Automated warehouse

Abstract

When storage areas are provided on both sides of the X-direction relative to the Y-direction path, it is desirable to realize a technology that can easily improve the storage efficiency of goods in both storage areas on both sides of the X-direction. [Solution] At least one of the supply device 3 and the first transport vehicle 10 of the automated warehouse 100 performs a process to place the article 4 on the loading platform of the first transport vehicle 10 in a specific positional relationship. The specific positional relationship is such that, when the storage row 6 to which the article 4 is stored is located in the first storage area A1, the position in the X direction of the end of the first side X1 in the X direction of the article 4 is the same as or further than the end of the first side X1 in the X direction of the loading platform. When the storage row 6 to which the article 4 is stored is located in the second storage area A2, the position in the X direction of the end of the second side X2 in the X direction of the article 4 is the same as or further than the end of the second side X2 in the X direction of the loading platform.

Description

[TECHNICAL FIELD]

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

[0002] An example of an automated warehouse is disclosed in Japanese Unexamined Patent Application Publication No. 2019-1655 (Patent Document 1). In the following description of this background art, reference numerals in Patent Document 1 are cited in parentheses. The automated warehouse of Patent Document 1 includes a storage shelf section (20), an accommodation shelf section (30), a transport carriage (14), and an intermediate carriage (16). The transport carriage (14) loads and unloads loads (12) to and from the storage shelf section (20) and the accommodation shelf section (30). The intermediate carriage (16) includes a loading section (16c) for loading the transport carriage (14), and transports the transport carriage (14) in the row direction between the storage shelf section (20) and the accommodation shelf section (30). A load (12) to be stored in the automated warehouse is carried into the accommodation shelf section (30) from the outside, and then transported to the storage shelf section (20) by the transport carriage (14) and the intermediate carriage (16) to be stored.

[0003] The storage shelf section (20) includes a plurality of storage section rows (22) capable of storing loads (12) arranged along the column direction, and the plurality of storage section rows (22) are connected in the row direction to form a storage section array (23). In the storage section row (22), a rail (41) on which the transport carriage (14) travels is provided along the column direction, and the load (12) is stored on the rail (41). The transport carriage (14) includes a placing section (14c) on which the load (12) is placed and a lift mechanism (14d) for lifting and lowering the placing section (14c). As shown in FIG. 16 of Patent Document 1, when storing the load (12) into the storage section row (22), the load (12) is lowered onto the rail (41) by lowering the placing section (14c) with the load (12) placed thereon. As described in paragraphs 0122 and 0123 and FIG. 19 of Patent Document 1, when storing the load (12), the load (12) is placed on the placing section (14c) in a positional relationship where the end of the load (12) and the end of the placing section (14c) substantially coincide with each other, and the load (12) is then stored. [PRIOR ART DOCUMENT] [PATENT DOCUMENT]

[0004] [Patent Document 1] Japanese Patent Publication No. 2019-1655 [Overview of the project] [Problems that the invention aims to solve]

[0005] By the way, if we consider the two directions that intersect each other when viewed vertically as the X direction and the Y direction (column direction and row direction in Patent Document 1), then in the automated warehouse of Patent Document 1, a storage area (storage section arrangement in Patent Document 1) is provided on only one side in the X direction relative to the Y direction path (travel path of the intermediate trolley in Patent Document 1), where multiple storage columns capable of storing multiple items (loads in Patent Document 1) are provided in the Y direction along the X direction. Unlike this configuration, it is also conceivable to have a configuration in which the storage area is provided on both sides in the X direction relative to the Y direction path, and in this case, it is desirable to be able to increase the storage efficiency of items in both storage areas on both sides in the X direction. However, Patent Document 1 does not disclose a configuration in which the storage area is provided on both sides in the X direction relative to the Y direction path.

[0006] Therefore, when storage areas are provided on both sides of the X-direction relative to the Y-direction path, it is desirable to realize a technology that can easily improve the storage efficiency of goods in both storage areas on both sides of the X-direction. [Means for solving the problem]

[0007] In one embodiment, the automated warehouse according to the present disclosure comprises: a Y-direction path provided along the Y-direction, where two directions intersecting each other in a vertical view are the X-direction and the Y-direction, one side of the X-direction is designated as the first X-direction side, and the other side of the X-direction is designated as the second X-direction side; a first storage area provided in the Y-direction, where multiple storage rows are arranged on the first X-direction side relative to the Y-direction path and capable of storing articles in a line along the X-direction; a second storage area provided in the Y-direction, where multiple storage rows are arranged on the second X-direction side relative to the Y-direction path; a first transport vehicle that travels along each of the storage rows below the articles stored in the storage rows to transport the articles; a second transport vehicle capable of carrying the first transport vehicle and traveling along the Y-direction path; and a supply device that supplies the articles to the first transport vehicle, wherein the first transport vehicle transports the articles The supply device comprises a platform on which items are placed and a lifting mechanism for raising and lowering the platform, and at least one of the supply device and the first transport vehicle performs a specific placement process to place the items on the platform of the first transport vehicle in a specific positional relationship when the items to be stored in the storage row are transported by the first transport vehicle, wherein the specific positional relationship is a first positional relationship in which, when the storage row to which the items are stored is located in the first storage area, the position in the X direction of the end of the item on the first side in the X direction is the same as or further to the first side in the X direction than the end of the platform on the first side in the X direction, and a second positional relationship in which, when the storage row to which the items are stored is located in the second storage area, the position in the X direction of the end of the item on the second side in the X direction is the same as or further to the second side in the X direction than the end of the platform on the second side in the X direction.

[0008] According to this configuration, if the storage row to which the items are to be stored is located in the first storage area, which is positioned on the first side in the X direction relative to the Y direction path, a specific placement process can be used to achieve a state in which the items are placed on the loading platform of the first transport vehicle in a first positional relationship, that is, a state in which the loading platform of the first transport vehicle does not protrude in the first side in the X direction relative to the items. Furthermore, if the storage row to which the items are to be stored is located in the second storage area, which is positioned on the second side in the X direction relative to the Y direction path, a specific placement process can be used to achieve a state in which the items are placed on the loading platform of the first transport vehicle in a second positional relationship, that is, a state in which the loading platform of the first transport vehicle does not protrude in the second side in the X direction relative to the items. Therefore, regardless of whether the storage row to which the items are to be stored is located in the first storage area or the second storage area, it is possible to store the items to be stored in a position close to already stored items while avoiding interference between the loading platform of the first transport vehicle and already stored items in the storage row.

[0009] Thus, with this configuration, by switching the state achieved by the specific placement process depending on whether the storage row to which the item is stored is in the first storage area or the second storage area, the item to be stored can be stored in a position close to already stored items, regardless of which storage area the storage row to which the item is stored is located in. As a result, when storage areas are provided on both sides of the X-direction relative to the Y-direction path, it is easier to improve the storage efficiency of items in both storage areas on both sides of the X-direction.

[0010] In another embodiment, the automated warehouse according to the present disclosure comprises a Y-direction path provided along the Y-direction, with two directions intersecting each other in a vertical view being the X-direction and the Y-direction, one side of the X-direction being the first X-direction side and the other side of the X-direction being the second X-direction side; a first storage area provided in the Y-direction, arranged on the first X-direction side with respect to the Y-direction path, and having multiple rows of storage columns in the Y-direction capable of storing articles arranged along the X-direction; a second storage area provided on the second X-direction side with respect to the Y-direction path, and having multiple rows of storage columns in the Y-direction; a transport vehicle that travels along the Y-direction path and transports the articles by traveling along each of the storage columns below the articles stored in the storage columns; and a supply device that supplies the articles to the transport vehicle, wherein the transport vehicle has a loading platform on which the articles are placed. The supply device and the transport vehicle are equipped with a lifting mechanism for raising and lowering the aforementioned platform, and when the transport vehicle transports the articles to be stored in the storage row, the supply device and the transport vehicle perform a specific placement process to place the articles on the aforementioned platform of the transport vehicle in a specific positional relationship, wherein the specific positional relationship is a first positional relationship in which, when the storage row to which the articles are stored is located in the first storage area, the position in the X direction of the end of the article on the first side in the X direction is the same as or further to the first side in the X direction than the end of the aforementioned platform, and a second positional relationship in which, when the storage row to which the articles are stored is located in the second storage area, the position in the X direction of the end of the article on the second side in the X direction is the same as or further to the second side in the X direction than the end of the aforementioned platform.

[0011] According to this configuration, if the storage row where the items are to be stored is located in the first storage area, which is positioned on the first side in the X direction relative to the Y direction path, the specific placement process can achieve a state in which the items are placed on the transport vehicle's platform in a first positional relationship, that is, a state in which the transport vehicle's platform does not protrude from the items in the first side in the X direction. Furthermore, if the storage row where the items are to be stored is located in the second storage area, which is positioned on the second side in the X direction relative to the Y direction path, the specific placement process can achieve a state in which the items are placed on the transport vehicle's platform in a second positional relationship, that is, a state in which the transport vehicle's platform does not protrude from the items in the second side in the X direction. Therefore, regardless of whether the storage row where the items are to be stored is located in the first or second storage area, it is possible to store the items to be stored in a position close to already stored items while avoiding interference between the transport vehicle's platform and already stored items in the storage row.

[0012] Thus, with this configuration, by switching the state achieved by the specific placement process depending on whether the storage row to which the item is stored is in the first storage area or the second storage area, the item to be stored can be stored in a position close to already stored items, regardless of which storage area the storage row to which the item is stored is located in. As a result, when storage areas are provided on both sides of the X-direction relative to the Y-direction path, it is easier to improve the storage efficiency of items in both storage areas on both sides of the X-direction.

[0013] Further features and advantages of the automated warehouse will become clear from the following description of the embodiment described with reference to the drawings. [Brief explanation of the drawing]

[0014] [Figure 1] Floor plan of an automated warehouse [Figure 2] Partial perspective view of an automated warehouse [Figure 3] Another perspective view of the automated warehouse [Figure 4] Diagram illustrating the specific placement process when the storage row for an item is located in the first storage area. [Figure 5] Explanatory diagram of specific placement processing when the storage row of the article storage destination is located in the first storage area [Figure 6] Explanatory diagram of specific placement processing when the storage row of the article storage destination is located in the second storage area [Figure 7] Explanatory diagram of specific placement processing when the storage row of the article storage destination is located in the second storage area [Figure 8] Explanatory diagram of article storage processing for a storage row provided in the first storage area [Figure 9] Explanatory diagram of article storage processing for a storage row provided in the second storage area [Figure 10] Explanatory diagram of transfer processing from a storage row provided in the first storage area to another storage row provided in the first storage area [Figure 11] Explanatory diagram of transfer processing from a storage row provided in the first storage area to a storage row provided in the second storage area [Figure 12] Explanatory diagram of specific placement processing executed in transfer processing from a storage row provided in the first storage area to a storage row provided in the second storage area [Figure 13] Control block diagram [Figure 14] Control flow diagram [Figure 15] Plan view of an automatic warehouse according to another embodiment [Figure 16] Explanatory diagram of specific placement processing when the storage row of the article storage destination according to another embodiment is located in the first storage area [Figure 17] Explanatory diagram of specific placement processing when the storage row of the article storage destination according to another embodiment is located in the second storage area [Mode for Carrying Out the Invention]

[0015] An embodiment of an automatic warehouse will be described with reference to the drawings. Note that in each drawing, each part is appropriately simplified, and actual shapes and dimensional ratios are not necessarily accurately represented.

