Automated warehouse

Abstract

There is a need for automated warehouses that can appropriately transport goods to storage shelves while keeping equipment size down and reducing costs. [Solution] An automated warehouse 10 comprising a plurality of flying units 1, an loading / unloading section 3, a storage rack 2 having a plurality of storage sections 2a, and a plurality of transport devices 4 that transport goods W inside the storage rack 2, wherein the plurality of transport devices 4 are arranged in multiple tiers in the vertical direction and in multiple rows in the X direction, each of the plurality of transport devices 4 is configured to transport goods W along the Y direction, a plurality of transfer sections 5 are provided at the end of the storage rack 2 on the first side Y1 in the Y direction, each of the plurality of transfer sections 5 is used for the transfer of goods W between the flying unit 1 and the transport device 4, the loading / unloading section 3 is arranged spaced apart from the storage rack 2 on the first side Y1 in the Y direction, and the plurality of flying units 1 are configured to transport goods W between the loading / unloading section 3 and the plurality of transfer sections 5.

Description

Technical Field

[0001] The present invention relates to an automated warehouse.

Background Art

[0002] For example, Japanese Patent Application Laid-Open No. 2020-023387 (Patent Document 1) discloses a technology related to an automated warehouse. Hereinafter, the reference numerals shown in parentheses in the description of the background art are those of Patent Document 1.

[0003] The automated warehouse of Patent Document 1 includes a storage shelf (6) for storing articles W, a plurality of transport carts (7) for transporting articles (W) inside the storage shelf (6), a plurality of elevating platforms (first elevating platform 10, second elevating platform 12, third elevating platform 14), an incoming transport device (2), and an outgoing transport device (3). The storage shelf (6) is configured to store articles W in each of a plurality of shelf sections. Also, a plurality of transport carts (7) are arranged corresponding to each stage of the storage shelf (6).

[0004] The incoming transport device (2) includes an incoming conveyor for receiving the incoming articles (W) and transporting them to the first elevating platform (10) and the second elevating platform (12). Also, the outgoing transport device (3) includes an outgoing conveyor for transporting the outgoing articles (W) received from the third elevating platform (14).

Prior Art Documents

Patent Documents

[0005]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0006] In the automated warehouse described in Patent Document 1, multiple input conveyors and multiple output conveyors are provided to transport goods to storage shelves, along with multiple lifting platforms. Furthermore, the multiple input conveyors are arranged in a vertical direction. Thus, the above-described automated warehouse has the problem that the equipment for transporting goods tends to be large and complex, and therefore tends to be costly.

[0007] Therefore, there is a need for an automated warehouse that can appropriately transport goods to storage shelves while suppressing the increase in equipment size and reducing costs. [Means for solving the problem]

[0008] The automated warehouse according to this disclosure comprises: a plurality of aircraft that fly unmanned and transport goods; an loading / unloading section where at least one of the loading of the goods from the outside and the loading of the goods to the outside takes place; storage shelves having a plurality of storage sections for storing the goods; and a plurality of transport devices that transport the goods inside the storage shelves, Let the X-direction be a specific direction along the horizontal plane, the Y-direction be a direction that intersects the X-direction when viewed vertically, one side of the Y-direction be the first Y-direction side, and the opposite side be the second Y-direction side. Multiple conveying devices are arranged in multiple stages in the vertical direction and in multiple columns in the X direction. Each of the multiple conveying devices is configured to convey the article along the Y direction, The multiple storage units are arranged along the respective transport paths of the multiple transport devices. At the first end of the storage shelf in the Y direction, a plurality of transfer sections are provided, separated in the vertical direction and the X direction, so as to correspond to each of the plurality of conveying devices. Each of the multiple transfer units is used for transferring the article between the aircraft and the transport device. The loading / unloading section is positioned spaced apart from the storage shelf on the first side in the Y direction, Multiple aircraft are configured to transport the articles between the loading / unloading section and the multiple transfer sections.

[0009] In this configuration, multiple transfer points are provided to correspond to each of the multiple transport devices in the storage rack. Multiple aircraft transport goods between the loading / unloading section and these transfer points, which are arranged separately in the vertical and X directions. As a result, goods can be transported by multiple aircraft, and the transfer of goods between the aircraft and the transport devices via the transfer points is also facilitated. Therefore, goods can be transported to the storage rack appropriately. In addition, the need to install different transport devices (e.g., transport conveyors, lifters, etc.) for transporting goods in the X, Y, and vertical directions to connect the loading / unloading section and the multiple transfer points can be reduced. Therefore, the overall size of the equipment can be suppressed, and costs can be easily reduced. Furthermore, since the loading / unloading section is spaced apart in the Y direction from the multiple transfer points, it is easy to secure flight space for multiple aircraft to fly between the loading / unloading section and the multiple transfer points. Thus, this configuration allows for the proper transport of items to storage shelves while suppressing the need for larger equipment and reducing costs.

