Automated warehouse system

Abstract

This system provides an automated warehouse system that can suppress interference between multiple cranes and improve the efficiency of goods transport. [Solution] The automated warehouse system 200 includes a controller 10 that controls the operation of a first stacker crane 9A and a second stacker crane 9B that move along rails 91, 91 arranged along racks 2A, 2B, according to each of a plurality of modes, the plurality of modes include a first inbound / outbound mode in which the boundary between the first travel range R11 of the first stacker crane 9A relative to racks 2A, 2B and the second travel range R21 of the second stacker crane 9B relative to racks 2A, 2B is set at a predetermined first position P1, and a first inbound-main mode in which the boundary is set at a second position P2 (set to the first travel range R12) which is wider than the first travel range R11 of the first inbound / outbound mode, and the controller 10 switches each of the plurality of modes based on time.

Description

Technical Field

[0001] This disclosure relates to an automated warehouse system.

Background Art

[0002] An automated warehouse system that controls a plurality of carts (stacker cranes) arranged on the same automatic travel track is known. For example, in the automated warehouse system described in Patent Document 1, a sensor for detecting the distance between carts is provided for each cart, and a variable braking start distance is provided according to the travel status of its own cart and the other cart, and it is disclosed that the cart is braked when the distance between carts is less than or equal to the braking start distance.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] When a plurality of cranes are arranged on the same track, depending on the movement status of one crane, the other crane may be forced to decelerate and stop, and the smooth movement of the other crane may be restricted. That is, interference may occur between the operations of a plurality of cranes, and it may be impossible to transfer goods efficiently. In addition, when limiting the range of racks where goods can be loaded and unloaded for each crane, other cranes cannot enter the range of the racks of the target crane, so it may be impossible to transfer different goods to each other via the racks.

[0005] This disclosure provides an automated warehouse system that can suppress interference between a plurality of cranes and improve the conveyance efficiency of goods.

Means for Solving the Problems

[0006] [1] One aspect of the present disclosure is an automated warehouse system comprising: a rack on which at least one of a first article and a second article is placed; a first station on which the first article is supplied and on which the first article and the second article can be transferred; a second station on which the second article is supplied and on which the first article and the second article can be transferred; a rail connecting the first station and the second station and arranged along the rack; a first stacker crane moving along the rail and on which the first article is received and on which at least one of the first article and the second article is taken out of the rack; and a second stacker crane moving along the rail on the second station side of the first stacker crane and on which the second article is taken out of the rack The system includes a second stacker crane for receiving goods and for retrieving at least one of a first item and a second item, and a controller for controlling the operation of the first and second stacker cranes according to each of a plurality of modes, the plurality of modes including a first inbound / outbound mode in which the boundary between the first travel range of the first stacker crane relative to the rack and the second travel range of the second stacker crane relative to the rack is set at a predetermined first position, and a first inbound-primary mode in which the boundary is set at a second position such that the first travel range is wider than the first travel range of the first inbound / outbound mode, and the controller switches between each of the plurality of modes based on time.

[0007] [1] According to the automated warehouse system, a first stacker crane and a second stacker crane move along rails. The controller controls the first and second stacker cranes in a first inbound-dominant mode so that the first travel range of the first stacker crane is wider than the range from the first station to the first position, extending from the first station to the second position. This allows the first stacker crane in the first inbound-dominant mode to store the first item in racks located between the first station and the second position, including racks located between the first position and the second position. In the first inbound-dominant mode, the first stacker crane can store the first item in a wide range of racks, thus preventing the first item from accumulating at the first station. In addition, the second stacker crane in the first inbound / outbound mode can store the second item in racks located between the second station and the first position, including racks located between the first position and the second position. Therefore, in the first loading / unloading mode, the second stacker crane can unload the first and second items from racks located between the first and second positions. In this way, interference between the second stacker crane and the first stacker crane is suppressed, and the first item loaded by the first stacker crane can be unloaded. Thus, this automated warehouse system can suppress interference between multiple cranes and improve the efficiency of item transport.

[0008] [2] In the automated warehouse system described in [1] above, the multiple modes may further include a second inbound / outbound mode set at a third position with a wider boundary so that the second travel range is wider than the second travel range of the first inbound / outbound mode. In this case, the controller controls the first and second stacker cranes as the second inbound / outbound mode so that the second travel range of the second stacker crane is wider than the distance from the second station to the first position, extending from the second station to the third position. As a result, the second stacker crane in the second inbound / outbound mode can store the second item in a rack located between the second station and the third position, including a rack located between the first position and the third position. Therefore, in the second inbound / outbound mode, the second stacker crane can retrieve the first and second items from a rack located between the first position and the third position. Also, in the second inbound / outbound mode, the second stacker crane can retrieve the first and second items from a rack located between the first position and the second position. Thus, in the second loading / unloading mode, interference between the second stacker crane and the first stacker crane is suppressed, allowing the first items loaded by the first stacker crane in the first loading / unloading mode or the first loading-focused mode to be unloaded. Furthermore, in the second loading / unloading mode, interference between the first stacker crane and the second stacker crane is suppressed, allowing the second items loaded by the second stacker crane in the second loading / unloading mode to be unloaded. Therefore, this automated warehouse system can suppress interference between multiple cranes and improve the efficiency of goods transport.

[0009] [3] In the automated warehouse system described in [2] above, the multiple modes may further include a second receiving-dominant mode set at a fourth position with a wider boundary so that the second travel range is wider than the second travel range of the second receiving-out mode. In this case, the controller controls the first and second stacker cranes as the second receiving-dominant mode so that the second travel range of the second stacker crane is wider than the range from the second station to the third position, extending from the second station to the fourth position. As a result, in the second receiving-dominant mode, the second stacker crane can store the second items in racks located between the second station and the fourth position, including racks located between the third position and the fourth position. Furthermore, in the second receiving-dominant mode, the second stacker crane can store the second items in a wide range of racks, thus preventing the second items from accumulating at the second station. Therefore, in the first loading / unloading mode following the second loading / unloading mode, the first stacker crane can unload the first and second items from racks located between the first and fourth positions. Furthermore, in the second loading / unloading mode following the second loading / unloading mode, the first stacker crane can unload the first and second items from racks located between the third and fourth positions. With the execution of the second loading / unloading mode, the first stacker crane can unload the first and second items in both the first and second loading / unloading modes. In this way, interference between the second stacker crane and the first stacker crane is minimized, and the second item loaded by the second stacker crane can be efficiently unloaded. Thus, this automated warehouse system can suppress interference between multiple cranes and improve the efficiency of item transport.

[0010] [4] In the automated warehouse system described in any of [1] to [3] above, the first travel range in the first receiving mode may be wider than the second travel range in the first receiving mode. In this case, the first stacker crane can store the first items over a wide range relative to the rack.

[0011] [5] In the automated warehouse system described in [3] above, the second travel range in the second receiving-main mode may be wider than the first travel range in the second receiving-main mode. In this case, the second stacker crane can receive the second items over a wide range relative to the rack.

[0012] [6] One aspect of the present disclosure is an automated warehouse system comprising: a rack on which at least one of a first article and a second article is placed; a first station on which the first article is supplied and on which the first article and the second article can be transferred; a second station on which the second article is supplied and on which the first article and the second article can be transferred; a rail connecting the first station and the second station and arranged along the rack; a first stacker crane moving along the rail and on which the first article is received and on which at least one of the first article and the second article is taken out of the rack; and a second stacker crane moving along the rail on the second station side of the first stacker crane and on which the second article is taken out of the rack The system includes a second stacker crane for receiving goods and for retrieving at least one of a first item and a second item, and a controller for controlling the operation of the first and second stacker cranes according to each of a plurality of modes, the plurality of modes being a first in / out mode in which the boundary between the first travel range of the first stacker crane relative to the rack and the second travel range of the second stacker crane relative to the rack is set at a predetermined first position, and a second in / out mode in which the boundary is set at a third position such that the second travel range is wider than the second travel range of the first in / out mode, and the controller switches between each of the plurality of modes based on time.

