Automated warehouse

Abstract

To realize an automated warehouse that facilitates the efficient transportation of goods. [Solution] The automated warehouse 100 comprises a transport vehicle 2 for transporting goods G, a plurality of warehouse lanes 3, a connecting transport system 4 that connects the plurality of warehouse lanes 3, and a lifting device 6 that lifts and transports goods G across multiple levels. Each warehouse lane 3 comprises a travel path 31 on which the transport vehicle 2 travels, a goods storage area 32 arranged along the travel path 31, a first buffer 33, and a second buffer 34. The transport vehicle 2 transfers goods G between the goods storage area 32, the first buffer 33, and the second buffer 34. The connecting transport system 4 comprises a transport vehicle moving device 40 that moves the transport vehicle 2 across different travel paths 31. The transport vehicle moving device 40 is positioned on the first side X1 in the path direction relative to the second buffer 34. The lifting device 6 is positioned between the first buffer 33 and the second buffer 34.

Description

Technical Field

[0001] The present invention relates to an automated warehouse including a transport vehicle that transports articles on each of a plurality of levels, and a lifting system that vertically transports articles between the levels.

Background Art

[0002] An example of such an automated warehouse is disclosed in Japanese Patent Laid-Open No. 6-171709 (Patent Document 1). In the following description of this background art, the reference numerals and names in Patent Document 1 are cited within parentheses.

[0003] The automated warehouse disclosed in Patent Document 1 includes a plurality of levels of warehouse layers (warehouse units 1A to 1C), and a lifting system (load lifting and transport device 6) that vertically transports articles (load W) between different levels of warehouse layers. Each of the warehouse layers includes an article storage area (load support portion 10), transport vehicles (in / out stock trolleys 8a to 8d), a travel path (trolley travel paths 3a to 3d) on which the transport vehicles (in / out stock trolleys 8a to 8d) travel, and a transport vehicle moving device (traversers 4a to 4d). The article storage areas (load support portions 10) are arranged in parallel at a plurality of locations. The travel paths (trolley travel paths 3a to 3d) are arranged between a set of article storage areas (load support portions 10) arranged in parallel. Also, a plurality of the travel paths (trolley travel paths 3a to 3d) are arranged in parallel within the same level. The transport vehicle moving device (traversers 4a to 4d) moves the transport vehicles (in / out stock trolleys 8a to 8d) across different travel paths (trolley travel paths 3a to 3d) arranged in the same level.

[0004] The transport vehicles (inbound / outbound trolleys 8a-8d) disclosed in Patent Document 1 are configured to transfer goods (loads W) between a lifting system (load lifting and transporting device 6) and an goods storage area (load support section 10). The transfer of goods (loads W) between the transport vehicles (inbound / outbound trolleys 8a-8d) and the lifting system (load lifting and transporting device 6) is performed with the transport vehicles (inbound / outbound trolleys 8a-8d) mounted on transport vehicle movement devices (traversers 4a-4d). The transfer of goods (loads W) between the goods storage area (load support section 10) and the transport vehicles (inbound / outbound trolleys 8a-8d) is performed with the transport vehicles (inbound / outbound trolleys 8a-8d) positioned on a travel path (trolley travel path 3a-3d) adjacent to the goods storage area (load support section 10).

[0005] In the automated warehouse disclosed in Patent Document 1, incoming goods (cargo W) are lifted and transported to a predetermined floor by a lifting system (cargo lifting and transporting device 6) and transferred to transport vehicles (inbound and outbound carts 8a to 8d) mounted on transport vehicle moving devices (traversers 4a to 4d). The transport vehicles (inbound and outbound carts 8a to 8d) are moved by the transport vehicle moving devices (traversers 4a to 4d) to a travel path (cart travel path 3a to 3d) leading to a designated goods storage area (cargo support section 10). After this, the transport vehicles (inbound and outbound carts 8a to 8d) dismount from the transport vehicle moving devices (traversers 4a to 4d) and travel along the said travel path (cart travel path 3a to 3d) to transport the goods (cargo W) to the designated goods storage area (cargo support section 10). On the other hand, when goods (cargo W) are being retrieved from the automated warehouse, the transport vehicles (inbound / outbound trolleys 8a-8d), transport vehicle movement devices (traversers 4a-4d), and lifting system (cargo lifting and transport device 6) perform the reverse operations compared to when goods (cargo W) are being received into the automated warehouse. [Prior art documents] [Patent Documents]

[0006] [Patent Document 1] Japanese Patent Application Publication No. 6-171709 [Overview of the project] [Problems that the invention aims to solve]

[0007] However, in the automated warehouse disclosed in Patent Document 1, if two or more transport vehicles (inbound / outbound carts 8a to 8d) are placed on the same floor in order to improve the efficiency of transporting goods (cargo W), if one transport vehicle (inbound / outbound cart 8a to 8d) is in a travel path (cart travel path 3a to 3d), the other transport vehicles (inbound / outbound carts 8a to 8d) may not be able to enter that travel path (cart travel path 3a to 3d) and may have to wait in place. Therefore, by reducing this waiting time, the transport of goods (cargo W) can be made even more efficient.

[0008] Therefore, there is a need for automated warehouses that facilitate the efficient transportation of goods. [Means for solving the problem]

[0009] In view of the above, an automated warehouse, in one embodiment, comprises a warehouse layer provided on each of multiple levels, and a lifting system for lifting and transporting goods between each of the warehouse layers and different heights, wherein each of the multiple warehouse layers comprises a transport vehicle for transporting the goods, a plurality of warehouse lanes arranged in parallel, and a connecting transport system for connecting the plurality of warehouse lanes, wherein each of the plurality of warehouse lanes comprises a travel path on which the transport vehicle travels, an goods storage area arranged along the travel path, a first buffer, and a second buffer, wherein the direction in which the travel path extends is defined as the path direction, one side of the path direction is defined as the first path direction side, and the other side of the path direction is defined as the second path direction side, and the first buffer is defined as the goods storage area The transport vehicle is positioned on the first side in the path direction relative to the first buffer, the second buffer is positioned on the first side in the path direction relative to the first buffer, the transport vehicle is configured to be able to transfer the articles between the article storage area, the first buffer, and the second buffer, the connecting transport system includes a transport vehicle moving device for moving the transport vehicle across different travel paths, the transport vehicle moving device is positioned on the first side in the path direction relative to the second buffer, and the lifting system includes lifting devices provided corresponding to each of the plurality of warehouse lanes, each of which is positioned between the first buffer and the second buffer in the path direction in such a manner that it is able to transfer the articles between the first buffer and the second buffer, respectively.

[0010] With this feature configuration, the items are arranged in the order of item storage area, first buffer, second buffer, and transport vehicle movement device from the second side in the path direction to the first side in the path direction. As a result, in each of the multiple warehouse lanes, transport vehicles that transport items between the item storage area and the first buffer, and transport vehicles that move between warehouse lanes using the transport vehicle movement device to transport items between the warehouse lanes and the second buffer, can transport items simultaneously and in parallel without interfering with each other. Furthermore, since the lifting device is positioned between the first buffer and the second buffer in the path direction, in a state where items can be transferred to and from the first buffer and the second buffer respectively, items placed in the first buffer and the second buffer can be transferred to the lifting device, or items can be transferred from the lifting device to the first buffer or the second buffer. This makes it possible to transport items from any warehouse lane to any lifting device, and from any lifting device to any warehouse lane, and to transport items efficiently. Consequently, it becomes easy to retrieve items from each lifting device in a desired order, and easy to store incoming items in a desired location.

[0011] Furthermore, an automated warehouse in view of the above, in one embodiment, comprises a warehouse layer provided on each of multiple floors, and a lifting system for raising and lowering goods between each of the warehouse layers and different heights, wherein each of the multiple warehouse layers comprises a transport vehicle for transporting the goods, a plurality of warehouse lanes arranged in parallel, and a connecting transport system for connecting the plurality of warehouse lanes, wherein each of the plurality of warehouse lanes comprises a travel path on which the transport vehicle travels, an goods storage area arranged along the travel path, a first buffer, and a second buffer, wherein the direction in which the travel path extends is defined as the path direction, one side of the path direction is defined as the first path direction side, and the other side of the path direction is defined as the second path direction side, and the first buffer is arranged on the first path direction side with respect to the goods storage area. The second buffer is positioned on the first side in the path direction relative to the first buffer, the transport vehicle is configured to transfer articles between the article storage area and the first buffer, the connecting transport system includes an article moving device for moving articles across different warehouse lanes, the article moving device is positioned on the first side in the path direction relative to the second buffer and is configured to transfer articles between at least one of the transport vehicle and the second buffer, and the lifting system includes lifting devices provided corresponding to each of the plurality of warehouse lanes, each of which is positioned between the first buffer and the second buffer in the path direction, in a manner that allows for the transfer of articles between the first buffer and the second buffer, respectively.

