Automated warehouse system

Abstract

To provide an automated warehouse system that has shelves that allow autonomous mobile robots to travel beyond fire compartments, and that complies with regulations by preventing damage to the automated warehouse system and fire shutters when fire shutters are activated, and by not interfering with the operation of the fire shutters. [Solution] The automated warehouse system of the present invention comprises an automated mobile robot and a first shelf and a second shelf, each having a plurality of storage areas capable of storing objects and each having a travel path for the automated mobile robot, wherein a connecting path is formed between the first shelf and the second shelf, which is the travel path for the automated mobile robot connecting the travel path of the first shelf and the travel path of the second shelf, and the automated mobile robot travels along the travel path, and when it receives a stop command while traveling in a specific section of the travel path that includes the connecting path, it stops after passing the connecting path.

Description

Technical Field

[0001] The present invention relates to a conveyance facility for conveying conveyed objects using an autonomous mobile robot, and an automated warehouse system.

Background Art

[0002] In recent years, various robots have been introduced to improve the productivity of distribution warehouses and solve labor shortages, and automation of cargo conveyance within warehouses has been progressing. For example, an automated warehouse system that performs picking and conveyance of articles using an autonomous mobile robot (AGV: Automated Guided Vehicle) is known (Patent Document 1).

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of Invention

Problem to be Solved by the Invention

[0004] In large-scale warehouses, it is required by law to divide the building interior into a plurality of fire compartments for each fixed area, and install fire blocking equipment such as fire shutters between the fire compartments. When a fire breaks out, the fire shutters descend to prevent the spread of fire by blocking and isolating the fire compartments.

[0005] When constructing an automated warehouse system in such a large-scale warehouse, in the case where rails for traveling the autonomous mobile robot are provided extending over shelves arranged across the boundaries of the fire compartments, for example, there is a problem that the descent of the fire shutters must not be hindered in the event of a fire.

[0006] Furthermore, interference between the autonomous robot and the fire shutter could damage either the robot or the fire shutter, or prevent the fire shutter from functioning properly. Therefore, it is necessary to prevent interference between the autonomous robot and the fire shutter.

[0007] The present invention has been made in view of the above points, and aims to provide an automated warehouse system that has shelves that allow an autonomous mobile robot to travel beyond fire compartments, and that does not damage the automated warehouse system or fire shutters when fire shutters are activated, and does not interfere with the operation of fire shutters, and complies with regulations. [Means for solving the problem]

[0008] The automated warehouse system of the present invention comprises an automated mobile robot and a first shelf and a second shelf, each having a plurality of storage areas capable of storing objects and each having a travel path for the automated mobile robot, wherein a connecting path is formed between the first shelf and the second shelf, which is the travel path for the automated mobile robot connecting the travel path of the first shelf and the travel path of the second shelf, and the automated mobile robot travels along the travel path, and when it receives a stop command while traveling in a specific section of the travel path that includes the connecting path, it stops after passing the connecting path. [Effects of the Invention]

[0009] According to the present invention, an automated warehouse system having a travel path for an automated mobile robot 20 to travel beyond a fire compartment can be configured in a manner that complies with regulations and does not interfere with the operation of fire shutters. [Brief explanation of the drawing]

[0010] [Figure 1] This is a schematic perspective view showing the configuration of one shelf in the automated warehouse system of Example 1. [Figure 2] This is a floor plan showing the configuration of the work station floor and other floors of the automated warehouse system in Example 1. [Figure 3]This is a perspective view showing an example configuration of an automated mobile robot and a first and second travel path in an automated warehouse system. [Figure 4] This is a schematic perspective view showing the support means of the automated warehouse system in Example 1. [Figure 5] This is a partial side view of the area between shelves in the automated warehouse system of Example 1. [Figure 6] This is a functional block diagram showing the control unit provided in the automated warehouse system of Example 1. [Figure 7] This is a floor plan showing the configuration of the work station floor and other floors of the automated warehouse system in Example 1, and it shows the travel path of the automated mobile robot. [Figure 8] This is a floor plan showing the configuration of the work station floor and other floors of the automated warehouse system in Example 1, and it shows the travel path of the automated mobile robot. [Modes for carrying out the invention]