[0013] [6] According to the automated warehouse system, a first stacker crane and a second stacker crane move along rails. The controller controls the first and second stacker cranes as a second in / out mode so that the second travel range of the second stacker crane is wider than the range from the second station to the first position, extending from the second station to the third position. This allows the second stacker crane in the second in / out mode to store second items in racks located between the second station and the second position, including racks located between the first position and the third position. Thus, in the second in / out mode following the first in / out mode, the first stacker crane can store first items and second items in racks located between the first position and the third position. In addition, in the first in / out mode, the first stacker crane can store first items in racks located between the first station and the first position, including racks located between the first position and the third position. Therefore, in the first loading / unloading mode following the second loading / unloading mode, the first stacker crane can unload the first and second items from racks located between the first and third positions. In this way, interference between the second stacker crane and the first stacker crane is suppressed, and the first item loaded by the first stacker crane in the first loading / unloading mode can be unloaded in the second loading / unloading mode. Similarly, interference between the first stacker crane and the second stacker crane is suppressed, and the second item loaded by the second stacker crane in the second loading / unloading mode can be unloaded in the first loading / unloading mode. Thus, this automated warehouse system can suppress interference between multiple cranes and improve the efficiency of item transport.

[0014] [7] In the automated warehouse system described in any of [1] to [3], [5], or [6] above, the controller may set a no-travel range between the first travel range and the second travel range for each of the multiple modes. In this case, the first stacker crane and the second stacker crane cannot enter the no-travel range, so the first stacker crane cannot move to a position that interferes with the second travel range, and the second stacker crane cannot move to a position that interferes with the first travel range. Thus, this automated warehouse system can appropriately suppress interference between multiple cranes. [Effects of the Invention]

[0015] According to one aspect of the present invention, it is possible to provide an automated warehouse system that can suppress interference between multiple cranes and improve the efficiency of transporting goods. [Brief explanation of the drawing]

[0016] [Figure 1] Figure 1 is a schematic plan view showing an example of the first inbound / outbound mode of an automated warehouse system according to one embodiment. [Figure 2] Figure 2 is a perspective view showing an example of a first stacker crane and a second stacker crane in an automated warehouse system according to one embodiment. [Figure 3] Figure 3 is a schematic plan view showing an example of the first receiving mode of an automated warehouse system according to one embodiment. [Figure 4] Figure 4 is a schematic plan view showing an example of a second inbound / outbound mode of an automated warehouse system according to one embodiment. [Figure 5] Figure 5 is a schematic plan view showing an example of the second receiving mode of an automated warehouse system according to one embodiment. [Modes for carrying out the invention]

[0017] Hereinafter, embodiments for carrying out the present invention will be described in detail with reference to the attached drawings. In the description of the drawings, the same elements are denoted by the same reference numerals, and redundant explanations are omitted.

[0018] [Configuration of Automated Warehouse System] FIG. 1 is a schematic plan view showing an example of a first loading / unloading mode of an automated warehouse system according to an embodiment. The automated warehouse system 200 of the present embodiment includes an automated warehouse 1 and a controller 10 that performs various conveyance controls in the automated warehouse 1. The automated warehouse system 200 may further include a factory 100 that manufactures articles to be stored in the automated warehouse 1. The factory 100 of the automated warehouse system 200 of the present embodiment manufactures a first article L1 and a second article L2 as articles.

[0019] The automated warehouse 1 is a device that can store the first article L1 and the second article L2 and automatically performs the unloading and loading of the first article L1 and the second article L2 in a number corresponding to a request from an external system (or a controller). The first article L1 and the second article L2 of the present embodiment are each manufactured by the factory 100. The first article L1 and the second article L2 may be, for example, cases, trays, cardboard boxes, foldable containers, etc. that can store goods. The first article L1 and the second article L2 may be, for example, a bucket and the load placed on the bucket. In the following, one horizontal direction will be described as the X direction, the horizontal direction orthogonal to the X direction will be described as the Y direction, and the vertical direction orthogonal to both the X direction and the Y direction will be described as the Z direction. The upper side in the Z-axis direction is the positive side.

[0020] In FIG. 1, the automated warehouse system 200 shows an aspect in which it includes one automated warehouse 1, but the automated warehouse system 200 may have a plurality of automated warehouses 1. The number of automated warehouses 1 included in the automated warehouse system 200 is not particularly limited. Also, the type and size (the number of stored first articles L1 and second articles L2) of each automated warehouse 1 are not particularly limited, and the types and sizes of the plurality of automated warehouses 1 may be different from each other. The automated warehouse 1 includes a pair of racks 2A, 2B, a first station 5A, a second station 5B, a rail 91, and a plurality of conveyance devices 9. The automated warehouse 1 includes, as the plurality of conveyance devices 9, a first stacker crane 9A and a second stacker crane 9B.

[0021] The racks 2A and 2B are for placing at least one of the first article L1 and the second article L2. The racks 2A and 2B are vertical shelves having a plurality of storage sections 7 arranged in the X direction (horizontal direction) in a plurality of stages in the Z direction (vertical direction). Either the first article L1 or the second article L2 is stored in one storage section 7. The racks 2A and 2B are arranged to be spaced apart from each other in the Y direction. Note that the number of columns of the storage sections 7 in the X direction of the racks 2A and 2B shown in FIG. 1 is an example and is not particularly limited. For example, the number of columns of the storage sections 7 is 5 or more. The number of stages of the storage sections 7 in the Z direction of the racks 2A and 2B is also not particularly limited.

[0022] The first station 5A is a device where the first article L1 is supplied and the first article L1 and the second article L2 can be transferred. In the automated warehouse 1, the first article L1 is supplied (loaded) to the first station 5A by an incoming conveyor (not shown) from the factory 100. The second station 5B is a device where the second article L2 is supplied and the first article L1 and the second article L2 can be transferred. In the automated warehouse 1, the second article L2 is supplied (loaded) to the second station 5B by an incoming conveyor (not shown) from the factory 100. The incoming conveyor is a device that supports and conveys the bottom surfaces of the first article L1 and the second article L2, such as a belt conveyor or a roller conveyor.

[0023] The first station 5A is a device arranged at the relay position of the first article L1 between the factory 100 and the racks 2A and 2B in the automated warehouse 1. The first station 5A arranges the first article L1 conveyed by a conveyor, delivers the first article L1 to the first stacker crane 9A, and receives at least one of the first article L1 and the second article L2 that has been shipped out from the first stacker crane 9A.

[0024] At the first station 5A, at least one of the first item L1 and the second item L2, which have been retrieved from racks 2A and 2B, is loaded onto the transport vehicle 6A by the first stacker crane 9A or a transport device (not shown). The transport vehicle 6A accesses the first station 5A of the automated warehouse 1 from the outside. The transport vehicle 6A can be configured to transport either only the first item L1 or to transport both the first item L1 and the second item L2. The first station 5A is located in the automated warehouse 1 at a position accessible by the transport vehicle 6A.

[0025] The second station 5B is a device positioned at the transfer point for the second item L2 between the factory 100 and racks 2A and 2B in the automated warehouse 1. The second station 5B is a device that places the second item L2 transported by the conveyor belt, hands the second item L2 over to the second stacker crane 9B, and receives at least one of the first item L1 and the second item L2 that have been released from the second stacker crane 9B.

[0026] At the second station 5B, at least one of the first item L1 and the second item L2, which have been retrieved from racks 2A and 2B, is loaded onto the transport vehicle 6B by the second stacker crane 9B or a transport device (not shown). The transport vehicle 6B is externally accessible to the second station 5B of the automated warehouse 1. The transport vehicle 6B can be configured to transport only the second item L2, or to transport both the first item L1 and the second item L2. The second station 5B is located in the automated warehouse 1 at a position accessible by the transport vehicle 6B. In the example shown in Figure 1, in the X direction, the first station 5A and the second station 5B are located at opposite ends of the automated warehouse 1, and the second station 5B is located opposite the first station 5A, with racks 2A and 2B in between.

