Automated warehouse and method of operating automated warehouse

Abstract

To provide an automated storage and retrieval warehouse capable of improving work efficiency and work quality by preventing a worker's mistake in taking out and putting in an article relating to an automatically conveyed storage box.SOLUTION: This automated warehouse 1 is provided with a storage box 20 capable of storing an article inside a section, a storage box storage part for storing a plurality of storage boxes 20, and a storage box automatic carrying part for automatically carrying the storage box in a horizontal state to a workbench 40 for work for warehousing or delivering the article from the storage box storage part. The automatic warehouse system includes an optical information providing unit that provides information by light for work support of a designated section of the housing box 40 in which an article is to be housed at the time of warehousing or a designated section of the housing box 40 in which an article to be taken out at the time of shipping is housed, a three dimensional sensor that is provided above the workbench and three dimensionally detects that an article is put into the designated section or an article is taken out from the designated section, and an automatic warehouse control unit that controls each of the above units.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to an automated warehouse that automatically performs operations such as receiving, storing, and retrieving goods. [Background technology]

[0002] Conventionally, automated warehouses have been widely used to store parts (items) used in assembling products, with the aim of automating the receiving, storage, and retrieval of these items. In particular, in recent manufacturing sites where high-mix, low-volume production is required, there is a demand for greater efficiency in storage space and labor savings in response to the increasing number of stored items, and storage methods that can achieve these goals at a high level are being developed one after another.

[0003] Here, warehousing refers to the task of temporarily storing goods (or parts) delivered from the supplier in a warehouse, while shipping refers to the task of taking out the stored goods and sorting them appropriately for the destination where they will be used. In addition to this, tasks such as taking an inventory of goods in the warehouse and checking stock are also required. Here, the role of automated warehouses, which allow these tasks to be performed automatically, is extremely important.

[0004] Specific examples of automated warehouses include the stacker crane system, in which containers that can store goods are taken from shelves using a crane and vice versa, the shuttle system, which uses shuttle carts that can store goods for horizontal movement and combines this with a lifter for vertical movement, the carousel system, in which many shelves rotate like a Ferris wheel, and the system used by AutoStore (registered trademark), in which bins (special containers) that can store goods are stacked vertically within a grid arranged in a lattice pattern and robots that travel above the grid lift and lower the bins to store and retrieve them.Many systems have been put into practical use.

[0005] In either method, a work support method is used in which a display or indicator is combined with information such as the items to be picked and their quantity for each task to ensure that workers can correctly place items into storage boxes (including bins, containers, etc.) when storing items, and correctly remove (pick) items from storage boxes when retrieving items.

[0006] For example, Patent Document 1 describes a technical idea for a work support device that aims to improve work efficiency, which includes multiple storage boxes for storing items, a three-dimensional sensor, and a computing device, and in which the three-dimensional sensor detects the hands of a worker when removing items from the storage boxes.

[0007] Furthermore, it is also described that the system has a projector, which, based on instruction information, displays the quantity of items to be taken out in a display area on the screen corresponding to the storage box containing the items to be taken out, and that if the worker takes out the wrong item, the projector will flash red to indicate a work error.

[0008] It is also described that similar work assistance is possible when putting items into an empty storage box (warehouse entry work) rather than taking out items (warehouse removal work).

[0009] In this way, when multiple storage boxes are placed on a fixed (non-movable) shelf that is slightly tilted in an upright position, workers can use the three-dimensional sensor and projector to remove (pick) or insert items without making any mistakes.

[0010] However, the embodiment disclosed in this invention is significantly different from the automated warehouse described above, in which storage boxes (bins) containing items are automatically transported to a workbench and workers are then allowed to take out or put in items from the workbench.

[0011] That is, the storage boxes that are automatically transported to the workbench have differences such as the opening being transported in a substantially horizontal position, and the interior of the storage box being divided into multiple compartments.