[0012] This feature configuration allows the item transfer device to transfer items to a second buffer in a different warehouse lane or to a transport vehicle traveling along a different warehouse lane's route. Therefore, it is possible to move only the items to a different warehouse lane without moving the transport vehicle to the different warehouse lane. Consequently, it is possible to transport items from any warehouse lane to any lifting device, and from any lifting device to any warehouse lane, and to carry out such item transport more efficiently. Furthermore, since the lifting device is positioned between the first and second buffers in the path direction, allowing for the transfer of items between them, it is possible to transfer items from the first and second buffers to the lifting device, or from the lifting device to the first or second buffer. This enables the transport of items from any warehouse lane to any lifting device, and from any lifting device to any warehouse lane, and to carry out such item transport efficiently. Consequently, it becomes easier to retrieve items from each lifting device in a desired order, and to store incoming items in a desired location.

[0013] Furthermore, an automated warehouse in view of the above, in one embodiment, comprises a warehouse layer provided on each of multiple floors, and a lifting system for lifting and transporting goods between each of the warehouse layers and different heights, wherein each of the multiple warehouse layers comprises a transport vehicle for transporting the goods, a plurality of warehouse lanes arranged in parallel, and a connecting transport system for connecting the plurality of warehouse lanes, wherein each of the plurality of warehouse lanes comprises a travel path on which the transport vehicle travels, an goods storage area arranged along the travel path, a first buffer, and a second buffer, wherein the direction in which the travel path extends is defined as the path direction, one side of the path direction is defined as the first path direction side, and the other side of the path direction is defined as the second path direction side, and the first buffer is defined as The transport vehicle is configured to be able to transfer articles between the article storage area, the first buffer, and the second buffer, the transport system includes a connecting path that intersects with a plurality of travel paths, the transport vehicle is configured to be able to travel across the travel paths and the connecting path, and the lifting system includes a lifting device provided corresponding to each of the plurality of warehouse lanes, each of which is positioned between the first buffer and the second buffer in the path direction, in a manner that allows for the transfer of articles between the first buffer and the second buffer, respectively.

[0014] This configuration allows the transport vehicle to transport goods between different warehouse lanes by traveling along the connecting path of the connected transport system. Furthermore, since the lifting device is positioned between the first and second buffers in the path direction, enabling the transfer of goods between them, goods placed in the first and second buffers can be transferred to the lifting device, or goods can be transferred from the lifting device to the first or second buffer. This allows for the transport of goods from any warehouse lane to any lifting device, and from any lifting device to any warehouse lane, and enables efficient transport of such goods. Consequently, it becomes easy to retrieve goods from each lifting device in a desired order, and to store incoming goods in a desired location.

[0015] Further features and advantages of the technology relating to this disclosure will become clearer from the following description of exemplary and non-limiting embodiments, with reference to the drawings. [Brief explanation of the drawing]

[0016] [Figure 1] A schematic plan view showing an example of an automated warehouse according to Embodiment 1. [Figure 2] Side view of the automated warehouse shown in Figure 1. [Figure 3] Figure 1 illustrates the operation of the automated warehouse. [Figure 4] A schematic plan view showing an example of an automated warehouse according to Embodiment 2. [Figure 5] A schematic plan view showing an example of an automated warehouse according to Embodiment 3. [Figure 6] A schematic plan view showing an example of an automated warehouse according to Embodiment 4. [Modes for carrying out the invention]

[0017] [Summary] The automatic warehouse 100 of the embodiment will be described while referring to the drawings. As shown in FIGS. 1 and 2, the automatic warehouse 100 stores a plurality of articles G by utilizing the space in the vertical direction Z and the horizontal direction. The article G stored in the automatic warehouse 100 is automatically conveyed to a predetermined storage location in the automatic warehouse 100 without passing through the hands of an operator. Further, the article G to be shipped out from the automatic warehouse 100 is automatically conveyed from a predetermined storage location in the automatic warehouse 100 to the operator.

[0018] The automatic warehouse 100 includes a warehouse layer 1 provided on each of a plurality of floors F, a lifting system 5, and a control device (not shown) that controls the warehouse layer 1 and the lifting system 5. The warehouse layer 1 is arranged on at least a part of the plurality of floors F that divide the entire automatic warehouse 100 in the vertical direction Z. The lifting system 5 vertically conveys the article G between different heights from each warehouse layer 1. Here, vertically conveying the article G between different heights from the warehouse layer 1 includes vertically conveying the article G between warehouse layers 1 having different heights from the reference warehouse layer 1 and vertically conveying the article G to a floor F where the reference warehouse layer 1 is not provided.

[0019] In the present embodiment, the automatic warehouse 100 includes a first floor F1 arranged on the lowermost side in the vertical direction Z and a plurality of upper floors FU arranged above the first floor F1. In the example shown in FIG. 2, three upper floors FU are provided above the first floor F1. The warehouse layer 1 is provided on the upper floors FU. In the example shown in FIG. 2, the warehouse layer 1 is provided on all the upper floors FU. The article G stored in the automatic warehouse 100 is vertically conveyed to the warehouse layer 1 provided on the upper floors FU via the first floor F1. Conversely, the article G to be shipped out from the automatic warehouse 100 is vertically conveyed from any of the upper floors FU to the first floor F1.

[0020] In this embodiment, the automated warehouse 100 further includes an inbound / outbound system 10. The inbound / outbound system 10 is a system that performs the loading of the article G from the outside to the inside of the automated warehouse 100 and the unloading of the article G from the inside to the outside of the automated warehouse 100. The inbound / outbound system 10 conveys the article G between at least one of the warehouse area 1A, the warehouse layer 1, and the lifting system 5. In this embodiment, the inbound / outbound system 10 includes a plurality of inbound / outbound conveyors 101 that convey the article G between the warehouse area 1A provided on the first floor F1. And the lifting system 5 performs the lifting and conveying of the article G between the warehouse layer 1 on the upper floor FU and the inbound / outbound conveyor 101 via the warehouse area 1A on the first floor F1. According to this configuration, the operator can access the inbound / outbound system 10 without moving to a position higher than himself / herself, so that the inbound / outbound of the article G can be easily performed.

[0021] The automated warehouse 100 of Embodiments 1 to 4 will be described. The automated warehouses 100 of Embodiments 1 to 4 are common in that they include an inbound / outbound system 10, a warehouse area 1A, a warehouse layer 1, and a connection conveying system 4. Hereinafter, after explaining the details of the warehouse layer 1 and the connection conveying system 4 of Embodiment 1, the differences between each of the automated warehouses 100 of Embodiments 2 to 4 and the automated warehouse 100 of Embodiment 1 will be described.

[0022] 〔Embodiment 1〕 The automated warehouse 100 of Embodiment 1 will be described with reference to FIGS. 1 to 3.

[0023] Each of the multiple warehouse layers F comprises a transport vehicle 2 for transporting goods G, multiple warehouse lanes 3 arranged in parallel, and a connecting transport system 4 that connects the multiple warehouse lanes 3. Figure 1 schematically shows an arbitrary upper layer FU of the automated warehouse 100 viewed from above. In this embodiment, the connecting transport system 4 allows the transport vehicle 2 to move between the multiple warehouse lanes 3. The warehouse lane 3 illustrated in Figure 1 comprises three warehouse lanes 3. The three warehouse lanes 3 are configured so that the transport vehicle 2 can travel freely. The transport vehicle 2 moves to any of the three warehouse lanes 3 by the connecting transport system 4, which is positioned adjacent to all of them. In the warehouse layer 1 illustrated in Figure 1, three transport vehicles 2 are installed so that one transport vehicle 2 is assigned to each of the three warehouse lanes 3, but the number of transport vehicles 2 is not limited to the same number as the number of warehouse lanes 3. That is, the number of transport vehicles 2 installed in each warehouse layer 1 may be more or less than the number of warehouse lanes 3.

[0024] In this embodiment, warehouse area 1A has the same configuration as warehouse layer 1, except that it does not have a connecting transport system 4. That is, warehouse area 1A includes transport vehicles 2 and a plurality of parallel-arranged warehouse lanes 3. More specifically, warehouse area 1A has the same number of warehouse lanes 3 as warehouse layer 1. The warehouse lanes 3 in warehouse area 1A are configured to allow the transport of goods G to and from the inbound / outbound system 10. Each warehouse lane 3 is assigned one inbound / outbound conveyor 101. For example, when goods G are brought into each inbound / outbound conveyor 101, the goods G are brought into the warehouse lane 3 to which that inbound / outbound conveyor 101 is assigned. Conversely, for example, when goods G are brought out of a warehouse lane 3 in warehouse area 1A, they are brought out from the inbound / outbound conveyor 101 assigned to that warehouse lane 3.

[0025] The transport vehicle 2 comprises a chassis 21 equipped with multiple wheels 210 and a transfer machine 22 for transferring goods G between the chassis and the warehouse lane 3. The chassis 21 is configured to allow goods G to be placed on its upper surface and moves as the multiple wheels 210 roll. The transfer machine 22 is a device for moving goods G placed on the upper surface of the chassis 21 to the warehouse lane 3, or moving goods G stored in the warehouse lane 3 to the upper surface of the chassis 21. In this embodiment, the transfer machine 22 moves the goods G in only one direction. With this configuration, there is no need to move the goods G in multiple directions, so the overall structure of the transport vehicle 2 is simplified.

