from the rack 10 to the work area 1000. Before transporting the container 210, the mobile robot 30 may move to below the rack 10 (see FIG. 6 ) in a direction d perpendicular to the longitudinal direction of the rack 10. The mobile robot 30 may then raise the mounting platform 31, pass the container 210 through the gap 22S in the plate-like member 22, and lift the container 210 away from the plate-like member 22. The mobile robot 30 may then move away from below the rack 10 while the mounting platform 31 is raised. After moving away from below the rack 10, the mobile robot 30 may lower the mounting platform 31. Lowering the mounting platform 31 lowers the center of gravity of the mobile robot 30, allowing the mobile robot 30 to travel more stably.

[0062] 11 and 12, a GTP (Goods To Person) station 50 may be provided in the work area 1000. The GTP station 50 may include a shelf 51, a display device 52, a reader 53 (see FIG. 2), a signal 54, and a switch 55.

[0063] Referring to FIG. 12, the shelf 51 may store the items 200 to be packed. The user 220 may move the items 200 in the container 210 transported by the mobile robot 30 onto the shelf 51. The shelf 51 may be inclined so that the front side is lowered. The mobile robot 30 may raise the platform 31 to make it easier for the user 220 to move the items 200. Referring to FIG. 11, when the user 220 is moving the items 200 in another mobile robot 30, the mobile robot 30 may wait until the moving operation is completed.

[0064] 12, the shelves 51 may be partitioned according to the destination of the item 200. The shelves 51 may include lamps. The lamps may flash or light up on the shelves 51 where the user 220 should store the item 200. The control device 120 may control the shelves 51 on which the next item 200 to be packed is stored. For example, the control device 120 may instruct the packing order so that the items 200 to be packed for distant locations are loaded on the far side (front side) of the loading platform of a transportation means such as a truck, and the items 200 to be packed for nearby locations are loaded on the near side (rear side) of the loading platform.

[0065] The reader 53 may read information held by the item 200. More specifically, the item 200 may be provided with identification information such as a barcode, a two-dimensional code, or an RFID. The automated warehouse system 100 may manage the item 200 in the container 210 stored in each storage position on the rack 10 based on the information read by the reader 53. For example, the user 220 may use the reader 53 to read the information held by the item 200 before packing the item 200. This operation can prevent the item 200 from being shipped erroneously. The information read by the reader 53 may be displayed on the display device 52.

[0066] The signal 54 may indicate the status of the automated storage system 100. The status of the automated storage system 100 may include normal operation, stopped, an abnormality occurring, a warning, and maintenance. The signal 54 may be located near the display device 52.

[0067] Pressing the switch 55 may switch the state of the automated warehouse system 100. The switch 55 may include an emergency stop switch 55A, a maintenance mode selector switch 55B, a reset switch 55C, a stop switch 55D, and a start switch 55E. Pressing the emergency stop switch 55A may stop the crane 20 and the mobile robot 30 and issue an alarm. Pressing the maintenance mode selector switch 55B may stop the crane 20. Pressing the reset switch 55C may restart the control device 120. Pressing the stop switch 55D may stop the crane 20 and the mobile robot 30. Pressing the start switch 55E may start the crane 20 and the mobile robot 30.

[0068] An intrusion prevention fence may be provided between the work area 1000 and other areas.

[0069] An example of a procedure for storing a container 210 in a rack 10 of the automated warehouse system 100 will be described with reference to FIG.

[0070] In step S101, the item 200 is placed in the container 210. In other words, the item 200 is sorted within the container 210. However, at this point, the destination of the item 200 may not be determined. In other words, the item 200 may not be sorted at this point. Step S101 may be performed in a location different from the work area 1000 to avoid confusion in the work, but it may also be performed in the work area 1000. A specific container 210 may be filled with a product that is identical or similar to the item 200. In other words, the product may be replenished as the item 200. Later, some of the products may be removed from the container 210 according to an order.

[0071] In step S102, the mobile robot 30 transports the container 210 to the delivery area 1100 of the rack 10. With reference to Fig. 6, the mobile robot 30 may move to below the rack 10 in a direction d perpendicular to the longitudinal direction of the rack 10 and carry out the container 210 to the bottom of the rack 10.

[0072] In step S103, the crane 20 transports the container 210 to a storage position on the rack 10. The crane 20 may move the container 210 from the bottommost stage of the rack 10 to a predetermined storage position.

[0073] An example of a procedure for removing a container 210 from a rack 10 of the automated warehouse system 100 and packing the items 200 in the container 210 will be described with reference to FIG.

[0074] In step S201, the control device 120 receives an order for the item 200. The control device 120 searches for the storage location of the container 210 containing the item 200.

[0075] In step S202, the crane 20 removes the container 210 from the storage position of the rack 10. With reference to Fig. 7, the crane 20 may move the container 210 to the lowest level of the rack 10 from the predetermined storage position.

