Automated warehouse system, control method for automated warehouse system

Abstract

One of the purposes of this disclosure is to provide an automated warehouse system that can ensure the safety of workers entering the shelving while suppressing a decrease in warehouse utilization. [Solution] The automated warehouse system 100 includes shelves 5 arranged in a first direction and a second direction intersecting the first direction, each capable of storing goods 12; passages 4 provided along the first or second direction in the multiple storage sections 52; transport means 7 for transporting goods 12 in the first and second directions on the shelves 5; and an area designation unit 34 for setting a specific area 62 in at least a portion of the multiple storage sections 52 for workers to perform tasks. When a specific area 62 is set, the transport means 7 within the specific area 62 is moved to a non-specific area 64 of the shelves 5, prohibiting the operation of the transport means 7 within the specific area 62 and allowing the operation of the transport means 7 in the non-specific area 64.

Description

Technical Field

[0001] The present invention relates to an automated warehouse system and a control method for an automated warehouse system.

Background Art

[0002] An automated warehouse system that can efficiently store and retrieve a large number of goods in a small space is known. The applicant has disclosed an automated warehouse system equipped with storage shelves capable of accommodating a plurality of articles in Patent Document 1. This document discloses a technique for transporting an operator to a work target location by a different cart from the cart for transporting goods.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] The inventors of the present invention have obtained the following recognition regarding an automated warehouse system. In an automated warehouse system, in order to deal with cargo collapse and maintenance, an operator may need to move to a work location inside a storage shelf and perform work there. In such a case, in order to ensure the safety of the operator entering the shelf, it is conceivable to prohibit the operation of the entire storage shelf, but in this case, it is conceivable that the operation rate of the warehouse will decrease. Particularly in a large-scale storage shelf, the impact of the decrease in the operation rate is significant.

[0005] From these, there is room for improvement in the conventional automated warehouse system from the viewpoint of suppressing a decrease in the operation rate of the warehouse while ensuring the safety of the operator entering the shelf.

[0006] This invention has been made in view of these problems, and one of its objectives is to provide an automated warehouse system that can ensure the safety of workers entering the shelves while suppressing a decrease in warehouse utilization rate. [Means for solving the problem]

[0007] To solve the above problems, an automated warehouse system according to one aspect of the present invention comprises shelves arranged in a first direction and a second direction intersecting the first direction, each of which is capable of storing goods; passages provided along the first or second direction in the plurality of storage units; transport means for transporting goods in the first and second directions on the shelves; and area designation units for setting specific areas in at least a portion of the plurality of storage units for workers to perform tasks. When a specific area is set, the transport means within the specific area is moved to a non-specific area of ​​the shelf, prohibiting the operation of the transport means within the specific area and allowing the operation of the transport means in the non-specific area.

[0008] Another aspect of the present invention is a method for controlling an automated warehouse system. This method controls an automated warehouse system comprising: shelves arranged in a first direction and a second direction intersecting the first direction, each having a plurality of storage units capable of storing goods; passages provided along the first or second direction in the plurality of storage units; and transport means for transporting goods in the first and second directions on the shelves, and includes setting a specific area in at least a portion of the plurality of storage units for workers to perform tasks; moving the transport means within the specific area to a non-specific area of ​​the shelves when the specific area is set; prohibiting the operation of the transport means within the specific area; and allowing the operation of the transport means in the non-specific area.

[0009] Furthermore, any combination of the above components, or in which the components or expressions of the present invention are mutually substituted among methods, systems, etc., are also valid embodiments of the present invention. [Effects of the Invention]

[0010] According to the present invention, it is possible to provide an automated warehouse system that can ensure the safety of workers entering the shelves while suppressing a decrease in warehouse utilization rate. [Brief explanation of the drawing]

[0011] [Figure 1] This is a schematic plan view illustrating the automated warehouse system of the embodiment. [Figure 2] This is another plan view schematically illustrating the automated warehouse system of the embodiment. [Figure 3] This is a schematic plan view showing the first moving device of the automated warehouse system according to the embodiment. [Figure 4] This is a schematic plan view showing the second moving device of the automated warehouse system according to the embodiment. [Figure 5] This is a schematic plan view showing the multi-directional movement device of the automated warehouse system according to the embodiment. [Figure 6] This is a block diagram illustrating a schematic representation of an automated warehouse system according to an embodiment. [Figure 7] This diagram schematically shows an entry restriction device for an automated warehouse system according to an embodiment. [Figure 8] This is a flowchart illustrating the processing of the first operation of the automated warehouse system according to the embodiment. [Figure 9] This is a plan view showing a bypass route for the automated warehouse system of the embodiment. [Figure 10] This is a plan view showing the movement path of workers in the automated warehouse system of the first modified example. [Figure 11] This is a plan view showing another example of the worker movement path in the automated warehouse system of the first modified example. [Modes for carrying out the invention]

[0012] Hereinafter, the present invention will be described with reference to the drawings based on preferred embodiments. In the embodiments and modifications, the same or equivalent components and members are denoted by the same reference numerals, and redundant explanations are omitted as appropriate. When distinguishing the same or equivalent components and members, capital letters such as A, B, C, etc. are attached to the end of the reference numerals, and they are not attached when not distinguishing. Also, the dimensions of the members in each drawing are appropriately enlarged or reduced for easy understanding. In addition, some members that are not important for explaining the embodiments in each drawing are omitted.