[0016] In this specification, the two directions that intersect each other in the vertical Z-direction (plan view) are defined as the X-direction and the Y-direction. Here, the vertical Z-direction is the vertical direction, and both the X-direction and the Y-direction are horizontal directions. One side of the X-direction is designated as the first X-direction side X1, the other side as the second X-direction side X2, one side of the Y-direction is designated as the first Y-direction side Y1, and the other side as the second Y-direction side Y2. The intersection angle of the X-direction and the Y-direction in the vertical Z-direction may be less than 90 degrees (for example, an angle in the range of 60 to 80 degrees), but in this embodiment, this intersection angle is 90 degrees. Furthermore, the X-direction and the Y-direction may be curved or bent directions, but in this embodiment, both the X-direction and the Y-direction are linear directions.

[0017] The automated warehouse 100 is a warehouse that automatically handles the inbound and outbound handling of goods 4. The type of goods 4 is not limited to this, but in this embodiment, goods 4 is a pallet on which goods are loaded. Note that in each figure, goods 4 are represented without distinction between goods and pallets. As shown in Figure 1, in this embodiment, goods 4 to be stored in the automated warehouse 100 are brought into the automated warehouse 100 by the inbound device 32, and goods 4 to be left out of the automated warehouse 100 are left out of the automated warehouse 100 by the outbound device 42. Examples of the inbound device 32 and the outbound device 42 include conveyors such as belt conveyors and roller conveyors, and transport vehicles such as automated guided vehicles.

[0018] In this embodiment, items 4 received into the automated warehouse 100 are delivered to the receiving conveyor 30 either directly from the receiving device 32 or via another device. Similarly, items 4 delivered out of the automated warehouse 100 are delivered to the delivery device 42 either directly from the delivery conveyor 40 or via another device. As shown in Figure 1, in this embodiment, the receiving conveyor 30 and the delivery conveyor 40 are located on the first side Y1 in the Y direction relative to the storage area (A1, A2), which will be described later. However, the receiving conveyor 30 and the delivery conveyor 40 may also be located on the second side Y2 in the Y direction relative to the storage area (A1, A2), or on both sides in the Y direction relative to the storage area (A1, A2). Furthermore, the receiving conveyor 30 and the delivery conveyor 40 may be located separately on both sides in the Y direction relative to the storage area (A1, A2). Furthermore, it is also possible to configure the system so that a separate outbound conveyor 40 is not provided in addition to the inbound conveyor 30, and the inbound conveyor 30 is used as an outbound conveyor as well.

[0019] In this embodiment, the automated warehouse 100 is configured to store articles 4 on each of multiple levels arranged in the vertical Z direction, and Figure 1 shows one of these levels. Each of the multiple levels is provided with an inbound conveyor 30, and articles 4 being stored in the automated warehouse 100 are transferred from the inbound device 32 to the inbound conveyor 30 on the level where the articles 4 are stored, via an inbound lifter 31 equipped with a lifting platform for raising and lowering the articles 4. Similarly, each of the multiple levels is provided with an outbound conveyor 40, and articles 4 being shipped out of the automated warehouse 100 are transferred from the outbound conveyor 40 on the level where the articles 4 are stored to the outbound device 42, via an outbound lifter 41 equipped with a lifting platform for raising and lowering the articles 4. For example, conveyors are provided on the lifting platforms of the inbound lifter 31 and the outbound lifter 41.

[0020] As shown in Figure 1, the automated warehouse 100 includes a Y-direction path 7, a first storage area A1, a second storage area A2, a transport vehicle 1, and a supply device 3. In this embodiment, the transport vehicle 1 includes a first transport vehicle 10 and a second transport vehicle 20. The automated warehouse 100 further includes a control device 2 (see Figure 13).

[0021] The Y-direction path 7 is a path provided along the Y direction. In this embodiment, a Y-direction path 7 is provided in each of the multiple levels. As shown in Figures 1 and 2, in this embodiment, the Y-direction path 7 is formed by a Y-direction rail 70 provided along the Y direction. The Y-direction rail 70 is supported by a support column 90 that extends along the vertical direction Z. Here, the Y-direction path 7 is formed by a pair of Y-direction rails 70 that are spaced apart in the X direction at the same position in the vertical direction Z. In the illustrated example, a passage-forming member 91 for forming a walkway for workers is placed between the pair of Y-direction rails 70.

[0022] The first storage area A1 is located on the first side X1 in the X direction relative to the Y direction path 7, and the second storage area A2 is located on the second side X2 in the X direction relative to the Y direction path 7. Each of the first storage area A1 and the second storage area A2 is provided with multiple storage rows 6 in the Y direction (9 rows in the example shown in Figure 1) that allow articles 4 to be stored in a row along the X direction. In this embodiment, the first storage area A1 and the second storage area A2 are provided in each of the multiple levels.

[0023] In this embodiment, a storage row 6 is formed by an X-direction rail 60 provided along the X direction. The X-direction rail 60 is supported by a support column 90. Here, the storage row 6 is formed by a pair of X-direction rails 60 arranged at the same position in the vertical Z direction but spaced apart in the Y direction. As shown in Figure 1, the articles 4 are stored in the storage row 6 with both sides in the Y direction supported by the pair of X-direction rails 60. Specifically, the articles 4 are stored in the storage row 6 with their surfaces placed on the mounting surfaces 62 (see Figure 2) formed on each of the pair of X-direction rails 60.

[0024] As shown in Figure 2, the first transport vehicle 10 comprises a first main body 11 on which first running wheels 14 are provided. In Figure 2, only the first running wheels 14 provided on the second side Y2 in the Y direction are shown, but the first running wheels 14 are provided on both sides in the Y direction of the first main body 11. Note that the first running wheels 14 are omitted in Figure 4 and other figures. The first transport vehicle 10 moves by rotating some or all of the first running wheels 14 with a drive device such as an electric motor. Details are omitted, but the position of the first transport vehicle 10 in the X direction is controlled based on detection information from a detection device (for example, an encoder that detects the rotation of the first running wheels 14, or a distance sensor that detects the distance to the object).

[0025] As shown in Figures 2 and 5, the transport vehicle 1 (first transport vehicle 10 in this embodiment) includes a platform 12 on which articles 4 are placed, and a lifting mechanism 13 (omitted in Figure 2) for raising and lowering the platform 12. The lifting mechanism 13 raises and lowers the platform 12 relative to the first main body 11. The lifting mechanism 13 raises and lowers the platform 12 using the driving force of a drive device such as an electric motor. Therefore, the lifting mechanism 13 is equipped with a power transmission mechanism that transmits the driving force of the drive device to the platform 12 (for example, a power transmission mechanism that converts the rotational driving force of the drive device into a driving force in the vertical direction Z and transmits it to the platform 12). In this embodiment, the platform 12 is not provided with a conveyor for transporting articles 4 in the X direction.

[0026] The X-direction dimension of the display stand 12 is greater than the X-direction dimension of at least some of the articles 4. That is, if only articles 4 of the same dimensions are handled in the automated warehouse 100, the X-direction dimension of the display stand 12 is greater than the X-direction dimension of all the articles 4. Also, if articles 4 of different dimensions are handled in the automated warehouse 100, the X-direction dimension of the display stand 12 is greater than the X-direction dimension of some or all of the articles 4. On the other hand, the Y-direction dimension of the display stand 12 is smaller than the Y-direction dimension of all the articles 4.

[0027] In the example shown in Figure 2, the first transport vehicle 10 is equipped with a third detection device 83 and a fourth detection device 84. The third detection device 83 and the fourth detection device 84 are provided, for example, to detect the pallet that constitutes the article 4. The third detection device 83 and the fourth detection device 84 are sensors that detect the presence or absence of the article 4 and the distance to the article 4 by blocking or reflecting light. The third detection device 83 is used, for example, to detect the presence or absence of the article 4 on the first side X1 in the X direction relative to the first transport vehicle 10, the distance to the article 4 located on the first side X1 in the X direction relative to the first transport vehicle 10, or the position of the end of the article 4 on the first side X1 in the X direction that is located on the upper side Z1 relative to the first transport vehicle 10. Furthermore, the fourth detection device 84 is used, for example, to detect the presence or absence of article 4 on the second side X2 in the X direction relative to the first transport vehicle 10, the distance to article 4 located on the second side X2 in the X direction relative to the first transport vehicle 10, or the position of the end of article 4 on the second side X2 in the X direction that is located on the upper side Z1 relative to the first transport vehicle 10.

[0028] The first transport vehicle 10 transports the articles 4 stored in the storage rows 6 by traveling along each storage row 6, below Z2 below the articles 4 stored in the storage rows 6. In this embodiment, the travel path of the first transport vehicle 10 in the storage rows 6 is formed by a pair of X-direction rails 60. Specifically, as shown in Figure 2, the X-direction rails 60 have running surfaces 61 on which the first running wheels 14 roll, and the first transport vehicle 10 travels along the X direction (i.e., along the storage rows 6) on the pair of running surfaces 61 formed on the pair of X-direction rails 60.

[0029] With the side of a pair of X-direction rails 60 arranged along one storage row 6 that faces the center in the Y direction being defined as the "inside in the Y direction," the running surface 61 is formed on the Y-direction inward relative to the mounting surface 62 formed on the same X-direction rail 60 as the running surface 61. Furthermore, the running surface 61 is formed below Z2 relative to the mounting surface 62 formed on the same X-direction rail 60 as the running surface 61. The first transport vehicle 10 (specifically, the first transport vehicle 10 with the mounting platform 12 lowered) is configured to travel below Z2 relative to the articles 4 placed on the mounting surface 62. This makes it possible to move the first transport vehicle 10 below Z2 relative to the articles 4 stored in the storage row 6.

[0030] When storing an item 4 in storage row 6, the first transport vehicle 10 enters storage row 6 with the mounting platform 12 raised so that the bottom surface of the item 4 placed on the mounting platform 12 is positioned above the mounting surface 62 (Z1), and travels to the position where the item 4 is to be stored (see Figures 8(a) and 9(a)). Then, the first transport vehicle 10 lowers the mounting platform 12 to lower the item 4 placed on the mounting platform 12 onto the mounting surface 62, and then exits storage row 6 (see Figures 8(b) and 9(b)). The stopping position of the first transport vehicle 10 when storing an item 4 in storage row 6 is controlled, for example, based on the detection result of the third detection device 83 or the fourth detection device 84 of an item already stored in the storage row 6 (for example, the detection result of the distance to the item already stored).

[0031] The storage of items 4 in storage row 6 is carried out by filling them from the side furthest from the Y-direction path 7 in the X-direction (the first side X1 in the X-direction for the first storage area A1, and the second side X2 in the X-direction for the second storage area A2). Figure 8 shows, in chronological order from Figure 8(a), Figure 8(b), Figure 8(c), and Figure 8(d), how four items 4, namely the first item 4A, the second item 4B, the third item 4C, and the fourth item 4D, are stored in storage row 6 in the first storage area A1, filling them from the first side X1 in the X-direction. Figure 9 shows, in chronological order from Figure 9(a), Figure 9(b), Figure 9(c), and Figure 9(d), how four items 4, namely the fifth item 4E, the sixth item 4F, the seventh item 4G, and the eighth item 4H, are stored in storage row 6 in the second storage area A2, filling them from the second side X2 in the X-direction.

[0032] When retrieving item 4 from storage row 6, the first transport vehicle 10 lowers the mounting platform 12 so that its upper surface is positioned below the mounting surface 62 by Z2, and then enters the area below the item 4 to be retrieved (see Figure 10(a)). In Figure 10(a), item 4, labeled "4T", is the item 4 to be retrieved. The first transport vehicle 10 then raises the mounting platform 12 to place the item 4, which is on the mounting surface 62, onto the mounting platform 12, and then exits storage row 6 (see Figure 10(b)). The stopping position of the first transport vehicle 10 when retrieving item 4 from storage row 6 is controlled, for example, based on the detection result of the item 4 by the third detection device 83 or the fourth detection device 84 (for example, the detection result of the position of the end of the item 4 in the X direction).