[0012] Therefore, there has been a problem in that the prior art cannot cope with the taking out and putting in of articles from storage boxes that are automatically transported in an automated warehouse. [Prior art documents] [Patent documents]

[0013] [Patent Document 1] International Publication No. 2023 / 067857 Summary of the Invention [Problem to be solved by the invention]

[0014] The present invention is intended to solve the problems that have existed up to now as described above, and aims to improve work efficiency and work quality by preventing worker errors when removing and inserting items into automatically transported storage boxes (bins) in an automated warehouse. [Means for solving the problem]

[0015] In order to solve the above problems, an automated warehouse according to a first aspect of the present invention is characterized in that it comprises: a storage box having an opening on a horizontal plane, one or more compartments in the opening, and capable of storing items inside the compartments; a storage box storage unit for storing multiple storage boxes; an automatic storage box transport unit for automatically transporting the storage box in a horizontal state from the storage box storage unit to a workbench for storing or retrieving items; an optical information providing unit provided above the workbench for providing optical information to support work regarding a designated compartment in the storage box where an item should be stored when the item is being stored, or a designated compartment where an item to be removed when the item is being removed; a three-dimensional sensor provided above the workbench for three-dimensionally detecting when an item has been put into or removed from the designated compartment; and an automated warehouse control unit for controlling each unit including the storage box storage unit, the automatic storage box transport unit, the workbench, the optical information providing unit, and the three-dimensional sensor.

[0016] Here, the AutoStore system is preferred as the automated warehouse, but other systems are also acceptable. Also, although the storage boxes are assumed to be bins used in the AutoStore, they may also be containers used in other systems.

[0017] The storage box is a rectangular parallelepiped with an open top, and the opening can be divided into 2, 4, 8, 16, etc. sections using partitions, etc. Note that the number of sections is an example, and other numbers of sections are also possible, or no divisions may be used.

[0018] Here, the optical information providing unit that provides information through light is preferably one that uses a projector to emit light rays of various colors, change the brightness (brightness) of the light rays, or display text and graphic information, but depending on the situation, displays such as LCD or organic EL displays may also be used.

[0019] In this state, each of the divided sections is preferably illuminated with light by a projector, and the removal or insertion of an article is detected.

[0020] Although the term "section" has been used here, it may also be expressed as "frontage" or "area."

[0021] Here, when detecting from above using a 3D sensor, unlike detecting a wide range in the vertical direction as in Patent Document 1, the sensor detects storage boxes at approximately the same height on the same workbench, making accurate detection possible even if the storage boxes are divided into small pieces.

[0022] Next, a second aspect of the present invention may be the automated warehouse of the first aspect, characterized in that the automated warehouse control unit instructs the division pattern of the compartments of the storage box when a new item is stored.

[0023] In this way, the storage boxes can be used in the optimum divided state, and the automated warehouse can be operated efficiently.

[0024] Next, a third aspect of the present invention may be the automated warehouse of the first aspect, characterized in that the divided compartments are provided only in the lower part of the storage box.

[0025] This has the advantage that, particularly when there are many compartments and small items are stored, the work of taking out the items becomes easier and the chance of mistakes is reduced. This advantage also applies to the work of storing items.

[0026] In this case, it is also possible to detect when a worker's hand enters the undivided upper part of the storage box, and further to detect when an item is stored in a designated section or when an item is removed from a designated section. In this way, precise detection becomes possible in the case of deep storage boxes.

[0027] Next, a fourth aspect of the present invention may be an automated warehouse according to the first aspect, characterized in that the bottom surface of the storage box is made of a substantially transparent material, and the optical information providing unit is provided below the storage box at a position on the work table where the storage box is presented.

[0028] Here, the term "substantially transparent" means that it does not have to be completely transparent, but it is sufficient if it is transparent enough to allow the optical information of the optical information providing portion below to be identified.

[0029] In addition, the optical information providing unit is preferably a flat display with a display area approximately the same as the bottom of the storage box, and when the storage box reaches the position of the workbench, it will provide work support by, for example, brightening the part of the display corresponding to the specified section or displaying necessary information based on instructions from the automated warehouse control unit.

[0030] This has the advantage that clear work assistance can be provided even if the storage box is deep and irradiating it with light from above creates shadows.