[0011] Hereinafter, embodiments of the conveying equipment and the automated warehouse system equipped with this conveying equipment according to the present invention will be described in detail with reference to the figures. [Examples]

[0012] Figure 1 is a perspective view of the automated warehouse system 200 of Example 1. Figure 2 is a plan view of one floor of the automated warehouse system 200 of Example 1. The automated warehouse system 200 is installed across fire compartment A and fire compartment B adjacent to fire compartment A of the warehouse. In Figure 1, only the portion of the automated warehouse system 200 installed in fire compartment A is shown.

[0013] The transport equipment 100 is a transport equipment capable of transporting goods across multiple shelves located in each of the fire compartments of a building that can be spatially divided by liftable barrier walls such as fire shutters.

[0014] The conveyance facility 100 includes a shelf 100A as a first shelf provided in a fire protection compartment A of a warehouse and a shelf 100B as a second shelf provided in a fire protection compartment B. Each of the shelf 100A and the shelf 100B has a hierarchical structure having a plurality of tiers in the up-down direction, that is, the vertical direction.

[0015] The conveyance facility 100 is configured such that containers C serving as storage cases for articles are stored in the shelf 100A and the shelf 100B, and the containers C can be moved by an autonomously traveling robot 20 that is movable in each tier of the shelf 100A and the shelf 100B.

[0016] As shown in FIG. 1 and FIG. 2, the automated warehouse system 200 has a plurality of racks 10 serving as storage areas of the present invention on each tier. The plurality of racks 10 are configured to be capable of storing a large number of containers C serving as storage cases for accommodating articles. That is, the plurality of racks 10 function as a storage area for storing articles or an accommodation area for accommodating articles in the automated warehouse system 200.

[0017] The plurality of racks 10 extend in each tier of the shelf 100A and the shelf 100B along a first direction on the horizontal plane (the front-rear direction in FIG. 1 and FIG. 2) so that the plurality of containers C can be arranged. The length and the number of rows of the racks 10 can be increased or decreased as necessary. A corrugated cardboard box or the like may be used as the storage case instead of the container.

[0018] The autonomously traveling robot 20 is an autonomous mobile robot configured to be capable of placing the container C on the rack 10 and taking out the container C from the rack 10. That is, the autonomously traveling robot 20 is configured to be capable of loading and unloading cargos to and from the racks 10.

[0019] First traveling paths 30 extend in the first direction (the front-rear direction in FIG. 1 and FIG. 2) in each tier of the shelf 100A and the shelf 100B of the conveyance facility 100, and are configured to allow the autonomously traveling robot 20 to travel. In the present embodiment, two rows of the racks 10 are provided between the adjacent first traveling paths 30.

[0020] The second travel path 40 extends in a second direction (left-right direction in Figures 1 and 2) perpendicular to the first direction on the horizontal plane at each level of shelves 100A and 100B of the conveying equipment 100, and is configured to allow the automated mobile robot 20 to travel along it. At each level of the conveying equipment 100, this travel path 40 is connected to each of the travel paths 30.

[0021] In this embodiment, the second travel path 40 is provided at the front ends of shelves 100A and 100B. The automated mobile robot 20 can travel freely along the first travel path 30 and the second travel path 40, and can change direction at their intersections.

[0022] The connecting guide mechanism 90 is a mechanism that forms a connecting path 91 that connects the travel path 40 of shelf 100A and the travel path 40 of shelf 100B. The connecting guide mechanism 90 is provided for each shelf level in the area facing the left and right ends of the travel path 40 between shelf 100A and shelf 100B.

[0023] In other words, the travel path 40 of shelf 100A and the travel path 40 of shelf 100B are connected by a connecting path 91 in the portion between shelf 100A and shelf 100B, so that the automated mobile robot 20 can move back and forth between shelf 100A and shelf 100B. In this embodiment, the case in which the connecting guide mechanism 90 that forms the connecting path 91 is provided on each floor throughout all floor levels will be described as an example. However, the connecting guide mechanism 90 may be provided only on any part of the floors where the connecting path 91 is required. For example, the connecting guide mechanism 90 may be provided only from the bottom up to a predetermined floor, and the connecting guide mechanism 90 may not be provided above that predetermined floor.