[0027] As shown in Figure 1, in the Y direction, the first stacker crane 9A and the second stacker crane 9B are installed between a pair of racks 2A and 2B. The first stacker crane 9A moves along rails 91, 91 and receives the first item L1 into racks 2A and 2B, and receives at least one of the first item L1 and the second item L2 out of racks 2A and 2B. The first stacker crane 9A transports the first item L1 and the second item L2 between the first station 5A and racks 2A and 2B. The second stacker crane 9B moves along rails 91, 91 on the second station 5B side of the first stacker crane 9A and receives the second item L2 into racks 2A and 2B, and receives at least one of the first item L1 and the second item L2 out of racks 2A and 2B. The second stacker crane 9B transports the first item L1 and the second item L2 between the second station 5B and racks 2A and 2B.

[0028] Figure 2 is a perspective view showing an example of a first stacker crane and a second stacker crane in an automated warehouse system according to one embodiment. As shown in Figure 2, the first stacker crane 9A and the second stacker crane 9B are stacker cranes that travel along rails 91, 91 arranged on the floor and ceiling. The rails 91, 91 connect the first station 5A and the second station 5B and are arranged along racks 2A, 2B. In the Y direction, the rails 91, 91 are arranged between racks 2A, 2B. That is, the rails 91, 91 extend along the X direction. The first stacker crane 9A and the second stacker crane 9B have traveling sections 92, 92 that travel along the rails 91, 91 arranged on the floor and ceiling, respectively, a mast 93 that connects the traveling sections 92, 92, a lifting section 94 that is movably provided along the mast 93, and two transfer sections 95, 95 provided on the lifting section 94.

[0029] The running section 92 includes a rolling section 92A that supports wheels that roll along the rail 91, and a drive section 92B, such as a motor, that rotates at least one wheel provided on the rolling section 92A. In this embodiment, the running section 92 that runs along the rail 91 on the floor is configured as a drive wheel, and the running section 92 that runs along the rail 91 on the ceiling is configured as a driven wheel. The lifting section 94 includes a support section 94A that supports the transfer sections 95, 95, and a drive section 94B that moves the support section 94A in the Z-axis direction. The drive section 94B is provided on the lower running section 92.

[0030] The transfer section 95 of the first stacker crane 9A is provided to be able to move forward and backward in the Y direction (a direction perpendicular to the travel direction and the vertical direction), and transfers the first item L1 and the second item L2 between the input conveyor and the first station 5A. The transfer section 95 of the second stacker crane 9B is provided to be able to move forward and backward in the Y direction (a direction perpendicular to the travel direction and the vertical direction), and transfers the first item L1 and the second item L2 between the input conveyor and the second station 5B.

[0031] Refer to Figure 1 again. The controller 10 includes an input / output interface for inputting and outputting signals to and from the outside, a storage medium such as a ROM (Read Only Memory) that stores programs and information for processing, and a RAM (Random Access Memory) that temporarily stores data, a CPU (Central Processing Unit), and a communication circuit. Based on the signals output by the CPU, the controller 10 stores input data in the RAM, loads the program stored in the ROM into the RAM, and executes the program loaded into the RAM to perform various processes.

[0032] The controller 10 may be connected to the first stacker crane 9A and the second stacker crane 9B in a communication manner and manage the transport, movement, transfer, etc., of the first item L1 and the second item L2 by the first stacker crane 9A and the second stacker crane 9B. The controller 10 may also be connected to the factory 100, the first station 5A and the second station 5B in a communication manner and manage the quantities of the first item L1 and the second item L2.

[0033] [Control details corresponding to each mode by the controller] The controller 10 controls the operation of the first stacker crane 9A and the second stacker crane 9B according to each of several modes. The multiple modes include conditions that set a first travel range R1, which is the travel range of the first stacker crane 9A relative to the racks 2A and 2B (rails 91 and 91), and a second travel range R2, which is the travel range of the second stacker crane 9B relative to the racks 2A and 2B (rails 91 and 91). The multiple modes may also include conditions that set a travel restriction range R3, which is an area in which the first stacker crane 9A and the second stacker crane 9B are prohibited from entering the racks 2A and 2B (rails 91 and 91).

[0034] In the positive X direction, the first station 5A, first travel range R1, no-travel range R3, second travel range R2, and second station 5B are arranged in that order. The no-travel range R3 is set between the first travel range R1 and the second travel range R2. For example, the no-travel range R3 is adjacent to the first travel range R1 on the negative X direction and adjacent to the second travel range R2 on the positive X direction. The no-travel range R3 may also be the range that indicates the boundary between the first travel range R1 and the second travel range R2.

[0035] As a result, the first stacker crane 9A can move within a first travel range R1, from the first station 5A to the negative X-direction end of the restricted travel range R3 relative to racks 2A and 2B. That is, the first stacker crane 9A can store the first item L1 in the storage section 7 of racks 2A and 2B located in a position corresponding to the first travel range R1, and can also store at least one of the first item L1 and the second item L2. Furthermore, the second stacker crane 9B can move within a second travel range R2, from the second station 5B to the positive X-direction end of the restricted travel range R3 relative to racks 2A and 2B. That is, the second stacker crane 9B can store the second item L2 in the storage section 7 of racks 2A and 2B located in a position corresponding to the second travel range R2, and can also store at least one of the first item L1 and the second item L2. The first station 5A and the second station 5B are unable to transfer (store in or out) the first item L1 and the second item L2 to the respective storage sections 7 of racks 2A and 2B, which are located in positions corresponding to the no-travel zone R3.

[0036] The controller 10 does not change the travel state of the first stacker crane 9A and the second stacker crane 9B based on their relative positions. The travel state includes at least one of acceleration, deceleration, stopping, constant speed, direction of movement, and position. The first stacker crane 9A moves within the first travel range R1 according to the control of the controller 10, without being affected by the travel state of the second stacker crane 9B. The second stacker crane 9B moves within the second travel range R2 according to the control of the controller 10, without being affected by the travel state of the first stacker crane 9A.

[0037] The multiple modes include at least two modes: a first in / out mode, a first in-primary mode, a second in / out mode, and a second in-primary mode. The controller 10 switches between each of these multiple modes based on time. Here, time is an indicator determined independently of the travel status of the first stacker crane 9A and the second stacker crane 9B. Here, time may also be a concept that includes the elapsed time from a predetermined timing.

[0038] The controller 10 may switch between these multiple modes based on the manufacturing status of at least one of the first item L1 and the second item L2 in the factory 100. The manufacturing status includes the amount of first item L1 and second item L2 manufactured per unit time, or the quantity of first item L1 and second item L2 that is actually manufactured and transported to at least one of the first station 5A and the second station 5B. The controller 10 may also switch between these multiple modes based on the storage status of at least one of the first item L1 and second item L2 in at least one of the first station 5A and the second station 5B. The storage status includes the quantity of first item L1 and second item L2 in each of the first station 5A and the second station 5B, or the respective proportions occupied by first item L1 and second item L2 to the total storage capacity of all items in each of the first station 5A and the second station 5B.

[0039] [First In / Out Mode] The first inbound / outbound mode shown in Figure 1 can be executed when the quantity of the first item L1 is greater than the quantity of the second item L2 being stored in racks 2A and 2B, or when the quantities are roughly equal. The first inbound / outbound mode can also be executed when the quantity of the first item L1 and second item L2 being shipped out from racks 2A and 2B to station 5A and station 5B is greater than the quantity shipped to station 5A, or when the quantities are roughly equal. The first inbound / outbound mode can be used, for example, during the daytime when factory 100 is in operation. The first inbound / outbound mode can be used, for example, when it is desired to store or ship roughly equal amounts of the first item L1 in racks 2A and 2B on the station 5A side and roughly equal amounts of the second item L2 in racks 2A and 2B on the station 5B side.

[0040] In the first loading / unloading mode, the controller 10 sets the boundary between the first travel range R11 (an example of the first travel range R1) of the first stacker crane 9A relative to racks 2A and 2B and the second travel range R21 (an example of the second travel range R2) of the second stacker crane 9B relative to racks 2A and 2B at a predetermined first position P1. In the first loading / unloading mode, the controller 10 sets a no-travel range R31 (an example of the no-travel range R3) between the first travel range R11 and the second travel range R21 relative to racks 2A and 2B. The first position P1 is the position where the boundary between the first travel range R1 and the second travel range R2 is set. The first position P1 refers to a predetermined position in the X direction relative to racks 2A and 2B (rails 91 and 91). For example, the first position P1 is set around the center of racks 2A and 2B (rails 91 and 91) in the X direction.