[0010] Further features and advantages of the automated warehouse will become clear from the following description of exemplary and non-limiting embodiments, which will be illustrated with reference to the drawings. [Brief explanation of the drawing]

[0011] [Figure 1] Schematic plan of an automated warehouse [Figure 2] A schematic perspective view showing the storage shelves. [Figure 3] Control block diagram [Figure 4] A schematic diagram showing the flight path area. [Figure 5] A schematic plan view showing the flight path of an aircraft. [Figure 6] A schematic diagram showing the posture adjustment transport process in another embodiment. [Modes for carrying out the invention]

[0012] An embodiment of the automated warehouse will be described based on the drawings. As shown in Figures 1 and 2, the automated warehouse 10 comprises a plurality of flying bodies 1 that fly unmanned and transport goods W, an loading / unloading section 3 where at least one of goods W being brought in from the outside and goods W being brought out to the outside is carried out, storage shelves 2, and a plurality of transport devices 4 that transport goods W inside the storage shelves 2. In this embodiment, both goods W being brought in from the outside and goods W being brought out to the outside are carried out in the loading / unloading section 3. Each of the plurality of flying bodies 1 transports goods W between the loading / unloading section 3 and the storage shelves 2. In the following description, a specific direction along the horizontal plane will be referred to as the X direction, a direction intersecting the X direction in an up-down view will be referred to as the Y direction, one side of the Y direction will be referred to as the first Y direction side Y1, and the opposite side as the second Y direction side Y2. Also, one side of the X direction will be referred to as the first X direction side X1, and the opposite side as the second X direction side X2.

[0013] In this embodiment, the automated warehouse 10 is equipped with a plurality of storage shelves 2. As shown in Figure 1, the transport paths 9 of the transport device 4 are arranged in multiple rows, each along the Y direction and separated in the X direction. The storage shelves 2 are spaced apart in the X direction to correspond to each transport path 9 that is aligned in the X direction. Also, as shown in Figure 2, the transport paths 9 are provided in multiple rows in the vertical direction within each storage shelf 2. As shown in Figures 1 and 2, the plurality of transport devices 4 are arranged in multiple rows in the vertical direction and in multiple columns in the X direction. Each of the plurality of transport devices 4 is configured to transport goods W along the Y direction. In this example, the plurality of transport paths 9 are arranged in multiple rows in the vertical direction and in multiple columns in the X direction. The transport devices 4 are arranged to correspond to each transport path 9. The transport device 4 is a transport trolley that holds and transports goods W. The transport path 9 is the path on which the transport device 4, as a transport trolley, travels. In the illustrated example, one transport device 4 (transport cart) is provided for each transport path 9, but depending on the structure of the storage rack 2, multiple devices may be provided for each transport path 9.

[0014] The storage rack 2 has multiple storage compartments 2a for storing articles W. The multiple storage compartments 2a are arranged along each of the transport paths 9 of the multiple transport devices 4. The multiple storage compartments 2a are arranged in multiple tiers vertically, corresponding to the multiple transport paths 9. In addition, the multiple storage compartments 2a are arranged adjacent to the transport path 9 in the X direction and aligned in the Y direction. In this example, for one transport path 9, multiple storage compartments 2a are arranged on both sides (both sides) in the X direction.

[0015] The storage shelf 2 comprises a plurality of support columns 21, a plurality of shelf members 22, and a plurality of connecting members 23. The plurality of support columns 21 are arranged in parallel in the X and Y directions, respectively. The plurality of connecting members 23 are rod-shaped members and are arranged to connect the plurality of support columns 21. The shelf members 22 are plate-shaped members on which articles W are placed. The shelf members 22 are supported by the plurality of support columns 21 and the plurality of connecting members 23. In this example, the shelf members 22 are arranged in multiple rows in the vertical direction and are adjacent to the outer sides in the X direction with respect to the transport path 9. A storage section 2a for storing articles W is formed in the space between two vertically adjacent shelf members 22 and on the upper surface of the lower of the two shelf members 22. Here, the shelf members 22 are formed to align along the X and Y directions and to extend in the Y direction. The plurality of storage sections 2a are set to align in the Y direction on the shelf members 22. In the illustrated example, each storage compartment 2a is configured to accommodate two items W side by side in the X direction. Thus, the storage shelf 2 is a so-called double-deep structure, but is not limited to this. It may also be a so-called multi-deep structure that can accommodate more than two items W in one storage compartment 2a, or a so-called single-deep structure that can accommodate one item W in one storage compartment 2a. In the illustrated example, the storage compartments 2a are not partitioned from each other, but if the size of the items W to be stored is constant, adjacent storage compartments 2a may be partitioned. In Figures 1 and 5, the description of the storage compartments 2a is omitted for storage shelves 2 other than the storage shelf 2 located on the first side X1 in the X direction.

[0016] In this example, as shown in FIG. 2, on each conveying path 9, rails R (here, a pair of rails R) for guiding the movement of the conveying device 4 in the Y direction are provided along the Y direction. The pair of rails R are arranged separately in the X direction and are configured to support the conveying device 4 (conveying carriage). The conveying device 4 includes a traveling device 4a having a plurality of wheels that roll on the pair of rails R and a traveling drive mechanism (not shown) that drives the wheels, and a vehicle body 4b that supports the traveling device 4a and stores the traveling drive mechanism. In the present embodiment, the conveying device 4 is configured to transfer the article W to and from each storage section 2a. The conveying device 4 further includes a transfer device 4c that transfers the article W along the X direction. Here, the transfer device 4c is a device that transfers the article W by pushing out or pulling in the article W arranged between the pair of retractable members by the retraction of the pair of retractable members. Thereby, the conveying device 4 can transfer the article W between each storage section 2a arranged on both sides of the conveying path 9. Note that the transfer device 4c may be a conveyor device such as a roller type. Further, the conveying device 4 can be appropriately changed according to the structure of the storage shelf 2. For example, the conveying device 4 may be a parent-child carriage having a child carriage provided with the transfer device 4c, or may be a conveyor device.