[0013] Also, terms including ordinals such as first and second are used to describe various components, but this term is used only for the purpose of distinguishing one component from another, and the components are not limited by this term.

[0014] [Embodiment] Hereinafter, the configuration of the automated warehouse system 100 according to an embodiment of the present invention will be described with reference to the drawings. FIGS. 1 and 2 are plan views schematically showing the automated warehouse system 100.

[0015] For convenience of explanation, as shown in the drawings, an XYZ orthogonal coordinate system is defined, where a horizontal direction is the X direction, a horizontal direction orthogonal to the X direction is the Y direction, and a direction orthogonal to both, that is, the vertical direction, is the Z direction. Also, the X direction may be referred to as the left-right direction, the Y direction as the front-back direction, and the Z direction as the up-down direction or the tier direction. Further, the right side in the drawing may be referred to as "right", the left side as "left", the upper side as "back", and the lower side as "front". The X direction exemplifies the first direction, the Y direction exemplifies the second direction, and the Z direction exemplifies the up-down direction. In this example, the second direction is orthogonal to the first direction, but the angle between the first direction and the second direction is not limited to 90°, and may be an angle different from 90°, such as 70° or 80°. Such notation of directions does not limit the configuration of the automated warehouse system 100, and the automated warehouse system 100 can be arbitrarily configured according to the application.

[0016] In this specification, the following terms are used for loads. A case such as a cardboard box containing contents is referred to as a "load". A load may contain a plurality of articles. When "load 12" is mentioned in the following description, it includes both the case where a single load 12 is referred to and the case where one or more loads 12 are placed on a pallet.

[0017] The automated warehouse system 100 mainly includes a shelf 5, a transfer means 7, an information processing unit 3, and an access restriction device 46. The shelf 5 is a storage space including a plurality of storage units 52 arranged along a first direction, a second direction, and a vertical direction. The configuration of the shelf 5 is not particularly limited as long as it can accommodate and store a plurality of loads 12. In this example, a plurality of storage units 52 arranged in the first direction and the second direction are referred to as storage stages. The shelf 5 includes a plurality of stages (for example, three stages) of storage stages arranged in the tier direction. In FIGS. 1 and 2, the first-stage storage stage is shown, but the same applies to other stages. In each storage stage, a storage row 53 is provided in which a plurality of storage units 52 capable of storing a load 12 are arranged in the first direction. In FIGS. 1 and 2, a specific area 62 described later is shown with a solid line and hatched, and a non-specific area 64 is shown with a dashed line.

[0018] A plurality of storage rows 53 are connected in the second direction to form a storage stage. The storage unit 52 is not limited to a certain position on the storage row 53, and its position and size are flexibly set according to the size of the load 12 to be stored. In other words, the shelf 5 functions as a high-density storage shelf configured by arranging a plurality of storage rows 53 in which a plurality of storage units 52 capable of storing a load 12 are arranged in the first direction in a second direction intersecting the first direction.

[0019] Each storage row 53 is provided on the upper surface of a moving path 76 formed of extending members such as two rails extending in the first direction. In other words, the moving path 76 extends in the first direction in the storage row 53, and the first moving device 71 and the multi-directional moving device 74 described later can travel under each storage unit 52 to move.

[0020] A passageway 4 is provided in the shelf 5. The passageway 4 is provided in multiple storage sections 52 along a first or second direction. Multiple passageways 4 may be provided. The passageway 4 shown in Figures 1 and 2 includes a first passageway 41 and a second passageway 42 extending in the second direction, and is a passageway that does not contain or store cargo 12. Storage rows 53 are provided on both sides of the first direction in the first passageway 41 and the second passageway 42. As an example, a passageway 4 is provided with a movement path 77 composed of extension members such as two rails that extend in the second direction. A floorboard (not shown) may be provided in the passageway 4 so that workers can walk on it. At the end of the passageway 4, a passageway opening 44 is provided, which is an entrance to a passageway for workers to move to a specific area 62 within the shelf 5. A ladder (not shown) or stairs (not shown) for workers to go up and down is provided near the passageway opening 44.

[0021] The passageway openings 44 may be provided on all levels, or on specific levels. The passageway openings 44 may be provided at both ends of two or more passageways 4, at both ends of all passageways 4, or at one end of a single passageway 4. In this example, passageway openings 44 are provided at both ends of the first passageway 41 and the second passageway 42.

[0022] The transport means 7 transports the goods 12 in a first direction and a second direction on the shelves 5. For example, the transport means 7 moves the goods 12 along the storage rows 53 and multiple aisles 4 for purposes such as receiving, shipping, and rearranging. There are no limitations on the configuration of the transport means 7, but the transport means 7 in this embodiment includes a first moving device 71 that can move in a first direction, a second moving device 72 that can move in a second direction, a multi-directional moving device 74 that can move in both the first and second directions, and a lifting device 75 that moves the goods 12 up and down. In other words, the transport means 7 functions as a means to move the goods 12 in a first direction, a second direction, and vertically by using a combination of multiple types of moving devices. The first moving device 71, the second moving device 72, and the multi-directional moving device 74 are sometimes collectively referred to as the moving device.