[0033] The retrieval of item 4 from storage row 6 is performed sequentially, starting from the side in the X direction closest to the Y-direction path 7 (the second side in the X direction X2 in the case of the first storage area A1, and the first side in the X direction X1 in the case of the second storage area A2). Figures 10(a) and 10(b) show the retrieval of item 4 (item 4 with the designation "4T") from storage row 6 in the first storage area A1, which is the item closest to the second side in the X direction X2 among the already stored items in storage row 6.

[0034] The second transport vehicle 20 travels along the Y-direction path 7. As shown in Figure 2, the second transport vehicle 20 includes a second main body 21 on which second running wheels 22 are provided. In Figure 2, only the second running wheels 22 provided on the first side X1 in the X direction are shown, but the second running wheels 22 are provided on both sides in the X direction of the second main body 21. The second transport vehicle 20 travels by rotating some or all of the second running wheels 22 with a drive device such as an electric motor. As described above, in this embodiment, the Y-direction path 7 is formed by a pair of Y-direction rails 70, and the second transport vehicle 20 travels along the Y direction (i.e., along the Y-direction path 7) on the pair of Y-direction rails 70. Details are omitted, but the Y-direction position of the second transport vehicle 20 is controlled based on detection information from a detection device (for example, an encoder that detects the rotation of the second running wheels 22, or a distance sensor that detects the distance to the object).

[0035] The second transport vehicle 20 can carry the first transport vehicle 10. In other words, in this embodiment, the transport vehicle 1 is a parent-child transport vehicle comprising the first transport vehicle 10 as a child transport vehicle and the second transport vehicle 20 as a parent transport vehicle. Movement of the first transport vehicle 10 in the X direction is performed by the movement of the first transport vehicle 10, and movement of the first transport vehicle 10 in the Y direction is performed by the movement of the second transport vehicle 20 on which the first transport vehicle 10 is carried. As shown in Figure 2, in this embodiment, the second body portion 21 of the second transport vehicle 20 is provided with rails 23 along the X direction on which the first running wheels 14 of the first transport vehicle 10 roll. Here, a pair of rails 23 arranged spaced apart in the Y direction are provided on the second body portion 21, and the first transport vehicle 10 travels along the X direction on the pair of rails 23. The first transport vehicle 10 is mounted on the second transport vehicle 20 with both sides in the Y direction supported by the pair of rails 23.

[0036] The loading of the first transport vehicle 10 onto the second transport vehicle 20 as it exits the storage row 6, and the detachment of the first transport vehicle 10 from the second transport vehicle 20 as it enters the storage row 6, are performed when the second transport vehicle 20 is in a position in the Y direction corresponding to the storage row 6. In this embodiment, the position in the Y direction corresponding to the storage row 6 is the position where the rail 23 provided on the second transport vehicle 20 is positioned on the extension of the X direction rail 60 arranged in the storage row 6, as shown in Figure 2. Specifically, the position in the Y direction corresponding to the storage row 6 is the position where the rail 23 of the pair of rails 23 provided on the second transport vehicle 20 is positioned on the extension of the X direction rail 60 of the pair of X direction rails 60 arranged in the storage row 6, which is the first Y direction rail Y1, and the rail 23 of the pair of rails 23 provided on the second transport vehicle 20 is positioned on the extension of the X direction rail 60 of the pair of X direction rails 60 arranged in the storage row 6, which is the second Y direction rail Y2.

[0037] As shown in Figure 2, in this embodiment, the second main body 21 of the second transport vehicle 20 is provided with support parts 24 for supporting the article 4. Here, a pair of support parts 24, spaced apart in the Y direction, are provided on the second main body 21. The side away from the center in the Y direction between the pair of rails 23 on the second main body 21 is defined as the "outside in the Y direction," and the pair of support parts 24 are positioned on the outside in the Y direction relative to the pair of rails 23, and above the pair of rails 23 at a Z1 position. Therefore, the article 4 is supported on both sides in the Y direction by the pair of support parts 24 above the pair of rails 23 at a Z1 position.

[0038] The height of the support section 24 (position in the vertical Z direction) is set to the height between the lower limit and upper limit positions in the lifting range of the upper surface of the mounting platform 12 on the first transport vehicle 10. Therefore, the first transport vehicle 10 mounted on the second transport vehicle 20 can lower the mounting platform 12 to lower the item 4 placed on the mounting platform 12 to the support section 24, and raise the mounting platform 12 to place the item 4 supported by the support section 24 back onto the mounting platform 12. For example, when the second transport vehicle 20, which is carrying the first transport vehicle 10, is driven, the mounting platform 12 of the first transport vehicle 10 can be lowered so that the item 4 is supported by the support section 24. In this case, when the item 4 is placed back onto the mounting platform 12, the mounting platform 12 will be raised, but by raising the mounting platform 12 without changing the position of the first transport vehicle 10 in the X direction, the positional relationship of the item 4 with respect to the mounting platform 12 can be maintained.

[0039] The supply device 3 is a device that supplies articles 4 to the transport vehicle 1 (in this embodiment, the first transport vehicle 10). In this embodiment, the articles 4 are supplied to the first transport vehicle 10 on the receiving conveyor 30 into which the articles 4 are brought for storage in the storage row 6. That is, the supply device 3 is equipped with the receiving conveyor 30. The supply of articles 4 to the first transport vehicle 10 by the supply device 3 is performed by transferring the articles 4 that have been brought into the receiving conveyor 30 from the receiving conveyor 30 to the first transport vehicle 10. The first transport vehicle 10, having received the articles 4 on the receiving conveyor 30, moves with the articles 4 loaded on the second transport vehicle 20 to a position in the Y direction corresponding to the storage row 6 where the articles 4 are to be stored, and then enters the storage row 6 to store the articles 4.

[0040] As shown in Figure 1, the receiving conveyor 30 is positioned in a region in the Y direction that does not come into contact with at least one of the first storage area A1 and the second storage area A2 in the Y direction path 7. In this embodiment, an outbound conveyor 40 is provided at a position opposite the receiving conveyor 30 in the X direction across the Y direction path 7, from which the items 4 taken out from the storage row 6 are unloaded. Therefore, the receiving conveyor 30 is positioned in a region in the Y direction that does not come into contact with either the first storage area A1 or the second storage area A2 in the Y direction path 7. For example, if the receiving conveyor 30 is also used as an outbound conveyor, and the outbound conveyor 40 is not provided at a position opposite the receiving conveyor 30 in the X direction across the Y direction path 7, the receiving conveyor 30 can be configured to be positioned in a region in the Y direction that does not come into contact with only one of the first storage area A1 or the second storage area A2 in the Y direction path 7. In this case, for example, a storage row 6 constituting the first storage area A1 or the second storage area A2 may be positioned opposite the receiving conveyor 30 in the X direction, with the Y-direction path 7 in between.

[0041] In this embodiment, the receiving conveyor 30 is configured to transport articles 4 along the X direction. Here, the receiving conveyor 30 comprises two rows of conveyors spaced apart in the Y direction. As shown in Figure 3, each of the two rows of conveyors comprises a frame 52 and an endless transmission member 50 wrapped around a plurality of rotating bodies supported by the frame 52. The transmission member 50 is, for example, a chain or a belt. The plurality of rotating bodies include drive rotating bodies driven by a drive device such as an electric motor, and the receiving conveyor 30 transports articles 4 along the X direction by rotating each of the drive rotating bodies of the two rows of conveyors. Thus, the receiving conveyor 30 comprises a pair of transmission members 50, one transmission member 50 provided on one of the two rows of conveyors and the other transmission member 50 provided on the other row of conveyors. In the following, with respect to the receiving conveyor 30, the side facing the center in the Y direction between the pair of transmission members 50 will be referred to as the "inside in the Y direction," and the opposite side (specifically, the side away from the center in the Y direction between the pair of transmission members 50) will be referred to as the "outside in the Y direction." In the example shown in Figure 3, each of the two rows of conveyors is equipped with a guide member 54 on the outside in the Y direction relative to the transmission members 50, which guides the articles 4 along the X direction.

[0042] In this embodiment, the transfer of goods 4 from the receiving conveyor 30 to the first transport vehicle 10 takes place when the first transport vehicle 10 has entered the receiving conveyor 30. Therefore, the receiving conveyor 30 is provided with rails 53 along the X direction on which the first running wheels 14 of the first transport vehicle 10 roll. The rails 53 are supported by frames 52. Here, a pair of rails 53 spaced apart in the Y direction are provided on the receiving conveyor 30, and the first transport vehicle 10 travels along the X direction on the pair of rails 53. One of the pair of rails 53 is supported by one frame 52 of the two rows of conveyors, and the other of the pair of rails 53 is supported by the other frame 52 of the two rows of conveyors. Note that in Figure 3, the rail 53 on the first side Y1 in the Y direction of the pair of rails 53 provided on the receiving conveyor 30 is hidden.

[0043] The pair of rails 53 are positioned inward in the Y direction relative to the pair of transmission members 50, and below Z2 below the upper ends of the pair of transmission members 50 (the parts that support the articles 4). The first transport vehicle 10 (specifically, the first transport vehicle 10 with the mounting platform 12 lowered) is configured to travel below Z2 below the articles 4 supported by the pair of transmission members 50. This makes it possible to move the first transport vehicle 10 below Z2 below the articles 4 supported by the receiving conveyor 30.

[0044] The detachment of the first transport vehicle 10 from the second transport vehicle 20 as it enters the receiving conveyor 30, and the loading of the first transport vehicle 10 onto the second transport vehicle 20 as it exits the receiving conveyor 30, are performed when the second transport vehicle 20 is in a position in the Y direction corresponding to the receiving conveyor 30. In this embodiment, the position in the Y direction corresponding to the receiving conveyor 30 is the position where the rail 23 provided on the second transport vehicle 20 is positioned on the extension of the rail 53 provided on the receiving conveyor 30, as shown in Figure 3. Specifically, the position in the Y direction corresponding to the receiving conveyor 30 is such that the rail 23 on the first side in the Y direction (Y1) of the pair of rails 53 provided on the receiving conveyor 30 is positioned on the extension of the rail 53 on the first side in the Y direction (Y1) of the pair of rails 53 provided on the receiving conveyor 30, and the rail 23 on the second side in the Y direction (Y2) of the pair of rails 23 provided on the second transport vehicle 20 is positioned on the extension of the rail 53 on the second side in the Y direction (Y2) of the pair of rails 53 provided on the receiving conveyor 30.

[0045] In this embodiment, as shown in Figure 4, the first transport vehicle 10, with its mounting platform 12 lowered, detaches from the second transport vehicle 20 and enters the area Z2 below the article 4 supported by the receiving conveyor 30. Then, as shown in Figure 5, the first transport vehicle 10 raises its mounting platform 12 and places the article 4 on the mounting platform 12. In this way, the article 4 is transferred from the receiving conveyor 30 to the first transport vehicle 10. Note that the Y-direction path 7 and the second transport vehicle 20 are omitted in Figures 4 and 5. The same applies to Figures 6, 7, 12, 16, and 17, which will be referenced later. The first transport vehicle 10, having received the article 4, exits the receiving conveyor 30 with its mounting platform 12 still raised and is loaded onto the second transport vehicle 20. The first transport vehicle 10 then moves while loaded onto the second transport vehicle 20 to a position in the Y-direction corresponding to the storage row 6 where the article 4 is stored. Then, the first transport vehicle 10 detaches from the second transport vehicle 20 and enters the storage row 6 where the goods 4 are to be stored, and stores the goods 4 in the said storage row 6.