[0017] As shown in Figures 1 and 2, multiple transfer sections 5 are provided at the end of the first side Y1 in the Y direction of the storage shelf 2, divided into vertical and X directions to correspond to each of the multiple transport devices 4. Each of the multiple transfer sections 5 is used for transferring goods W between the aircraft 1 and the transport device 4. In this embodiment, multiple transfer sections 5 are provided at each level of the storage shelf 2. Specifically, two transfer sections 5 are provided at each level, corresponding to the transport device 4 and transport path 9. In this example, the transfer sections 5 are arranged to protrude from the end of the first side Y1 in the Y direction of the shelf member 22 toward the first side Y1 in the Y direction (the side facing the loading / unloading section 3, which will be described later). In the illustrated example, each of the transfer sections 5 arranged in the vertical direction is arranged to overlap when viewed in the vertical direction. Also, at each level, the transfer sections 5 are supported by each of the pair of shelf members 22 arranged on either side of the transport path 9. Here, the transfer section 5 is set to a size that allows the aircraft 1 to land on it. In the illustrated example, the X-direction dimension of the transfer section 5 is shorter than the X-direction dimension of the shelf member 22. The transfer section 5 may also be set to a size that allows multiple aircraft 1 to land on it. In this example, the transfer section 5 is a conveyor device for transporting goods W into and out of the storage shelf 2. The transfer section 5 is not limited to such a conveyor device, and may also be a transfer machine equipped with a sliding table or forks, or it may be a support base for supporting goods W or aircraft 1.

[0018] In this example, the automated warehouse 10 further includes a plurality of intermediate sections 8 that connect the transfer section 5 and the transport route 9. The intermediate sections 8 are located in the end region of the first side Y1 in the Y direction of each shelf member 22. Here, the intermediate sections 8 are described as conveyor devices, but they may also be transfer machines equipped with sliding tables or forks. The intermediate sections 8 are also connected to the end of the second side Y2 in the Y direction of the transfer section 5. The intermediate sections 8 transport the goods W in the Y direction. The transport device 4 (transport cart) transfers the goods W to and from the intermediate sections 8 using a transfer device 4c. In the example in Figure 2, the transfer section 5 and the intermediate sections 8 are provided as a single unit.

[0019] A plurality of first standby charging units 6 are provided at the end of the first side Y1 in the Y direction in the storage shelf 2, where the flying object 1 lands and waits, and at the same time, charge the power storage device 11 of the flying object 1 waiting. And the plurality of first standby charging units 6 are arranged separately in at least one of the vertical direction and the X direction so as to correspond to at least a part of the plurality of delivery units 5. In this example, the first standby charging unit 6 is arranged on one side in the X direction (the first side X1 in the X direction) with respect to the transport path 9 in each storage shelf 2, so as to correspond to each of the delivery units 5 arranged side by side in the vertical direction. For this reason, as shown in FIGS. 1 and 2, the first standby charging units 6 are arranged side by side in the vertical direction and are provided in plurality separately in the X direction in the automated warehouse 10. In the illustrated example, the first standby charging unit 6 is provided so as to protrude from the delivery unit 5 to the first side X1 in the X direction. For this reason, the first standby charging unit 6 is arranged at the same height as the corresponding delivery unit 5. The first standby charging unit 6 is formed in a size capable of landing one flying object 1. The first standby charging unit 6 is a support base for supporting the flying object 1 and is provided with a charging device (not shown), and charges the power storage device 11 of the flying object 1 described later. The first standby charging unit 6 may be provided with a contact-type charging device or a non-contact-type charging device. In addition, the first standby charging unit 6 may be provided corresponding to each of the delivery units 5 arranged on the second side X2 in the X direction with respect to the transport path 9, or may be provided corresponding to each of the delivery units 5 arranged on both sides in the X direction with respect to the transport path 9. Also, as long as the first standby charging unit 6 is in the vicinity of the corresponding delivery unit 5, it may be arranged so that the vertical position is different from that of the delivery unit 5. Also, the first standby charging unit 6 does not necessarily have to be arranged so as to correspond to each of the delivery units 5 arranged side by side in the vertical direction, and may be provided corresponding to only one or a part of the delivery units 5 among the delivery units 5 arranged side by side in the vertical direction. Thus, the arrangement of the first standby charging unit 6 can be appropriately changed according to the configuration of the storage shelf 2.