[0041] In the first entry / exit mode, the first travel range R11 includes the range from the first station 5A to the first position P1, or the range from the first station 5A to the first station 5A side (negative X direction) by a predetermined range from the first position P1. In the first entry / exit mode, the second travel range R2 includes the range from the second station 5B to the first position P1, or the range from the second station 5B to the second station 5B side (positive X direction) by a predetermined range from the first position P1. The first travel range R11 in the first entry / exit mode may be wider than the second travel range R21 in the first entry / exit mode.

[0042] The no-travel zone R31 includes the first position P1. The no-travel zone R31 is set with a predetermined width from the first position P1 towards the first station 5A and the second station 5B. That is, in this embodiment, the first travel zone R11 is the range from the first station 5A to the first station 5A side (negative X direction) by a predetermined range from the first position P1 corresponding to the no-travel zone R31. In this embodiment, the second travel zone R21 is the range from the second station 5B to the second station 5B side (positive X direction) by a predetermined range from the first position P1 corresponding to the no-travel zone R3.

[0043] In the first loading / unloading mode, the first stacker crane 9A loads the first item L1, which has been transported from the factory 100, into the first storage groups 11A and 11B of racks 2A and 2B, which correspond to the first travel range R11. In the first loading / unloading mode shown in Figure 1, the first stacker crane 9A unloads the first item L1, which is stored in the first storage groups 11A and 11B, toward the first station 5A.

[0044] In the first loading / unloading mode, the second stacker crane 9B loads the second item L2, which has been transported from the factory 100, into the second storage groups 21A and 21B of racks 2A and 2B, which correspond to the second travel range R21 at the second station 5B. In the first loading / unloading mode shown in Figure 1, the second stacker crane 9B loads the second item L2, which is stored in the second storage groups 21A and 21B, toward the second station 5B.

[0045] In the first loading / unloading mode, the first stacker crane 9A and the second stacker crane 9B cannot load or unload the first item L1 and the second item L2 into or out of the third storage group 31A and 31B of racks 2A and 2B, which correspond to the no-travel zone R31.

[0046] [Primary Inbound Mode] Figure 3 is a schematic plan view showing an example of the first receiving-focused mode of an automated warehouse system according to one embodiment. The first receiving-focused mode shown in Figure 3 can be executed when the quantity of the first item L1 is greater than the quantity of the second item L2 to be stored in racks 2A and 2B. The first receiving-focused mode can also be executed in other modes (particularly the first receiving-out mode or the second receiving-out mode) when the first item L1 is stored in racks 2A and 2B on the second station 5B side in order to have the first item L1 delivered to the second station 5B by the second stacker crane 9B. The first receiving-focused mode can be used, for example, at night when the number of operating transport vehicles 6A and 6B is relatively low. The first receiving-focused mode may also be executed when the second item L2 is delivered to the first station 5A. Furthermore, in the first receiving-primary mode, this may be performed in at least one of the following cases: when the first item L1 is not dispatched to the second station 5B, and when the second item L2 is not dispatched to the second station 5B. Also, in the first receiving-primary mode, this may be performed when the first item L1 and the second item L2 are not dispatched to the first station 5A and the second station 5B.

[0047] In the first storage-focused mode, the controller 10 sets the boundary of the first storage-focused mode (first position P1 and no-travel range R31) at a second position P2, which is wider than the first travel range R11 of the first storage-focused mode. In the first storage-focused mode, the controller 10 sets the boundary between the first travel range R12 (an example of the first travel range R1) of the first stacker crane 9A for racks 2A and 2B and the second travel range R22 (an example of the second travel range R2) of the second stacker crane 9B for racks 2A and 2B at a predetermined second position P2. In the first storage-focused mode, the controller 10 sets a no-travel range R32 (an example of the no-travel range R3) between the first travel range R12 and the second travel range R22 for racks 2A and 2B.

[0048] The second position P2 is the position where the boundary between the first travel range R1 and the second travel range R2 is set. The second position P2 refers to a predetermined position in the X direction relative to racks 2A, 2B (rails 91, 91). The second position P2 is set, for example, on the second station 5B side compared to the first position P1 in the X direction. As a result, the first travel range R12 becomes wider than the first travel range R11, and the second travel range R22 becomes narrower than the second travel range R21. In the first storage-dominant mode, the first travel range R12 is wider than the second travel range R22 in the first storage-dominant mode. The no-travel range R32 may be the same width as the no-travel range R31, or it may be wider or narrower.

[0049] In the first parking-focused mode, the first travel range R12 includes the range from the first station 5A to the second position P2, or the range from the first station 5A to the first station 5A side (negative X direction) by a predetermined range from the second position P2. In the first parking-focused mode, the second travel range R2 includes the range from the second station 5B to the second position P2, or the range from the second station 5B to the second station 5B side (positive X direction) by a predetermined range from the second position P2.

[0050] The no-travel zone R32 includes the second position P2. The no-travel zone R32 is set with a predetermined width from the second position P2 towards the first station 5A and the second station 5B. That is, in this embodiment, the first travel zone R12 is the range from the first station 5A to the first station 5A side (negative X direction) by a predetermined range from the second position P2 corresponding to the no-travel zone R32. In this embodiment, the second travel zone R22 is the range from the second station 5B to the second station 5B side (positive X direction) by a predetermined range from the second position P2 corresponding to the no-travel zone R3.

[0051] In the first receiving-main mode, the first stacker crane 9A stores the first item L1, which has been transported from the factory 100, at the first station 5A into the first storage groups 12A and 12B of racks 2A and 2B that correspond to the first travel range R12. As shown in Figure 3, the first item L1 can be stored in some of the storage sections 7 of the first storage groups 12A and 12B that correspond to the first travel range R12, on the side of the second station 5B from the first position P1. Also, as shown in Figure 3, the state in which the second item L2, which was stored by the second stacker crane 9B in the first receiving-out mode, is stored in the other storage sections 7 of the first storage groups 12A and 12B that correspond to the first travel range R12, on the side of the second station 5B from the first position P1, may continue in the first receiving-main mode. In the first receiving-main mode, which is performed after the first receiving-out mode, the first stacker crane 9A may release at least one of the first item L1 and the second item L2 stored in the first storage groups 12A and 12B toward the first station 5A.

[0052] In the first receiving-focused mode, the second stacker crane 9B receives the second item L2, which has been transported from the factory 100, into the second storage groups 22A and 22B of racks 2A and 2B, which correspond to the second travel range R22 at the second station 5B. In the first receiving-focused mode shown in Figure 3, the second stacker crane 9B may also unload the second item L2 stored in the second storage groups 22A and 22B toward the second station 5B.

[0053] Thus, in the first receiving-main mode, the second position P2 is located on the second station 5B side of the first position P1 (travel prohibited area R31) in the first loading / unloading mode, allowing the first stacker crane 9A to load the first item L1 between the first position P1 and the second position P2. The first stacker crane 9A can also unload the second item L2 to the first station 5A. However, in the first receiving-main mode, the first stacker crane 9A and the second stacker crane 9B cannot load or unload the first item L1 and the second item L2 to the third storage group 32A and 32B of racks 2A and 2B, which correspond to the travel prohibited area R32.

[0054] [Second In / Out Mode] Figure 4 is a schematic plan view showing an example of a second inbound / outbound mode of an automated warehouse system according to one embodiment. The second inbound / outbound mode shown in Figure 4 can be executed when the quantity of the second item L2 is greater than the quantity of the first item L1 being stored in racks 2A and 2B, or when the quantities are roughly equal. The second inbound / outbound mode can also be executed when the quantity of the first item L1 and second item L2 being shipped out from racks 2A and 2B to the first station 5A and the second station 5B is greater than the quantity of the first item L1 being shipped out to the second station 5B, or when the quantities are roughly equal. The second inbound / outbound mode can be used, for example, during the daytime when the factory 100 is in operation. The second inbound / outbound mode can be used, for example, when it is desired to store and ship roughly equal amounts of the second item L2 to racks 2A and 2B on the second station 5B side and roughly equal amounts of the first item L1 to racks 2A and 2B on the first station 5A side.