[0046] In the transfer process described later, the item 4 is temporarily transferred from the first transport vehicle 10 to the receiving conveyor 30. In this case, the first transport vehicle 10, which has taken the item 4 from the storage row 6, moves to a position in the Y direction corresponding to the receiving conveyor 30 while loaded onto the second transport vehicle 20, and then enters the receiving conveyor 30 with the loading platform 12 on which the item 4 (target item 4T in Figure 12) is placed raised, as shown in Figure 12(a). Then, as shown in Figure 12(b), the first transport vehicle 10 lowers the loading platform 12, thereby lowering the item 4 placed on the loading platform 12 onto the receiving conveyor 30 (specifically, the pair of transmission members 50 provided on the receiving conveyor 30). This transfers the item 4 from the first transport vehicle 10 to the receiving conveyor 30. As shown in Figure 3, in this embodiment, the outbound conveyor 40 is configured similarly to the inbound conveyor 30, except that it does not have the detection devices (81, 82) described later. Therefore, when an item 4 taken out of the storage row 6 is to be released, the first transport vehicle 10 operates in the same manner as described above, lowering the item 4 placed on the loading platform 12 onto the outbound conveyor 40 (specifically, the pair of transmission members 50 in the outbound conveyor 40). This transfers the item 4 from the first transport vehicle 10 to the outbound conveyor 40.

[0047] As shown in Figure 13, the control device 2 controls the transport vehicle 1 and the supply device 3. In this embodiment, since the transport vehicle 1 includes a first transport vehicle 10 and a second transport vehicle 20, the control device 2 controls the first transport vehicle 10, the second transport vehicle 20, and the supply device 3 (in this embodiment, the receiving conveyor 30). The control device 2 may also be configured to control other devices (for example, an outbound conveyor 40). The control device 2 includes an arithmetic processing unit such as a microcomputer and peripheral circuits such as memory, and the functions of the control device 2 are realized through the cooperation of hardware such as the arithmetic processing unit and a program executed on that hardware. The control device 2 may be realized by a single device or by multiple devices that can communicate with each other. In addition, although the control device 2 is shown separately from the first transport vehicle 10, the second transport vehicle 20, and the supply device 3 in Figure 13, these do not necessarily need to be physically separated, and devices provided on at least one of the first transport vehicle 10, the second transport vehicle 20, and the supply device 3 may constitute at least a part of the control device 2.

[0048] The technical features of the automated warehouse 100 (specifically, the control device 2) disclosed herein are also applicable to the control method of the automated warehouse 100 by the control device 2 (automated warehouse control method) and the program for causing a computer to function as the control device 2 (automated warehouse control program). Such automated warehouse control methods and automated warehouse control programs, as well as recording media on which the automated warehouse control program is recorded (for example, computer-readable recording media such as optical discs and flash memory), are also disclosed herein.

[0049] In this automated warehouse 100, when transporting articles 4 to be stored in storage row 6 by transport vehicle 1 (first transport vehicle 10 in this embodiment), at least one of the supply device 3 and transport vehicle 1 (first transport vehicle 10 in this embodiment) performs a specific placement process to place the articles 4 on the placement table 12 in a specific positional relationship. Here, the specific positional relationship is the first positional relationship described later when the storage row 6 to which the articles 4 are stored is in the first storage area A1, and the second positional relationship described later when the storage row 6 to which the articles 4 are stored is in the second storage area A2. That is, when the storage row 6 to which the articles 4 are stored is in the first storage area A1, the specific placement process realizes a state in which the articles 4 are placed on the placement table 12 in the first positional relationship, and when the storage row 6 to which the articles 4 are stored is in the second storage area A2, the specific placement process realizes a state in which the articles 4 are placed on the placement table 12 in the second positional relationship.

[0050] As shown in Figure 5, in this embodiment, the first positional relationship is such that the position in the X direction of the end of the first side X1 of the article 4 is the same as the position of the end of the first side X1 of the mounting table 12. When the storage row 6 where the article 4 is stored is in the first storage area A1, by placing the article 4 on the mounting table 12 in this positional relationship, as shown in Figure 8, when storing multiple articles 4 (in Figure 8, four articles 4: the first article 4A, the second article 4B, the third article 4C, and the fourth article 4D) packed together from the first side X1 in the X direction, it is possible to store the article 4 to be stored in a position close to the already stored articles (for example, with a small gap) while avoiding interference between the mounting table 12 and the already stored articles in the storage row 6.

[0051] Furthermore, the first positional relationship may be defined as a position where the X-direction position of the end of the first X-direction side X1 of the article 4 is at a position X1 further along the X-direction than the end of the first X-direction side X1 of the mounting base 12. Also, the first positional relationship may be defined differently depending on the X-direction dimensions of the article 4 placed on the mounting base 12. For example, if the X-direction dimensions of the article 4 placed on the mounting base 12 are less than or equal to the X-direction dimensions of the mounting base 12, the X-direction position of the end of the first X-direction side X1 of the article 4 will be at the same position as the end of the first X-direction side X1 of the mounting base 12. If the X-direction dimensions of the article 4 placed on the mounting base 12 are greater than the X-direction dimensions of the mounting base 12, the first positional relationship may be defined such that the X-direction position of the end of the first X-direction side X1 of the article 4 is at a position X1 further along the X-direction than the end of the first X-direction side X1 of the mounting base 12.

[0052] As shown in Figure 7, in this embodiment, the second positional relationship is such that the position in the X direction of the end of the second side X2 of the article 4 is the same as the position of the end of the second side X2 of the mounting table 12. When the storage row 6 to which the article 4 is stored is in the second storage area A2, by placing the article 4 on the mounting table 12 in this positional relationship, as shown in Figure 9, when storing multiple articles 4 (in Figure 9, four articles 4: the 5th article 4E, the 6th article 4F, the 7th article 4G, and the 8th article 4H) packed in from the second side X2 in the X direction, it is possible to store the article 4 to be stored in a position close to the already stored articles while avoiding interference between the mounting table 12 and the already stored articles in the storage row 6.

[0053] Furthermore, the second positional relationship may be defined as a position where the X-direction position of the end of the second X-direction side X2 of the article 4 is at a position on the second X-direction side X2 that is higher than the end of the second X-direction side X2 of the mounting base 12. Also, the second positional relationship may be defined differently depending on the X-direction dimensions of the article 4 placed on the mounting base 12. For example, if the X-direction dimensions of the article 4 placed on the mounting base 12 are less than or equal to the X-direction dimensions of the mounting base 12, the X-direction position of the end of the second X-direction side X2 of the article 4 will be at the same position as the end of the second X-direction side X2 of the mounting base 12. If the X-direction dimensions of the article 4 placed on the mounting base 12 are greater than the X-direction dimensions of the mounting base 12, the second positional relationship may be defined such that the X-direction position of the end of the second X-direction side X2 of the article 4 is at a position on the second X-direction side X2 that is higher than the end of the second X-direction side X2 of the mounting base 12.

[0054] In this embodiment, the specific placement process is performed by adjusting the positional relationship (specifically, the positional relationship in the X direction) between the placement platform 12 and the item 4 when the item 4 is handed over from the receiving conveyor 30 to the transport vehicle 1 (in this embodiment, the first transport vehicle 10). In this embodiment, regardless of whether the storage row 6 where the item 4 is stored is in the first storage area A1 or the second storage area A2, the handover of the item 4 from the receiving conveyor 30 to the first transport vehicle 10 is performed with the transport vehicle 1 (in this embodiment, the first transport vehicle 10) in a fixed position. In Figures 4 and 6, the position of the first transport vehicle 10 shown by the dashed line is the fixed position, and in Figures 5 and 7, the position of the first transport vehicle 10 shown by the solid line is the fixed position. The adjustment of the above-mentioned positional relationship between the placement platform 12 and the item 4 in the specific placement process is performed by adjusting the position of the item 4 on the receiving conveyor 30 (specifically, the position in the X direction). In this embodiment, the position of the article 4 on the receiving conveyor 30 is adjusted by driving a pair of transmission members 50.

[0055] The adjustment of the position of the article 4 on the receiving conveyor 30 by the supply device 3 is performed when the article 4 and the placement platform 12 are separated. After the position of the article 4 on the receiving conveyor 30 is adjusted, the first transport vehicle 10 raises the placement platform 12, thereby achieving a state in which the article 4 is placed on the placement platform 12 in a specific positional relationship. Thus, in this embodiment, the specific placement process is performed by both the supply device 3 and the first transport vehicle 10. The specific placement process will be described below with reference to Figures 4 to 7.

[0056] Figures 4 and 5 show an example of a specific placement process (i.e., a specific placement process for placing the item 4 on the placement table 12 in a first positional relationship) when the storage row 6 where the item 4 is stored is in the first storage area A1. As shown in Figure 4, the first transport vehicle 10 with the placement table 12 lowered enters the receiving conveyor 30 and stops at a designated position. The receiving conveyor 30 provided by the supply device 3 then transports the item 4, which has been brought in from the second side X2 in the X direction, to the first side X1 in the X direction to a position where the item 4 is placed in a first positional relationship with respect to the placement table 12 (here, the position in the X direction of the end of the first side X1 in the X direction of the item 4 is the same position as the end of the first side X1 in the X direction of the placement table 12) (see the white arrow in Figure 4). Then, as shown in Figure 5, the first transport vehicle 10 raises the platform 12, and the item 4 is placed on the platform 12 in the first positional relationship.

[0057] Figures 6 and 7 show an example of a specific placement process (i.e., a specific placement process for placing the item 4 on the placement table 12 in a second positional relationship) when the storage row 6 where the item 4 is stored is in the second storage area A2. As shown in Figure 6, the first transport vehicle 10, with the placement table 12 lowered, enters the receiving conveyor 30 and stops at a designated position. The receiving conveyor 30 provided by the supply device 3 then transports the item 4, which has been brought in from the second side X2 in the X direction, to the first side X1 in the X direction to a position where the item 4 is placed in a second positional relationship with respect to the placement table 12 (in this case, the position in the X direction of the end of the second side X2 in the X direction of the item 4 is the same position as the end of the second side X2 in the X direction of the placement table 12) (see the white arrow in Figure 6). Then, as shown in Figure 7, the first transport vehicle 10 raises the platform 12, and the item 4 is placed on the platform 12 in the second positional relationship.

[0058] In this embodiment, the automated warehouse 100 includes a first detection device 81 and a second detection device 82. The first detection device 81 is a device that detects that the position of an item 4 on the receiving conveyor 30 is in a position relative to the mounting platform 12 of a transport vehicle 1 (in this embodiment, the first transport vehicle 10) which is in a fixed position, in a first positional relationship. The second detection device 82 is a device that detects that the position of an item 4 on the receiving conveyor 30 is in a position relative to the mounting platform 12 of a transport vehicle 1 (in this embodiment, the first transport vehicle 10) which is in a fixed position, in a second positional relationship. The first detection device 81 and the second detection device 82 are provided, for example, to detect pallets that make up the item 4.

[0059] As shown in Figures 3 to 7, in this embodiment, the first detection device 81 and the second detection device 82 are provided on the receiving conveyor 30. In the example shown in Figures 3 to 7, it is assumed that the first detection device 81 and the second detection device 82 are sensors (photoelectric sensors) that detect the presence or absence of items 4 by blocking light. Note that the first detection device 81 and the second detection device 82 may be other types of sensors, such as image sensors. It is also possible to provide a detection device that has the functions of both the first detection device 81 and the second detection device 82. This configuration is also included in the configuration in which the automated warehouse 100 is equipped with the first detection device 81 and the second detection device 82.