[0031] Next, a fifth aspect of the present invention may be an automated warehouse according to the first aspect, characterized in that, in order to prevent operator error, when an operator's hand is detected in the undesignated section, the optical information providing unit provides information using light that is different from that used under normal circumstances.

[0032] In this case, too, it is preferable that the projector serving as the light information providing unit emits light of a color different from that used in normal times.

[0033] Next, a sixth aspect of the present invention may be an automated warehouse according to the first aspect, further comprising a sound generating device that emits a warning sound, and the sound generating device may emit a warning sound when a worker's hand is detected in the undesignated area in order to prevent worker mistakes.

[0034] Next, a seventh aspect of the present invention is a method for operating an automated warehouse, the method comprising: a storage box having an opening on a horizontal surface, one or more compartments at the opening, and capable of storing an item inside the compartment; a storage box storage unit for storing a plurality of the storage boxes; a storage box automatic transport unit for automatically transporting the storage box in a horizontal state from the storage box storage unit to a work bench for storing or retrieving an item; an optical information providing unit provided above the work bench for providing optical information to support work regarding a designated compartment in the storage box where an item should be stored when storing an item, or a designated compartment in which an item to be removed when removing an item is stored; a three-dimensional sensor provided above the work bench for three-dimensionally detecting that an item has been put into the designated compartment or that an item has been removed from the designated compartment; and an automated warehouse control unit for controlling each unit including the storage box storage unit, the storage box automatic transport unit, the work bench, the optical information providing unit, and the three-dimensional sensor; The automated warehouse control unit automatically transports the storage box in which the item to be picked is stored or in which the item should be stored, using the storage box automatic transport unit, in accordance with the order input to the warehouse control unit or calculated by the automated warehouse control unit, and presents the storage box in front of the worker performing the picking work on a storage box presentation unit; the light information providing unit irradiates a specific light in a concentrated manner onto the section from which the item is to be removed or into which the item is to be placed, in accordance with instructions from the automated warehouse control unit; the three-dimensional sensor checks whether an item is being picked from or placed into the wrong section during the picking work; issuing a warning if the worker's hand enters the wrong section, and prompting the worker to remove the item from or place it in the correct section; the automated warehouse control unit receiving a notification that the worker has completed the work; and the steps of transporting the storage box for which the work has been completed and transporting the next storage box.

[0035] In this embodiment, the invention is defined by the operating method, regardless of the hardware configuration, and covers a wide range. [Effects of the Invention]

[0036] According to each aspect of the present invention, in an automated warehouse where storage boxes are automatically transported in front of workers, when putting items into or removing items from a storage box, particularly when partitions are provided in the storage box to divide it into sections, worker errors can be reduced and a warning can be issued in the unlikely event that an error is likely to occur, thereby enabling accurate loading and unloading operations. [Brief explanation of the drawings]

[0037] [Figure 1] 1 is a perspective view of an automated warehouse according to a first embodiment of the present invention. [Figure 2] 1 is a perspective view of a storage box used in an automated warehouse according to a first embodiment of the present invention. [Figure 3] 1 is an explanatory diagram of a storage box used in an automated warehouse according to a first embodiment of the present invention. [Figure 4] 1 is an explanatory diagram of a storage box used in an automated warehouse according to a first embodiment of the present invention. [Figure 5] 1 is an explanatory diagram of a storage box used in an automated warehouse according to a first embodiment of the present invention. [Figure 6] FIG. 1 is an explanatory diagram of a workbench in an automated warehouse according to a first embodiment of the present invention. [Figure 7] FIG. 2 is an explanatory diagram of a three-dimensional sensor in the automated warehouse according to the first embodiment of the present invention. [Figure 8] FIG. 2 is an explanatory diagram of a three-dimensional sensor in the automated warehouse according to the first embodiment of the present invention. [Figure 9] FIG. 2 is an explanatory diagram of a three-dimensional sensor in the automated warehouse according to the first embodiment of the present invention. [Figure 10] 3 is a flowchart of the operation of the automated warehouse according to the first embodiment of the present invention. [Figure 11] FIG. 1 is an explanatory diagram illustrating operation of an automated warehouse according to a first embodiment of the present invention. [Figure 12] FIG. 1 is an explanatory diagram illustrating the operation of an automated warehouse according to a first embodiment of the present invention. [Figure 13] FIG. 2 is an explanatory diagram of a work error in the automated warehouse according to the first embodiment of the present invention. [Figure 14]10 is a flowchart of the operation of an automated warehouse according to a second embodiment of the present invention. [Figure 15] FIG. 10 is an explanatory diagram of a storage box in an automated warehouse according to a second embodiment of the present invention. [Figure 16] FIG. 10 is an explanatory view of a storage box and other components of an automated warehouse according to a third embodiment of the present invention. DETAILED DESCRIPTION OF THE INVENTION