[0024] The connecting passage 91 is formed by a connecting passage guide (not shown in Figures 1 and 2), which is a movable physical guide mechanism of the connecting guide mechanism 90, and serves as a connecting passage guide body of the present invention. This connecting passage guide is configured to retract so as not to interfere with the fire shutter 70 when the fire shutter 70 operates to block the fire compartment, for example, when the fire shutter 70 descends.

[0025] Specifically, the connection guide mechanism 90 is configured to allow the orientation of the connection path guide to change between a first orientation, which is an extended orientation, that forms the connection path 91, and a second orientation, which is a retracted orientation, that blocks the connection path 91 and retracts from the area through which the fire shutter 70 passes.

[0026] The automated warehouse system 200 faces a second travel path 40 and has a lifting device 50 that receives cargo from an automated mobile robot 20 located on the travel path 40 and transports the received container C in the vertical direction.

[0027] Furthermore, the automated warehouse system 200 is provided on either shelf level 100A or 100B (for example, the lowest level) and has a work station 60 that can load and unload containers C to and from the travel path 40 on that level. The work station 60 has a work surface that can load and unload goods to and from the lifting device 50. Hereinafter, the level on which the work station 60 is provided will be referred to as the work station level.

[0028] First, the lifting device 50 and its associated features will be described. The lifting device 50 is installed on the front end side (front end side in the front-rear direction in Figure 2) of shelves 100A and 100B so as to be connected to the first travel path 30 or the second travel path 40. The lifting device 50 is installed at the work station 60 on the work station floor and is capable of receiving containers C from the travel path 40 and transporting the received containers C in the front-rear direction, and enables loading and unloading of goods between the lifting device 50 and a pair of lateral conveyors 61a and 61b.

[0029] The lifting device 50 is configured to transport container C received from either the lateral conveyor 61a or 61b in the vertical direction (height direction) and hand it over to the automated mobile robot 20 at a designated floor. In addition, the lifting device 50 loads container C that has been unloaded from the automated mobile robot 20 on a floor different from the work station floor, moves it vertically, and transports it to the work station floor.

[0030] The loading platform of the lifting device 50 has a discharge conveyor 51 as a discharge means for discharging the placed container C to one of a pair of lateral conveyors 61a and 61b. However, the discharge means of the lifting device 50 is not limited to a conveyor system. Other discharge and loading mechanisms such as an arm mechanism may also be used.

[0031] On floors different from the work station floors of shelves 100A and 100B, a pair of lateral travel paths 31a and 31b are provided on both sides of the lifting device 50, extending along the first direction (front-to-back direction in Figure 2), and on which the automated mobile robot 20 can travel. In the automated warehouse system 200, having these lateral travel paths 31a and 31b allows the automated mobile robot 20 to selectively reach either side of the lifting device 50. As a result, the automated mobile robot 20 can transfer containers C to and from the lifting device 50.

[0032] Furthermore, on floors different from the work station floor of shelves 100A and 100B, an end track 41 is provided that extends in front of the lifting device 50 along a second direction (left-right direction in Figure 2) and is connected to a pair of lateral tracks 31a and 31b.

[0033] As a result, when multiple autonomous mobile robots 20 are provided on the same floor and the mobile robots 20 reach the elevator 50 in a line, the presence of the end travel path 41 allows the autonomous mobile robot 20 that reaches the elevator 50 first to selectively use both the lateral travel paths 31a and 31b to return to the travel path 40.

[0034] If the next autonomous mobile robot 20 approaches the lifting device 50 from the same lateral travel path as the previous autonomous mobile robot 20, the previous autonomous mobile robot 20 should be directed back to the travel path 40 via a different lateral travel path than the one it took to arrive at the lifting device 50 via the end travel path 41. In this way, multiple autonomous mobile robots 20 can move smoothly without colliding with each other on the travel paths.