[0060] As shown in Figure 5, the first detection device 81 is installed at positions in the X-direction corresponding to each of the X-direction ends of the article 4, which is positioned in a first positional relationship with respect to the mounting platform 12 of the first transport vehicle 10, which is in a fixed position. Therefore, when adjusting the position of the article 4 on the receiving conveyor 30, as shown in Figure 4, by stopping the article 4 at a position where both X-direction ends of the article 4 are detected by the first detection device 81, the article 4 on the receiving conveyor 30 can be stopped at a position where it is positioned in a first positional relationship with respect to the mounting platform 12 of the first transport vehicle 10, which is in a fixed position.

[0061] Furthermore, as shown in Figure 7, the second detection device 82 is installed at positions in the X-direction corresponding to each of the X-direction ends of the article 4, which is positioned in a second positional relationship with respect to the mounting platform 12 of the first transport vehicle 10, which is in a fixed position. Therefore, when adjusting the position of the article 4 on the receiving conveyor 30, as shown in Figure 6, by stopping the article 4 at a position where both X-direction ends of the article 4 are detected by the second detection device 82, the article 4 on the receiving conveyor 30 can be stopped at a position where it is positioned in a second positional relationship with respect to the mounting platform 12 of the first transport vehicle 10, which is in a fixed position.

[0062] Incidentally, in the automated warehouse 100, there are cases where a movement process (cargo handling process) is performed to move items 4 already stored in storage column 6 to another storage column 6. For example, a movement process is performed to rearrange the items 4 in the order in which they will be issued, or to move items 4 that are highly likely to be issued to a location closer to the Y-direction path 7. In the following, as shown in Figures 10 to 12, the item 4 that is the target of the movement process will be referred to as target item 4T.

[0063] As shown in Figure 14, when the control device 2 executes a move process (Step #01: Yes), it determines whether it is possible to select the destination storage column 6 from among the storage areas (A1, A2) that contain the source storage column 6 (Step #02). That is, if the source storage column 6 is contained in the first storage area A1, it determines whether it is possible to select the destination storage column 6 from among the first storage area A1, and if the source storage column 6 is contained in the second storage area A2, it determines whether it is possible to select the destination storage column 6 from among the second storage area A2. Then, if it is possible to select the destination storage column 6 from among the storage areas (A1, A2) that contain the source storage column 6 (Step #02: Yes), the control device 2 selects the destination storage column 6 from among the storage areas (A1, A2) that contain the source storage column 6. Then, the control device 2 controls the first transport vehicle 10 and the second transport vehicle 20 to sequentially execute the process of retrieving the item 4 from the source (Step #03) and the process of storing the item 4 at the destination (Step #04).

[0064] Thus, when the transport vehicle 1 (in this embodiment, the first transport vehicle 10 and the second transport vehicle 20) performs a move operation to move an item 4 already stored in a storage column 6 to another storage column 6, if the source storage column 6 is included in the first storage area A1, it selects the destination storage column 6 from within the first storage area A1, and if the source storage column 6 is included in the second storage area A2, it selects the destination storage column 6 from within the second storage area A2. As described above, the selection of the storage column 6 is performed by the control device 2 that controls the first transport vehicle 10 and the second transport vehicle 20.

[0065] Figure 10 shows, in chronological order from Figure 10(a), Figure 10(b), Figure 10(c), and Figure 10(d), an example of a move process, where the source storage column 6 is the first storage column 6A located in the first storage area A1, and the destination storage column 6 is the second storage column 6B located in the first storage area A1.

[0066] As shown in Figures 10(a) to (b), the first transport vehicle 10 enters the first storage row 6A and takes out the target item 4T from the first storage row 6A (step #03). At this time, the first transport vehicle 10 travels in the X direction to the first side X1 until the target item 4T is positioned in a first positional relationship with the mounting table 12, and then raises the mounting table 12. As a result, the target item 4T is placed on the mounting table 12 in the first positional relationship. Then, with the mounting table 12 still raised, the first transport vehicle 10 exits the first storage row 6A, and while loaded onto the second transport vehicle 20, moves to a position in the Y direction corresponding to the second storage row 6B. After that, as shown in Figures 10(c) to (d), with the mounting table 12 still raised, it enters the second storage row 6B and stores the target item 4T in the second storage row 6B (step #04). When storing the target item 4T in the second storage row 6B located in the first storage area A1, since the target item 4T is placed on the mounting platform 12 in the first positional relationship, it is possible to store the target item 4T in a position close to the already stored items in the second storage row 6B while avoiding interference between the mounting platform 12 of the first transport vehicle 10 and the already stored items.

[0067] Although not shown in the diagram, the same transfer process can be performed even when the source storage row 6 is included in the second storage area A2 and the destination storage row 6 is also included in the second storage area A2. In this case, when taking out item 4 from the source storage row 6, the first transport vehicle 10 travels in the second X direction X2 to a position where the target item 4T is positioned in a second positional relationship with the mounting table 12, and then raises the mounting table 12. As a result, when storing the target item 4T in the destination storage row 6 included in the second storage area A2, the target item 4T is placed on the mounting table 12 in a second positional relationship, so the mounting table 12 of the first transport vehicle 10 can avoid interfering with already stored items in the destination storage row 6, while still allowing the target item 4T to be stored in close proximity to those already stored items.

[0068] As described above, in the move process, the destination storage column 6 is basically selected from the storage area (A1, A2) that contains the source storage column 6. However, there are cases where it is not possible to select the destination storage column 6 for the target item 4T from the storage area (A1, A2) that contains the source storage column 6. For example, if there is no space to store the target item 4T in any of the storage columns 6 other than the source storage column 6 in the storage area (A1, A2) that contains the source storage column 6, it may become impossible to select the destination storage column 6 for the target item 4T from the storage area (A1, A2) that contains the source storage column 6.

[0069] As shown in Figure 14, if the control device 2 cannot select the destination storage row 6 for the target item 4T from among the storage areas (A1, A2) that include the source storage row 6 (Step #02: No), it selects the destination storage row 6 from among the storage areas (A1, A2) that do not include the source storage row 6. That is, if the source storage row 6 is included in the first storage area A1 and the destination storage row 6 cannot be selected from the first storage area A1, the control device 2 selects the destination storage row 6 from the second storage area A2. If the source storage row 6 is included in the second storage area A2 and the destination storage row 6 cannot be selected from the second storage area A2, the control device 2 selects the destination storage row 6 from the first storage area A1. The control device 2 then controls the first transport vehicle 10, the second transport vehicle 20, and the supply device 3 to sequentially execute the process of retrieving the item 4 from the source (Step #05), the specific placement process (Step #06), and the storage process of the item 4 at the destination (Step #07).

[0070] In the specific placement process (step #06) performed when the storage row 6 from which the item is moved is included in the first storage area A1, the specific placement process is performed so that the target item 4T is placed on the placement table 12 in a second positional relationship. In the specific placement process (step #06) performed when the storage row 6 from which the item is moved is included in the second storage area A2, the specific placement process is performed so that the target item 4T is placed on the placement table 12 in a first positional relationship.

[0071] Thus, if the storage row 6 from which the target item 4T is moved is included in the first storage area A1, and the storage row 6 to which the target item 4T is moved cannot be selected from within the first storage area A1, the control device 2 performs a specific placement process so that the target item 4T is placed on the placement table 12 in a second positional relationship, and then controls the transport vehicle 1 and the supply device 3 (in this embodiment, the first transport vehicle 10, the second transport vehicle 20, and the supply device 3) to store the target item 4T in the storage row 6 in the second storage area A2. Furthermore, if the storage row 6 from which the target item 4T is moved is included in the second storage area A2, and the storage row 6 to which the target item 4T is moved cannot be selected from within the second storage area A2, the control device 2 performs a specific placement process so that the target item 4T is placed on the placement table 12 in a first positional relationship, and then controls the transport vehicle 1 and the supply device 3 (in this embodiment, the first transport vehicle 10, the second transport vehicle 20, and the supply device 3) to store the target item 4T in the storage row 6 in the first storage area A1.

[0072] Figure 11 shows, in chronological order (Figures 11(a), 11(b), 11(c), and 11(d)), an example of a movement process, where the source storage row 6 is the first storage row 6A located in the first storage area A1, and the destination storage row 6 is the third storage row 6C located in the second storage area A2. Figure 12 also shows, in chronological order (Figures 12(a), 12(b), and 12(c)), an example of a specific placement process performed in the movement process, to change the state of the target item 4T from being positioned relative to the placement table 12 in a first positional relationship to the placement table 12. Here, the explanation uses the case where the specific placement process (step #06) is performed on the receiving conveyor 30 as an example, but it is also possible to configure the system to perform the specific placement process (step #06) on the outbound conveyor 40, for example. In this case, for example, detection devices similar to the first detection device 81 and the second detection device 82 are provided on the outbound conveyor 40.

[0073] As shown in Figures 11(a) and 11(b), the first transport vehicle 10 enters the first storage row 6A and takes out the target item 4T from the first storage row 6A (step #05). At this time, the first transport vehicle 10 travels in the X direction to the first side X1 until the target item 4T is positioned in a first positional relationship with the mounting table 12, and then raises the mounting table 12. As a result, the target item 4T is placed on the mounting table 12 in the first positional relationship. Then, with the mounting table 12 still raised, the first transport vehicle 10 exits the first storage row 6A, and moves to a position in the Y direction corresponding to the receiving conveyor 30 while loaded onto the second transport vehicle 20. After that, as shown in Figure 12(a), with the mounting table 12 still raised, it enters the receiving conveyor 30 and stops at the aforementioned fixed position.

[0074] The first transport vehicle 10 lowers the loading platform 12 and lowers the target item 4T placed on the loading platform 12 onto the receiving conveyor 30. Then, as shown in Figure 12(b), the receiving conveyor 30 moves the target item 4T to the second side X2 in the X direction until the target item 4T is positioned in a second positional relationship with respect to the loading platform 12 (see the white arrow in Figure 12(b)). Then, as shown in Figure 12(c), the first transport vehicle 10 raises the loading platform 12. As a result, the target item 4T is placed on the loading platform 12 in a second positional relationship (step #06). Then, the first transport vehicle 10 exits the receiving conveyor 30 with the loading platform 12 still raised.

[0075] After exiting the receiving conveyor 30, the first transport vehicle 10, while loaded onto the second transport vehicle 20, moves to a position in the Y direction corresponding to the third storage row 6C. Then, as shown in Figures 11(c) to (d), it enters the third storage row 6C with the mounting platform 12 raised and stores the target item 4T in the third storage row 6C (step #07). When storing the target item 4T in the third storage row 6C, which is included in the second storage area A2, the target item 4T is placed on the mounting platform 12 in the second positional relationship. Therefore, the mounting platform 12 of the first transport vehicle 10 can be avoided from interfering with already stored items in the third storage row 6C, while still allowing the target item 4T to be stored in close proximity to those already stored items.