[0038] Hereinafter, embodiments of the present invention will be described with reference to the accompanying drawings. The drawings are merely examples of devices and methods for embodying the technical idea of ​​the invention, and the technical idea of ​​the present invention is not limited to those described below. The technical idea of ​​the present invention can be modified in various ways within the scope of the claims. In particular, it should be noted that the drawings are schematic and may differ from the actual product. Descriptions of parts that are already known technology have been omitted.

[0039] <Configuration> FIG. 1 is a perspective view of an AutoStore, which is an example of an automated warehouse according to a first embodiment of the present invention, with a portion cut away to show the internal structure.

[0040] In the automated warehouse 1, storage boxes (bins) 20 capable of storing items are stored vertically in a grid 10, which is a storage box storage section, and a robot 30, which is an automatic storage box transport section that travels above the grid, performs storage and retrieval of the storage boxes 20.

[0041] A workbench 40 for storing and retrieving goods is provided outside the grid 10, and the storage box 20 to be used for storing and retrieving goods is automatically transported to the workbench 40 by the robot 30.

[0042] Furthermore, it has an automated warehouse control unit 50 which is made up of a CPU, an interface unit, a memory unit, an input / output unit, etc., and controls each unit described above. The automated warehouse control unit 50 is made up of an independent server or PC, etc., or may be included in a WMS (warehouse management system) that manages the entire warehouse.

[0043] 2 shows an example of a storage box 20 used in the automated warehouse according to the first embodiment of the present invention, which is a roughly rectangular parallelepiped with an open top and has a groove 21 inside for inserting a partition plate.

[0044] Figures 3 to 5 are explanatory diagrams showing the division states of storage box 20 used in the automated warehouse of the first embodiment of the present invention. Figure 3 shows the undivided state, Figure 4(a) shows the state in which storage box 20 is divided into two in the longitudinal direction using partition plates 22, Figure 4(b) shows the state in which storage box 20 is divided into two in the lateral direction using partition plates 22, Figure 5(a) shows the state in which storage box 20 is similarly divided into four, Figure 5(b) shows the state in which storage box 20 is divided into eight, and Figure 5(c) shows the state in which storage box 20 is divided into 16.

[0045] In addition, since the storage boxes 20 are stored in the automated warehouse in a horizontal position and are transported while maintaining the horizontal position, there is little risk of the items shifting, so it may not necessarily be necessary to provide a partition board.

[0046] FIG. 6 is an explanatory diagram of an example of a workbench 40 of the automated warehouse according to the first embodiment of the present invention, and is provided with a storage box presenting unit 41 that presents automatically transported storage boxes 20 to a worker.

[0047] In addition, the device is equipped with accessories such as a monitor 42 for displaying information, a label printer 43 for issuing various labels, a scanner 44 for reading two-dimensional codes, and a keyboard 45 for issuing operating instructions.

[0048] Above the storage box display unit 41, there are provided a projector 46 capable of emitting visible light, and a three-dimensional sensor 47 capable of scanning the entire storage box display unit and detecting an object.

[0049] Furthermore, if necessary, a switch 48 such as a push button may be provided to notify completion of putting in or taking out of an item. Note that, without providing a push button switch, it is also possible to notify completion by holding a hand over a specific location and having a sensor such as a three-dimensional sensor 47 detect it.