[0055] In the second entry / exit mode, the controller 10 sets the boundary at a third position P3, which is wider than the second travel range R21 of the first entry / exit mode. In the second entry / exit mode, the controller 10 sets the boundary between the first travel range R13 of the first stacker crane 9A for racks 2A and 2B (an example of the first travel range R1) and the second travel range R23 of the second stacker crane 9B for racks 2A and 2B (an example of the second travel range R2) at a predetermined third position P3. In the second entry / exit mode, the controller 10 sets a no-travel range R33 (an example of a no-travel range R3) between the first travel range R13 and the second travel range R23 for racks 2A and 2B.

[0056] The third position P3 is the position where the boundary between the first travel range R1 and the second travel range R2 is set. The third position P3 refers to a predetermined position in the X direction relative to racks 2A and 2B (rails 91 and 91). The third position P3 is set, for example, on the first station 5A side compared to the first position P1 and second position P2 in the X direction. As a result, the first travel range R13 becomes narrower than the first travel ranges R11 and R12, and the second travel range R23 becomes wider than the second travel ranges R21 and R22. The first travel range R13 in the second entry / exit mode may be wider than the second travel range R23 in the second entry / exit mode. The no-travel range R33 may be the same width as the no-travel ranges R31 and R32, or it may be wider or narrower.

[0057] In the second entry / exit mode, the first travel range R13 includes the range from the first station 5A to the third position P3, or the range from the first station 5A to the third position P3 and within a predetermined range toward the first station 5A side (negative X direction). In the second entry / exit mode, the second travel range R2 includes the range from the second station 5B to the third position P3, or the range from the second station 5B to the third position P3 and within a predetermined range toward the second station 5B side (positive X direction).

[0058] The no-travel zone R33 includes the third position P3. The no-travel zone R33 is set with a predetermined width from the third position P3 towards the first station 5A and the second station 5B. That is, in this embodiment, the first travel zone R13 is the range from the first station 5A to the first station 5A side (negative X direction) by a predetermined range from the third position P3 corresponding to the no-travel zone R33. In this embodiment, the second travel zone R23 is the range from the second station 5B to the second station 5B side (positive X direction) by a predetermined range from the third position P3 corresponding to the no-travel zone R3.

[0059] In the second loading / unloading mode, the first stacker crane 9A loads the first item L1, which has been transported from the factory 100, into the first storage groups 13A and 13B of racks 2A and 2B, which correspond to the first travel range R13 at the first station 5A. In the second loading / unloading mode shown in Figure 4, the first stacker crane 9A unloads the first item L1, which is stored in the first storage groups 13A and 13B, toward the first station 5A.

[0060] In the second loading / unloading mode, the second stacker crane 9B loads the second item L2, transported from the factory 100, into the second storage groups 23A and 23B of racks 2A and 2B that correspond to the second travel range R23 at the second station 5B. As shown in Figure 3, the second item L2 can be loaded into some of the storage sections 7 of the second storage groups 23A and 23B that correspond to the second travel range R23, on the side of the third position P3 to the second station 5B. Also, as shown in Figure 4, the state in which the first item L1, loaded by the first stacker crane 9A in at least one of the first loading / unloading mode and the first loading-main mode, is loaded into the other storage sections 7 of the second storage groups 23A and 23B that correspond to the second travel range R23, on the side of the third position P3 to the second station 5B, may continue in the second loading / unloading mode. In the second warehousing mode, which is performed after the first warehousing mode or the first warehousing main mode, the second stacker crane 9B may detach at least one of the first item L1 and the second item L2 stored in the second storage groups 23A and 23B toward the first station 5A.

[0061] Thus, because the third position P3 set in the second loading / unloading mode is located closer to the first station 5A than the first position P1 (no-travel zone R31) in the first loading / unloading mode and the second position P2 (no-travel zone R32) in the first loading / unloading mode, the second item L2 can be loaded between the second position P2 and the third position P3. In addition, the second stacker crane 9B can unload the first item L1, which is loaded between the second position P2 and the third position P3, to the second station 5B.

[0062] In the second loading / unloading mode, the first stacker crane 9A and the second stacker crane 9B cannot load or unload the first item L1 and the second item L2 into or out of the third storage group 33A and 33B of racks 2A and 2B, which correspond to the no-travel zone R33.

[0063] [Second storage-focused mode] Figure 5 is a schematic plan view showing an example of a second receiving-focused mode of an automated warehouse system according to one embodiment. The second receiving-focused mode shown in Figure 5 can be executed when the quantity of the second item L2 is greater than the quantity of the first item L1 to be stored in racks 2A and 2B. The second receiving-focused mode can also be executed in other modes (particularly the first receiving / exporting mode or the second receiving / exporting mode) when the second item L2 is stored in racks 2A and 2B on the first station 5A side in order to have the second item L2 released to the first station 5A by the first stacker crane 9A. The second receiving-focused mode can be used, for example, at night when the number of operating transport vehicles 6A and 6B is relatively low. The second receiving-focused mode may also be executed when the first item L1 is to be released to the second station 5B. Furthermore, in the second receiving-focused mode, this may be performed in at least one of the following cases: when the second item L2 is not dispatched to the first station 5A, and when the first item L1 is not dispatched to the first station 5A. Also, in the second receiving-focused mode, this may be performed when the first item L1 and the second item L2 are not dispatched to the first station 5A and the second station 5B.

[0064] In the second storage-focused mode, the controller 10 sets the boundary of the second storage-focused mode (third position P3 and no-travel zone R33) at a fourth position P4, which is wider than the second travel zone R23 of the second storage-focused mode. In the second storage-focused mode, the controller 10 sets the boundary between the first travel zone R14 of the first stacker crane 9A for racks 2A and 2B (an example of the first travel zone R1) and the second travel zone R24 of the second stacker crane 9B for racks 2A and 2B (an example of the second travel zone R2) at a predetermined fourth position P4. In the second storage-focused mode, the controller 10 sets a no-travel zone R34 (an example of the no-travel zone R3) between the first travel zone R14 and the second travel zone R24 for racks 2A and 2B.

[0065] The fourth position P4 is the position where the boundary between the first travel range R1 and the second travel range R2 is set. The fourth position P4 refers to a predetermined position in the X direction relative to racks 2A, 2B (rails 91, 91). The fourth position P4 is set, for example, on the second station 5B side compared to the first position P1 in the X direction. As a result, the first travel range R14 becomes narrower than the first travel range R13, and the second travel range R24 becomes wider than the second travel range R23. In the second storage-dominant mode, the first travel range R14 is wider than the second travel range R24 in the second storage-dominant mode. The no-travel range R34 may be the same width as the no-travel range R33, or it may be wider or narrower.

[0066] In the second parking-focused mode, the first travel range R14 includes the range from the first station 5A to the fourth position P4, or the range from the first station 5A to the fourth position P4 and within a predetermined range toward the first station 5A side (negative X direction). In the second parking-focused mode, the second travel range R2 includes the range from the second station 5B to the fourth position P4, or the range from the second station 5B to the fourth position P4 and within a predetermined range toward the second station 5B side (positive X direction).

[0067] The no-travel zone R34 includes the fourth position P4. The no-travel zone R34 is set with a predetermined width from the fourth position P4 towards the first station 5A and towards the second station 5B. That is, in this embodiment, the first travel zone R14 is the range from the first station 5A to the first station 5A side (negative X direction) by a predetermined range from the fourth position P4 corresponding to the no-travel zone R34. In this embodiment, the second travel zone R24 is the range from the second station 5B to the second station 5B side (positive X direction) by a predetermined range from the fourth position P4 corresponding to the no-travel zone R3.

[0068] In the second receiving-primary mode, the first stacker crane 9A stores the first item L1, which has been transported from the factory 100, into the first storage groups 14A and 14B of racks 2A and 2B, which correspond to the first travel range R14. In the second receiving-primary mode, the first stacker crane 9A may also release the first item L1, which is stored in the first storage groups 14A and 14B, toward the first station 5A.