[0026] In detail, the transfer machine 22 is equipped with a pair of arms that extend and retract toward the warehouse lane 3. The pair of arms are installed on top of the chassis 21 with a space in between on which an item G can be placed. When moving an item G placed on top of the chassis 21 to the warehouse lane 3, the pair of arms extend toward the warehouse lane 3 with the item G hooked onto claws (not shown) that protrude from each arm into the space on which the item G is placed. As a result, the item G moves from the top of the chassis 21 to the warehouse lane 3 in conjunction with the movement of the claws protruding from each arm. Conversely, when transferring an item G stored in the warehouse lane 3 onto the chassis 21, the pair of arms retract from their extended state toward the warehouse lane 3, hooking the item G onto the claws protruding from each arm into the space on which the item G is placed. As a result, the item G moves from the warehouse lane 3 to the top of the chassis 21 in conjunction with the movement of the pair of arms.

[0027] Each of the multiple warehouse lanes 3 includes a travel path 31 on which the transport vehicle 2 travels, an item storage area 32 arranged along the travel path 31, a first buffer 33, and a second buffer 34. The transport vehicle 2 is configured to be able to transfer items G between the item storage area 32, the first buffer 33, and the second buffer 34. Furthermore, the first buffer 33 and the second buffer 34 temporarily remove items G that have been transported to the warehouse lane 3 from the transport vehicle 2. In this way, when multiple items G are brought into the warehouse lane 3, when multiple items G are brought out of the warehouse lane 3, and when these are combined, the first buffer 33 and the second buffer 34 temporarily remove the items G from the transport vehicle 2. This ensures that items G are transported smoothly in the specified order.

[0028] Each component of Warehouse Layer 1 is easier to understand if its direction is defined based on the travel path 31. For this reason, in the following explanation, the direction in which the travel path 31 extends will be referred to as the path direction X, one side of the path direction X will be referred to as the first path direction side X1, and the other side of the path direction X will be referred to as the second path direction side X2. Furthermore, the direction perpendicular to the path direction X in the vertical Z view will be referred to as the orthogonal direction Y.

[0029] In this embodiment, the travel path 31 is a rail on which the transport vehicle 2 travels. The rail illustrated in Figure 1 extends in a straight line when viewed from above. The article storage area 32 is located adjacent to the travel path 31. More specifically, the travel path 31 is provided on a path that includes a position (transfer position) on which the transport vehicle 2 can transfer articles G stored in the article storage area 32. In this embodiment, the transfer mechanism 22 of the transport vehicle 2 moves the articles G along the orthogonal direction Y. Therefore, the transfer position is determined based on the state in which the transport vehicle 2 is positioned adjacent to the article storage area 32 in the orthogonal direction Y and has its pair of arms extended. More specifically, the transfer position is the position of the transport vehicle 2 on the side of the article G stored in the article storage area 32 that is away from the transport vehicle 2 in the orthogonal direction Y, where the claws protruding from the pair of arms can contact.

[0030] In this embodiment, the article storage area 32 is the space above the shelf on which the articles G are placed. In addition, two articles G can be placed along the orthogonal direction Y in the article storage area 32 as illustrated in Figures 1 and 2. Furthermore, in this embodiment, the article storage areas 32 are located adjacent to each other on both sides of the orthogonal direction Y in the travel path 31. Therefore, the transfer machine 22 of the transport vehicle 2 is configured to extend and retract a pair of arms on both sides of the orthogonal direction Y in order to transfer articles G between the article storage areas 32 located on both sides of the orthogonal direction Y in the travel path 31. With this configuration, many articles G can be stored in a limited space.

[0031] The first buffer 33 is located on the first side X1 in the path direction relative to the article storage area 32. In this embodiment, the first buffer 33 is located adjacent to the article storage area 32 in the path direction X.

[0032] The second buffer 34 is positioned on the first side X1 in the path direction relative to the first buffer 33. In this embodiment, the article storage area 32, the first buffer 33, and the second buffer 34 are arranged in a straight line along the longitudinal direction. Furthermore, the portion of the travel path 31 adjacent to the article storage area 32 and the first buffer 33 is continuous with the portion adjacent to the second buffer 34.

[0033] The connecting transport system 4 is positioned on the first side X1 in the path direction relative to the second buffer 34 and includes a transport vehicle moving device 40 that moves the transport vehicle 2 across different travel paths 31. In this embodiment, the transport vehicle moving device 40 includes a connecting path 41 arranged along a path that includes positions adjacent to each of the different travel paths 31, and a connecting trolley 42 that travels along the connecting path 41. The connecting trolley 42 is configured so that the transport vehicle 2 can get on and off it. The transport vehicle 2 can transfer to the connecting trolley 42 when the connecting trolley 42 is positioned adjacent to the travel path 31 in the path direction X. The connecting trolley 42 is provided with a guide (not shown) for the transport vehicle 2 to transfer to, and the transport vehicle 2 moves between the travel path 31 and the connecting trolley 42 along the guide. Hereafter, for the sake of explanation, the position of the connecting trolley 42 when the transport vehicle 2 is able to get on and off the connecting trolley 42 will be referred to as the boarding / alighting position.

[0034] After the connecting trolley 42 loads the transport vehicle 2 at the boarding / alighting position, it moves toward a different boarding / alighting position with the transport vehicle 2 mounted on top. At the boarding / alighting position to which the connecting trolley 42 has moved, the transport vehicle 2 disembarks from the connecting trolley 42 and enters the adjacent travel path 31. In this way, the transport vehicle 2 can move between different travel paths 31.

[0035] In this embodiment, the connecting path 41 is positioned on the first side X1 of the path direction relative to the endpoint of the first side X1 of the path direction of the travel path 31, and extends in the orthogonal direction Y. In the example shown in Figure 1, the connecting path 41 is set to connect the positions adjacent to the first side X1 of the path direction of all three travel paths 31 included in the warehouse layer 1. The connecting path 41 illustrated in Figure 1 is the rail on which the connecting trolley 42 travels.

[0036] The lifting system 5 includes lifting devices 6 provided for each of the multiple warehouse lanes 3. The lifting devices 6 raise and lower goods G between different warehouse layers 1 of the same floor F. In this embodiment, the lifting device 6 includes a lifting conveyor 61 that moves up and down. The lifting conveyor 61 shown in Figure 1 moves goods G in the path direction X. In the example shown in Figure 1, a lifting device 6 is provided for each of the warehouse lanes 3.

[0037] Each lifting device 6 is positioned between the first buffer 33 and the second buffer 34 in the path direction X, allowing for the transfer of articles G to and from each of the first buffer 33 and the second buffer 34, respectively. In this embodiment, both the first buffer 33 and the second buffer 34 are equipped with conveyors. In the example shown in Figure 1, the first buffer 33 and the second buffer 34 move articles G in the path direction X. Therefore, the lifting device 6, the first buffer 33, and the second buffer 34 transfer articles G to each other along the path direction X even if the transport vehicle 2 does not transport the articles G. In addition, in this embodiment, the first buffer 33 and the second buffer 34 can hold multiple articles G and move multiple articles G toward the lifting conveyor 61. On the other hand, the lifting conveyor 61 can also hold multiple articles G and moves the multiple articles G placed toward the first buffer 33 or the second buffer 34.

[0038] Each of the multiple lifting devices 6 is positioned across multiple warehouse layers 1 of multiple levels F. In addition, the lifting device 6 is positioned between the first buffer 33 and the second buffer 34 in the path direction X, in each warehouse layer 1, in such a way that goods G can be transferred to and from the first buffer 33 and the second buffer 34 of the corresponding warehouse lane 3. In this embodiment, as shown in Figure 2, the lifting device 6 is positioned across all warehouse layers 1 of all levels F. Therefore, the lifting conveyor 61 can lift goods G to and from all levels F.

[0039] The control device controls at least the warehouse layers 1 and lifting system 5 of multiple layers F, and in this embodiment, it also controls the inbound / outbound system 10 and the warehouse lanes 3 provided in warehouse area 1A. The control device is equipped with a processing unit such as a CPU (Central Processing Unit) and peripheral circuits such as memory, and each function of the control device is realized through the cooperation of this hardware and the program executed on the processing unit and other hardware.

[0040] 〔process〕 The processes performed by the control device will be explained with reference to Figures 1 to 3.

[0041] Here, each of the drawings from Figure 3 onward shows an example of the operation of the automated warehouse 100 as processed by the control device. For the sake of explanation, in the drawings from Figure 3 onward, some transport vehicles 2, some warehouse lanes 3, and some items G are distinguished. Specifically, the warehouse lane 3 located at the top of the page is referred to as the first warehouse lane 3A, and the warehouse lane 3 adjacent to the first warehouse lane 3A in the direction perpendicular to Y is referred to as the second warehouse lane 3B. A transport vehicle 2 that has traveled along the first warehouse lane 3A is referred to as the first transport vehicle 2A, and the item G transported by the first transport vehicle 2A is referred to as the first item G1. On the other hand, a transport vehicle 2 that has traveled along the second warehouse lane 3B is referred to as the second transport vehicle 2B, and the item G transported by the second transport vehicle 2B is referred to as the second item G2. Furthermore, the inbound / outbound conveyor 101 assigned to the first warehouse lane 3A of the first level F1 shall be referred to as the first inbound / outbound conveyor 10A, and the inbound / outbound conveyor 101 assigned to the second warehouse lane 3B of the first level F1 shall be referred to as the second inbound / outbound conveyor 10B.