[0050] In the figure, the irradiation (projection) range of the projector 46 is shown by a thick line, and the entire area of ​​the top surface of the storage box 20 in the storage box presenting unit 41 can be projected. Furthermore, the detectable range of the three-dimensional sensor 47 is shown by a thick dotted line, indicating that a wide range including the area above the storage box 20 can be detected.

[0051] Although various types of three-dimensional sensor 47 have been put to practical use, a ToF (Time-of-Flight) sensor is preferred, which measures the time it takes for light to hit an object, reflect, and return to the sensor, and uses this "time of flight" to accurately measure the distance to the object. However, the present invention is not limited to this, and any available sensor may be used.

[0052] 7 is an explanatory diagram of a 3D sensor for an automated warehouse according to a first embodiment of the present invention. Here, sensing areas 25R and 25L of the 3D sensor are set in each of the two regions of a storage box 20, which is divided into left and right halves. Each sensing area 25R is three-dimensional and has depth.

[0053] Figure 8 is an explanatory diagram of the judgment made by the three-dimensional sensor of the automated warehouse in the first embodiment of the present invention. In Figure 8(a), when the worker's hand enters the three-dimensional sensing area 25 and the degree of intrusion (pixel value) is large, it is judged that the worker is attempting to pick an item.

[0054] On the other hand, in the state shown in Fig. 8(b), even if a hand enters the sensing area 25, if the detection pixel threshold is not exceeded, it is determined that no attempt is being made to pick. By operating based on such a determination standard, it is possible to improve the accuracy of preventing work mistakes (poka-yoke).

[0055] In the case of a planar two-dimensional sensor, the criterion for judgment is whether or not the worker's hand has touched the planar detection area, so the accuracy of determining whether or not an attempt has actually been made to pick is not high, and it is thought that there will be many false positives.

[0056] It is also possible to set the measurement height for each section of the storage box 20. Figure 9 is another explanatory diagram of the 3D sensor for the automated warehouse according to the first embodiment of the present invention, and it is also possible to provide a step in the measurement height for the right sensing area 25R and the left sensing area 25L of the storage box 20, which is divided into two sections, using a single 3D sensor 47.

[0057] It is also possible to set the sensing area 25L inside the storage box 20 as shown in the figure.

[0058] In this way, the measurement height can be changed depending on the size of the stored items and the stacking height, etc., which improves the accuracy of the judgment and increases the precision of preventing work errors (poka-yoke).

[0059] In the case of a two-dimensional sensor, it is difficult to mount the sensor inside the storage box 20, and two sensors are required to provide two steps in the measurement height, which is not practical.

[0060] <Operation> The operation of the automated warehouse 1 configured as above will be described. Note that the operation will be described in terms of taking out (picking) an item from the storage box 20, but the same can be applied to the case of putting an item in.

[0061] Fig. 10 is a flowchart showing the operation of the automated warehouse according to the first embodiment of the present invention, and Fig. 11 is an explanatory diagram showing the operation of the automated warehouse according to the first embodiment of the present invention.

[0062] According to the order input to or calculated by the automated warehouse control unit 50, the automated warehouse control unit 50 automatically transports the storage box 20 containing the items to be picked using the robot 30, which is the automatic storage box transport unit, or a conveyor (not shown), and presents it to the storage box presenting unit 41 in front of the worker who will be performing the picking work (step S01).

[0063] In this example, the storage box 20 is divided into three sections, and the item to be picked is located in section 20M, on the right side as seen from the worker's perspective. In response to a command from the automated warehouse control unit 50, the projector 46 irradiates green light (shown by a thick line in the figure) toward section 20M (Step S02).

[0064] FIG. 12 is an explanatory diagram showing the picking operation in the automated warehouse according to the first embodiment of the present invention, and will be described here using an example in which the storage box 20 is divided into two sections, front and back. Here, it is assumed that the items to be picked are stored in the rear (deep) section 20B. This section 20B is illuminated with green light (shown by a thick line in the figure) by the projector 46, and the item name, quantity, and image of the item can also be projected. In the figure, the item name: screws and the quantity to be picked: 2 are displayed outside the rear section 20B.