[0020] As shown in Figure 1, the loading / unloading section 3 is spaced apart from the storage shelves 2 on the first side Y1 in the Y direction. In this embodiment, the automated warehouse 10 is equipped with a plurality of loading / unloading sections 3. The area in which the aircraft 1 that transports goods W between the loading / unloading sections 3 and the plurality of transfer sections 5 flies is defined as the flight path area E. The plurality of loading / unloading sections 3 are arranged on the first side Y1 in the Y direction with respect to the storage shelves 2, with the flight path area E in between, and are also arranged separately in the X direction. The loading / unloading section 3 includes a plurality of loading / unloading transport devices 3a that transport goods W for at least one of loading goods W from the outside and loading goods W to the outside, and a plurality of second standby charging sections 7 where the aircraft 1 lands and waits, and charges the power storage device 11 of the standby aircraft 1. The plurality of loading / unloading transport devices 3a are arranged separately in the X direction. In this example, the automated warehouse 10 is equipped with a transport conveyor 18 along the X direction. The transport conveyor 18 transports goods W to and from the outside of the automated warehouse 10. Each loading / unloading transport device 3a is branched off from the transport conveyor 18 on the second side Y2 in the Y direction. Here, the loading / unloading transport device 3a is a transport conveyor device. However, the loading / unloading transport device 3a may also be a transfer machine equipped with a sliding table or forks.

[0021] Multiple second standby charging units 7 are arranged separately in the X direction to correspond to at least some of the multiple loading / unloading conveying devices 3a. In this example, as shown in Figure 1, multiple second standby charging units 7 are provided to correspond to all loading / unloading conveying devices 3a. In the illustrated example, the second standby charging units 7 are arranged adjacent to each loading / unloading conveying device 3a on both outer sides in the X direction. That is, two second standby charging units 7 are provided for each loading / unloading conveying device 3a. Here, the structure of the second standby charging unit 7 is the same as the structure of the first standby charging unit 6 described above, so a detailed explanation is omitted. In this example, multiple second standby charging units 7 are provided on the floor surface of the automated warehouse 10 and are not arranged separately in the vertical direction like the first standby charging unit 6. Note that the second standby charging units 7 may be arranged only on one side in the X direction relative to the loading / unloading conveying devices 3a. Furthermore, the second standby charging unit 7 may be positioned at a distance from the corresponding loading / unloading transport device 3a in the X or Y direction, or it may be positioned above the corresponding loading / unloading transport device 3a.

[0022] As shown in Figure 1, the multiple flying units 1 are configured to transport articles W between the loading / unloading section 3 and the multiple handover sections 5. In this embodiment, the multiple flying units 1 transport articles W between the multiple loading / unloading transport devices 3a and the multiple handover sections 5. As shown in Figure 3, each of the multiple flying units 1 is equipped with a power storage device 11 and is configured to fly using the power stored in the power storage device 11. The flying unit 1 also includes a holding unit 12 for holding and releasing articles W, a flight device 14 for flight, and a flying body 15 that supports the holding unit 12 and the flight device 14.

[0023] The flight device 14 is equipped with multiple rotors 13, a control unit H for controlling each element of the flying body 1, and a drive unit for providing driving force to each element. The rotors 13 generate lift and thrust by being rotated around their axis of rotation. The driving of the multiple rotors 13 makes it easier to maintain the flying body 1 in a horizontal position during flight. The flight device 14 may also be configured to include fixed wings and a propulsion device for generating thrust in the air. The holding unit 12 supports the article W below the flight device 14. The holding unit 12 is configured to suspend and support the article W. The holding unit 12 may, for example, be equipped with gripping claws for grasping the article W, or with a suction unit for adsorbing the upper surface of the article W. The configuration of the holding unit 12 can be appropriately changed depending on the type and size of the article W. For example, the holding unit 12 may be configured to include a mechanism for scooping up and holding the article W from below. Furthermore, the holding unit 12 may be equipped with a transfer device (conveyor type, fork type, etc.) to support the article W and transfer the article W to the loading / unloading unit 3 or the handover unit 5. In the illustrated example, the holding unit 12 is equipped with a pair of gripping claws capable of holding and releasing the article W. The article W is also fitted with a gripping part (not shown) to which each of the pair of gripping claws can be engaged. The gripping part may be a hook or string-like member that catches on the gripping claws. The pair of gripping claws can be configured to hold and release the article W by, for example, moving closer to or further apart from each other in the horizontal direction.

[0024] In this embodiment, the number of standby charging units (first standby charging unit 6, second standby charging unit 7) provided in the automated warehouse 10 is greater than the number of aircraft 1 deployed in the automated warehouse 10. This allows all aircraft 1 to be placed in the standby charging units during periods when goods W are not being transported. In addition to keeping the aircraft 1 on standby and charging them, the standby charging units may also be used to perform maintenance work on the aircraft 1.

[0025] The automated warehouse 10 further includes a control system 100 that controls multiple aircraft 1. The control system 100 includes a higher-level controller 80 that controls the entire automated warehouse 10, and control units H provided on each of the multiple aircraft 1. The higher-level controller 80 and the control units H each include, for example, a processor such as a microcomputer, peripheral circuits such as memory, etc. Each function is realized through the cooperation of this hardware and a program executed on the processor such as a computer. The higher-level controller 80 and the control units H provided on each of the multiple aircraft 1 are configured to communicate with each other. The higher-level controller 80 is also configured to communicate with the transfer unit 5, the first standby charging unit 6, the second standby charging unit 7, the loading and unloading transport device 3a, and the transport device 4 for the storage shelves 2. The higher-level controller 80 controls these devices in the automated warehouse 10. In this example, the higher-level controller 80 includes a storage unit 81 and a route setting unit 82. Each aircraft 1 performs autonomous flight based on commands from the higher-level controller 80. The memory unit 81 stores in advance the arrangement of each device in the automated warehouse 10, the settings for the flight path area E, and the type of each aircraft 1. The route setting unit 82 sets the flight path for each aircraft 1 within the flight path area E. Note that the aircraft 1 may not perform autonomous flight, and the higher-level controller 80 may control the entire flight operation of the aircraft 1.