[0042] The control device performs receiving and shipping processes. Receiving involves transporting the designated item G from the item storage area 32 and handing it over to the receiving / shipping system 10. Shipping involves transporting the item G, which has been handed over to the receiving / shipping system 10, back into the designated item storage area 32.

[0043] The control device executes outbound and inbound processing by referring to management data. The management data is data that links the item storage area 32 with the identification information of the item G stored in that item storage area 32. When outbound or inbound processing is performed, the management data is updated each time to match the information of the outbound or inbound instructions for item G included in those processing.

[0044] [Outbound processing] The retrieval process is performed based on a retrieval request made by the work entity (worker or external equipment) to the control device. The work entity inputs the retrieval request to the control device via an appropriate input device. The retrieval request includes information such as the type and quantity of goods G to be retrieved, and instructions for the order in which they should be retrieved. When the retrieval process is performed, the control device controls each controlled object to hand over the goods G to the inbound / outbound system 10 according to the information contained in the retrieval request. In this embodiment, since the inbound / outbound system 10 includes multiple inbound / outbound conveyors 101, the retrieval request includes information about the inbound / outbound conveyor 101 to which the goods G will be handed over. In this way, regardless of which goods storage area 32 the desired goods G are stored in, the work entity can pick up the goods G at the desired inbound / outbound conveyor 101.

[0045] When a retrieval request is made, the control device refers to the management data to identify the item storage area 32 where the item G included in the retrieval request is stored. The control device moves the transport vehicle 2 of warehouse layer 1, which contains the identified item storage area 32, to the identified item storage area 32.

[0046] In the example shown in Figure 3, the outbound request includes an instruction to hand over the first item G1, which is stored in the item storage area 32 of the first warehouse lane 3A, and the second item G2, which is stored in the item storage area 32 of the second warehouse lane 3B, to the first inbound / outbound conveyor 10A in the order described. In response to this outbound request, the control device directs the first transport vehicle 2A to the item storage area 32 of the first warehouse lane 3A and the second transport vehicle 2B to the item storage area 32 of the second warehouse lane 3B.

[0047] After receiving the first item G1 from the item storage area 32 of the first warehouse lane 3A, the first transport vehicle 2A transfers the first item G1 to the first buffer 33 of the first warehouse lane 3A, as shown in Figure 3. In detail, the first transport vehicle 2A first moves to a position adjacent to the first buffer 33 of the first warehouse lane 3A in the direction orthogonal to the first buffer 33, with the first item G1 placed on top of the chassis 21. After this, the transfer machine 22 of the first transport vehicle 2A transfers the first item G1 from the top of the chassis 21 of the first transport vehicle 2A to the first buffer 33. The first buffer 33 then transfers the first item G1 to the lifting device 6, which is located adjacent to the first side X1 in the path direction. Here, the lifting device 6 to which the first item G1 is transferred is located on the first side X1 in the path direction relative to the first buffer 33. Therefore, by operating the conveyor of the first buffer 33, the first item G1 is transferred to the lifting device 6. In this way, the first transport vehicle 2A, which travels only in the area X2 on the second side in the path direction rather than the position adjacent to the lifting device 6 in the direction Y orthogonal to the lifting device 6, can transfer the first item G1 to and from the lifting device 6. Consequently, the path traveled by the first transport vehicle 2A and the path traveled by the second transport vehicle 2B, which enters the same travel path 31 as the first transport vehicle 2A from the second side X2 in the path direction, as will be described later, do not overlap. As a result, the situation in which the second transport vehicle 2B has to wait within the travel path 31 due to the presence of the first transport vehicle 2A can be suppressed.

[0048] After receiving the second item G2 from the item storage area 32 of the second warehouse lane 3B, the second transport vehicle 2B is moved to the first warehouse lane 3A by the transport vehicle moving device 40. Specifically, the second transport vehicle 2B, traveling along the travel path 31 of the second warehouse lane 3B, transfers onto the connecting trolley 42 when the connecting trolley 42 is positioned at an access point adjacent to the second warehouse lane 3B. The connecting trolley 42, with the second transport vehicle 2B on it, moves to an access point adjacent to the first warehouse lane 3A. At this access point, the second transport vehicle 2B enters a position above the travel path 31 of the first warehouse lane 3A, moves to a position adjacent to the second buffer 34 in the direction orthogonal Y, and hands over the second item G2 to the second buffer 34. The second buffer 34 then hands over the second item G2 to the lifting device 6, which is positioned adjacent to the second side X2 in the path direction. Here, the lifting device 6 onto which the second item G2 is transferred is positioned on the second side X2 of the path direction relative to the second buffer 34. Therefore, by operating the conveyor of the second buffer 34, the second item G2 is handed over to the lifting device 6. In this way, the second transport vehicle 2B, which travels only in the area on the first side X1 of the path direction rather than the position adjacent to the lifting device 6 in the orthogonal direction Y, can transfer the second item G2 to and from the lifting device 6.

[0049] The lifting device 6, upon receiving the first item G1 and the second item G2, raises and lowers the first item G1 and the second item G2 to the floor F where the inbound / outbound system 10 is located. In this embodiment, the lifting device 6 raises and lowers the first item G1 and the second item G2 from the upper floor FU to the first floor F1. The first item G1 and the second item G2, having been lifted and transported to the first floor F1, are transferred from the lifting device 6 to the first inbound / outbound conveyor 10A via the second buffer 34 and transported to a predetermined outbound location.

[0050] [Inbound processing] The receiving process is performed based on a receiving request made by the work entity to the control device. Like the outgoing request, the receiving request is input to the control device via an appropriate input device. The receiving request includes information such as the type and quantity of goods G to be received, and instructions on the order in which they should be received. When the receiving process is performed, the control device controls each controlled object to receive the goods G that have been brought onto the receiving / outgoing conveyor 101 by the work entity into a specific goods storage area 32 based on the receiving request, and to receive the goods G that have been handed over to the receiving / outgoing system 10. The goods storage area 32 in which the goods G to be received are stored may be determined by the control device according to a specific algorithm, or the receiving request may include information about the location that identifies the goods storage area 32 in which the goods G will be stored.

[0051] When the receiving process is completed, the control device operates the receiving / discharging conveyor 101 to transport the goods G into warehouse layer 1. The goods G transported into warehouse layer 1 are then transported by the lifting system 5, the transport vehicle 2, and the connecting transport system 4 to the designated goods storage area 32 in the reverse order of the dispatch process.

[0052] As described above, the connecting transport system 4 moves the transport vehicle 2 to a different warehouse lane 3, allowing the goods G to move between multiple item storage areas 32 located in different warehouse lanes 3 and multiple different inbound / outbound conveyors 101. For example, goods G stored in the item storage area 32 of the second warehouse lane 3B can be moved by the connecting transport system 4 not only to the second inbound / outbound conveyor 10B but also to the first inbound / outbound conveyor 10A. Conversely, goods G that have been handed over to the first inbound / outbound conveyor 10A can be stored in the item storage area 32 of the second warehouse lane 3B.

[0053] [Preferred configuration] In the automated warehouse 100 described above, it is preferable that the number of transport vehicles 2 in at least one of the warehouse layers 1 of the multiple layers F is less than the number of warehouse lanes 3 arranged in parallel in the warehouse layer 1. Here, the warehouse lanes 3 arranged in parallel in the warehouse layer 1 include all warehouse layers 1 connected by the transport vehicle moving device 40. This will be explained in detail by illustrating the case where four warehouse lanes 3 are arranged in one layer F. In this case, for example, suppose that one adjacent pair of warehouse lanes 3 is connected to one transport vehicle moving device 40, and another adjacent pair of warehouse lanes 3 is connected to another transport vehicle moving device 40. In this case, it is preferable that the number of transport vehicles 2 is two or more and less than four. The reason for having two or more transport vehicles 2 is to allow the transport vehicles 2 to travel on any of the pairs of warehouse lanes 3 that are connected to each other. In this embodiment, the transport vehicle moving device 40 is installed so as to connect all the warehouse lanes 3 in each of the upper layers FU. In this configuration, in the first tier F1, it is necessary to place a transport vehicle 2 in all warehouse lanes 3, but in at least one upper tier FU, the number of transport vehicles 2 can be less than the number of warehouse lanes 3 in that tier F.

[0054] In this embodiment, the automated warehouse 100 comprises a pair of item storage areas 32 arranged separately on both sides in the direction Y perpendicular to the travel path 31, a pair of first buffers 33 arranged separately on both sides in the direction Y perpendicular to the travel path 31, and a pair of second buffers 34 arranged separately on both sides in the direction Y perpendicular to the travel path 31. In other words, each of the pair of item storage areas 32, the pair of first buffers 33, and the pair of second buffers 34 included in the same warehouse lane 3 faces each other in the direction Y perpendicular to the travel path 31.