[0065] 13 is an explanatory diagram of the detection of work errors in the automated warehouse according to the first embodiment of the present invention. The worker starts picking work in accordance with the illumination of the light and projection of the information, but during the picking work, the three-dimensional sensor 47 checks whether an item is being picked from the wrong section (step S03).

[0066] In this example, assume that the item to be picked is stored in the back compartment 20B of the storage box 20, and the worker's hand enters the front compartment 20F to pick the item. In this case, the three-dimensional sensor 47 issues an alarm that the worker is in the wrong compartment. For example, the front compartment is illuminated with a red light (within the frame of compartment 20F in the figure) to warn the worker and encourage him or her to pick from the correct compartment (Step S11).

[0067] The illumination pattern by the projector 46 is not limited to correct: green, incorrect: red, but other colors may be used, or any pattern that allows identification of correct or incorrect, such as a pattern that differentiates brightness, such as correct: bright, incorrect: dark, or vice versa, or a pattern that distinguishes correct or incorrect by lighting or flashing, may be used.

[0068] As a method of warning, in addition to using a projector, a sound generating device that emits a warning sound may be provided, and in order to prevent worker mistakes, a warning sound may be emitted if a worker's hand is detected in the undesignated area.

[0069] As explained above, the 3D sensor 47 determines whether an operator is attempting to pick from the wrong section by determining that the operator's hand has entered the three-dimensional sensing area and the degree of this (pixel value) is large, and determines that an operator is attempting to pick an item.

[0070] On the other hand, if the hand enters the three-dimensional area but does not exceed the detection pixel threshold, it is determined that there is no attempt to pick.

[0071] If there is no warning, the worker continues the picking work, but if there is a warning, the process returns to step S03, and the three-dimensional sensor 47 checks whether an item is being picked from the wrong section.

[0072] The worker follows this instruction to pick the item, and the picked item is sent to a subsequent process (not shown). At this point, the worker presses push button 48, which indicates that picking is complete (step S04).

[0073] The automated warehouse control unit 50 receives a signal indicating that the picking operation has been completed, and transports the storage box 20 for which picking has been completed (such as returning it to the automated warehouse) and transports the next storage box 20 (presenting it to the storage box presenting unit 41) (Step S05).

[0074] In this way, picking errors can be prevented in advance, and items can be picked up and delivered to subsequent processes without any errors.

[0075] In addition, if the divided compartments are provided only in the lower part of the storage box 20, it is also possible to detect when a worker's hand enters the upper undivided part of the storage box 20, and further to detect when an item is removed from a specified compartment.

[0076] In this way, when a deeper storage box 20 is used, the occurrence of mistakes can be further reduced.

[0077] Next, the operation of an automated warehouse according to a second embodiment of the present invention will be described. This embodiment has the same configuration as the first embodiment, but differs only in the operation, in which different items are picked from multiple compartments of a single storage box 20.

[0078] FIG. 14 is a flowchart showing the operation of the automated warehouse according to the second embodiment of the present invention, and FIG. 15 is an explanatory diagram of a storage box in the automated warehouse according to the second embodiment of the present invention.

[0079] <Operation> As in the first embodiment, the automated warehouse control unit 50 automatically transports the storage boxes 20 containing the items to be picked using the robot 30, which is the storage box automatic transport unit, or a conveyor (not shown), according to the order input to or calculated by the automated warehouse control unit 50, and presents them to the storage box presenting unit 41 in front of the worker who will be performing the picking work (step S21).

[0080] As shown in FIG. 15, when picking items (e.g., different types of screws) located in compartments 20P and 20Q of, for example, 16 compartments in the same storage box 20, the projector 46 illuminates the compartments in green (shown by hatching in the figure) (step S22).

[0081] The worker starts picking in response to the illumination of the light, and the three-dimensional sensor 47 checks whether an item is being picked from the wrong section during the picking process (step S23).