[0069] In the second receiving-main mode, the second stacker crane 9B stores the second item L2, which has been transported from the factory 100, in the second storage groups 24A and 24B of racks 2A and 2B that correspond to the second travel range R24. As shown in Figure 5, the second item L2 can be stored in some of the storage sections 7 of the second storage groups 24A and 24B that correspond to the second travel range R24, on the side of the first station 5A from the third position P3. Also, as shown in Figure 5, the state in which the first item L1, which was stored by the first stacker crane 9A in the first receiving / exiting mode, the first receiving-main mode, and the second receiving / exiting mode, is stored in the other storage sections 7 of the second storage groups 24A and 24B that correspond to the second travel range R24, on the side of the first station 5A from the third position P3, may continue in the second receiving-main mode. In the second receiving-main mode, which is performed after the first receiving-out mode, the first receiving-main mode, and the second receiving-out mode, the second stacker crane 9B may release at least one of the first item L1 and the second item L2 stored in the second storage groups 24A and 24B toward the second station 5B.

[0070] Thus, because the fourth position P4 set in the second receiving-primary mode is located closer to the first station 5A than the third position P3 (travel prohibited area R33) in the second loading / unloading mode, the second stacker crane 9B can load the second item L2 between the third position P3 and the fourth position P4. In addition, the second stacker crane 9B can unload the first item L1, which is loaded between the third position P3 and the fourth position P4, to the second station 5B. Note that in the second receiving-primary mode, the first stacker crane 9A and the second stacker crane 9B cannot load or unload the first item L1 and the second item L2 to the third storage group 34A and 34B of racks 2A and 2B, which correspond to the travel prohibited area R34.

[0071] [Mode combinations] The controller 10 combines at least two modes, a first inbound / outbound mode, a first inbound-main mode, a second inbound / outbound mode, and a second inbound-main mode, and switches between these modes based on time. For example, the controller 10 combines the first inbound / outbound mode and the first inbound-main mode to switch between these modes based on time. In this case, as described above, in the first inbound-main mode executed after the first inbound / outbound mode, the first stacker crane 9A can dispatch not only the first item L1 stored in the first storage groups 12A and 12B, but also the second item L2 stored in the first storage groups 12A and 12B, toward the first station 5A. In the first inbound / outbound mode executed after the first inbound-main mode, the second stacker crane 9B can dispatch not only the second item L2 stored in the second storage groups 21A and 21B, but also the first item L1 stored in the second storage groups 21A and 21B, toward the second station 5B.

[0072] The controller 10, for example, combines a first in / out mode and a second in / out mode and switches between these multiple modes based on time. In this case, in the second in / out mode executed after the first in / out mode, the second stacker crane 9B can dispatch not only the second item L2 stored in the second storage group 23A, 23B, but also the first item L1 stored in the second storage group 23A, 23B, toward the second station 5B. In the first in / out mode executed after the second in / out mode, the first stacker crane 9A can dispatch not only the first item L1 stored in the first storage group 11A, 11B, but also the second item L2 stored in the first storage group 11A, 11B, toward the first station 5A.

[0073] The controller 10, for example, combines the first in / out mode, the second in / out mode, and the first in / out main mode, and switches between these modes based on time. In this case, in the second in / out mode, which is executed after the first in / out mode or the first in / out main mode, the second stacker crane 9B can dispatch not only the second item L2 stored in the second storage group 23A, 23B, but also the first item L1 stored in the second storage group 23A, 23B, toward the second station 5B. In the first in / out mode or the first in / out main mode, which is executed after the second in / out mode, the first stacker crane 9A can dispatch not only the first item L1 stored in the first storage group 11A, 11B or the first storage group 12A, 12B, but also the second item L2 stored in the first storage group 11A, 11B or the first storage group 12A, 12B, toward the first station 5A.

[0074] The controller 10, for example, combines the first in / out mode, the second in / out mode, the first in-main mode, and the second in-main mode, and switches between these modes based on time. In this case, in the second in / out mode or the second in-main mode, which is executed after the first in / out mode or the first in-main mode, the second stacker crane 9B can dispatch not only the second item L2 stored in the second storage group 23A, 23B or the second storage group 24A, 24B, but also the first item L1 stored in the second storage group 23A, 23B or the second storage group 24A, 24B, toward the second station 5B. In the first in / out mode or first in-main mode, which is performed after the second in / out mode or second in-main mode, the first stacker crane 9A can dispatch not only the first item L1 stored in the first storage group 11A, 11B or the first storage group 12A, 12B, but also the second item L2 stored in the first storage group 11A, 11B or the first storage group 12A, 12B, toward the first station 5A.

[0075] [Mechanism of Action and Effects] Next, the effects and advantages of the automated warehouse system 200 according to this embodiment will be explained along with the problems of the conventional system. In the conventional technology, when multiple cranes are arranged on the same track, depending on the movement of one crane, the other crane may be forced to slow down and stop, which may restrict the smooth movement of the other crane. In other words, interference between the movements of multiple cranes may occur, making it impossible to efficiently transfer goods. Also, if the range of racks that can be loaded and unloaded for each crane is limited, other cranes cannot enter the range of the racks of the target crane, making it impossible to transfer different goods to each other via the racks. It is conceivable to set up a transfer station to transfer different goods to each other, but this incurs costs. Furthermore, for example, it is conceivable that a labor-intensive operation would be carried out at the transfer station, where goods are received from one crane, moved to the transfer location of the other crane, and the other crane receives the goods, which may make it impossible to smoothly transfer goods to the cranes.

[0076] The automated warehouse system 200 of this embodiment includes racks 2A and 2B on which at least one of a first item L1 and a second item L2 is placed, a first station 5A on which the first item L1 is supplied and on which the first item L1 and the second item L2 can be transferred, a second station 5B on which the second item L2 is supplied and on which the first item L1 and the second item L2 can be transferred, rails 91 and 91 connecting the first station 5A and the second station 5B and arranged along the racks 2A and 2B, a first stacker crane 9A that moves along the rails 91 and 91 and on which the first item L1 is received and at least one of the first item L1 and the second item L2 is taken out of the racks 2A and 2B, and a stacker crane 9A that moves along the rails 91 and 91 on the second station 5B side of the first stacker crane 9A and on which the second item L2 is received and taken out of the racks 2A and 2B The system includes a second stacker crane 9B for retrieving at least one of item 1 L1 and item 2 L2, and a controller 10 for controlling the operation of the first stacker crane 9A and the second stacker crane 9B according to each of a plurality of modes, the plurality of modes including a first inbound / outbound mode in which the boundary between the first travel range R11 of the first stacker crane 9A relative to racks 2A and 2B and the second travel range R21 of the second stacker crane 9B relative to racks 2A and 2B is set at a predetermined first position P1, and a first inbound-main mode in which the boundary between the first travel range R12 and the second travel range R22 is set at a second position P2 (set to the first travel range R12) so that the first travel range R12 is wider than the first travel range R11 of the first inbound / outbound mode, and the controller 10 switches each of the plurality of modes based on time.

[0077] According to the automated warehouse system 200, the first stacker crane 9A and the second stacker crane 9B move along rails 91, 91. The controller 10 controls the first stacker crane 9A and the second stacker crane 9B as the first receiving-main mode, thereby making the first travel range R11 of the first stacker crane 9A wider than the range from the first station 5A to the first position P1, and extending to the first travel range R12 from the first station 5A to the second position P2. As a result, in the first receiving-main mode, the first stacker crane 9A can store the first item L1 in the racks 2A, 2B (first storage groups 12A, 12B) located between the first station 5A and the second position P2, including the racks 2A, 2B located between the first position P1 and the second position P2. Furthermore, in the first receiving-main mode, the first stacker crane 9A can store the first item L1 in a wide range of racks 2A and 2B, thereby suppressing the accumulation of the first item L1 in the first station 5A. For this reason, in the first receiving-main mode, the first stacker crane 9A can store the first item L1 in a wide range of storage areas 7 (racks 2A and 2B), including racks 2A and 2B located between the first position P1 and the second position P2. In addition, in the first receiving-out mode, the second stacker crane 9B can store the second item L2 in racks 2A and 2B (second storage group 21A and 21B) located between the second station 5B and the first position P1, including racks 2A and 2B located between the first position P1 and the second position P2. Therefore, in the first loading / unloading mode, the second stacker crane 9B can unload the first item L1 and the second item L2 from racks 2A and 2B located between the first position P1 and the second position P2. In this way, interference between the second stacker crane 9B and the first stacker crane 9A is suppressed, and the first item L1, which was loaded by the first stacker crane 9A in the first loading / unloading mode, can be unloaded. Thus, this automated warehouse system 200 can suppress interference between multiple cranes and improve the transport efficiency of the first item L1 and the second item L2.