[0055] The lifting system 5 is equipped with a pair of lifting devices 6 corresponding to each of the multiple warehouse lanes 3. In this embodiment, the pair of lifting devices 6 included in the same warehouse lane 3 face each other in the orthogonal direction Y. One of the pair of lifting devices 6 is positioned between one of the pair of first buffers 33 and one of the pair of second buffers 34, and the other of the pair of lifting devices 6 is positioned between the other of the pair of first buffers 33 and the other of the pair of second buffers 34. Thus, in the area where the same warehouse lane 3 is arranged, the pair of article storage areas 32, the pair of first buffers 33, the pair of lifting devices 6, and the pair of second buffers 34 are arranged in order from the first side X1 in the path direction to the second side X2 in the path direction. In addition, each of the pair of article storage areas 32, the pair of first buffers 33, the pair of lifting devices 6, and the pair of second buffers 34 faces each other in the orthogonal direction Y. With this configuration, since the components for transporting goods G are arranged on both sides of the orthogonal direction Y in the travel path 31 of the transport vehicle 2, the limited space can be used effectively, making it easier to miniaturize the entire automated warehouse 100.

[0056] Preferably, each of the pair of article storage areas 32, the pair of first buffers 33, the pair of lifting devices 6, and the pair of second buffers 34 has the following configuration in addition to being opposite each other in the orthogonal direction Y. That is, as illustrated in the warehouse lane 3 on the upper side of the paper in Figure 3, the first lifting device 6A, which is one of the pair of lifting devices 6, is positioned between the first receiving buffer 331, which is one of the pair of first buffers 33, and the second receiving buffer 341, which is one of the pair of second buffers 34. The first lifting device 6A then brings articles G into the warehouse lane 3 and delivers the articles G to at least one of the first receiving buffers 331 and the second receiving buffers 341. The first lifting device 6A brings articles G into the warehouse lane 3 by lifting and transporting articles G from the first level F1 or a different upper level FU. The goods G, which have been delivered to at least one of the first receiving buffer 331 and the second receiving buffer 341, are transported by the transport vehicle 2 to the goods storage area 32 within the same warehouse lane 3 or to a different warehouse lane 3 on the same floor F. The second lifting device 6B, which is the other of the pair of lifting devices 6, is positioned between the first outbound buffer 332, which is the other of the pair of first buffers 33, and the second outbound buffer 342, which is the other of the pair of second buffers 34. The second lifting device 6B receives the goods G from at least one of the first outbound buffer 332 and the second outbound buffer 342 and transports the goods G out of the warehouse lane 3. The second lifting device 6B receives the goods G from at least one of the transport vehicles 2 traveling in the same warehouse lane 3 and the transport vehicles 2 moving from a different warehouse lane 3. The second lifting device 6B then lifts and transports the item G to the first floor F1 or a different upper floor FU.

[0057] Preferably, the transport vehicle moving device 40 is configured so that the transport vehicle 2 can be loaded onto and unloaded without the transport vehicle moving device 40 itself having to change direction. With this configuration, since the transport vehicle moving device 40 does not require a mechanism to change direction, the structure of the lifting device 6 is simplified, and the transport vehicle moving device 40 can be made more compact.

[0058] [Embodiment 2] The automated warehouse 100 of Embodiment 2 will be described with reference to Figure 4. The automated warehouse 100 of Embodiment 2 differs from the automated warehouse 100 of Embodiment 1 in the configuration of the transport vehicle 2 and the connecting transport system 4. Hereafter, we will mainly describe the parts of the automated warehouse 100 of Embodiment 2 that differ from the automated warehouse 100 of Embodiment 1, and will omit the description of other parts.

[0059] In this embodiment, the transport vehicle 2 differs from Embodiment 1 in that it is configured to be able to transfer articles G between at least the article storage area 32 and the first buffer 33.

[0060] The connecting transport system 4 includes an item moving device 45 for moving items G across second buffers 34 of different warehouse lanes 3. The item moving device 45 is positioned on the first side X1 in the path direction relative to the second buffers 34. The item moving device 45 is configured to transfer items G between the transport vehicle 2 and at least one of the second buffers 34.

[0061] In this embodiment, the article moving device 45 includes a connection path 41 and a trolley (article trolley 46) that travels along the connection path 41.

[0062] Similar to Embodiment 1, the connecting path 41 is arranged along a path that includes positions adjacent to each of the different travel paths 31. In this embodiment, the transport vehicle 2 and the connecting transport system 4 are configured so that the transport vehicle 2 can move from the travel path 31 to the connecting path 41. Specifically, the connecting path 41 forms a connection point 4C at the intersection of the travel path 31 and the travel path 31, forming a T-shaped three-way intersection. At the connection point 4C illustrated in Figure 4, the height of the travel surface of the transport vehicle 2 on the pair of rails constituting the travel path 31 is set to be approximately the same as the height of the travel surface of the transport vehicle 2 on the pair of rails constituting the connecting path 41. Here, a height difference of approximately the same means a height difference sufficient to allow the transport vehicle 2 to move between the travel path 31 and the connecting path 41. In addition, a gap is provided between the travel path 31 and the connecting path 41 that is sufficient for the transport vehicle 2 to move between them.

[0063] In this embodiment, the item cart 46 transfers the item G to the transport vehicle 2 at a position adjacent to the transport vehicle 2 in the direction Y perpendicular to the transport vehicle 2. In the example shown in Figure 4, the item G is transferred from the transport vehicle 2, which is positioned on the connecting path 41, to the upper surface of the item cart 46. The transport vehicle 2 moves the item G to the upper surface of the connecting cart 42 in the same manner as when the item G is stored in the item storage area 32.

[0064] Furthermore, in this embodiment, the item cart 46 is configured to be able to transfer items G to and from the second buffer 34. Specifically, the item cart 46 transfers items G to the second buffer 34 at a position adjacent to the first side X1 in the path direction. For this reason, the item cart 46 illustrated in Figure 4 is equipped with a conveyor that moves items G in the path direction X. Thus, the item cart 46 can move items G to the second buffer 34 simply by operating its conveyor after moving to the first side X1 in the path direction.

[0065] In this embodiment, the processing of the control device for moving items G to different warehouse lanes 3 will be described. For the sake of explanation, the processing of the control device will be described using an example in which a second item G2, which is stored in the second warehouse lane 3B, is transported to the lifting device 6 in the first warehouse lane 3A.

[0066] In order to transport goods G to different warehouse lanes 3, the control device first moves the transport vehicle 2 that transports goods G along the travel path 31 onto the connecting path 41. Once on the connecting path 41, the transport vehicle 2 hands over the transported goods G to the goods cart 46. In the example shown in Figure 4, the second transport vehicle 2B that transports the second goods G2 along the travel path 31 of the second warehouse lane 3B moves onto the connecting path 41. As a result, the second transport vehicle 2B is positioned on the connecting path 41, adjacent to the travel path 31 of the second warehouse lane 3B on the first side X1 in the path direction. Then, the second transport vehicle 2B positioned on the connecting path 41 hands over the second goods G2 to the goods cart 46 that has moved to an adjacent position in the orthogonal direction Y.

[0067] The item cart 46 carrying item G moves to a position X1 on the first side in the path direction relative to the second buffer 34 of a different warehouse lane 3, and hands over item G to the second buffer 34. In the example shown in Figure 4, the item cart 46 carrying the second item G2 is positioned adjacent to the second buffer 34 of the first warehouse lane 3A on the first side X1 in the path direction, and then hands over the second item G2 to the second buffer 34. When the item cart 46 hands over the second item G2 to the second buffer 34, the second buffer 34 operates its conveyor, causing the second item G2 to move onto the second buffer 34.

[0068] The item G, which has been handed over to the second buffer 34, is then handed over to the lifting device 6 adjacent to the second buffer 34 on the second side X2 in the path direction, or to the transport vehicle 2 traveling along the same warehouse lane 3's travel path 31. In the example shown in Figure 4, the second buffer 34, having received the second item G2 from the item trolley 46, hands over the second item G2 to the lifting device 6 on the first warehouse lane 3A. The second item G2, having been handed over to the lifting device 6 on the first warehouse lane 3A, is lifted and transported to the first level F1 or a different upper level FU and then transported to a predetermined location.

[0069] [Embodiment 3] The automated warehouse 100 of Embodiment 3 will be described with reference to Figure 5. The automated warehouse 100 of Embodiment 3 differs from the automated warehouse 100 of Embodiment 2 in the configuration of the item moving device 45. Hereafter, we will mainly describe the differences between the automated warehouse 100 of Embodiment 3 and the automated warehouse 100 of Embodiment 2, and omit explanations of other points.

[0070] In this embodiment, the item moving device 45 further comprises a transport trolley 47 positioned on top of the item trolley 46. The transport trolley 47 is configured to transfer items G to and from the second buffer 34 and moves the items G along the path direction X. In the example shown in Figure 5, the transport trolley 47 is common to the transport vehicle 2 and is positioned on top of the item trolley 46 in a position that allows the items G to move along the path direction X. With this configuration, the item moving device 45 does not need to be equipped with a specific transfer device, and the transfer of items G to and from the warehouse lane 3 is possible, thus reducing the overall cost of the equipment. The transport trolley 47 illustrated in Figure 5 is configured to transfer items G to and from the second buffer 34.