[0076] In step S203, the mobile robot 30 transports the container 210 from the rack 10. With reference to Fig. 6, the mobile robot 30 may move to below the rack 10 in a direction d perpendicular to the longitudinal direction of the rack 10 and remove the container 210 from the bottom of the rack 10. The container 210 may be supported from below by a mounting table 31 during transportation.

[0077] 11, in step S204, the mobile robot 30 transports the container 210 to the GTP station 50. If the user 220 is moving an item 200 in another mobile robot 30, the mobile robot 30 may wait until the moving task is completed. After completing the moving task, the mobile robot 30 may move to the GTP station 50. In the GTP station 50, the mobile robot 30 may raise the platform 31 on which the container 210 is supported in order to reduce the workload of the user 220.

[0078] In step S205, the user 220 or the picking robot 130 packs the item 200 in the container 210. Before packing the item 200, the user 220 may move the item 200 in the container 210, which has been transported by the mobile robot 30, into the shelf 51 of the GTP station 50, as shown in FIG. 12 . The user 220 may inspect the item 200 using the reader 53.

[0079] As an example of this embodiment, an API may be defined for connecting and linking various existing systems of a retailer, such as a payment system such as a POS system, an IMS, and an ERP system, with the automated warehouse system 100. "IMS" is an abbreviation for inventory management system. "ERP" is an abbreviation for enterprise resource planning. "API" is an abbreviation for application programming interface. According to this modification, the automated warehouse system 100 can be provided as a turnkey system via the API.

[0080] As an example of this embodiment, the control unit 121 of the control device 120 may change the storage position of each container 210 depending on the order frequency of the item 200 contained in each container 210. Specifically, the control unit 121 may store a container 210 containing a frequently ordered item in the front rack 10. According to this example, the cycle time can be shortened.

[0081] As an example of this embodiment, a temperature zone management function may be added to each container 210. For example, of the four temperature zones of freezing, refrigeration, fixed temperature, and room temperature, the corresponding temperature zone may be different for each container 210. According to this modification, the temperature zone can be managed more reliably.

[0082] The present disclosure is not limited to the above-described embodiments. For example, multiple blocks shown in the block diagrams may be integrated, or a single block may be divided. Instead of executing multiple steps shown in the flowcharts in chronological order as described, steps may be executed in parallel or in a different order depending on the processing capabilities of the device executing each step, or as needed. Other modifications are possible within the scope of the present disclosure. [Explanation of symbols]

[0083] 100 Automated Warehouse System 10, 10A, 10B, 10C racks 10E End 10L legs 20, 20A, 20B, 20C Crane 21 Lift 22 Plate-shaped member 22S Gap 23 Pillars 30 Mobile Robot 31 Mounting table 32 Lifting means 40, 40A, 40B rails 41A, 41B 2nd rail 40P protrusion 50 GTP Station 51 Shelf 52 Display device 53 Leader 54 signal 55 Switch 55A emergency stop switch and 55B Maintenance mode switch 55 55C Reset Switch 55D Stop switch 55E Start switch 120 Control device 121 Control Unit 122 Storage section 123 Communications Department 124 Input section 125 Output section 130 Picking Robot 140 databases 150 Input Device 160 Output Device 180 Packing Shelves 200 Goods 210 Container 210D Partition 220,230 users 240 Stock Information 250 List 1000 working area 1100 Delivery area

Claims

1. a rack for storing containers for storing items; a crane that transports a container to a storage position on the rack and removes the container from the storage position on the rack; a mobile robot that transports a container and transfers the container between the mobile robot and the crane; a rail on which the crane can slide; Equipped with the rail includes a protrusion that protrudes from an end of the rack; the protrusion is rotatable about a vertical direction toward the end of the rack; Automated warehouse system.

2. The crane can be retracted to the protruding portion of the rail, Or, it is detachable from the rail. The automated warehouse system according to claim 1 .

3. A plurality of the cranes are provided, When at least one of the cranes is retracted to the protruding portion of the rail, the remaining cranes are still operating. The automated warehouse system according to claim 1 or 2.

4. The crane includes a lift that moves up and down and supports the container. The automated warehouse system according to claim 1 or 2.

5. the mobile robot includes a platform on which the container is placed, The mounting table is movable up and down. The automated warehouse system according to claim 1 or 2.

6. The mobile robot moves to below the rack in a direction perpendicular to the longitudinal direction of the rack, and carries the container in and out from the bottom of the rack, and the crane moves the container between a predetermined storage position of the container and the bottom of the rack. The automated warehouse system according to claim 4.

7. Further provided is a reader for reading information contained in the article, managing the items in the containers stored in each storage position of the rack based on the information read by the reader; The automated warehouse system according to claim 1 or 2.

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