[0076] Although not shown in the diagram, the same transfer process can be performed even when the source storage row 6 is located in the second storage area A2 and the destination storage row 6 is located in the first storage area A1. In this case, when taking out item 4 from the source storage row 6, the first transport vehicle 10 travels in the second X direction X2 to a position where the target item 4T is positioned in a second positional relationship with respect to the loading platform 12, and then raises the loading platform 12. As a result, the target item 4T is placed on the loading platform 12 in a second positional relationship. Then, in the specific loading process, the state in which the target item 4T is positioned in a second positional relationship with respect to the loading platform 12 is changed to a state in which the target item 4T is positioned in a first positional relationship with respect to the loading platform 12. As a result, when storing the target item 4T in the destination storage row 6 included in the first storage area A1, the target item 4T is placed on the mounting platform 12 in the first positional relationship. Therefore, it is possible to store the target item 4T in a position close to the already stored items in the destination storage row 6, while avoiding interference between the mounting platform 12 of the first transport vehicle 10 and the already stored items.

[0077] [Other Embodiments] (1) In the above embodiment, a configuration in which the transport vehicle 1 comprises a first transport vehicle 10 and a second transport vehicle 20 was described as an example. However, the present disclosure is not limited to such a configuration, and for example, as shown in Figure 15, the transport vehicle 1 may have a configuration in which the first transport vehicle 10 and the second transport vehicle 20 are integrated without comprising the first transport vehicle 10 and the second transport vehicle 20. In this case, the transport vehicle 1 has the functions of the first transport vehicle 10 and the functions of the second transport vehicle 20, and the transport vehicle 1 is configured to travel along the Y-direction path 7 and to transport the articles 4 by traveling along each storage row 6 below Z2 below the articles 4 stored in the storage row 6. Note that the operation of the transport vehicle 1 when the transport vehicle 1 does not comprise the first transport vehicle 10 and the second transport vehicle 20 is clear from the operation of the first transport vehicle 10 and the second transport vehicle 20 in the above embodiment, so a description is omitted.

[0078] When the transport vehicle 1 is configured in this way, it includes, for example, a platform 12 and a lifting mechanism 13, as well as first running wheels 14 and second running wheels 22. The transport vehicle 1 travels along the Y-direction path 7 by bringing the second running wheels 22 into contact with the Y-direction rail 70, and travels along the storage row 6 by bringing the first running wheels 14 into contact with the X-direction rail 60 (specifically, the running surface 61). In this case, for example, the transport vehicle 1 is provided with a mechanism for switching between the state in which the second running wheels 22 are in contact with the Y-direction rail 70 and the state in which the first running wheels 14 are in contact with the X-direction rail 60 (for example, a mechanism for moving at least one of the first running wheels 14 and the second running wheels 22 in the vertical Z direction).

[0079] (2) In the above embodiment, a configuration in which both the supply device 3 and the first transport vehicle 10 perform the specific placement process was described as an example. However, the present disclosure is not limited to such a configuration, and a configuration in which the specific placement process is performed by either the supply device 3 or the first transport vehicle 10 is also possible. An example of a configuration in which the specific placement process is performed by the first transport vehicle 10 is shown in Figures 16 and 17. In the example shown in Figures 16 and 17, regardless of whether the storage row 6 where the article 4 is stored is in the first storage area A1 or the second storage area A2, the transfer of the article 4 from the receiving conveyor 30 to the first transport vehicle 10 is performed with the article 4 in a fixed position on the receiving conveyor 30 (the position of the article 4 shown by a solid line in Figures 16 and 17). The adjustment of the positional relationship between the placement table 12 and the article 4 in the specific placement process is performed by adjusting the position of the first transport vehicle 10 that has entered the receiving conveyor 30.

[0080] Specifically, in the specific placement process when the storage row 6 where item 4 is stored is in the first storage area A1, as shown in Figure 16, the first transport vehicle 10, with the placement platform 12 lowered, is stopped at a position where item 4 on the receiving conveyor 30 is positioned in a first positional relationship with respect to the placement platform 12 (in this case, the position in the X direction of the end of the first side X1 in the X direction of item 4 is the same position as the end of the first side X1 in the X direction of the placement platform 12). In this state, the first transport vehicle 10 raises the placement platform 12, thereby placing item 4 on the placement platform 12 in the first positional relationship. The stopping position of the first transport vehicle 10 in this case is controlled, for example, based on the detection result of the third detection device 83 of item 4 on the receiving conveyor 30 (for example, the detection result of the position of the end of the first side X1 in the X direction of item 4). Furthermore, in the specific placement process when the storage row 6 where item 4 is stored is in the second storage area A2, as shown in Figure 17, the first transport vehicle 10, with the placement platform 12 lowered, is stopped at a position where item 4 on the receiving conveyor 30 is positioned in a second positional relationship with respect to the placement platform 12 (in this case, the position in the X direction of the end of the second side X2 in the X direction of item 4 is the same position as the end of the second side X2 in the X direction of the placement platform 12). In this state, the first transport vehicle 10 raises the placement platform 12, thereby placing item 4 on the placement platform 12 in the second positional relationship. Note that the stopping position of the first transport vehicle 10 in this case is controlled based on, for example, the detection result of the fourth detection device 84 of item 4 on the receiving conveyor 30 (for example, the detection result of the position of the end of the second side X2 in the X direction of item 4).

[0081] (3) In the above embodiment, a configuration in which the articles 4 stored in the storage row 6 are transferred from the receiving conveyor 30 to the first transport vehicle 10 was described as an example. However, the present disclosure is not limited to such a configuration, and the articles 4 stored in the storage row 6 can also be transferred from the receiving conveyor 30 to the second transport vehicle 20, and then transferred from the second transport vehicle 20 to the first transport vehicle 10. As an example of such a configuration, the second transport vehicle 20 can be configured to have a conveyor on the support section 24 (see Figures 2 and 3) that transports the articles 4 in the X direction. In this case, for example, when the second transport vehicle 20 is in the position shown in Figure 3, the receiving conveyor 30 and the conveyor provided on the support section 24 are operated to transfer the goods 4 from the receiving conveyor 30 to the second transport vehicle 20. Then, the first transport vehicle 10, which is mounted on the second transport vehicle 20, raises its platform 12 and places the goods 4 supported on the support section 24 onto the platform 12, thereby transferring the goods 4 from the second transport vehicle 20 to the first transport vehicle 10. In this case, the supply device 3 is equipped with a conveyor provided on the support section 24 of the second transport vehicle 20, rather than the receiving conveyor 30.

[0082] In this configuration, the specific placement process can be performed not when the goods 4 are transferred from the receiving conveyor 30 to the first transport vehicle 10, as in the above embodiment, but when the goods 4 are transferred from the second transport vehicle 20 to the first transport vehicle 10. In this case, as an example, the transfer of goods 4 from the second transport vehicle 20 to the first transport vehicle 10 is performed with the first transport vehicle 10 in a fixed position on the second transport vehicle 20, and the adjustment of the positional relationship between the placement platform 12 and the goods 4 in the specific placement process is performed by adjusting the position of the goods 4 on the conveyor provided on the support part 24 of the second transport vehicle 20. In this case, the specific placement process is performed by both the supply device 3 (in this case, the conveyor provided on the support part 24 of the second transport vehicle 20) and the first transport vehicle 10, as in the above embodiment. Alternatively, the transfer of the article 4 from the second transport vehicle 20 to the first transport vehicle 10 can be performed with the article 4 in a fixed position on a conveyor provided on the support section 24 of the second transport vehicle 20, and the adjustment of the positional relationship between the loading platform 12 and the article 4 in the specific loading process can be performed by adjusting the position of the first transport vehicle 10 on the second transport vehicle 20. In this case, the specific loading process is performed by the first transport vehicle 10.

[0083] (4) In the above embodiments, a configuration in which the supply device 3 includes a conveyor (in the above embodiments, a receiving conveyor 30) was described as an example. However, the present disclosure is not limited to such a configuration, and the supply device 3 may include a device other than a conveyor, such as a fork-type transfer device, as a device for supplying articles 4 to the first transport vehicle 10.

[0084] (5) In the above embodiment, a configuration was described as in which the mounting platform 12 of the first transport vehicle 10 is not provided with a conveyor for transporting the article 4 in the X direction. However, the present disclosure is not limited to such a configuration, and a configuration in which a conveyor for transporting the article 4 in the X direction is provided on the mounting platform 12 is also possible. In this case, while the article 4 is placed on the mounting platform 12, the X-direction positional relationship between the article 4 and the mounting platform 12 can be adjusted by the conveyor. Therefore, it is not necessary to perform the specific mounting process when supplying the article 4 to the first transport vehicle 10 by the supply device 3 (for example, when transferring the article 4 from the receiving conveyor 30 to the first transport vehicle 10), and the first transport vehicle 10 can be configured to perform the specific mounting process at any point while the article 4 is placed on the mounting platform 12. As described above, even if the transport vehicle 1 does not have a first transport vehicle 10 and a second transport vehicle 20, the transport vehicle 1 can be configured to have a conveyor on its mounting platform 12 that transports the articles 4 in the X direction.

[0085] (6) The configurations disclosed in each of the embodiments described above can be applied in combination with configurations disclosed in other embodiments (including combinations of embodiments described as 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.

[0086] [Summary of this embodiment] The following is a summary of the embodiments of the automated warehouse described above.

[0087] In one embodiment, the automated warehouse comprises a Y-direction path provided along the Y-direction, with two directions intersecting each other in a vertical view being the X-direction and the Y-direction, one side of the X-direction being the first X-direction side and the other side of the X-direction being the second X-direction side; a first storage area located on the first X-direction side relative to the Y-direction path, with multiple storage rows provided in the Y-direction, capable of storing articles arranged along the X-direction; a second storage area located on the second X-direction side relative to the Y-direction path, with multiple storage rows provided in the Y-direction; a first transport vehicle that travels along each of the storage rows below the articles stored in the storage rows to transport the articles; a second transport vehicle capable of carrying the first transport vehicle and traveling along the Y-direction path; and a supply device that supplies the articles to the first transport vehicle, wherein the first transport vehicle carries the articles... The supply device and the first transport vehicle each include a mounting platform and a lifting mechanism for raising and lowering the mounting platform, and when the first transport vehicle transports the articles to be stored in the storage row, the supply device and the first transport vehicle each perform a specific mounting process to place the articles on the mounting platform of the first transport vehicle in a specific positional relationship, wherein the specific positional relationship is a first positional relationship in which, when the storage row to which the articles are stored is located in the first storage area, the position in the X direction of the end of the article on the first side in the X direction is the same as or further to the first side in the X direction than the end of the mounting platform on the first side in the X direction, and a second positional relationship in which, when the storage row to which the articles are stored is located in the second storage area, the position in the X direction of the end of the article on the second side in the X direction is the same as or further to the second side in the X direction than the end of the mounting platform on the second side in the X direction.

[0088] According to this configuration, if the storage row to which the items are to be stored is located in the first storage area, which is positioned on the first side in the X direction relative to the Y direction path, a specific placement process can be used to achieve a state in which the items are placed on the loading platform of the first transport vehicle in a first positional relationship, that is, a state in which the loading platform of the first transport vehicle does not protrude in the first side in the X direction relative to the items. Furthermore, if the storage row to which the items are to be stored is located in the second storage area, which is positioned on the second side in the X direction relative to the Y direction path, a specific placement process can be used to achieve a state in which the items are placed on the loading platform of the first transport vehicle in a second positional relationship, that is, a state in which the loading platform of the first transport vehicle does not protrude in the second side in the X direction relative to the items. Therefore, regardless of whether the storage row to which the items are to be stored is located in the first storage area or the second storage area, it is possible to store the items to be stored in a position close to already stored items while avoiding interference between the loading platform of the first transport vehicle and already stored items in the storage row.