[0035] In other words, the presence of the end-pathway 41 on a floor different from the work station floor allows the automated mobile robot 20 to use the end-pathway 41 as a detour, thus avoiding congestion for the automated mobile robot 20 accessing the lifting device 50.

[0036] Next, the work station 60 will be described. At the work station 60, picking operations are performed, in which designated products are taken from container C that has been transported from rack 10, or receiving operations are performed, in which goods are placed into container C that has been transported to rack 10.

[0037] In the automated warehouse system 200 of this embodiment, each fire compartment (fire compartment A, fire compartment B) is equipped with two lifting devices 50 and two work stations 60 on shelves 100A and shelves 100B, respectively. One of the two work stations on each shelf can be used as a receiving work station and the other as a shipping work station.

[0038] The work station 60 has a container transfer position 31 into which the automated mobile robot 20 can enter. The aforementioned lateral conveyors 61a and 61b extend on both sides (both left and right sides in Figure 2) of the container transfer position 31 and the lifting device 50 in the same direction as the first direction, i.e., in the front and rear direction in Figure 2, enabling the transfer of containers C between them and the automated mobile robot 20 or the lifting device 50.

[0039] Furthermore, the work station 60 extends in the same direction as the second direction, i.e., in the left-right direction in Figure 2, in front of the lifting device 50 (forward in the front-rear direction in Figure 2), and has an end conveyor 62a connected to a pair of lateral conveyors 61a and 61b, and a storage conveyor 62b attached to the front of the end conveyor 62a for the temporary storage of containers C.

[0040] As shown in Figure 1, in the work station 60, three end conveyors 62a and three stabling conveyors 62b are arranged side by side in the left-right direction. That is, the end conveyors 62a and stabling conveyors 62b consist of a combination of right-angle transfer conveyor units arranged in 2 rows (front-back direction) x 3 columns (left-right direction). In the work station 60, the inner end conveyor 62a transports containers C sequentially in either the first or second direction.

[0041] In this way, by having an end conveyor 62a, multiple containers C can be taken out from one end in the left-right direction and sequentially placed in a picking area (not shown), and containers C that have been picked can be brought in from the other end and moved back to the side conveyor 61a or 61b.

[0042] Furthermore, the outer holding conveyor 62b is for temporarily holding containers C that have been transported by the end conveyor 62a. Multiple picking operations can be performed from the container C while it is temporarily held. The holding conveyor 62b can temporarily hold up to three containers C. Combined with the three containers C that are continuously transported laterally by the end conveyor 62a, picking can be performed from up to six containers C, which has the advantage of increasing the variety of items (products) that can be picked simultaneously.

[0043] Furthermore, in the work station 60, the pair of lateral conveyors 61a and 61b are configured such that the portions corresponding to the openings on both sides of the lifting device 50 are composed of roller conveyors capable of moving containers C in a first direction and a second direction (i.e., vertical (front and back) and horizontal (left and right) directions), while the other portions are composed of roller conveyors that move containers C in the first direction (i.e., vertical (front and back) direction). This allows containers C to be placed on the lifting device 50 from the lateral conveyor 61a or 61b.

[0044] Furthermore, in the work station 60, the end conveyor 62a and the stagnant conveyor 62b are composed of roller conveyors capable of moving containers C in a first direction and a second direction (i.e., vertical (front and back) and horizontal (left and right) directions).

[0045] This allows the positions of containers C on the end conveyor 62a and the stabling conveyor 62b to be freely moved and positioned in the picking area of ​​the work station 60 according to the items (products) to be picked.

[0046] The above-described automated robot 20 is configured to be able to load and unload container C to and from the work station 60, and also to be able to load and unload container C to and from the lifting device 50.

[0047] Furthermore, the mobile robot 20 is configured to travel between locations where goods can be loaded and unloaded between the rack 10, the lifting device 50, and the work station 60, i.e., locations that have access to these.

[0048] Therefore, the mobile robot 20 is capable of transporting container C between the rack 10 and the work station 60 on the work station floor where the work surface of the work station 60 is located, and between the rack 10 and the lifting device 50 on floors other than the work station floor.