[0023] In this example, the first moving device 71 is capable of transporting the storage train 53 in a first direction with the load 12 loaded on it, and functions, for example, as a first trolley. The second moving device 72 is capable of transporting the first moving device 71 in a second direction down the aisle 4, and functions, for example, as a second trolley. The multi-directional moving device 74 is capable of transporting the storage train 53 in a first direction with the load 12 loaded on it, and is capable of transporting the load 12 in a second direction down the aisle 4, and functions, for example, as a third trolley.

[0024] Figures 3, 4, and 5 are schematic plan views of the first mobile device 71, the second mobile device 72, and the multi-directional mobile device 74. For example, the first mobile device 71 has four wheels 78 for traveling in a first direction, the second mobile device 72 has four wheels 79 for traveling in a second direction, and the multi-directional mobile device 74 has eight wheels 78 for traveling in a first direction and four wheels 79 for traveling in a second direction. The wheels 78 and 79 are driven by motors (not shown). The multi-directional mobile device 74 has a lifting mechanism (not shown) for raising and lowering the wheels 79, and when traveling along the storage row 53, it raises the wheels 79 to avoid interference with the movement path 76. When traveling along the passage 4, the multi-directional mobile device 74 lowers the wheels 79 so that they are in contact with the movement path 77. The first mobile device 71 and the multi-directional mobile device 74 have a lifting platform 80 capable of holding the load 12.

[0025] In this example, the lifting device 75 functions as a lifter capable of raising and lowering the load 12. The lifting device 75 can also raise and lower the first moving device 71, the second moving device 72, and the multi-directional moving device 74, either with the load 12 loaded or empty.

[0026] The information processing unit 3 will be explained with reference to Figure 6. Each functional block shown in Figure 6 can be realized in hardware terms by components such as the computer's processor, CPU, and memory, as well as electronic circuits and mechanical devices, and in software terms by computer programs, etc. However, here, the functional blocks are depicted as being realized through the cooperation of these components. Therefore, it will be understood by those skilled in the art that these functional blocks can be realized in various ways by combinations of hardware and software.

[0027] The information processing unit 3 functions as a control unit that controls the operation of the automated warehouse system 100 and the transport means 7. The information processing unit 3 includes an input unit 31, an area identification unit 34, a route identification unit 35, a communication unit 36, an entry restriction control unit 37, and a route setting unit 38. These functional blocks can exchange information with each other via a data bus 39. The input unit 31 acquires input information from the operator. The area identification unit 34 sets a specific area 62 for workers to work in at least a portion of the multiple storage units 52 of the shelves 5. The specific area 62 is a protected area in which certain operations are prohibited in order to protect workers who enter the shelves 5 to work. The route identification unit 35 identifies a detour route 18 for moving the transport means 7 by bypassing the specific area 62 when a specific area 62 is set. The entry restriction control unit 37 controls the entry restriction device 46 between an entry restriction state and an entry restriction release state.

[0028] The route setting unit 38 sets a route 16 for the worker to move to the specific area 62 by using the passageway closest to the specific area 62 among the multiple passageway entrances 44. The communication unit 36 ​​communicates with the first mobile device 71, the second mobile device 72, the multi-directional mobile device 74, the lifting device 75, and the access restriction device 46 via a wired or wireless communication line, transmitting control signals and receiving location and status information from each device.

[0029] In this example, the goods 12 to be stored are brought in from an external transport means such as a forklift (not shown) via a conveyor 73 to a lifting device 75, and then transported to the desired level by the lifting device 75. The goods 12 to be shipped out are raised from the storage level to the shipping level by the lifting device 75, and then loaded onto an external transport means via a conveyor 73 and shipped out.

[0030] Figure 7 shows an example of an entry restriction device 46. This figure shows an entry restriction device 46A positioned near the boundary between a specific area 62 and a non-specific area 64 in the first passage 41. In this figure, the second moving device 72 is moving backward in the second direction along the first passage 41. Figure 7(A) shows the entry restriction state, and Figure 7(B) shows the restriction release state. The entry restriction device 46 restricts the entry of the transport means 7 into the specific area 62 when the specific area 62 is set. For example, multiple entry restriction devices 46 may be arranged in each passage 4 at predetermined intervals along the second direction.

[0031] There are no limitations on the form in which the entry restriction device 46 restricts entry. It may be a form that physically contacts the vehicle to prevent further movement, or a form that electronically or electrically stops the movement of the second moving vehicle 72 by pressing a switch button 82 located at the front and rear ends of the second moving vehicle 72, or a form such as a wedge-shaped wheel chock that is placed between the wheel 79 and the rail.

[0032] As shown in Figure 7(A), the entry restriction device 46 in Figure 7 protrudes into the passage 4 when entry is restricted, and by pressing the button 82 on the switch of the second moving device 72, the power to the second moving device 72 is cut off, electrically stopping its movement. This action puts the entry restriction device 46 into an entry restriction state, preventing the transport means 7 from passing over the entry restriction device 46.

[0033] Furthermore, when entry is not restricted, the entry restriction device 46 reduces its protrusion amount, as shown in Figure 7(B), and returns to a form that does not obstruct the movement of the transport means 7, thus releasing the restriction. Based on the control of the information processing unit 3, the entry restriction device 46 enters a release state when the specific area 62 is not set, enters an entry restriction state when the specific area 62 is set, and returns to a release state when the specific area 62 is again not set, releasing the restriction on the transport means 7's entry into the specific area 62.