[0078] In the automated warehouse system 200, the multiple modes further include a second inbound / outbound mode in which the boundary (between the first inbound / outbound mode R13 and the second inbound / outbound mode R23) is set at the third position P3 such that the second inbound / outbound mode R23 is wider than the second inbound / outbound mode R21 of the first inbound / outbound mode. In this case, the controller 10 controls the first stacker crane 9A and the second stacker crane 9B as the second inbound / outbound mode so that the second inbound / outbound mode R2 of the second stacker crane 9B can be set to a second inbound / outbound mode R23 from the second station 5B to the third position P3, which is wider than the second inbound / outbound mode R21 between the second station 5B and the first position P1. As a result, in the second loading / unloading mode, the second stacker crane 9B can load the second item L2 into racks 2A and 2B (second storage group 23A and 23B) located between the second station 5B and the third position P3, including racks 2A and 2B located between the first position P1 and the third position P3. Therefore, in the second loading / unloading mode, the second stacker crane 9B can unload the first item L1 and the second item L2 from rack 2A located between the first position P1 and the third position P3. Furthermore, in the second loading / unloading mode, the second stacker crane 9B can unload the first item L1 and the second item L2 from rack 2A located between the first position P1 and the second position P2. In this way, interference between the second stacker crane 9B and the first stacker crane 9A is suppressed, and the first item L1, which was stored by the first stacker crane 9A in the first loading / unloading mode and the first loading-focused mode, can be unloaded by the second stacker crane 9B in the second loading / unloading mode. Also, interference between the first stacker crane 9A and the second stacker crane 9B is suppressed, and the second item L2, which was stored by the second stacker crane 9B in the second loading / unloading mode, can be unloaded by the first stacker crane 9A in the first loading / unloading mode. As a result, the first item L1 and the second item L2 can be unloaded at both the first station 5A and the second station 5B. This automated warehouse system 200 can load at least one of the first item L1 and the second item L2 onto the transport vehicles 6A and 6B more efficiently.Therefore, this automated warehouse system 200 can suppress interference between multiple cranes and improve the transport efficiency of the first item L1 and the second item L2.

[0079] In the automated warehouse system 200, the multiple modes further include a second inbound-focused mode in which the boundary (between the first inbound-focused mode R13 and the second inbound-focused mode R23) is set at the fourth position P4 such that the second inbound-focused mode R24 is wider than the second inbound-focused mode R23. In this case, the controller 10 controls the first stacker crane 9A and the second stacker crane 9B as the second inbound-focused mode, thereby making the second inbound-focused mode R2 of the second stacker crane 9B a second inbound-focused mode R24 that extends from the second station 5B to the fourth position P4, which is wider than the second inbound-focused mode R23 between the second station 5B and the third position P3. As a result, in the second receiving-focused mode, the second stacker crane 9B can receive the second item L2 into racks 2A and 2B (second storage group 24A and 24B) located between the second station 5B and the fourth position P4, including racks 2A and 2B located between the third position P3 and the fourth position P4. Furthermore, in the second receiving-focused mode, the second stacker crane 9B can receive the second item L2 into a wide range of racks 2A and 2B, thus preventing the second item L2 from accumulating at the second station 5B. Therefore, in the first receiving-out mode following the second receiving-focused mode, the first stacker crane 9A can retrieve the first item L1 and the second item L2 from racks 2A and 2B located between the first position P1 and the fourth position P4. Furthermore, the first stacker crane 9A can retrieve the first item L1 and the second item L2 from racks 2A and 2B located between the third position P3 and the fourth position P4 in the first and second loading / unloading modes following the second loading / unloading mode. When the second loading / unloading mode is executed, the first stacker crane 9A can retrieve the first item L1 and the second item L2 in both the first and second loading / unloading modes following the second loading / unloading mode. In this way, interference between the second stacker crane 9B and the first stacker crane 9A is suppressed, and the second stacker crane 9B can efficiently retrieve the first item L1 that was loaded by the first stacker crane 9A in the first loading / unloading mode.Furthermore, interference between the first stacker crane 9A and the second stacker crane 9B is suppressed, and the first stacker crane 9A can efficiently retrieve the second item L2 that has been retrieved by the second stacker crane 9B in the second retrieval mode. As a result, the first item L1 and the second item L2 can be retrieved from both the first station 5A and the second station 5B. This automated warehouse system 200 can load at least one of the first item L1 and the second item L2 onto the transport vehicles 6A and 6B more efficiently. Therefore, this automated warehouse system 200 can suppress interference between multiple cranes and improve the transport efficiency of the first item L1 and the second item L2.

[0080] In the automated warehouse system 200, the first travel range R12 in the first receiving-focused mode is wider than the second travel range R22 in the first receiving-focused mode. In this case, the first stacker crane 9A can store the first item L1 over a wide range relative to racks 2A and 2B.

[0081] In the automated warehouse system 200, the second travel range R24 in the second receiving-main mode may be wider than the first travel range R14 in the second receiving-main mode. In this case, the second stacker crane 9B can receive the second item L2 over a wide range relative to racks 2A and 2B.

[0082] The automated warehouse system 200 includes racks 2A and 2B on which at least one of the first item L1 and the second item L2 is placed, a first station 5A on which the first item L1 is supplied and on which the first item L1 and the second item L2 can be transferred, a second station 5B on which the second item L2 is supplied and on which the first item L1 and the second item L2 can be transferred, rails 91 and 91 connecting the first station 5A and the second station 5B and arranged along the racks 2A and 2B, a first stacker crane 9A that moves along the rails 91 and 91 and on which the first item L1 is received and at least one of the first item L1 and the second item L2 is retrieved from the racks 2A and 2B, and a second stacker crane 9A that moves along the rails 91 and 91 on the second station 5B side of the first stacker crane 9A and on which the second item L2 is retrieved from the racks 2A and 2B The system includes a second stacker crane 9B for receiving items and retrieving at least one of a first item L1 and a second item L2, and a controller 10 for controlling the operation of the first stacker crane 9A and the second stacker crane 9B according to each of a plurality of modes, the plurality of modes including a first in / out mode in which the boundary between the first travel range R1 of the first stacker crane 9A relative to racks 2A and 2B and the second travel range R2 of the second stacker crane 9B relative to racks 2A and 2B is set at a predetermined first position P1, and a second in / out mode in which the boundary (between the first travel range R14 and the second travel range R24) is set at a third position P3 such that the second travel range R22 is wider than the second travel range R21 of the first in / out mode, and the controller switches between each of the plurality of modes based on time.

[0083] According to the automated warehouse system 200, the first stacker crane 9A and the second stacker crane 9B move along rails 91, 91. The controller 10 controls the first stacker crane 9A and the second stacker crane 9B as a second loading / unloading mode, thereby making the second travel range R2 of the second stacker crane 9B wider than the range from the second station 5B to the first position P1, extending from the second station 5B to the third position P3. As a result, in the second loading / unloading mode, the second stacker crane 9B can load the second item L2 into racks 2A, 2B (second storage group 23A, 23B) located between the second station 5B and the second position P2, including racks 2A, 2B located between the first position P1 and the third position P3. Therefore, in the second loading / unloading mode following the first loading / unloading mode, the first stacker crane 9A can unload the first item L1 and the second item L2 from racks 2A and 2B located between the first position P1 and the third position P3. Also, in the first loading / unloading mode, the first stacker crane 9A can load the first item L1 into racks 2A and 2B (first storage group 11A and 11B) located between the first station 5A and the first position P1, including racks 2A and 2B located between the first position P1 and the third position P3. Therefore, in the first loading / unloading mode following the second loading / unloading mode, the first stacker crane 9A can unload the first item L1 and the second item L2 from racks 2A and 2B located between the first position P1 and the third position P3. In this way, interference between the second stacker crane 9B and the first stacker crane 9A is suppressed, and the first item L1, which was stored by the first stacker crane 9A in the first storage mode, can be stored in the second storage mode. Also, interference between the first stacker crane 9A and the second stacker crane 9B is suppressed, and the second item L2, which was stored by the second stacker crane 9B in the second storage mode, can be stored in the first storage mode. Therefore, this automated warehouse system 200 can suppress interference between multiple cranes and improve the transport efficiency of the first item L1 and the second item L2.