[0049] The second travel path 40 described above is connected to the container transfer position 31 on the work surface on the work station floor, and on floors other than the work station floor, it is connected to a pair of lateral travel paths 31a and 31b formed in the area that overlaps with the work station in a plan view.

[0050] In this embodiment, two second travel paths 40 are provided between the multiple racks 10 and the lifting device 50. As a result, when multiple automated mobile robots 20 are placed on the same level of shelves 100A and shelves 100B, the multiple automated mobile robots 20 can transport containers C without congestion on the travel paths.

[0051] The number of second travel paths 40 is not particularly limited and can be set as needed. For example, if one automated travel robot 20 is placed on the same floor as shelves 100A and 100B, only one second travel path 40 is needed between the multiple racks 10 and the lifting device 50. Also, the location of the second travel path 40 is not limited to between the multiple racks 10 and the lifting device 50.

[0052] The fire shutter 70 is a well-known shutter device that operates as a fire-blocking device to separate fire compartments in the event of a fire. As described above, the automated warehouse system 200 of this embodiment includes shelves 100A provided in fire compartment A of the warehouse and shelves 100B provided in fire compartment B. The automated warehouse system 200 is installed such that the fire shutter passes through the area where the connecting guide mechanism 90, which connects the second travel path 40 of shelf 100A and the second travel path 40 of shelf 100B, forms a connecting path 91.

[0053] Here, we will describe the configuration of the autonomous driving robot 20 and the physical guides that guide the autonomous driving robot 20, that is, the road guides which form the road.

[0054] Figure 3 is a perspective view showing an autonomous mobile robot traveling on a travel path. The travel path 30 is formed by a pair of physical travel path guides 30A. Similarly, the travel path 40 is formed by a pair of physical travel path guides 40A. These travel path guides 30A and 40A each have a vertical surface that guides the autonomous mobile robot 20 in the horizontal direction and a horizontal surface that supports it in the vertical direction.

[0055] The autonomous mobile robot 20 comprises a mobile unit 21, guide rollers 22, a transfer unit 23, and control means 24. The mobile unit 21 includes mobile wheels 21a for the autonomous mobile robot 20 to travel in a first direction, mobile wheels 21b for traveling in a second direction, drive motors that drive these wheels respectively, and a switching mechanism that switches the mobile wheels to change the direction of travel.

[0056] As shown in the diagram, in the autonomous mobile robot 20, the travel wheels 21a or 21b are in contact with the horizontal surfaces of the travel path guides 30A and 40A, which are physical guides forming the travel paths 30 and 40, and the main body of the autonomous mobile robot 20 on which the container C is placed is supported by the travel path guides 30A and 40A.

[0057] The guide rollers 22 are positioned at the four corners of the bottom surface of the autonomous mobile robot 20, and are rotatable around a vertical axis. These guide rollers 22 are in contact with the vertical surfaces of the travel path guides 30A and 40A, which are physical guides forming the travel paths 30 and 40, enabling the autonomous mobile robot 20 to be guided horizontally along the travel path guides 30A and 40A. Furthermore, by providing these guide rollers 22, it is possible to maintain the straight-line movement of the autonomous mobile robot 20 during its travel and prevent it from deviating from the travel paths 30 and 40.

[0058] The transfer unit 23 is a part that has a transfer mechanism for transferring container C between the automated mobile robot 20 and the rack 10, and between the automated mobile robot 20 and the lifting device 50. This transfer unit 23 includes an arm mechanism for moving container C and a drive motor for driving the arm mechanism.

[0059] The control means 24 includes a CPU (Central Processing Unit) and controls the movement of the automated mobile robot 20 by controlling the travel unit 21, and also controls the transfer unit 23 to control the handover of container C. The control means 24 is also equipped with a communication interface and can communicate wirelessly with the control unit of the automated warehouse system 200.