[0034] [1st action] The first operation of the automated warehouse system 100 of this embodiment will be described. Figure 8 is a flowchart illustrating the process S110 of the first operation. Process S110 shows an example from setting a specific area 62 on shelf 5 for a worker to perform work to releasing the specific area 62.

[0035] When processing S110 begins, in step S111, the input unit 31 determines whether or not there is a setting input for setting a specific area 62. This input includes at least information about the work target 8. If there is no setting input (N in step S111), processing S110 returns to the beginning of step S111.

[0036] If a setting input is received (Y in step S111), process S110 proceeds to step S112. In step S112, the area identification unit 34 sets a specific area 62 on shelf 5 for workers to perform tasks. Areas of shelf 5 other than the specific area 62 are called non-specific areas 64. In this step, the information processing unit 3 displays the set specific area 62 and non-specific areas 64 on the display 56.

[0037] An example of the process in step S112 will be described with reference to Figures 1 and 2. Figure 1 shows a first example of a specific area 62, and Figure 2 shows a second example of a specific area 62. In the example in Figure 1, the work object 8A is the rear lifting device 75A in the first direction center. The route setting unit 38 sets a route 16 for the worker to move to the work object 8 through one of the multiple passage openings 44.

[0038] For example, the route setting unit 38 selects the passage opening 44A at the rear end of the first passage 41, which is the passage opening 44 closest to the work target 8A, from among the multiple passage openings 44, and sets the route 16 to pass through the selected passage opening 44A. Note that the passage opening 44B at the rear end of the second passage 42 is also the passage opening closest to the work target 8A. In this way, when there are multiple closest passage openings 44, the worker can specify which passage opening to select.

[0039] Next, the area identification unit 34 includes the three storage rows 53 on each side facing the lifting device 75A, which is the work target 8A, as the first area 62A in the identified area 62. Next, the area identification unit 34 includes the area of ​​the first passage 41, where the passage opening 44B is provided, that is adjacent to the first area 62A and the area that leads to the passage opening 44B, as the second area 62B in the identified area 62.

[0040] Conversely, the area of ​​the first passage 41 where the passage opening 44B is provided, other than the second area 62B, is a non-specific area 64, and the operation of the transport means 7 is permitted. Generally speaking, if a part of one of the multiple passages 4 is included in the specific area 62, the operation of the transport means 7 is permitted in the area of ​​the passage 4 other than that part. This increases the degree of freedom of the movement route of the transport means 7 compared to the case where the entire passage 4 is prohibited from moving, which is advantageous in terms of operational efficiency.

[0041] Next, the area identification unit 34 includes the four storage rows 53 adjacent to the second area 62B that are on the opposite side of the work target 8A in the first direction, as the third area 62C in the identified area 62. The range of storage rows 53 to be included in the first area 62A, the second area 62B, and the third area 62C may be autonomously specified by the area identification unit 34 using AI technology, etc., or it may be specified and input by the worker, either partially or entirely.

[0042] In the example shown in Figure 2, the work object 8B is the lifting device 75B located at the front of the center in the first direction. The area identification unit 34 sets a path 16 for the worker to move to the work object 8 by passing through one of the multiple passageways 44.

[0043] For example, the area identification unit 34 selects the front end passage 44D of the second passage 42, which is the passage closest to the work target 8B among the multiple passage openings 44, and sets the route 16 to pass through the selected passage opening 44D.

[0044] Next, the area identification unit 34 includes the storage rows 53, three on each side facing the lifting device 75B which is the work object 8B, as the first area 62A in the identified area 62. Next, the area identification unit 34 includes the area of ​​the second passage 42, where the passage opening 44D is provided, that is adjacent to the first area 62A and the area that leads to the passage opening 44D, as the second area 62B in the identified area 62.

[0045] Next, the area identification unit 34 includes the four storage rows 53 adjacent to the second area 62B that are on the opposite side of the work target 8B in the first direction as the third area 62C in the identified area 62. In the example in Figure 2, there is a lifting device 75C adjacent to the second area 62B, so in this case, the area identification unit 34 includes the lifting device 75C adjacent to the second area 62B as the fourth area 62D in the identified area 62.

[0046] The range of storage rows 53 to be included in the first area 62A, second area 62B, third area 62C, and fourth area 62D may be configured to be autonomously specified by the area identification unit 34 using AI technology, etc., or it may be configured to be specified and entered by an operator, either partially or entirely.

[0047] After step S112 is executed, process S110 proceeds to step S113. In step S113, the information processing unit 3 moves the transport means 7 in the specific area 62 to the non-specific area 64 of the shelf 5. In this step, the information processing unit 3 transmits a control signal using the communication unit 36 ​​to move the first moving device 71, the second moving device 72, and the multi-directional moving device 74 located in the specific area 62 to the non-specific area 64. This eliminates the unsafety that may arise from the operation of the moving devices located in the specific area 62.

[0048] After step S113 is executed, process S110 proceeds to step S114. In step S114, the information processing unit 3 prohibits the operation of the transport means 7 within the specific area 62. In this specification, the prohibited operation does not include the operation of non-mechanical parts such as the operation of electronic circuits. In step S114, the information processing unit 3 transmits a control signal using the communication unit 36 ​​to control the first mobile device 71, the second mobile device 72, and the multi-directional mobile device 74, which are outside the area, so as not to enter the specific area 62. This eliminates the unsafety that would arise from the mobile devices entering the specific area 62.