[0084] In the automated warehouse system 200, the controller 10 sets a no-travel zone R3 between the first travel range R1 and the second travel range R2 for each of the multiple modes. In this case, the first stacker crane 9A and the second stacker crane 9B cannot enter the no-travel zone R3, so the first stacker crane 9A cannot move to a position that interferes with the second travel range R2, and the second stacker crane 9B cannot move to a position that interferes with the first travel range R1. Furthermore, by providing the no-travel zone R3, a buffer zone can be created for the movement of the first stacker crane 9A and the second stacker crane 9B. Therefore, this automated warehouse system 200 can appropriately suppress interference between multiple cranes.

[0085] [Differentiation] While embodiments of the present disclosure have been described above, the present invention is not necessarily limited to the embodiments described above, and various modifications are possible without departing from the spirit of the invention.

[0086] Although the first stacker crane 9A and the second stacker crane 9B were shown moving along rails 91, 91, there may be only one rail. The rail does not have to be a physical structure and may be a concept including an invisible track that can be managed by the controller 10.

[0087] The controller 10 may switch between multiple modes, each combining the first inbound / outbound mode and the second inbound-main mode, based on the time. The controller 10 may switch between multiple modes, each combining the second inbound / outbound mode and the first inbound-main mode, based on the time.

[0088] In Figures 1, 3, 4, and 5, for the sake of simplicity in the diagrams, the configuration in which the first item L1 and the second item L2 are stored in adjacent storage units 7 is not shown, but the first item L1 and the second item L2 may be stored in adjacent storage units 7. For example, in the first in / out mode, the first in-in main mode, the second in / out mode, and the second in-in main mode, the first stacker crane 9A may in / out items sequentially from the first level of storage units 7 of racks 2A and 2B that are closest to the first station 5A. For example, in the first in / out mode, the first in-in main mode, the second in / out mode, and the second in-in main mode, the second stacker crane 9B may in / out items sequentially from the first level of storage units 7 of racks 2A and 2B that are closest to the second station 5B.

[0089] When the first stacker crane 9A is retrieving the second item L2 from racks 2A and 2B toward the first station 5A, the controller 10 controls the first stacker crane 9A to retrieve the second item L2 in order from the second item L2 that has been stored in the storage section 7 on the second station 5B side. In other words, the controller 10 controls the first stacker crane 9A to retrieve the second item L2 in order from the second item L2 that has been stored in the storage section 7 furthest from the first station 5A. In this case, the second stacker crane 9B can efficiently store the second item L2 in the storage section 7 in the second entry / exit mode and the second entry-focused mode, so that the first stacker crane 9A can retrieve the second item L2 to the storage section 7 located within the first travel range R11 (R1) in each mode where the first travel range R1 is wider than the second travel range R2, such as the first entry / exit mode. In other words, the storage unit 7 that is farther from the first station 5A is the storage unit 7 that is closer to the second station 5B, so the second stacker crane 9B can efficiently store the second item L2. Therefore, the first stacker crane 9A can be located within the first travel range R11 (R1) in each mode, such as the first loading / unloading mode, and a large number of storage units 7 containing the second item L2 can be maintained, allowing the first station 5A, where the second item L2 is not transported from the factory 100, to receive a larger supply of the second item L2.

[0090] When the second stacker crane 9B is retrieving the first item L1 from racks 2A and 2B toward the second station 5B, the controller 10 controls the second stacker crane 9B to retrieve the first item L1 in order from the first item L1 that has been stored in the storage section 7 on the first station 5A side. In other words, the controller 10 controls the second stacker crane 9B to retrieve the first item L1 in order from the first item L1 that has been stored in the storage section 7 furthest from the second station 5B. In this case, the first stacker crane 9A can efficiently store the first item L1 in the storage section 7 in the first retrieval mode and the first retrieval-focused mode, so that the second stacker crane 9B can retrieve the first item L1 to the storage section 7 located within the second travel range R23 (R2) in each mode where the second travel range R2 is wider than the first travel range R1, such as the second retrieval mode. In other words, the storage unit 7 that is farther from the second station 5B is the storage unit 7 that is closer to the first station 5A, so the first stacker crane 9A can efficiently store the first item L1. Therefore, the second stacker crane 9B can be located within the second travel range R23 (R2) in each mode such as the second loading / unloading mode, and a large number of storage units 7 containing the first item L1 can be maintained, allowing for a greater supply of the first item L1 to the second station 5B, where the first item L1 is not transported from the factory 100. [Explanation of symbols]

[0091] 1...Automated warehouse, 2A,2B...Racks, 5A...First station, 5B...Second station, 6A,6B...Transport vehicles, 7...Storage section, 9...Conveying device, 9A...First stacker crane, 9B...Second stacker crane, 10...Controller, 91...Rails, 100...Factory, 200...Automated warehouse system, L1...First item, L2...Second item, P1...First position, P2...Second position, P3...Third position, P4...Fourth position, R1,R11,R12,R13,R14...First travel range, R2,R21,R22,R23,R24...Second travel range, R3,R31,R32,R33,R34...No travel range.

Claims

1. A rack on which at least one of the first article and the second article is placed, A first station to which the first article is supplied and to which the first article and the second article can be transferred, A second station is supplied with the second item and is capable of transferring the first item and the second item, A rail connecting the first station and the second station and arranged along the rack, A first stacker crane moves along the rail and stores the first item in the rack and retrieves at least one of the first item and the second item, A second stacker crane moves along the rail from the first stacker crane towards the second station, and performs receiving of the second item in the rack and retrieving at least one of the first item and the second item, A controller that controls the operation of the first stacker crane and the second stacker crane according to each of a plurality of modes, Equipped with, The aforementioned multiple modes are, A first loading / unloading mode in which the boundary between the first travel range of the first stacker crane relative to the rack and the second travel range of the second stacker crane relative to the rack is set at a predetermined first position, A first entry-main mode in which the boundary is set at a second position such that the first travel range is wider than the first travel range of the first entry / exit mode, Includes, The controller switches between each of the multiple modes based on the time. Automated warehouse system.

2. The automated warehouse system according to claim 1, wherein the plurality of modes further include a second inbound / outbound mode in which the boundary is set at a third position such that the second travel range is wider than the second travel range of the first inbound / outbound mode.

3. The automated warehouse system according to claim 2, wherein the plurality of modes further include a second inbound-primary mode in which the boundary is set at a fourth position such that the second inbound-outbound mode is wider than the second inbound-outbound mode.

4. The automated warehouse system according to any one of claims 1 to 3, wherein the first travel range in the first receiving-main mode is wider than the second travel range in the first receiving-main mode.

5. The automated warehouse system according to claim 3, wherein the second travel range in the second storage-focused mode is wider than the first travel range in the second storage-focused mode.

6. A rack on which at least one of the first article and the second article is placed, A first station to which the first article is supplied and to which the first article and the second article can be transferred, A second station is supplied with the second item and is capable of transferring the first item and the second item, A rail connecting the first station and the second station and arranged along the rack, A first stacker crane moves along the rail and stores the first item in the rack and retrieves at least one of the first item and the second item, A second stacker crane moves along the rail from the first stacker crane towards the second station, and performs receiving of the second item in the rack and retrieving at least one of the first item and the second item, A controller that controls the operation of the first stacker crane and the second stacker crane according to each of a plurality of modes, Equipped with, The aforementioned multiple modes are, A first loading / unloading mode in which the boundary between the first travel range of the first stacker crane relative to the rack and the second travel range of the second stacker crane relative to the rack is set at a predetermined first position, A second entry / exit mode in which the boundary is set at a third position such that the second travel range is wider than the second travel range of the first entry / exit mode, Includes, The controller switches between each of the multiple modes based on the time. Automated warehouse system.

7. The automated warehouse system according to any one of claims 1 to 3, 5, or 6, wherein the controller sets a no-travel range between the first travel range and the second travel range of each of the plurality of modes.

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