[0082] In this case, it is assumed that the order in which items stored in section 20P and items stored in section 20Q can be picked does not matter, and the worker's hand enters another section to pick an item. In this case, the three-dimensional sensor 47 issues an alarm that the worker has entered the wrong section. For example, the section that the worker is mistakenly entering is illuminated with a red light to warn the worker and prompt him or her to pick from the correct section (step S31).

[0083] In this case, the process returns to step 23, and the three-dimensional sensor 47 checks whether the item is picked from the correct section.

[0084] The worker picks the item from the correct section, section 20P, and signals completion of picking by pressing button 48 (step S24).

[0085] Next, it is checked whether there are any more items to be picked (step S25).

[0086] In this case, the illumination in section 20P is turned off, and the illumination in section 20Q continues to prompt picking, so the worker removes the item from section 20Q and signals completion of picking by pressing button 48. (Steps S23-S24 are repeated.)

[0087] When picking of all items is completed, the automated warehouse control unit 50 receives a signal indicating that the picking operation is complete, and transports the storage box 20 for which picking has been completed (such as returning it to the automated warehouse) and transports the next storage box 20 (presenting it to the storage box presenting unit 41) (step S26).

[0088] In this way, by illuminating a plurality of sections simultaneously, the worker can grasp the entire picture of the picking work relating to this storage box 20, and can work quickly.

[0089] On the other hand, the sections storing the items to be picked may be illuminated sequentially. For example, once picking from section 20P is completed, projection onto section 20Q may begin.

[0090] This is preferable because it allows for accurate work when a picking order is specified.

[0091] Next, the configuration of an automated warehouse according to a third embodiment of the present invention will be described below. Fig. 16 is an explanatory diagram of a storage box and an optical information providing unit in the automated warehouse according to the third embodiment of the present invention.

[0092] Storage box 20 is divided into four compartments by partition plates 22. Here, partition plates 22 are provided only on the bottom of storage box 20, but they may extend up to near the top surface of storage box 20. The number of compartments is an example, and may be one or more.

[0093] In this embodiment, the bottom 201 of the storage box 20 is configured to be substantially transparent. Note that substantially transparent includes transparency to the extent that optical information from an optical information providing unit, which will be described later, can be confirmed.

[0094] The storage box 20 is transported in the direction of the arrow in the figure by a transport means (not shown) while the storage box 20 is in a horizontal state, and stops when it reaches the position of the workbench 40. Note that the transport direction may be a rotation or a downward movement from above, as long as the horizontal state of the storage box 20 is maintained.

[0095] Also, a liquid crystal display 461 as an example of an optical information providing unit is installed by a fixing means (not shown) directly below the storage box 20. For convenience of explanation, the liquid crystal display 461 is depicted in the drawing as being positioned away from the storage box 20, but it is desirable to install it as close as possible to the storage box 20.

[0096] Here, for example, if the upper right section in plan view in the figure is the designated section, the upper right portion of the liquid crystal display 461 is brightly lit (indicated by hatching in the figure).

[0097] This can be an effective measure when the storage box 20 is too deep or has too many compartments and the specified compartment cannot be accurately indicated by illuminating it from above with the projector 46.

[0098] Next, an operation of an automated warehouse according to a fourth embodiment of the present invention will be described. This embodiment is not for picking items, but for storing items in a warehouse.

[0099] When an empty storage box 20 is presented to the storage box presenting unit 41 for storage, the automated warehouse control unit 50 instructs the worker on a division pattern (number of divisions and division method) that has been prepared in advance.

[0100] Based on this, the worker inserts the partition plates 22 into the grooves 21 of the storage box 20 to create the specified divided compartments.

[0101] Thereafter, the worker places the item in the designated section in accordance with instructions from the automated warehouse control unit 50. When placing the item, the above-described measures to prevent mistakes using the projector 46 and three-dimensional sensor 47 can be applied.