[0049] After step S114 is executed, process S110 proceeds to step S115. In step S115, the information processing unit 3 stops the operation of the elevator 75 in the specific area 62. In Figure 1, the elevator 75A is the one whose operation is stopped, and in Figure 2, the elevator 75B is the one whose operation is stopped. This eliminates the unsafety that would arise from the operation of the elevator 75 in the specific area 62.

[0050] After step S115 is executed, process S110 proceeds to step S116. In step S116, the entry restriction control unit 37 activates the entry restriction device 46 to put it into an entry restriction state. In the example in Figure 1, the entry restriction device 46A located near the boundary between the specific area 62 and the non-specific area 64 of the first passage 41 is put into an entry restriction state. In the example in Figure 2, the entry restriction device 46B located near the boundary between the specific area 62 and the non-specific area 64 of the second passage 42 is put into an entry restriction state. This virtually eliminates the accidental entry of a moving device into the specific area 62.

[0051] After step S116 is executed, process S110 proceeds to step S117. In step S117, the information processing unit 3 allows the transport means 7 to operate in the non-specific area 64. This enables the transport means 7 to transport the cargo 12 in the non-specific area 64, thereby suppressing a decrease in the warehouse's operating rate.

[0052] In this state, the worker can move to the designated area 62 via a route 16 from passageway 44A through the first passageway 41 in the example of Figure 1, or via a route 16 from passageway 44D through the second passageway 42 in the example of Figure 2, and perform predetermined maintenance on the work target 8A within the designated area 62. This maintenance includes maintenance work in a broad sense, such as inspection, recovery of faulty equipment, and retrieval of faulty equipment. Once the worker has left shelf 5 and safety has been confirmed, they execute a release input to release the designated area 62.

[0053] After step S117 is executed, process S110 proceeds to step S118. In step S118, the input unit 31 determines whether or not there was a release input to release the specific area 62. If there was no release input (N in step S118), process S110 returns to the beginning of step S118.

[0054] If a release input is received (Y in step S118), process S110 proceeds to step S119. In step S119, the area identification unit 34 releases the setting of the specific area 62 and switches the entry restriction device 46 to the release state. After step S119 is executed, process S110 ends. With the specific area 62 released, the operation of the transport means 7 in the area that was previously the specific area 62 is permitted. Process S110 may be executed repeatedly. Each step of process S110 is illustrative and various modifications are possible. For example, modifications such as adding steps, deleting steps, or changing the order of steps are possible.

[0055] Process S110 illustrates a control method for an automated warehouse system, which includes setting a specific area 62 on shelf 5 for workers to perform tasks, moving the transport means 7 within the specific area 62 to a non-specific area 64 of shelf 5 once the specific area 62 is set, prohibiting the operation of the transport means 7 within the specific area 62, and allowing the operation of the transport means 7 in the non-specific area 64.

[0056] The detour route 18 will be explained with reference to Figure 9. Figure 9 is a plan view showing the detour route 18 in the example of Figure 2. If part of the shortest route for transporting the cargo 12 is included in a specific area 62, the transport of the cargo 12 may be delayed. Therefore, in this embodiment, the automated warehouse system 100 has a route identification unit 35 that identifies a detour route 18 for moving the transport means 7 by bypassing the specific area 62 when the specific area 62 is set.

[0057] In Figure 9, the cargo 12 that needs to be transported is referred to as cargo 12A. In this example, the transport need is to move cargo 12A from storage unit 52A at the rear right to storage unit 52B at the front center. The shortest route 17 for this transport need passes through a specific area 62 in part, so the cargo cannot be transported via the shortest route 17. Therefore, the route identification unit 35 identifies a detour route 18 that bypasses the specific area 62, and the information processing unit 3 controls the transport means 7 to transport cargo 12A via the detour route 18.

[0058] The route identification unit 35 selects the first passage 41, which is closest to the storage unit 52B, from among the multiple movable passages 4, identifies a left-right movement route from the storage unit 52A to the first passage 41, identifies a left-right movement route from the first passage 41 to the storage unit 52B, and identifies a detour route 18 by combining these routes.

[0059] An example of transporting cargo 12A using the first moving device 71 and the second moving device 72 is shown. The information processing unit 3 controls the first moving device 71 and the second moving device 72 to move along the detour route 18. First, the first moving device 71A loads cargo 12A from the storage unit 52A and moves to the left to the first passage 41. At this time, the second moving device 72A is stopped in the second passage 42 so that the first moving device 71A can cross the second passage 42. The first moving device 71A can move to the left by passing over the second moving device 72A.

[0060] Next, the first moving device 71A is placed on top of the second moving device 72B, which is parked in the first passage 41. The second moving device 72B places the first moving device 71A, which is loaded with cargo 12A, on top of it and moves forward along the first passage 41 to the position closest to the storage unit 52B. In this state, the first moving device 71A moves to the right to the storage unit 52B and unloads cargo 12A into the storage unit 52B. This completes the transfer of cargo 12A.

[0061] Although not shown in the diagram, an example using the multi-directional moving device 74 will be explained. When transporting the load 12A with the multi-directional moving device 74, the information processing unit 3 controls the multi-directional moving device 74 to move along the detour route 18. First, the multi-directional moving device 74 moves to the left from the storage unit 52A with the load 12A on it to the first passage 41. At this time, the multi-directional moving device 74 can cross the second passage 42 on its own. Next, the multi-directional moving device 74 moves forward along the first passage 41 to the position closest to the storage unit 52B. Next, the multi-directional moving device 74 moves to the right to the storage unit 52B and unloads the load 12A into the storage unit 52B. This completes the transport of the load 12A.