[0089] Thus, with this configuration, by switching the state achieved by the specific placement process depending on whether the storage row to which the item is stored is in the first storage area or the second storage area, the item to be stored can be stored in a position close to already stored items, regardless of which storage area the storage row to which the item is stored is located in. As a result, when storage areas are provided on both sides of the X-direction relative to the Y-direction path, it is easier to improve the storage efficiency of items in both storage areas on both sides of the X-direction.

[0090] Here, the supply device is preferably located in the Y-direction region where at least one of the first storage area and the second storage area in the Y-direction path is not in contact, and includes a receiving conveyor into which the articles are brought for storage in the storage row, and the specific placement process is preferably performed by adjusting the positional relationship between the above-described placement platform and the articles when the articles are transferred from the receiving conveyor to the first transport vehicle.

[0091] This configuration allows for positional adjustment between the goods for specific placement processing and the placement platform of the first transport vehicle by utilizing the operation of at least one of the receiving conveyor and the first transport vehicle for transferring goods from the receiving conveyor to the first transport vehicle. Therefore, there is no need to perform the above-mentioned positional adjustment for specific placement processing separately, making it easier to improve the efficiency of goods transport. In addition, it reduces the need to separately provide a mechanism for specific placement processing in the first and second transport vehicles, making it easier to simplify the configuration of the first and second transport vehicles.

[0092] As described above, in a configuration in which the specific placement process is performed by adjusting the positional relationship between the aforementioned placement platform and the article when the article is transferred from the receiving conveyor to the first transport vehicle, the transfer of the article from the receiving conveyor to the first transport vehicle is performed with the first transport vehicle in a fixed position, the adjustment of the positional relationship between the aforementioned placement platform and the article in the specific placement process is performed by adjusting the position of the article on the receiving conveyor, and the automated warehouse preferably includes a first detection device that detects that the position of the article on the receiving conveyor is a position where it is arranged in a first positional relationship with respect to the aforementioned placement platform of the first transport vehicle which is in a fixed position, and a second detection device that detects that the position of the article on the receiving conveyor is a position where it is arranged in a second positional relationship with respect to the aforementioned placement platform of the first transport vehicle which is in a fixed position.

[0093] With this configuration, when transferring goods from the receiving conveyor to the first transport vehicle, the first and second detection devices can detect whether the position of the goods on the receiving conveyor is the position that should be achieved by the specific placement process. Therefore, the above-mentioned position adjustment for the specific placement process can be appropriately performed by utilizing the operation of the receiving conveyor for transferring goods from the receiving conveyor to the first transport vehicle. In this case, the first transport vehicle only needs to be stopped at a fixed position, which simplifies the control of the first transport vehicle when transferring goods from the receiving conveyor to the first transport vehicle.

[0094] In the automated warehouses of each of the above configurations, when the first and second transport vehicles perform a move process to move items already stored in one storage row to another storage row, it is preferable that if the source storage row is included in the first storage area, they select the destination storage row from within the first storage area, and if the source storage row is included in the second storage area, they select the destination storage row from within the second storage area.

[0095] In the transfer process, when retrieving items from the source storage row, it is desirable to avoid interference between already stored items and the loading platform of the first transport vehicle. If the source storage row is included in the first storage area, the items to be retrieved should be placed on the loading platform of the first transport vehicle in a first positional relationship. If the source storage row is included in the second storage area, the items to be retrieved should be placed on the loading platform of the first transport vehicle in a second positional relationship. Furthermore, when storing items in the destination storage row during the transfer process, in order to store the items to be stored in a position close to the already stored items while avoiding interference between already stored items and the loading platform of the first transport vehicle, it is desirable to place the items to be stored on the loading platform of the first transport vehicle in a first positional relationship if the destination storage row is included in the first storage area. If the destination storage row is included in the second storage area, the items to be stored should be placed on the loading platform of the first transport vehicle in a second positional relationship.

[0096] According to this configuration, during the movement process, if the source storage column is included in the first storage area, the destination storage column is selected from within the first storage area. If the source storage column is included in the second storage area, the destination storage column is selected from within the second storage area. Therefore, regardless of whether the source storage column is included in the first or second storage area, the desired positional relationship described above can be matched when retrieving items from the source storage column and when storing items in the destination storage column. As a result, without readjusting the positional relationship between the items to be moved and the loading platform of the first transport vehicle during the movement process, interference with already stored items when retrieving items from the source storage column, interference with already stored items when storing items in the destination storage column, and storage of items in a position close to already stored items in the destination storage column are possible.

[0097] In the configuration described above in which the first transport vehicle and the second transport vehicle perform the movement process, the automated warehouse further comprises a control device that controls the first transport vehicle, the second transport vehicle, and the supply device, and the item to be moved is referred to as the target item, and the control device, when the storage row from which the target item is moved is included in the first storage area and it is not possible to select the storage row to which the target item is moved from within the first storage area, performs the specific placement process so that the target item is placed on the aforementioned placement platform in the second positional relationship, and then the target item The first transport vehicle, the second transport vehicle, and the supply device are controlled to store the item in the storage row in the second storage area. If the storage row from which the target item is moved is included in the second storage area, and it is not possible to select the destination storage row for the target item from within the second storage area, it is preferable to perform the specific placement process so that the target item is placed on the aforementioned stand in the first positional relationship, and then control the first transport vehicle, the second transport vehicle, and the supply device to store the target item in the storage row in the first storage area.

[0098] According to this configuration, in the transfer process, even if the source storage column is included in the first storage area and the destination storage column cannot be selected from within the first storage area, or if the source storage column is included in the second storage area and the destination storage column cannot be selected from within the second storage area, a specific placement process is executed to change the destination storage column to a storage column in another storage area. This makes it possible to achieve the desired positional relationship between the target item and the placement platform of the first transport vehicle, both when retrieving the item from the source storage column and when storing the item in the destination storage column. As a result, even in the above cases, interference with already stored items is avoided when retrieving the item from the source storage column, interference with already stored items is avoided when storing the item in the destination storage column, and the item can be stored in a position close to already stored items in the destination storage column.

[0099] In the automated warehouses of each of the above configurations, it is preferable that the X-direction dimension of the aforementioned display stand is larger than the X-direction dimension of at least some of the articles.

[0100] Even when the X-direction dimension of the loading platform of the first transport vehicle is larger than the X-direction dimension of at least some of the articles, as in this configuration, according to the technology of this disclosure, by performing the specific loading process described above, it is possible to ensure that the loading platform of the first transport vehicle does not protrude from the side of the articles in the X-direction where already stored articles exist, regardless of whether the storage row to which the articles are stored is the first storage area or the second storage area. Therefore, according to the technology of this disclosure, even when the X-direction dimension of the loading platform of the first transport vehicle is larger than the X-direction dimension of at least some of the articles, it is easier to improve the storage efficiency of articles in both storage areas on both sides of the X-direction.

[0101] In another embodiment, the automated warehouse comprises two directions that intersect each other in a vertical view, the X direction and the Y direction, one side of the X direction being the first X direction side and the other side being the second X direction side, a Y direction path provided along the Y direction, a first storage area located on the first X direction side relative to the Y direction path and having multiple rows of storage columns in the Y direction capable of storing articles lined up along the X direction, a second storage area located on the second X direction side relative to the Y direction path and having multiple rows of storage columns in the Y direction, a transport vehicle that travels along the Y direction path and transports the articles by traveling along each of the storage columns below the articles stored in the storage columns, and a supply device that supplies the articles to the transport vehicle, the transport vehicle having a loading platform on which the articles are placed, and The supply device and the transport vehicle are equipped with a lifting mechanism for raising and lowering a display stand, and when the transport vehicle transports the articles to be stored in the storage row, the supply device and the transport vehicle perform a specific placement process to place the articles on the display stand of the transport vehicle in a specific positional relationship, wherein the specific positional relationship is a first positional relationship in which, when the storage row to which the articles are stored is located in the first storage area, the position in the X direction of the end of the article on the first side in the X direction is the same as or further to the first side in the X direction than the end of the display stand on the first side in the X direction, and a second positional relationship in which, when the storage row to which the articles are stored is located in the second storage area, the position in the X direction of the end of the article on the second side in the X direction is the same as or further to the second side in the X direction than the end of the display stand on the second side in the X direction.

[0102] According to this configuration, if the storage row where the items are to be stored is located in the first storage area, which is positioned on the first side in the X direction relative to the Y direction path, the specific placement process can achieve a state in which the items are placed on the transport vehicle's platform in a first positional relationship, that is, a state in which the transport vehicle's platform does not protrude from the items in the first side in the X direction. Furthermore, if the storage row where the items are to be stored is located in the second storage area, which is positioned on the second side in the X direction relative to the Y direction path, the specific placement process can achieve a state in which the items are placed on the transport vehicle's platform in a second positional relationship, that is, a state in which the transport vehicle's platform does not protrude from the items in the second side in the X direction. Therefore, regardless of whether the storage row where the items are to be stored is located in the first or second storage area, it is possible to store the items to be stored in a position close to already stored items while avoiding interference between the transport vehicle's platform and already stored items in the storage row.

[0103] Thus, with this configuration, by switching the state achieved by the specific placement process depending on whether the storage row to which the item is stored is in the first storage area or the second storage area, the item to be stored can be stored in a position close to already stored items, regardless of which storage area the storage row to which the item is stored is located in. As a result, when storage areas are provided on both sides of the X-direction relative to the Y-direction path, it is easier to improve the storage efficiency of items in both storage areas on both sides of the X-direction.

[0104] Here, the supply device is preferably located in the Y-direction region where at least one of the first storage area and the second storage area in the Y-direction path is not in contact, and includes a receiving conveyor into which the articles are brought for storage in the storage row, and the specific placement process is preferably performed by adjusting the positional relationship between the above-described placement platform and the articles when the articles are transferred from the receiving conveyor to the transport vehicle.

[0105] This configuration allows for positional adjustment between the goods and the loading platform of

[0106] As described above, in a configuration in which the specific placement process is performed by adjusting the positional relationship between the aforementioned placement platform and the article when the article is transferred from the receiving conveyor to the transport vehicle, the transfer of the article from the receiving conveyor to the transport vehicle is performed when the transport vehicle is in a fixed position, the adjustment of the positional relationship between the aforementioned placement platform and the article in the specific placement process is performed by adjusting the position of the article on the receiving conveyor, and the automated warehouse preferably includes a first detection device that detects that the position of the article on the receiving conveyor is a position where it is arranged in the first positional relationship with respect to the aforementioned placement platform of the transport vehicle which is in a fixed position, and a second detection device that detects that the position of the article on the receiving conveyor is a position where it is arranged in the second positional relationship with respect to the aforementioned placement platform of the transport vehicle which is in a fixed position.

[0107] With this configuration, when transferring goods from the receiving conveyor to the transport vehicle, the first and second detection devices can detect whether the position of the goods on the receiving conveyor is the position that should be achieved by the specific placement process. Therefore, the above-mentioned position adjustment for the specific placement process can be appropriately performed by utilizing the operation of the receiving conveyor for transferring goods from the receiving conveyor to the transport vehicle. In this case, the transport vehicle only needs to be stopped at a fixed position, which simplifies the control of the transport vehicle when transferring goods from the receiving conveyor to the transport vehicle.

[0108] In the automated warehouses of each of the above configurations, when the transport vehicle performs a move operation to move the items already stored in one storage row to another storage row, it is preferable that if the source storage row is included in the first storage area, the transport vehicle selects the destination storage row from within the first storage area, and if the source storage row is included in the second storage area, the transport vehicle selects the destination storage row from within the second storage area.