[0026] In this embodiment, the flight path area E on which the aircraft 1 flies is a three-dimensional space that extends in the vertical, X, and Y directions, including a plurality of transfer sections 5, a plurality of loading / unloading sections 3 (loading / unloading transport devices 3a, second standby charging section 7), and a plurality of first standby charging sections 6 (Figures 1 and 4). Here, as shown in Figure 4, the flight path area E is set to multiple heights corresponding to the respective heights of the plurality of transfer sections 5 which are arranged separately in the vertical direction (CL5). Each height of the flight path area E includes a first area E1 on which the aircraft 1 flies from the loading / unloading section 3 to the transfer section 5, and a second area E2 on which the aircraft 1 flies from the transfer section 5 to the loading / unloading section 3, with the first area E1 and the second area E2 being set to different heights. In this example, corresponding to each transfer section 5, the first area E1 is set lower than the second area E2. The aircraft 1 flies horizontally along the first area E1 and the second area E2. In this example, the first area E1 and the second area E2 correspond to all the handover points 5 located at the same height (Figure 5). In other words, the first area E1 and the second area E2 above it are set as the flight path area E, corresponding to all the handover points 5 located at the same height. Note that "same height" here includes not only handover points 5 located at the same position in the vertical direction, but also those located at positions that are slightly offset in the vertical direction.

[0027] In this example, as shown in Figures 4 and 5, the first area E1 and the second area E2 each comprise a first straight-ahead section A, a flight position change section B, a second straight-ahead section C, and an ascent / descent section D. The first straight-ahead section A, the flight position change section B, and the second straight-ahead section C are set horizontally in each layer of the flight path area E corresponding to the multiple transfer sections 5. The ascent / descent section D overlaps with the multiple loading / unloading sections 3 arranged in the X direction when viewed vertically and is set vertically. The ascent / descent section D is also shared by the first area E1 and second area E2 of other layers at different heights.

[0028] The first straight-ahead section A is the section closest to the multiple transfer sections 5 (multiple transfer sections 5 located at the same height) belonging to the same layer. In the first straight-ahead section A, the aircraft 1 travels in a straight line along the Y direction. The flight position change section B is the section adjacent to the first Y-direction side Y1 with respect to the first straight-ahead section A. In the flight position change section B, the aircraft 1 can travel in a straight line not only along the Y direction but also along the X direction. The second straight-ahead section C is the section adjacent to the first Y-direction side Y1 with respect to the flight position change section B, and is adjacent to the second Y-direction side Y2 with respect to the ascent / descent section D. In the second straight-ahead section C, the aircraft 1 travels in a straight line along the Y direction.

[0029] Here, the control system 100 sets the source and destination for each of the multiple aircraft 1. In the example in Figure 5, the higher-level controller 80 selects the loading / unloading unit 3, which will be the source of the flight, and the handover unit 5, which will be the destination, for the aircraft 1 flying in the first area E1. The control system 100 also sets the actions that the aircraft 1 will perform. Specifically, the higher-level controller 80 decides whether the aircraft 1 will deliver or receive the item W. In the example in Figure 5, when the aircraft 1 is instructed to deliver the item W, it lands on the loading / unloading transport device 3a, which is designated as the source of the flight, and receives the item W. After that, the aircraft 1 ascends in the ascent / descent section D to the position of the layer corresponding to the handover unit 5, which will be the destination. Then, the aircraft 1 moves in a straight line through the second straight-line section C to the flight position change section B. In the flight position change section B, the aircraft 1 moves to a position corresponding to the handover section 5, which is the destination (a position directly in front of the handover section 5). In this case, the aircraft 1 moves along the X direction as necessary.

[0030] As shown in Figure 5, in the flight position change section B, it is preferable to have multiple sections corresponding to each of the handover sections 5 and the first standby charging section 6 arranged in the X direction. Only one aircraft 1 can enter each section. With this configuration, the possibility of collision with other aircraft 1 can be reduced when multiple aircraft 1 move in the X and Y directions within the flight position change section B. When an aircraft 1 moves to a position (section in Figure 5) corresponding to the handover section 5 at its destination, it moves to the first straight-ahead section A and travels in a straight line along the Y direction. After that, the aircraft 1 lands at the handover section 5 at its destination and hands over the item W. In this way, by setting the first straight-ahead section A and the second straight-ahead section C in the first area E1 and the second area E2, it is easier to avoid collisions caused by aircraft 1 moving in directions other than the X direction. Furthermore, by setting a flight position change section B, aircraft 1 can more easily move toward its destination, and because the position of aircraft 1 can be managed for each section, collisions between aircraft 1 can be more easily avoided.