[0060] The control means 24 is configured to receive control signals output from the control unit and to control each part based on those control signals. In this way, by the control means 24 following commands from the control unit of the automated warehouse system 200, which is aware of the position and movement of each automated mobile robot 20, the automated mobile robots 20 can safely travel at high speed within the automated warehouse system 200. Furthermore, precise control of arrival times based on algorithms is possible, and multiple automated mobile robots 20 can operate in a coordinated manner according to the algorithm.

[0061] The following describes the configuration of the connection guide mechanism 90 that forms the connection path 91 of the conveying equipment 100 of the present invention, and the area surrounding the location where the connection guide mechanism 90 is provided. Figure 4 is an enlarged perspective view of the connection portion between the travel path 40 of shelf 100A and the travel path 40 of shelf 100B, that is, the area between shelf 100A and shelf 100B.

[0062] As shown in Figure 4, at the connection point of the travel path 40, the travel path guide 40A of shelf 100A and the travel path guide 40A of shelf 100B are spaced apart horizontally from each other. In Figure 4, a connecting path guide 91A, capable of guiding the automated mobile robot 20, is positioned in the area between the travel path guide 40A of shelf 100A and the travel path guide 40A of shelf 100B, that is, in the area between the column PI1 of shelf 100A and the column PI2 of shelf 100B, similar to the travel path guide 40A.

[0063] The connecting path 91 (see Figure 2) formed by this connecting path guide 91A connects the travel path 40 of shelf 100A and the travel path 40 of shelf 100B, allowing the automated mobile robot 20 to move between the travel path 40 of shelf 100B and the travel path 40 of shelf 100B. In this embodiment, the connecting guide mechanism 90 is provided with a connecting path guide 91A and an air cylinder 90A as a driving means for moving the connecting path guide 91A. The air cylinders 90A are provided below each of the connecting path guides 91A.

[0064] Figure 4 shows an example in which the air cylinder 90A is rotatably fixed to the same side of the connecting path guide 91A of column PI1 as the side to which the connecting path guide 91A is rotatably fixed. In this example, in order to rotatably fix the rod of the air cylinder 90A to the side of the connecting path guide 91A, a bent portion is provided on the rod of the air cylinder 90A that bends toward the side of the travel path, as shown in the figure. In the following figures and descriptions, this bent portion is omitted from the illustrations and descriptions for the sake of clarity.

[0065] When this connection guide mechanism 90 is activated, the connection path guide 91A is moved out of the passage area of ​​the fire shutter 70 when the fire shutter 70 (shown by a dashed line in the figure) descends due to an abnormal situation such as a fire. As a result, the fire shutter 70 can descend without interference from the transport equipment 100.

[0066] Figure 5 is an enlarged partial side view of the connection point between the travel path 40 of shelf 100A and the travel path 40 of shelf 100B, that is, the area between shelf 100A and shelf 100B. Note that Figure 5 shows only the upper two layers of shelf 100A and shelf 100B, but the lower layers also have a mechanism for connecting the travel path 40 of shelf 100B to the travel path 40 of shelf 100B, similar to the upper two layers. In Figure 5, each part in the retracted state is shown by a dashed line.

[0067] The connecting passage guide 91A is supported at one end in the extension direction of the connecting passage 91 so as to be rotatable around a horizontal axis on the column PI1 of the shelf 100A, and the other end is rotatably fixed to the tip of the rod 90A1 of the air cylinder 90A. The cylinder tube 90A2 of the air cylinder 90A is supported at the end opposite to the end through which the rod 92A passes (not shown) so as to be rotatable around a horizontal axis on the column PI1 of the shelf 100A.

[0068] The shutter sensor SE is a sensor capable of detecting the descent of the fire shutter 70. In this embodiment, the shutter sensor SE is mounted near the top of the column PI2 of shelf 100B.

[0069] In this embodiment, the shutter sensor SE has a contact element CT made of a flexible thin wire, and is a sensor that detects the descent of the fire shutter 70 by sensing contact between the contact element CT and the shutter 70. The shutter sensor SE can be any type of sensor as long as it can detect the descent of the fire shutter 70 before the fire shutter 70 contacts the connecting path guide 91A. The air cylinder 90A operates based on the signal from this shutter sensor SE. The operation control unit that operates the air cylinder 90A in response to this signal is not shown. Alternatively, the operation control unit may be built into the air cylinder 90A, and the air cylinder 90A may operate by receiving a signal from the shutter sensor SE wirelessly or via a wired connection.