[0071] In the example shown in Figure 5, the transport trolley 47 receives the second item G2 from the second transport vehicle 2B and hands it over to the second buffer 34 at a position adjacent to the first side X1 in the path direction. When the transport trolley 47 receives the item G, the item trolley 46 moves to a position adjacent to the second buffer 34 in the path direction X1 in the first warehouse lane 3A, and the second item G2 is handed over from the transport trolley 47 to the second buffer 34 in the first warehouse lane 3A. The second item G2 that has been handed over to the second buffer 34 in the first warehouse lane 3A is then handed over to the lifting device 6 or the first transport vehicle 2A in the first warehouse lane 3A and transported to a predetermined location. In the example shown in Figure 5, the second item G2 that has been handed over from the transport trolley 47 to the second buffer 34 is then handed over to the first transport vehicle 2A and transported to a predetermined location.

[0072] [Embodiment 4] The automated warehouse 100 of Embodiment 4 will be described with reference to Figure 6. The automated warehouse 100 of Embodiment 4 differs from the automated warehouse 100 of Embodiment 1 in the configuration of the connecting transport system 4 and the transport vehicle 2. Hereafter, we will mainly describe the parts of the automated warehouse 100 of Embodiment 4 that differ from the automated warehouse 100 of Embodiment 1, and will omit the description of other parts.

[0073] The connecting transport system 4 includes a connecting path 41 that intersects with a plurality of travel paths 31. The connecting path 41, together with one or more travel paths 31, constitutes an intersection 4X where the paths traveled by the transport vehicles 2 intersect, branching out in three-way, four-way, or other directions. In this embodiment, the connecting path 41 is arranged along a path that includes positions adjacent to each of the different travel paths 31, similar to Embodiment 2. According to this configuration, the goods storage area 32, the first buffer 33, the second buffer 34, and the connecting path 41 are arranged in that order from the second side X2 in the path direction toward the first side X1 in the path direction. Therefore, in each of the plurality of warehouse lanes 3, the transport vehicles 2 that transport goods G between the goods storage area 32 and the first buffer 33, and the transport vehicles 2 that enter the travel path 31 from the connecting path 41 and transport goods G between it and the second buffer 34 can transport goods G simultaneously and in parallel without interfering with each other. The connection route 41 illustrated in Figure 6, similar to the connection position 4C (see Figure 4) described in Embodiment 2, forms a T-shaped three-way intersection 4X with the travel route 31. To elaborate, the arrangement of the travel route 31 and the connection route 41 at the intersection 4X illustrated in Figure 6 is set to be the same as the arrangement of the travel route 31 and the connection route 41 at connection position 4C described in Embodiment 2.

[0074] The transport vehicle 2 of this embodiment differs from the transport vehicle 2 described in Embodiment 2 in that it is configured to travel across both the travel path 31 and the connecting path 41. Therefore, in this embodiment, the transport vehicle 2 includes a first wheel (not shown) for traveling along the travel path 31 and a second wheel (not shown) for traveling along the connecting path 41. For example, the height of the first wheel relative to the chassis 21 is fixed, while the height of the second wheel relative to the chassis 21 is adjustable. To travel along the travel path 31, the transport vehicle 2 moves the first wheel, which is in contact with the travel surface of the travel path 31, with the second wheel separated from the travel path 31. Then, the transport vehicle 2 traveling along the connecting path 41 performs a switching operation to set the height of the second wheel relative to the chassis 21 to a position lower than the height of the first wheel relative to the chassis 21. This switching operation is performed, for example, over an intersection 4X. In this way, the first wheel separates from either the travel path 31 or the connecting path 41, and the second wheel contacts the travel surface of the connecting path 41. In order to travel along the connecting path 41, the transport vehicle 2 moves its second wheels, which are in contact with the running surface of the connecting path 41, while keeping its first wheels separated from the running path 31 or the connecting path 41.

[0075] In this embodiment, the processing of the control device for moving items G to different warehouse lanes 3 will be described. For the sake of explanation, the processing of the control device will be described using an example in which a second item G2, which is stored in the second warehouse lane 3B, is transported to the lifting device 6 in the first warehouse lane 3A.

[0076] In order to transport goods G to different warehouse lanes 3, the control device first moves the transport vehicle 2, which transports goods G along the travel path 31, to intersection 4X. In the example shown in Figure 6, the second transport vehicle 2B, which transports the second goods G2 along the travel path 31 of the second warehouse lane 3B, moves to intersection 4X, which is formed by the travel path 31 of the second warehouse lane 3B and the connecting path 41.

[0077] The second transport vehicle 2B, positioned at intersection 4X, travels along the connecting path 41 after performing a switching operation. After moving to intersection 4X, which is formed by the travel path 31 and connecting path 41 of a different warehouse lane 3, it performs a reverse switching operation to return the height of the second wheels relative to the chassis 21 to the position before the switching operation, and enters the travel path 31 of that warehouse lane 3. In the example shown in Figure 6, the second transport vehicle 2B, carrying the second item G2, performs a reverse switching operation at intersection 4X, which is formed by the travel path 31 and connecting path 41 of the second warehouse lane 3B, and then enters the travel path 31 of the first warehouse lane 3A. The second transport vehicle 2B then moves to a position adjacent to the second buffer 34 in the direction Y orthogonal to the second buffer 34 and hands over the second item G2 to the second buffer 34.

[0078] The item G, which has been handed over to the second buffer 34, is then handed over to the lifting device 6 adjacent to the second buffer 34 on the second side X2 in the path direction, or to the transport vehicle 2 traveling along the same warehouse lane 3's travel path 31. In the example shown in Figure 6, the second buffer 34, having received the second item G2 from the second transport vehicle 2B, hands over the second item G2 to the lifting device 6 on the first warehouse lane 3A. The second item G2, having been handed over to the lifting device 6 on the first warehouse lane 3A, is lifted and transported to the first level F1 or a different upper level FU and then transported to a predetermined location.

[0079] [Other Embodiments] Next, other embodiments of the automated warehouse 100 will be described.

[0080] (1) In the above embodiment, the lifting system 5 was described as lifting and transporting goods G between the warehouse layer 1 located on the upper floor FU and the inbound / outbound conveyor 101 via the first floor F1. However, the lifting system 5 may also lift and transport goods G between warehouse layers 1 of different upper floor FUs.

[0081] (2) In the above embodiment, the travel path 31 was described as a rail. However, the travel path 31 is not limited to a rail. For example, the travel path 31 may be the floor surface on which the transport vehicle 2 travels.

[0082] (3) In the above embodiment, the first buffer 33 and the second buffer 34 were described as conveyors. However, the first buffer 33 and the second buffer 34 may not have transfer devices and may be, for example, shelves for storing articles G. In this case, articles G stored in the first buffer 33 or the second buffer 34 are transferred to the lifting device 6 by a transfer device provided in the lifting device 6, for example.

[0083] (4) In the above embodiment, the article storage area 32 was described as being located on both sides of the travel path 31. However, the article storage area 32 may be located on only one side of the travel path 31 in the orthogonal direction Y.

[0084] (5) In the above embodiment, the first buffer 33 was described as being located adjacent to the article storage area 32 in the path direction X. However, the first buffer 33 may not be adjacent to the article storage area 32, and other components may be located between the first buffer 33 and the article storage area 32.

[0085] (6) In the above embodiment, the travel paths 31 in the same warehouse lane 3 were described as being continuous. However, the travel paths 31 in the same warehouse lane 3 may be divided along the way. For example, the travel path 31 may be divided into a travel path 31 adjacent to the goods storage area 32 and the first buffer 33 and a travel path 31 adjacent to the second buffer 34.

[0086] (7) In the above embodiment, it was explained that the first buffer 33, the second buffer 34, and the lifting device 6 are all equipped with conveyors. However, the first buffer 33, the second buffer 34, and the lifting device 6 are not limited to this configuration. For example, the lifting device 6 may be equipped with transfer forks, and the first buffer 33 and the second buffer 34 may be mounting platforms that are not equipped with transfer devices.

[0087] (8) In the above embodiment, it was explained that the transport vehicle moving device 40 is located on all upper levels FU except for the first level F1. However, the transport vehicle moving device 40 may be located on all levels F. Alternatively, the transport vehicle moving device 40 may be located only on specific levels F.

[0088] (9) In the above embodiment, the lifting device 6 was described as being located across all floors F. However, the lifting device 6 may be located across only a portion of all floors F.

[0089] (10) In the above embodiment, the control device has been described as performing outbound processing and inbound processing. However, the control device may also perform a move processing to move an item G stored in an item storage area 32 to a different item storage area 32. In the move processing, the control device may move the item G to an item storage area 32 on a different hierarchical level F, or to an item storage area 32 on a different warehouse lane 3 within the same hierarchical level F.