[0102] What has been explained so far has been the handling of parts (warehousing, storage, and shipping) at assembly plants, but it is entirely possible to apply the same technical concepts to logistics operations, and for example, it can also be applied to tasks such as sorting home delivery products according to their delivery destination. [Industrial Applicability]

[0103] The present invention can eliminate errors in the warehousing, storage, and shipping of parts in factories such as assembly plants, and can also be applied to logistics operations, so it has wide industrial applicability. [Explanation of symbols]

[0104] 1. Automated warehouse 10 Grid 20 Storage Box 201 Storage box bottom (nearly transparent) 21 Groove 22 Partition 30 Robot 40 Workbench 46 Projector 461 LCD display 47 3D Sensor 50 Automated warehouse control unit

Claims

1. a storage box having an opening on a horizontal surface, one or more compartments in the opening, and capable of storing items inside the compartments; a storage box storage unit that stores a plurality of the storage boxes; an automatic storage box transport unit that automatically transports the storage box in a horizontal state from the storage box storage unit to a workbench for storing or retrieving items; an optical information providing unit provided above the work table, which provides optical information to assist in work regarding a designated section of the storage box in which an item should be stored when the item is brought into storage or a designated section in which an item to be taken out when the item is taken out; a three-dimensional sensor provided above the work table that detects in three dimensions that an item has been put into the designated section or that an item has been removed from the designated section; an automated warehouse control unit that controls each unit including the storage box storage unit, the automatic storage box transport unit, the workbench, the optical information providing unit, and the three-dimensional sensor; An automated warehouse with

2. The automated warehouse according to claim 1, wherein the automated warehouse control unit instructs the division pattern of the storage box when a new article is received.

3. 2. The automated warehouse according to claim 1, wherein the divided compartments are provided only in the lower part of the storage box.

4. The automated warehouse described in claim 1, characterized in that the bottom surface of the storage box is made of a substantially transparent material, and the optical information providing unit is provided below the storage box at a position where the storage box is presented on the work table.

5. The automated warehouse according to claim 1, characterized in that, in order to prevent operator errors, when an operator's hand is detected in an undesignated section, the optical information providing unit provides information using light that is different from that used during normal times.

6. 2. The automated warehouse according to claim 1, further comprising a sound generating device that emits a warning sound, wherein the sound generating device emits a warning sound when a worker's hand is detected in the undesignated section in order to prevent worker mistakes.

7. 1. A method for operating an automated warehouse comprising: a storage box having an opening on a horizontal plane, one or more compartments in the opening, capable of storing items inside the compartments; a storage box storage unit for storing a plurality of the storage boxes; an automatic storage box transport unit for automatically transporting the storage box in a horizontal state from the storage box storage unit to a work bench for storing or retrieving items; an optical information providing unit provided above the work bench for providing optical information to support work regarding a designated compartment in the storage box where an item should be stored when storing items, or a designated compartment in which an item to be removed when removing items is stored; a three-dimensional sensor provided above the work bench for three-dimensionally detecting that an item has been put into the designated compartment or that an item has been removed from the designated compartment; and an automated warehouse control unit for controlling each unit including the storage box storage unit, the automatic storage box transport unit, the work bench, the optical information providing unit, and the three-dimensional sensor, a step in which the automated warehouse control unit automatically transports the storage box in which the item to be picked is stored or which should store the item, using the storage box automatic transport unit, in accordance with the order input to the automated warehouse control unit or calculated by the automated warehouse control unit, and presents the storage box to a storage box presentation unit in front of a worker performing the picking work; a step in which the light information providing unit irradiates specific light in a concentrated manner onto a section where an item is to be taken out or an item is to be put in, in accordance with an instruction from the automated warehouse control unit; The three-dimensional sensor checks whether an item is picked or placed in a wrong compartment during a picking operation; a step of issuing a warning when the worker's hand enters the wrong compartment and prompting the worker to take out the item from the correct compartment or put the item into the correct compartment; The automated warehouse control unit receives a notification of completion of the work by the worker; a step of transporting the storage box for which the work has been completed and transporting the next storage box; A method for operating an automated warehouse.

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