[0062] The features of the automated warehouse system 100 of this embodiment will be described. The automated warehouse system 100 comprises shelves 5 arranged in a first direction and a second direction intersecting the first direction, each of which is capable of storing goods 12; passages 4 provided along the first or second direction in the multiple storage sections 52; transport means 7 for transporting goods 12 in the first and second directions on the shelves 5; and area designation unit 34 for setting a specific area 62 in at least a portion of the multiple storage sections 52 for workers to perform tasks. When a specific area 62 is set, the transport means 7 in the specific area 62 is moved to a non-specific area 64 of the shelves 5, prohibiting the operation of the transport means 7 in the specific area 62 and allowing the operation of the transport means 7 in the non-specific area 64.

[0063] This configuration ensures the safety of workers entering the shelves 5 while suppressing a decrease in warehouse utilization. Furthermore, since the transport means 7 within the specific area 62 is moved to the non-specific area 64 of the shelves 5, obstacles to the movement of workers within the specific area 62 are reduced, and movement becomes smoother.

[0064] The embodiments of the present invention have been described in detail above. The embodiments described above are merely examples of how to implement the present invention. The contents of the embodiments do not limit the technical scope of the present invention, and many design changes, such as changes, additions, and deletions of components, are possible as long as they do not depart from the spirit of the invention as defined in the claims. In the embodiments described above, such design changes are described with notations such as "of the embodiments" or "in the embodiments," but design changes are also permitted for contents without such notations. Furthermore, the hatching in the drawings does not limit the material of the object to which the hatching is applied. In addition, it will be understood by those skilled in the art that the various devices and mechanisms constituting the embodiments are not limited to those described in the embodiments, and various devices and mechanisms based on known principles can be used.

[0065] (modified version) The following describes modified examples. In the drawings and descriptions of the modified examples, components and members that are the same or equivalent as those in the embodiments are denoted by the same reference numerals. Descriptions that overlap with those in the embodiments are omitted as appropriate, and the descriptions focus on the configurations that differ from those in the embodiments. In the drawings of the modified examples, the description of components that are not important to the description is omitted.

[0066] [First variation] A first modified automated warehouse system 100 will be described with reference to Figures 6, 10, and 11. Figures 10 and 11 are plan views showing the movement paths of workers in the first modified automated warehouse system 100. In the description of the embodiment, an example was shown in which workers, multi-directional movement devices 74, and second movement devices are movable in the aisle 4, and the aisle 4 does not contain or store goods 12, but the present invention is not limited thereto. In the first modified example, at least workers and multi-directional movement devices 74 are movable in the aisle 4, and the second movement device 72 may or may not be movable. Also, the aisle 4 is configured to contain and store goods 12 and has the same function as the storage section 52. In other words, the storage section 52 of the shelves 5 and the aisle 4 are configured so that the multi-directional movement devices 74 and workers are movable in the first and second directions.

[0067] For convenience, each storage unit 52 is distinguished using the addresses shown in Figures 10 and 11. As shown in Figures 10 and 11, the addresses are denoted by letters (A, B...N) indicating the row position in the first direction and numbers (1, 2...12) indicating the column position in the second direction, for example, A1, B2, etc. Furthermore, the blocks of storage units 52 arranged in the first direction of shelf 5 are denoted by numbers indicating the column position in the second direction, such as column 1, column 2...column 12, etc. The blocks of storage units 52 arranged in the second direction of shelf 5 are denoted by letters indicating the row position in the first direction address, such as row A, row B...column N, etc.

[0068] Let's explain the example in Figure 10. In this example, row D is a passageway 4, with a passageway opening 44A at its rear end. The worker moves from the passageway opening 44A to the lifting device 75A, which is the work object 8A. The worker can move through all non-storage units 52 that do not contain cargo 12. If cargo 12 is on the route 16, the worker avoids that cargo 12 and proceeds to the destination. The route setting unit 38 sets the route 16 that passes through the non-storage units 52 for the worker to make the above movement. The information processing unit 3 monitors and recognizes the storage location of cargo 12. The setting of the route 16 may be performed automatically by the information processing unit 3, or it may be configured to be specified and input by the worker.

[0069] If the cargo 12 prevents the formation of the route 16, or if there are any inconveniences such as cargo 12 obstructing passage, the information processing unit 3 may control the transport means 7 to move the cargo 12, or it may automatically expand the specific area 62.

[0070] Once route 16 is set, the information processing unit 3 determines whether route 16 can be shortened by moving any of the loads 12. If route 16 can be shortened, it controls the transport means 7 to move the load 12. In the example in Figure 10, as indicated by arrow B, moving load 12 at E5 to E7 shortens route 16 compared to not moving it, so the information processing unit 3 controls load 12 at E5 to move to E7. The route 16 thus set is indicated by arrow A. The shortening of route 16 may be performed automatically by the information processing unit 3, or it may be configured to be specified and input by an operator.