[0090] (11) In the above embodiment, the connection path 41 was described as being arranged along a path that includes positions adjacent to each of the different travel paths 31. However, the location of the connection path 41 is not limited to a path that includes positions adjacent to each of the different travel paths 31. For example, the connection path 41 may be arranged along a path that includes intermediate positions in one or more travel paths 31. Examples of intermediate positions include, in the path direction X, the position between the first buffer 33 and the lifting device 6, the position between the lifting device 6 and the second buffer 34, and the position between the article storage area 32 and the first buffer 33.

[0091] (12) In the above embodiment, it was explained that at intersection 4X as shown in Figure 6, the height of the running surface of the transport vehicle 2 on the pair of rails constituting the travel path 31 and the height of the running surface of the transport vehicle 2 on the pair of rails constituting the connecting path 41 are set to be approximately the same. However, if the transport vehicle 2 can move back and forth between the travel path 31 and the connecting path 41, the height of the pair of rails constituting the travel path 31 and the height of the pair of rails constituting the connecting path 41 are not limited to the above.

[0092] (13) In the above embodiment, the transport vehicle 2 was described as having a first wheel and a second wheel in order to travel along the travel path 31 and the connecting path 41. However, the transport vehicle 2 is not limited to having a configuration with a first wheel and a second wheel, as long as it is capable of traveling along the travel path 31 and the connecting path 41.

[0093] (14) In the above embodiment, a configuration in which the connecting transport system 4 includes an article moving device 45 in addition to the transport vehicle moving device 40 was not described. However, the connecting transport system 4 may include a transport vehicle moving device 40 that moves the transport vehicle 2 across different travel paths 31, and an article moving device 45 that is configured to transfer articles G between the second buffer 34 and move the articles G across the second buffer 34 of different warehouse lanes 3. In this case, it is preferable that the article moving device 45 is configured to transport the articles G along the same path as the transport vehicle 2 travel path by the transport vehicle moving device 40. With this configuration, since the article moving device 45 can move the articles G to the second buffer 34 of different warehouse lanes 3, it is possible to move only the articles G to different warehouse lanes 3 without moving the transport vehicle 2 to different warehouse lanes 3. Therefore, it is possible to transport goods G from any warehouse lane 3 to any lifting device 6, and from any lifting device 6 to any warehouse lane 3, and such transport of goods G can be carried out efficiently in a space-saving manner.

[0094] (15) The configurations disclosed in each of the above embodiments may 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.

[0095] [Summary of this embodiment] The following is a summary of the embodiments of the automated warehouse described above.

[0096] The automated warehouse comprises a warehouse layer provided on each of multiple levels, and a lifting system for lifting and transporting goods between each warehouse layer and different heights, wherein each of the multiple warehouse layers comprises a transport vehicle for transporting the goods, a plurality of warehouse lanes arranged in parallel, and a connecting transport system for connecting the plurality of warehouse lanes, wherein each of the plurality of warehouse lanes comprises a travel path on which the transport vehicle travels, a goods storage area arranged along the travel path, a first buffer, and a second buffer, wherein the direction in which the travel path extends is defined as the path direction, one side of the path direction is defined as the first path direction side, and the other side of the path direction is defined as the second path direction side, and the first buffer is defined as the path relative to the goods storage area The first buffer is located on the first side in the direction of the route relative to the first buffer, the transport vehicle is configured to be able to transfer the articles between the article storage area, the first buffer, and the second buffer, the connecting transport system includes a transport vehicle moving device for moving the transport vehicle across different travel paths, the transport vehicle moving device is located on the first side in the direction of the route relative to the second buffer, and the lifting system includes lifting devices provided corresponding to each of the plurality of warehouse lanes, each of which is positioned between the first buffer and the second buffer in the direction of the route, in a manner that allows for the transfer of the articles between the first buffer and the second buffer, respectively.

[0097] With this feature configuration, the items are arranged in the order of item storage area, first buffer, second buffer, and transport vehicle movement device from the second side in the path direction to the first side in the path direction. As a result, in each of the multiple warehouse lanes, transport vehicles that transport items between the item storage area and the first buffer, and transport vehicles that move between warehouse lanes using the transport vehicle movement device to transport items between the warehouse lanes and the second buffer, can transport items simultaneously and in parallel without interfering with each other. Furthermore, since the lifting device is positioned between the first buffer and the second buffer in the path direction, in a state where items can be transferred to and from the first buffer and the second buffer respectively, items placed in the first buffer and the second buffer can be transferred to the lifting device, or items can be transferred from the lifting device to the first buffer or the second buffer. This makes it possible to transport items from any warehouse lane to any lifting device, and from any lifting device to any warehouse lane, and to transport items efficiently. Consequently, it becomes easy to retrieve items from each lifting device in a desired order, and easy to store incoming items in a desired location.

[0098] The automated warehouse comprises a warehouse layer provided on each of multiple levels, and a lifting system for raising and lowering goods between each warehouse layer and a different height, wherein each of the multiple warehouse layers comprises a transport vehicle for transporting the goods, a plurality of warehouse lanes arranged in parallel, and a connecting transport system for connecting the plurality of warehouse lanes, wherein each of the plurality of warehouse lanes comprises a travel path on which the transport vehicle travels, an goods storage area arranged along the travel path, a first buffer, and a second buffer, wherein the direction in which the travel path extends is defined as the path direction, one side of the path direction is defined as the first path direction side, and the other side of the path direction is defined as the second path direction side, the first buffer is positioned on the first path direction side with respect to the goods storage area, and the second buffer A is positioned on the first side in the path direction relative to the first buffer, the transport vehicle is configured to transfer articles between the article storage area and the first buffer, the connecting transport system includes an article moving device for moving articles across different warehouse lanes, the article moving device is positioned on the first side in the path direction relative to the second buffer and is configured to transfer articles between at least one of the transport vehicle and the second buffer, the lifting system includes lifting devices provided corresponding to each of the plurality of warehouse lanes, each of which is positioned between the first buffer and the second buffer in the path direction, in a manner that allows for the transfer of articles between the first buffer and the second buffer, respectively.

[0099] This feature configuration allows the item transfer device to transfer items to a second buffer in a different warehouse lane or to a transport vehicle traveling along a different warehouse lane's route. Therefore, it is possible to move only the items to a different warehouse lane without moving the transport vehicle to the different warehouse lane. Consequently, it is possible to transport items from any warehouse lane to any lifting device, and from any lifting device to any warehouse lane, and to carry out such item transport more efficiently. Furthermore, since the lifting device is positioned between the first and second buffers in the path direction, allowing for the transfer of items between them, it is possible to transfer items from the first and second buffers to the lifting device, or from the lifting device to the first or second buffer. This enables the transport of items from any warehouse lane to any lifting device, and from any lifting device to any warehouse lane, and to carry out such item transport efficiently. Consequently, it becomes easier to retrieve items from each lifting device in a desired order, and to store incoming items in a desired location.

[0100] Furthermore, the automated warehouse comprises a warehouse layer provided on each of multiple levels, and a lifting system for lifting and transporting goods between each of the warehouse layers and different heights, wherein each of the multiple warehouse layers comprises a transport vehicle for transporting the goods, a plurality of warehouse lanes arranged in parallel, and a connecting transport system for connecting the plurality of warehouse lanes, wherein each of the plurality of warehouse lanes comprises a travel path on which the transport vehicle travels, an goods storage area arranged along the travel path, a first buffer, and a second buffer, wherein the direction in which the travel path extends is defined as the path direction, one side of the path direction is defined as the first path direction side, and the other side of the path direction is defined as the second path direction side, and the first buffer is defined as the goods storage area The second buffer is positioned on the first side of the path direction relative to the first buffer, the transport vehicle is configured to transfer articles between the article storage area, the first buffer, and the second buffer, the connecting transport system includes a connecting path that intersects with a plurality of travel paths, the transport vehicle is configured to travel across the travel paths and the connecting path, the lifting system includes a lifting device provided corresponding to each of the plurality of warehouse lanes, and each of the lifting devices is positioned between the first buffer and the second buffer in the path direction in such a state that articles can be transferred between them.

[0101] This configuration allows the transport vehicle to transport goods between different warehouse lanes by traveling along the connecting path of the connected transport system. Furthermore, since the lifting device is positioned between the first and second buffers in the path direction, enabling the transfer of goods between them, goods placed in the first and second buffers can be transferred to the lifting device, or goods can be transferred from the lifting device to the first or second buffer. This allows for the transport of goods from any warehouse lane to any lifting device, and from any lifting device to any warehouse lane, and enables efficient transport of such goods. Consequently, it becomes easy to retrieve goods from each lifting device in a desired order, and to store incoming goods in a desired location.

[0102] Furthermore, it is preferable that in at least one of the multiple warehouse layers, the number of transport vehicles is less than the number of warehouse lanes arranged in parallel in that warehouse layer.

[0103] This configuration makes it possible to reduce the number of transport vehicles and lower the cost of the automated warehouse. The cost reduction effect is particularly high when there are many layers in the warehouse or when there are many warehouse lanes in each warehouse layer.