[0031] The control system 100 moves the aircraft 1 to the first standby charging unit 6 or the second standby charging unit 7 when the remaining power in the aircraft 1's power storage device 11 falls below a specified amount. The higher-level controller 80 monitors the power in the power storage device 11 for each of the multiple aircraft 1s. An aircraft 1 that is transporting goods W may move to these standby charging units after completing the transport of the goods W. In the first standby charging unit 6 and the second standby charging unit 7, aircraft 1 that are not transporting goods W may be temporarily placed on standby, regardless of whether charging is required or not. Also, during periods when the automated warehouse 10 is not in operation, all aircraft 1 may be placed in the first standby charging unit 6 or the second standby charging unit 7. In this example, when an aircraft 1 transfers goods W to the transfer unit 5 or the loading / unloading transport device 3a, it lands on the top surface of these and releases the holding of the goods W. On the other hand, if the holding unit 12 of the aircraft 1 is a transfer device such as a conveyor, the aircraft 1 may land on the first standby charging unit 6 to transfer the goods W between it and the handover unit 5, and also land on the second standby charging unit 7 to transfer the goods W between it and the loading / unloading transport device 3a.

[0032] As shown in Figure 4, the control system 100 performs an attitude adjustment transport process by controlling the flight device 14 during the flight of the aircraft 1 to rotate the aircraft body 15 around an axis along the vertical direction relative to the storage rack 2, thereby adjusting the attitude of the article W held in the holding section 12 and transferring it to the transfer section 5 or the loading / unloading section 3. The attitude adjustment transport process is performed as appropriate depending on the shape and size of the article W being transported by the aircraft 1. In this example, when the article W is rectangular, the attitude adjustment transport process reverses the orientation of the long and short sides of the article W. In the illustrated example, as the aircraft 1, flying along the Y direction in the first area E1, rotates around an axis along the vertical direction, the holding section 12 and the article W held in the holding section 12 also rotate (dotted line in Figure 4). This adjusts the attitude of the article W. The aircraft 1 then flies while maintaining the adjusted attitude of the item W and delivers the item W to the transfer unit 5 or the loading / unloading unit 3 (loading / unloading transport device 3a). The aircraft 1 may also be equipped with a rotating device. In this case, it is preferable that the aircraft body 15 does not rotate, but the holding unit 12 and the item W held by the holding unit 12 rotate around an axis along the vertical direction by the rotating device, thereby adjusting the attitude of the item W.

[0033] [Other Embodiments] (1) In the above embodiment, a configuration was described as in which a plurality of transfer sections 5 are provided at the end of the first side Y1 in the Y direction of the storage shelf 2, separated in the vertical and X directions to correspond to each of the plurality of transport devices 4, and the loading / unloading section 3 is spaced apart from the storage shelf 2 on the first side Y1 in the Y direction, but the configuration is not limited to this. The plurality of transfer sections 5 may also be provided at the end of the second side Y2 in the Y direction of the storage shelf 2. In this case, it is preferable that the loading / unloading section 3 is further spaced apart from the storage shelf 2 on the second side Y2 in the Y direction.

[0034] (2) In the above embodiment, a configuration was described as in which a plurality of first standby charging units 6 are provided at the end of the first side Y1 in the Y direction of the storage rack 2, where the aircraft 1 lands and waits, and where the battery storage device 11 of the waiting aircraft 1 is charged. However, the embodiment is not limited to this configuration. The first standby charging units 6 do not necessarily have to be provided at the end of the first side Y1 in the Y direction of the storage rack 2. The first standby charging units 6 may be provided in the vicinity of the storage rack 2. For example, they may be provided on the floor or walls of the automated warehouse 10 surrounding the storage rack 2.

[0035] (3) In the above embodiment, the loading / unloading section 3 was described as comprising a plurality of loading / unloading transport devices 3a for transporting articles W for at least one of loading articles W from the outside and loading articles W to the outside, and a plurality of second standby charging units 7 for the aircraft 1 to land and wait, and for charging the power storage device 11 of the aircraft 1 while it is waiting, but the system is not limited to this configuration. The loading / unloading section 3 may not have the second standby charging units 7, but may have a plurality of loading / unloading transport devices 3a. In this case, it is preferable that a charging station for charging the plurality of aircraft 1 is provided separately inside the automated warehouse 10.

[0036] (4) In the above embodiment, the control system 100 was described as performing an attitude adjustment transport process in which the flight body 15 is rotated relative to the storage rack 2 around an axis along the vertical direction by controlling the flight device 14 during the flight of the aircraft 1, thereby adjusting the attitude of the article W held in the holding unit 12 and handing it over to the transfer unit 5 or the loading / unloading unit 3. However, the system is not limited to this. The control system 100 may perform an attitude correction transport process instead of, or in addition to, such an attitude adjustment transport process. An example of this is shown in Figure 6. In Figure 6, the aircraft 1 is equipped with an attitude correction device 19 for correcting the attitude of the article W. This attitude correction device 19 is a device that lifts the part of the article W that is in a low position in the vertical direction when the article W is in an inclined position with respect to the horizontal plane, thereby forcing the article W into an appropriate attitude. As shown in Figure 6, it is preferable to provide the attitude correction device 19 when the article W is held in the holding unit 12 via a string, etc.

[0037] (5) In the above embodiment, the flight path area E at each height includes a first area E1 where the aircraft 1 flies from the loading / unloading section 3 to the handover section 5, and a second area E2 where the aircraft 1 flies from the handover section 5 to the loading / unloading section 3, and the first area E1 and the second area E2 are set at different heights as an example, but the embodiment is not limited to this. For example, the first area E1 may be the area where the aircraft 1 holding the article W flies, and the second area E2 may be the area where the aircraft 1 not holding the article W flies. Thus, the flight mode of the aircraft 1 in the first area E1 and the second area E2 can be changed as appropriate.