[0071] Once the route 16 is shortened, the area identification unit 34 sets the specific area 62. In the example in Figure 10, the area identification unit 34 designates the three storage units 52 on each side facing the lifting device 75A, which is the work target 8A, as the first area 62A, the six storage units 52 along the route 16 as the second area 62B, and the storage units 52 surrounded by the first area 62A and the second area 62B as the third area 62C, and includes them in the specific area 62. The setting of the specific area 62 may be performed automatically by the information processing unit 3, or it may be configured to be specified and entered by the worker.

[0072] Once a specific area 62 is identified, the information processing unit 3 moves the transport means 7 within the specific area 62 to outside the specific area 62 of the shelf 5, as indicated by arrow C. In the example in Figure 10, the information processing unit 3 moves the multi-directional transport device 74 at C2 to A5 and stops the operation of the lifting device 75A. In this state, the worker can move from the passageway 44A to the lifting device 75A via path 16 and perform the prescribed maintenance on the work object 8A within the specific area 62.

[0073] Let's explain the example in Figure 11. In this example, row K is a passageway 4, with a passageway opening 44A at its front end. The worker moves from the passageway opening 44A to the work object 8A, which is H6. The route setting unit 38 sets a route 16 that passes through non-storage storage units 52 for the worker to make the above move. In the example in Figure 11, the cargo 12 is placed in the storage units 52 in columns 5 through 7 and 9 of rows J and K, and the worker does not pass through these storage units 52. The route setting unit 38 sets a route 16 that passes through row L so as to bypass these storage units 52. The route 16 thus set is indicated by arrow A. The setting of route 16 may be performed automatically by the information processing unit 3, or it may be configured to be specified and entered by the worker.

[0074] Once route 16 is set, area identification unit 34 sets a specific area 62. In the example in Figure 11, area identification unit 34 designates the work target 8A, H6, and a total of six storage units 52 around H6 (columns 5 to 6 of rows G to I) as the first area 62A, the nine storage units 52 on route 16 (K12 to K10, L10 to L5) as the second area 62B, and the storage units 52 surrounded by the first area 62A and the second area 62B (J12 to J5, K9 to K5) as the third area 62C and includes them in the specific area 62.

[0075] Furthermore, in the example shown in Figure 11, cargo 12 is placed in rows J and K of the fifth column behind the specific area 62, and it is desirable for workers to avoid these storage areas 52. Therefore, the area identification unit 34 may set a fourth area 62D as an extended area to secure the route 16. In this case, the route 16 can be set while avoiding the storage areas 52 where the cargo 12 is placed. In the example shown in Figure 11, the fourth area 62D is rows I to L of the fourth column, and the area identification unit 34 includes the fourth area 62D in the specific area 62. In other words, the information processing unit 3 can set the specific area 62 considering the route 16, set the route 16 considering the specific area 62, and flexibly adjust these settings so that the specific area 62 and route 16 satisfy the desired conditions. The setting of the fourth area 62D may be performed automatically by the information processing unit 3, or it may be configured to be specified and entered by the worker.

[0076] Once a specific area 62 is identified, the route identification unit 35 identifies a detour route 18 that bypasses the specific area 62. In the example shown in Figure 11, there is a need to move the multi-directional moving device 74 from M1 to G10. The shortest route in this case is to move row M to M10 in the second direction, and then move row 10 to G10 in the first direction. However, this route cannot be used because it passes through the specific area 62. Therefore, as shown by arrow B, the route identification unit 35 identifies a detour route 18 that bypasses the specific area 62, and the information processing unit 3 controls the transport means 7 to move the multi-directional moving device 74 through the detour route 18.

[0077] In this state, the worker can move along route 16 from passageway 44A to H6 and perform the prescribed maintenance on the work target 8A within the specific area 62.

[0078] In the examples in Figures 10 and 11, the shelf 5 is shown to have a passage 4 extending in a second direction, but the shelf 5 may also have a passage extending in a first direction, or it may have both a passage extending in a first direction and a passage extending in a second direction. A row or column having a passage opening 44 at its end may also be used as a passage.

[0079] [Second variation] Referring to Figures 10 and 11, a second modified example of the automated warehouse system 100 will be described. In the description of the embodiment, an example was shown in which the transport means 7 is allowed to move at normal speed in the non-specified area 64 even when a specific area 62 is set, but the system is not limited to this. Even in the non-specified area 64, in areas close to the specific area 62, the movement speed of the transport means 7 may be limited and controlled to move at a speed lower than normal, for example. In this case, even if an operator accidentally moves from the specific area 62 to the non-specified area 64, or if the transport means 7 goes out of control, the collision energy is small because it is moving at a low speed, and the damage at the time of contact can be minimized.

[0080] In the second modification, a slow-speed area is set in the non-specific area 64, specifically in the area adjacent to the specific area 62. In the slow-speed area, the information processing unit 3 controls the movement speed of the transport means 7 to be slower than the normal speed. The normal speed refers to the movement speed of the transport means 7 when no specific area 62 is set. The movement speed of the transport means 7 in the slow-speed area may be 50% or less of the normal speed, 30% or less of the normal speed, or 15% or less of the normal speed. The setting of the slow-speed area may be automatically performed by the information processing unit 3 in the area adjacent to the specific area 62, or it may be configured to be specified and entered by an operator.

[0081] In the example shown in Figure 10, rows E to J of the first column, columns 2 to 5 of row J, rows I to B of the fifth column, and columns 4 to 1 of row B, which are adjacent to the specific area 62, can be designated as slow-speed areas. To further enhance safety, columns 1 to 6 of row K, rows J to A of row 6, and columns 5 to 1 of row A, which are adjacent to these areas, may also be added as slow-speed areas.