[0109] In the transfer process, when retrieving items from the source storage row, it is desirable to avoid interference between already stored items and the transport vehicle's loading platform by placing the item to be retrieved on the transport vehicle's loading platform in a first positional relationship if the source storage row is included in the first storage area, and by placing the item to be retrieved on the transport vehicle's loading platform in a second positional relationship if the source storage row is included in the second storage area. Furthermore, when storing items in the destination storage row during the transfer process, in order to store the item to be stored in a position close to the already stored items while avoiding interference between already stored items and the transport vehicle's loading platform, it is desirable to place the item to be stored on the transport vehicle's loading platform in a first positional relationship if the destination storage row is included in the first storage area, and by placing the item to be stored on the transport vehicle's loading platform in a second positional relationship if the destination storage row is included in the second storage area.

[0110] According to this configuration, during the movement process, if the source storage column is located in the first storage area, the destination storage column is selected from within the first storage area. If the source storage column is located in the second storage area, the destination storage column is selected from within the second storage area. Therefore, regardless of whether the source storage column is located in the first or second storage area, the desired positional relationship described above can be maintained when retrieving items from the source storage column and when storing items in the destination storage column. This makes it possible to avoid interference with already stored items when retrieving items from the source storage column, avoid interference with already stored items when storing items in the destination storage column, and store items in a position close to already stored items in the destination storage column, without having to readjust the positional relationship between the items to be moved and the loading platform of the transport vehicle during the movement process.

[0111] In the configuration described above, where the transport vehicle performs the movement process, the automated warehouse further comprises a control device for controlling the transport vehicle and the supply device, and the item to be moved is referred to as the target item. The control device controls the transport vehicle and the supply device so that, if the storage row from which the target item is moved is included in the first storage area and it is not possible to select the storage row to which the target item is moved from within the first storage area, the specific placement process is performed so that the target item is placed on the aforementioned stand in the second positional relationship, and then the target item is stored in the storage row in the second storage area. Alternatively, if the storage row from which the target item is moved is included in the second storage area and it is not possible to select the storage row to which the target item is moved from within the second storage area, the specific placement process is performed so that the target item is placed on the aforementioned stand in the first positional relationship, and then the target item is stored in the storage row in the first storage area.

[0112] According to this configuration, in the transfer process, even if the source storage column is included in the first storage area and the destination storage column cannot be selected from within the first storage area, or if the source storage column is included in the second storage area and the destination storage column cannot be selected from within the second storage area, a specific placement process is executed to change the destination storage column to a storage column in another storage area. This makes it possible to achieve the desired positional relationship between the target item and the loading platform of the transport vehicle, both when retrieving the item from the source storage column and when storing the item in the destination storage column. As a result, even in the above cases, interference with already stored items is avoided when retrieving the item from the source storage column, interference with already stored items is avoided when storing the item in the destination storage column, and the item can be stored in a position close to already stored items in the destination storage column.

[0113] In the automated warehouses of each of the above configurations, it is preferable that the X-direction dimension of the aforementioned display stand is larger than the X-direction dimension of at least some of the articles.

[0114] Even when the X-direction dimension of the transport vehicle's loading platform is larger than the X-direction dimension of at least some of the articles, as in this configuration, the technology of this disclosure allows the transport vehicle's loading platform to not protrude on the side of the articles where already stored articles exist in the X-direction, regardless of whether the storage row to which the articles are stored is the first storage area or the second storage area, by performing the specific loading process described above. Therefore, the technology of this disclosure makes it easier to improve the storage efficiency of articles in both storage areas on both sides of the X-direction, even when the X-direction dimension of the transport vehicle's loading platform is larger than the X-direction dimension of at least some of the articles.

[0115] The automated warehouse relating to this disclosure only needs to achieve at least one of the effects described above. [Explanation of symbols]

[0116] 1: Transport vehicle 2: Control device 3: Feeding device 4: Goods 4T: Target items 6: Storage column 7: Y-direction path 10: First transport vehicle 12: Mounting platform 13: Lifting mechanism 20: Second transport vehicle 30: Inbound conveyor 81: First detection device 82: Second detection device 100: Automated warehouse A1: Storage Area 1 A2: Second storage area X:X direction X1: 1st side in X direction X2: 2nd side in X direction Y:Y direction Z: Vertical direction Z2: lower side

Claims

1. Two directions that intersect each other in an up-and-down view are defined as the X direction and the Y direction, with one side of the X direction being defined as the first X direction side and the other side being defined as the second X direction side. A Y-direction path provided along the aforementioned Y-direction, A first storage area is provided with multiple rows of storage columns arranged in the Y direction, which are located on the first side in the X direction relative to the Y direction path and capable of storing items in a line along the X direction. A second storage area is located on the second side in the X direction relative to the Y direction path, and the storage rows are arranged in multiple rows in the Y direction. A first transport vehicle that travels along each of the storage rows, below the items stored in the storage rows, to transport the items, A second transport vehicle capable of carrying the first transport vehicle and traveling along the Y-direction path, A supplying device for supplying the article to the first transport vehicle, Equipped with, The first transport vehicle comprises a platform on which the article is placed, and a lifting mechanism for raising and lowering the platform described above. When the supply device and the first transport vehicle transport the articles to be stored in the storage row using the first transport vehicle, at least one of them performs a specific placement process to place the articles on the aforementioned platform of the first transport vehicle in a specific positional relationship. The aforementioned specific positional relationship is, When the storage row that becomes the storage location for the article is located in the first storage area, the position in the X direction of the end of the article on the first side in the X direction is the same as or further to the first side in the X direction than the end of the stand described above, which is a first positional relationship. An automated warehouse, wherein, when the storage row that is the storage location for the aforementioned articles is located in the second storage area, the position in the X direction of the end of the article on the second side in the X direction is the same as or further to the second side in the X direction than the end of the stand described above.

2. The supply device is located in the Y-direction region of the Y-direction path where at least one of the first storage area and the second storage area is not in contact, and includes a receiving conveyor into which the articles are brought for storage in the storage rows. The automated warehouse according to claim 1, wherein the specified placement process is performed by adjusting the positional relationship between the placement platform and the article when the article is transferred from the receiving conveyor to the first transport vehicle.

3. The transfer of the goods from the receiving conveyor to the first transport vehicle is performed while the first transport vehicle is in a fixed position. The adjustment of the positional relationship between the aforementioned placement platform and the article in the specified placement process is performed by adjusting the position of the article on the receiving conveyor. The automated warehouse according to claim 2, comprising: a first detection device for detecting that the position of the article on the receiving conveyor is a position in which it is arranged in a first positional relationship with respect to the aforementioned base of the first transport vehicle which is in a fixed position; and a second detection device for detecting that the position of the article on the receiving conveyor is a position in which it is arranged in a second positional relationship with respect to the aforementioned base of the first transport vehicle which is in a fixed position.

4. The automated warehouse according to any one of claims 1 to 3, wherein when the first transport vehicle and the second transport vehicle perform a move process to move the items already stored in the storage row to another storage row, if the source storage row is included in the first storage area, they select the destination storage row from within the first storage area, and if the source storage row is included in the second storage area, they select the destination storage row from within the second storage area.

5. The system further comprises a control device for controlling the first transport vehicle, the second transport vehicle, and the supply device, The article subject to the aforementioned transfer process is referred to as the target article. The control device is If the storage row from which the target item is moved is included in the first storage area, and it is not possible to select the storage row to which the target item is moved from within the first storage area, the first transport vehicle, the second transport vehicle, and the supply device are controlled to perform the specific placement process so that the target item is placed on the aforementioned stand in the second positional relationship, and then to store the target item in the storage row in the second storage area. The automated warehouse according to claim 4, wherein if the storage row from which the target item is moved is included in the second storage area, and it is not possible to select the storage row to which the target item is moved from within the second storage area, the first transport vehicle, the second transport vehicle, and the supply device are controlled to store the target item in the storage row in the first storage area after performing the specific placement process so that the target item is placed on the aforementioned platform in the first positional relationship.

6. The automated warehouse according to any one of claims 1 to 3, wherein the dimension of the mounting platform in the X direction is greater than the dimension of at least some of the articles in the X direction.

7. Two directions that intersect each other in an up-and-down view are defined as the X direction and the Y direction, with one side of the X direction being defined as the first X direction side and the other side being defined as the second X direction side. A Y-direction path provided along the aforementioned Y-direction, A first storage area is provided with multiple rows of storage columns arranged in the Y direction, which are located on the first side in the X direction relative to the Y direction path and capable of storing items in a line along the X direction. A second storage area is located on the second side in the X direction relative to the Y direction path, and the storage rows are arranged in multiple rows in the Y direction. A transport vehicle that travels along the Y-direction path and travels below the items stored in the storage rows, along each of the storage rows, to transport the items, A supplying device for supplying the article to the transport vehicle, Equipped with, The transport vehicle comprises a platform on which the article is placed, and a lifting mechanism for raising and lowering the platform described above. When transporting the articles to be stored in the storage row by the transport vehicle, at least one of the supply device and the transport vehicle performs a specific placement process to place the articles on the aforementioned platform of the transport vehicle in a specific positional relationship. The aforementioned specific positional relationship is, When the storage row that becomes the storage location for the article is located in the first storage area, the position in the X direction of the end of the article on the first side in the X direction is the same as or further to the first side in the X direction than the end of the stand described above, which is a first positional relationship. An automated warehouse, wherein, when the storage row that is the storage location for the aforementioned articles is located in the second storage area, the position in the X direction of the end of the article on the second side in the X direction is the same as or further to the second side in the X direction than the end of the stand described above.

8. The supply device is located in the Y-direction region of the Y-direction path where at least one of the first storage area and the second storage area is not in contact, and includes a receiving conveyor into which the articles are brought for storage in the storage rows. The automated warehouse according to claim 7, wherein the specified placement process is performed by adjusting the positional relationship between the placement platform and the article when the article is transferred from the receiving conveyor to the transport vehicle.

9. The transfer of the goods from the receiving conveyor to the transport vehicle is performed while the transport vehicle is in a fixed position. The adjustment of the positional relationship between the aforementioned placement platform and the article in the specified placement process is performed by adjusting the position of the article on the receiving conveyor. The automated warehouse according to claim 8, comprising: a first detection device for detecting that the position of the article on the receiving conveyor is a position in which it is arranged in the first positional relationship with respect to the aforementioned base of the transport vehicle which is in a fixed position; and a second detection device for detecting that the position of the article on the receiving conveyor is a position in which it is arranged in the second positional relationship with respect to the aforementioned base of the transport vehicle which is in a fixed position.

10. The automated warehouse according to any one of claims 7 to 9, wherein when the transport vehicle performs a move process to move the items already stored in the storage row to another storage row, if the source storage row is included in the first storage area, it selects the destination storage row from within the first storage area, and if the source storage row is included in the second storage area, it selects the destination storage row from within the second storage area.

11. The system further comprises a control device for controlling the transport vehicle and the supply device, The article subject to the aforementioned transfer process is referred to as the target article. The control device is If the storage row from which the target item is moved is included in the first storage area, and it is not possible to select the storage row to which the target item is moved from within the first storage area, the transport vehicle and the supply device are controlled to perform the specific placement process so that the target item is placed on the aforementioned stand in the second positional relationship, and then to store the target item in the storage row in the second storage area. The automated warehouse according to claim 10, wherein if the storage row from which the target item is moved is included in the second storage area, and it is not possible to select the storage row to which the target item is moved from within the second storage area, the transport vehicle and the supply device are controlled to store the target item in the storage row in the first storage area after performing the specific placement process so that the target item is placed on the aforementioned platform in the first positional relationship.

12. The automated warehouse according to any one of claims 7 to 9, wherein the dimension of the mounting platform in the X direction is greater than the dimension of at least some of the articles in the X direction.

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