[0038] (6) The configurations disclosed in each of the embodiments described above can be applied in combination with configurations disclosed in other embodiments, as long as no inconsistencies arise. With regard to other configurations, the embodiments disclosed herein are merely illustrative in all respects. Therefore, various modifications can be made as appropriate without departing from the spirit of this disclosure.

[0039] [Summary of the above embodiments] The following is a summary of the automated warehouse described above.

[0040] The automated warehouse according to this disclosure comprises: a plurality of aircraft that fly unmanned and transport goods; an loading / unloading section where at least one of the loading of the goods from the outside and the loading of the goods to the outside takes place; storage shelves having a plurality of storage sections for storing the goods; and a plurality of transport devices that transport the goods inside the storage shelves, Let the X-direction be a specific direction along the horizontal plane, the Y-direction be a direction that intersects the X-direction when viewed vertically, one side of the Y-direction be the first Y-direction side, and the opposite side be the second Y-direction side. Multiple conveying devices are arranged in multiple stages in the vertical direction and in multiple columns in the X direction. Each of the multiple conveying devices is configured to convey the article along the Y direction, The multiple storage units are arranged along the respective transport paths of the multiple transport devices. At the first end of the storage shelf in the Y direction, a plurality of transfer sections are provided, separated in the vertical direction and the X direction, so as to correspond to each of the plurality of conveying devices. Each of the multiple transfer units is used for transferring the article between the aircraft and the transport device. The loading / unloading section is positioned spaced apart from the storage shelf on the first side in the Y direction, Multiple aircraft are configured to transport the articles between the loading / unloading section and the multiple transfer sections.

[0041] In this configuration, multiple transfer points are provided to correspond to each of the multiple transport devices in the storage rack. Multiple aircraft transport goods between the loading / unloading section and these transfer points, which are arranged separately in the vertical and X directions. As a result, goods can be transported by multiple aircraft, and the transfer of goods between the aircraft and the transport devices via the transfer points is also facilitated. Therefore, goods can be transported to the storage rack appropriately. In addition, the need to install different transport devices (e.g., transport conveyors, lifters, etc.) for transporting goods in the X, Y, and vertical directions to connect the loading / unloading section and the multiple transfer points can be reduced. Therefore, the overall size of the equipment can be suppressed, and costs can be easily reduced. Furthermore, since the loading / unloading section is spaced apart in the Y direction from the multiple transfer points, it is easy to secure flight space for multiple aircraft to fly between the loading / unloading section and the multiple transfer points. Thus, this configuration allows for the proper transport of items to storage shelves while suppressing the need for larger equipment and reducing costs.

[0042] Here, each of the multiple aforementioned flying bodies is equipped with a power storage device and is configured to fly using the power stored in the power storage device. Multiple standby charging units are provided at the first end of the storage rack in the Y direction, where the aircraft can land and wait, and where the battery storage device of the waiting aircraft is charged. It is preferable that the multiple standby charging units are arranged separately in at least one direction, either vertical or horizontal, and in the X direction, so as to correspond to at least a portion of the multiple transfer units.

[0043] According to this configuration, multiple standby charging units correspond to at least a portion of multiple transfer units, and are arranged separately in at least one direction (vertical or X) at the first Y-side end of the storage rack. This allows multiple aircraft to be kept on standby and charged near the multiple transfer units in the storage rack. Furthermore, since multiple standby charging units can be arranged using the space extending in the vertical and X directions at the first Y-side end of the storage rack, there is no need to separately secure space for installing these standby charging units together, making it easier to save space in the equipment.

[0044] Furthermore, each of the multiple aforementioned aircraft is equipped with a power storage device and is configured to fly using the power stored in the power storage device. The loading / unloading section comprises a plurality of loading / unloading transport devices for transporting the articles for at least one of loading the articles from the outside and loading the articles to the outside, and a plurality of standby charging sections for the aircraft to land and wait, and for charging the battery storage device of the aircraft while it is waiting. Multiple of the aforementioned loading and unloading conveying devices are arranged separately in the X direction, Preferably, the multiple standby charging units are arranged separately in the X direction so as to correspond to at least a portion of the multiple loading and unloading conveying devices.

[0045] With this configuration, since multiple standby charging units are arranged to correspond to at least some of the multiple loading / unloading transport devices, multiple aircraft can be kept on standby and charged near the multiple loading / unloading transport devices. Furthermore, since these multiple standby charging units are arranged separately in the X direction, interference between multiple aircraft is less likely to occur when they take off or land.

[0046] Furthermore, the system further comprises a control system for controlling multiple aircraft. The flying body comprises a holding unit for holding and releasing the article, a flying device for flight, and a flying body that supports the holding unit and the flying device. Preferably, the control system performs an attitude adjustment transport process, which involves controlling the flight device during the flight of the aircraft to rotate the aircraft body around an axis along the vertical direction relative to the storage shelf, thereby adjusting the attitude of the articles held in the holding section and handing them over to the transfer section or the loading / unloading section.