[0082] In the example shown in Figure 11, the following areas adjacent to the specific area 62 can be designated as slow-speed areas: rows F to M of the 3rd column, columns 4 to 10 of row M, columns 4 to 10 of row F, rows G to I of row 10, and columns 9 to 7 of row I. To further enhance safety, the following areas adjacent to these regions may also be added as slow-speed areas: rows 10 to 2 of row N, rows M to E of row 2, columns 3 to 11 of row E, and rows F to I of row 11.

[0083] [Other variations] In the description of the embodiment, an example was shown in which the route setting unit 38 sets a route 16 that passes through the passageway closest to the specific area 62, but the description is not limited to this. For example, the route setting unit may set a route that passes through a passageway arbitrarily selected by the worker.

[0084] The description of the embodiment shows an example in which the access restriction device 46 automatically enters an access restriction state based on the control of the information processing unit 3, but is not limited to this. For example, the access restriction device may be configured so that an operator can switch between an access restriction state and an access release state, or it may be configured so that an operator can install and remove it.

[0085] In the description of the embodiment, an example was shown in which the entry restriction device 46 protrudes by rotating, but it is not limited to this. For example, the entry restriction device may be configured to protrude and retract vertically.

[0086] In the description of the embodiment, an example was shown in which multiple functions of the information processing unit 3 are integrated and installed next to the shelf 5, but the invention is not limited to this. For example, some or all of the multiple functions of the information processing unit 3 may be distributed. The information processing unit 3 only needs to be configured to achieve the objective of the invention, regardless of whether its functions are integrated or distributed. For example, some of the functions of the information processing unit 3 may be provided on a higher-level server (not shown), or some of the functions of the information processing unit 3 may be provided on the transport means 7.

[0087] In the description of the embodiment, an example was shown in which a first moving device 71, a second moving device 72, and a multi-directional moving device 74 are provided on each storage stage, but the invention is not limited to this, and it is not necessary for one or more of the first moving device 71, the second moving device 72, and the multi-directional moving device 74 to be provided on any stage.

[0088] In the description of the embodiment, an example was shown in which the load 12 includes a pallet, but the description is not limited to this, and the load 12 may not have a pallet.

[0089] In the description of the embodiment, an example was shown in which the passageway 4 also allows the transport means to move, but the invention is not limited to this. For example, the passageway does not need to allow the transport means to move, as long as workers can move through it. A deck is an example of such a passageway.

[0090] Each of these modifications produces the same functions and effects as the embodiments.

[0091] Any combination of the embodiments and modifications described above is also useful as an embodiment of the present invention. The new embodiments resulting from these combinations possess the combined effects of both the respective embodiments and modifications. [Explanation of Symbols]

[0092] 3 Information processing unit, 4 Passageway, 5 Shelf, 7 Transfer means, 18 Detour route, 35 Route identification unit, 37 Entry restriction control unit, 38 Route setting unit, 46 Entry restriction device, 52 Storage unit, 53 Storage row, 62 Specific area, 64 Non-specific area, 100 Automated warehouse system.

Claims

1. A shelf comprising multiple storage sections, each capable of storing cargo, arranged in a first direction and a second direction intersecting the first direction, The plurality of storage units include a passage provided along the first direction or the second direction, A transfer means for transporting loads in the first and second directions on the aforementioned shelf, An area identification unit is provided in at least a portion of the aforementioned plurality of storage units to set a specific area for workers to perform their tasks. Equipped with, An automated warehouse system that, when the specified area is set, moves the transport means within the specified area to a non-specified area of ​​the shelf, prohibits the operation of the transport means within the specified area, and allows the operation of the transport means in the non-specified area.

2. The automated warehouse system according to claim 1, wherein passageway openings are provided at both ends of the passageway for workers to move to the specified area.

3. The automated warehouse system according to claim 2, further comprising a route setting unit that, when the aforementioned specific area is set, sets a route for a worker to move to the specified area through the passageway closest to the specified area among the passageway entrances.

4. The automated warehouse system according to claim 1, further comprising a route identification unit that identifies a detour route for moving the transport means by bypassing the specified area when the specified area is set.

5. The system includes an access restriction device that restricts the transfer means from entering the specified area when the specified area is established. The automated warehouse system according to claim 1, wherein the entry restriction device releases the restriction on the transport means to enter the specific area when the specific area is not set.

6. The aforementioned passages are provided in multiple locations. The automated warehouse system according to claim 1, wherein if a portion of one of the plurality of passages is included in the specific area, the area of ​​the passage other than the portion is permitted to move the transport means.

7. A control method for an automated warehouse system comprising: shelves arranged in a first direction and a second direction intersecting the first direction, each having a plurality of storage units capable of storing goods; passages provided along the first direction or the second direction in the plurality of storage units; and transport means for transporting goods in the first direction and the second direction on the shelves, A specific area is set up in at least a portion of the aforementioned multiple storage units for workers to perform their tasks. When the aforementioned specific area is set, the transfer means within the aforementioned specific area is moved to a non-specific area of ​​the shelf, Prohibiting the operation of the transport means within the specified area, Allowing the operation of the transport means in the aforementioned non-specific area, A method for controlling an automated warehouse system, including the following.

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