[0104] Furthermore, with the direction perpendicular to the path direction in a vertical view as the orthogonal direction, each of the plurality of warehouse lanes comprises a pair of article storage areas arranged separately on both sides in the direction perpendicular to the travel path, a pair of first buffers arranged separately on both sides in the direction perpendicular to the travel path, and a pair of second buffers arranged separately on both sides in the direction perpendicular to the travel path, and the lifting system comprises a pair of lifting devices corresponding to each of the plurality of warehouse lanes, one of the pair of lifting devices positioned between one of the pair of first buffers and one of the pair of second buffers, and the other of the pair of lifting devices positioned between the other of the pair of first buffers and the other of the pair of second buffers The first lifting device, which is one of a pair of lifting devices, is positioned between the first buffer, which is one of a pair of first buffers, and the second buffer, which is one of a pair of second buffers, and is preferably used to transport the articles into the warehouse lane and deliver the articles to at least one of the first buffer and the second buffer. The second lifting device, which is the other of a pair of lifting devices, is positioned between the first buffer, which is the other of a pair of first buffers, and the second buffer, which is the other of a pair of second buffers, and is preferably used to receive the articles from at least one of the first buffer and the second buffer and to transport the articles out of the warehouse lane.

[0105] With this configuration, the transport vehicle can collect items being discharged from the warehouse lane into at least one of the first and second outbound buffers, and can receive one or more items being brought into the warehouse lane from at least one of the first and second inbound buffers. Therefore, it is easier to increase the efficiency of transporting multiple items by the transport vehicle.

[0106] Furthermore, it is preferable that each of the multiple lifting devices is arranged across multiple warehouse layers, and that in each warehouse layer, it is positioned between the first buffer and the second buffer in the path direction, allowing for the transfer of items between the first buffer and the second buffer of the corresponding warehouse lane.

[0107] This configuration allows for the lifting and transport of goods across multiple levels using a single lifting device. Therefore, it is easier to miniaturize and reduce the cost of the automated warehouse compared to a configuration where a separate lifting device is installed on each level.

[0108] Furthermore, with the direction perpendicular to the path direction in a vertical view defined as the orthogonal direction, each of the plurality of warehouse lanes comprises a pair of article storage areas arranged separately on both sides in the direction perpendicular to the travel path, a pair of first buffers arranged separately on both sides in the direction perpendicular to the travel path, and a pair of second buffers arranged separately on both sides in the direction perpendicular to the travel path. The lifting system comprises a pair of lifting devices corresponding to each of the plurality of warehouse lanes, wherein one of the pair of lifting devices is positioned between one of the pair of first buffers and one of the pair of second buffers, and the other of the pair of lifting devices is positioned between the other of the pair of first buffers and the other of the pair of second buffers.

[0109] According to this configuration, a transport vehicle traveling along a single travel path can transport goods to the goods storage areas, the first buffer, and the second buffer located on both sides of the travel path, and the goods can be raised and lowered using lifting devices located on both sides of the travel path. Therefore, it is easy to secure a large number of goods to store and to improve the efficiency of goods transport. [Industrial applicability]

[0110] The technology disclosed herein can be used in an automated warehouse that includes transport vehicles for transporting goods on each of the multiple levels, and a lifting system for raising and lowering goods between each level. [Explanation of symbols]

[0111] 1: Warehouse Layer 2: Transport vehicle 3: Warehouse Lane 4: Connecting and transporting system 5: Lifting system 6: Lifting device 6A: First lifting device 6B: Second lifting device 31: Route 32: Item storage area 33: 1st buffer 34: Second buffer 40: Transport vehicle moving device 45: Goods moving device 100: Automated warehouse 331: First buffer for receiving goods 332: First buffer for outbound shipments 341: Second buffer for receiving goods 342: Second buffer for outbound shipments F :Hierarchy G:Goods X: Path direction X1: First side in the path direction X2: Second side in the path direction Y: Orthogonal direction Z: Vertical direction

Claims

1. Warehouse layers are provided at each of the multiple levels, A lifting system for raising and lowering goods between each of the aforementioned warehouse layers and different heights, An automated warehouse equipped with, Each of the multiple layers of the warehouse comprises a transport vehicle for transporting the goods, a plurality of warehouse lanes arranged in parallel, and a connecting transport system for connecting the plurality of warehouse lanes. Each of the aforementioned warehouse lanes is The travel route on which the transport vehicle travels, Article storage areas arranged along the aforementioned travel path, The first buffer and, The second buffer, Equipped with, The direction in which the aforementioned travel path extends is defined as the path direction, one side of the path direction is defined as the first path direction side, and the other side of the path direction is defined as the second path direction side. The first buffer is positioned on the first side in the path direction relative to the article storage area. The second buffer is positioned on the first side in the path direction relative to the first buffer, The transport vehicle is configured to be able to transfer the articles between the article storage area, the first buffer, and the second buffer. The connected transport system includes a transport vehicle moving device that moves the transport vehicles across different travel paths. The transport vehicle moving device is positioned on the first side in the path direction relative to the second buffer. The lifting system comprises a lifting device provided corresponding to each of the multiple warehouse lanes, An automated warehouse, wherein each of the lifting devices is positioned between the first buffer and the second buffer in the path direction, allowing for the transfer of the articles between them.

2. Warehouse layers are provided at each of the multiple levels, A lifting system for raising and lowering goods between each of the aforementioned warehouse layers and different heights, An automated warehouse equipped with, Each of the multiple layers of the warehouse comprises a transport vehicle for transporting the goods, a plurality of warehouse lanes arranged in parallel, and a connecting transport system for connecting the plurality of warehouse lanes. Each of the aforementioned warehouse lanes is The travel route on which the transport vehicle travels, Article storage areas arranged along the aforementioned travel path, The first buffer and, The second buffer, Equipped with, The direction in which the aforementioned travel path extends is defined as the path direction, one side of the path direction is defined as the first path direction side, and the other side of the path direction is defined as the second path direction side. The first buffer is positioned on the first side in the path direction relative to the article storage area. The second buffer is positioned on the first side in the path direction relative to the first buffer, The transport vehicle is configured to be able to transfer the articles between the article storage area and the first buffer, The connecting transport system includes an article moving device for moving the articles across different warehouse lanes. The article transfer device is positioned on the first side in the path direction relative to the second buffer and is configured to be able to transfer the article between at least one of the transport vehicle and the second buffer. The lifting system comprises a lifting device provided corresponding to each of the multiple warehouse lanes, An automated warehouse, wherein each of the lifting devices is positioned between the first buffer and the second buffer in the path direction, allowing for the transfer of the articles between them.

3. Warehouse layers are provided at each of the multiple levels, A lifting system for raising and lowering goods between each of the aforementioned warehouse layers and different heights, An automated warehouse equipped with, Each of the multiple layers of the warehouse comprises a transport vehicle for transporting the goods, a plurality of warehouse lanes arranged in parallel, and a connecting transport system for connecting the plurality of warehouse lanes. Each of the aforementioned warehouse lanes is The travel route on which the transport vehicle travels, Article storage areas arranged along the aforementioned travel path, The first buffer and, The second buffer, Equipped with, The direction in which the aforementioned travel path extends is defined as the path direction, one side of the path direction is defined as the first path direction side, and the other side of the path direction is defined as the second path direction side. The first buffer is positioned on the first side in the path direction relative to the article storage area. The second buffer is positioned on the first side in the path direction relative to the first buffer, The transport vehicle is configured to be able to transfer the articles between the article storage area, the first buffer, and the second buffer. The aforementioned connecting transport system includes a connecting path that intersects with a plurality of the aforementioned travel paths, The transport vehicle is configured to be able to travel along the aforementioned travel path and the aforementioned connecting path. The lifting system comprises a lifting device provided corresponding to each of the multiple warehouse lanes, An automated warehouse, wherein each of the lifting devices is positioned between the first buffer and the second buffer in the path direction, allowing for the transfer of the articles between them.

4. The automated warehouse according to any one of claims 1 to 3, wherein in at least one of the multiple warehouse layers, the number of transport vehicles is less than the number of warehouse lanes arranged in parallel in that warehouse layer.

5. When viewed from above, the direction perpendicular to the path direction is defined as the orthogonal direction. Each of the plurality of warehouse lanes comprises a pair of article storage areas arranged separately on both sides in a direction perpendicular to the travel path, a pair of first buffers arranged separately on both sides in a direction perpendicular to the travel path, and a pair of second buffers arranged separately on both sides in a direction perpendicular to the travel path. The lifting system comprises a pair of lifting devices corresponding to each of the plurality of warehouse lanes, The first lifting device, which is one of a pair of lifting devices, is positioned between the first receiving buffer, which is one of a pair of first buffers, and the second receiving buffer, which is one of a pair of second buffers, and carries the articles into the warehouse lane and delivers the articles to at least one of the first receiving buffer and the second receiving buffer. An automated warehouse according to any one of claims 1 to 3, wherein the second lifting device, which is the other of a pair of lifting devices, is positioned between a first outbound buffer, which is the other of a pair of first buffers, and a second outbound buffer, which is the other of a pair of second buffers, and receives the articles from at least one of the first outbound buffer and the second outbound buffer, and discharges the articles from the warehouse lane.

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