[0047] With this configuration, the aircraft's attitude can be adjusted by rotating the aircraft body as needed during flight, allowing the goods to be handed over to the transfer or loading / unloading area. Therefore, the need to separately install direction-changing devices or the like at the transfer or loading / unloading area to adjust the attitude of the goods can be reduced. Consequently, it is easier to reduce the overall cost of the equipment.

[0048] Furthermore, the area in which the aircraft that transports the goods between the loading / unloading section and the multiple transfer sections flies is defined as the flight path area. The aforementioned flight path area is set to multiple heights corresponding to the heights of each of the multiple handover sections arranged separately in the vertical direction. Each of the aforementioned flight path areas at different heights includes a first area where the aircraft flies from the loading / unloading section to the handover section, and a second area where the aircraft flies from the handover section to the loading / unloading section. Preferably, the first area and the second area are set at different heights.

[0049] In this configuration, multiple flight path areas are set corresponding to the heights of multiple transfer sections arranged vertically, and within each flight path area, the first and second areas are set at different heights. Therefore, it is easier to reduce the possibility of collisions between aircraft moving from the loading / unloading section to the transfer section and aircraft moving from the transfer section to the loading / unloading section in the flight path areas corresponding to the heights of the multiple transfer sections. In addition, by reducing the number of collision avoidance maneuvers performed by multiple aircraft, it is easier to improve the efficiency of transporting goods.

[0050] The automated warehouse relating to this disclosure only needs to achieve at least one of the effects described above. [Explanation of symbols]

[0051] 1: Flying object 2: Storage shelves 2a: Containment section 3: Loading / Unloading Section 3a: Transport device for loading and unloading 4: Conveying device 5: Delivery department 6: Standby charging section 10: Automated warehouse 11: Energy storage device 12: Holding part 14:Flight equipment 15: Main body of the aircraft 100: Control System E: Flight path area E1: Area 1 E2: Area 2 Y1: First side in the Y direction Y2: Second side in the Y direction

Claims

1. An automated warehouse comprising: a plurality of unmanned flying vehicles for transporting goods; an loading / unloading section for at least one of loading the goods from the outside and loading the goods from the outside; storage shelves having a plurality of storage sections for storing the goods; and a plurality of transport devices for transporting the goods inside the storage shelves, Let the X-direction be a specific direction along the horizontal plane, the Y-direction be a direction that intersects the X-direction when viewed vertically, one side of the Y-direction be the first Y-direction side, and the opposite side be the second Y-direction side. Multiple conveying devices are arranged in multiple stages in the vertical direction and in multiple columns in the X direction. Each of the multiple conveying devices is configured to convey the article along the Y direction, The multiple storage units are arranged along the respective transport paths of the multiple transport devices. At the first end of the storage shelf in the Y direction, a plurality of transfer sections are provided, separated in the vertical direction and the X direction, so as to correspond to each of the plurality of conveying devices. Each of the multiple transfer units is used for transferring the article between the aircraft and the transport device. The loading / unloading section is positioned spaced apart from the storage shelf on the first side in the Y direction, An automated warehouse in which multiple aircraft are configured to transport the goods between the loading / unloading section and the multiple transfer sections.

2. Each of the multiple aforementioned flying bodies is equipped with a power storage device and is configured to fly using the power stored in the power storage device. Multiple standby charging units are provided at the first end of the storage rack in the Y direction, where the aircraft can land and wait, and where the battery storage device of the waiting aircraft is charged. The automated warehouse according to claim 1, wherein the plurality of standby charging units are arranged separately in at least one of the vertical direction and the X direction so as to correspond to at least a portion of the plurality of transfer units.

3. Each of the multiple aforementioned flying bodies is equipped with a power storage device and is configured to fly using the power stored in the power storage device. The loading / unloading section comprises a plurality of loading / unloading transport devices for transporting the articles for at least one of loading the articles from the outside and loading the articles to the outside, and a plurality of standby charging sections for the aircraft to land and wait, and for charging the battery storage device of the aircraft while it is waiting. Multiple of the aforementioned loading and unloading conveying devices are arranged separately in the X direction, The automated warehouse according to claim 1, wherein the plurality of standby charging units are arranged separately in the X direction so as to correspond to at least a portion of the plurality of loading and unloading conveying devices.

4. The system further comprises a control system for controlling multiple of the aforementioned aircraft, The flying body comprises a holding unit for holding and releasing the article, a flying device for flight, and a flying body that supports the holding unit and the flying device. The automated warehouse according to any one of claims 1 to 3, wherein the control system performs an attitude adjustment transport process, which involves controlling the flight device during the flight of the aircraft to rotate the aircraft body around an axis along the vertical direction relative to the storage rack, thereby adjusting the attitude of the articles held in the holding section and handing them over to the transfer section or the loading / unloading section.

5. The area in which the aircraft that transports the goods between the loading / unloading section and the plurality of transfer sections flies is defined as the flight path area. The aforementioned flight path area is set to multiple heights corresponding to the heights of each of the multiple handover sections arranged separately in the vertical direction. Each of the aforementioned flight path areas at different heights includes a first area where the aircraft flies from the loading / unloading section to the handover section, and a second area where the aircraft flies from the handover section to the loading / unloading section. The automated warehouse according to any one of claims 1 to 3, wherein the first area and the second area are set at different heights.

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