[0070] Next, the operation of the connection guide mechanism 90 will be described. In the normal state when the fire shutter 70 is not lowered, the air cylinder 90A fully extends the rod 90A1 from the cylinder tube 90A2 and supports and fixes the connection path guide 91A from below so that the connection path guide 91A is horizontal. This state is referred to as the deployed state of the connection guide mechanism 90 or simply the deployed state. The position of the connection path guide 91A in this state is also referred to as the deployed state as the first position.

[0071] In this deployed state, the connecting path guide 91A, supported by the air cylinder 90A, is kept in a horizontal position, and the connecting guide mechanism 90 forms a connecting path 91 that connects the travel path 40 of shelf 100A and the travel path 40 of shelf 100B. In other words, in this deployed state, the automated mobile robot 20 can move or transition between the travel path 40 of shelf 100B and the travel path 40 of shelf 100B via the connecting path 91 formed by the connecting path guide 91A.

[0072] When the sensor SE detects the descent of the fire shutter 70 while it is in this deployed state, the air cylinder 90A is operated to retract the rod 90A1 into the cylinder tube 90A2. When the air cylinder 90A operates in this manner, as shown by the dashed line in the figure, the air cylinder 90A rotates downward, and at the same time, the connecting path guide 91A also rotates downward.

[0073] In this state, the connecting path guide 91A and the air cylinder 90A rotate downward, and the connecting path guide 91A is retracted towards the column PI1 side of the shelf 100A. This state is referred to as the retracted state of the connecting guide mechanism 90 or simply the retracted state. The position of the connecting path guide 91A in this state is also referred to as the retracted position, which is the second position.

[0074] The descending fire shutter 70 is shown by a dashed line in the figure. In the above retracted state, the connecting path guide 91A moves out of the area through which the fire shutter 70 passes when it descends. Therefore, interference, specifically contact, between the fire shutter 70 and the connecting path guide 91A is avoided when the fire shutter 70 descends.

[0075] When the connecting path guide 91A is in the retracted position, the connecting path 91 is not formed, and the travel path 40 of shelf 100B and the travel path 40 of shelf 100B are disconnected or blocked. In other words, when the connecting path guide 91A is in the retracted position, the automated mobile robot 20 cannot move between the travel path 40 of shelf 100A and the travel path 40 of shelf 100B.

[0076] Even in such a case, the automated mobile robot 20 can move within the travel path 40 of shelf 100A and the travel path 40 of shelf 100B, so it can move freely as long as it does not move across shelves. In other words, even when the connecting path guide 91A is in a retracted position, the transport equipment 100 and the automated warehouse system 200 can continue to operate in a manner in which the automated mobile robot 20 does not move between shelves 100A and 100B. This type of operation is called emergency operation.

[0077] Once the fire or other incident is contained and the abnormal situation is resolved, and the fire shutter 70 is raised and retracted, the connection guide mechanism 90 is deployed again, and the connection path guide 91A is returned to the deployed position it was in before the fire shutter 70 was lowered. In other words, the connection guide mechanism 90 performs a return operation to return the connection path guide 91A to its original deployed state. This return operation is performed by the operation of the air cylinder 90A.

[0078] In other words, the automated warehouse system 200 has an air cylinder 90A as a drive unit that allows the orientation of the connecting path guide 91A to be changed between an deployed orientation that forms a connecting path which is the travel path of the automated mobile robot 20 and a retracted orientation that blocks the connecting path.

[0079] This reset operation causes the connecting path guide 91A to deploy, thereby re-forming the connecting path 91, reconnecting the travel path 40 of shelf 100A and the travel path 40 of shelf 100B, and enabling the conveying equipment 100 and the automated warehouse system 200 to exit emergency operation and return to normal operation.

[0080] This return operation is quick because it only requires driving the air cylinder 90A, which is the drive mechanism, to return the connecting path guide 91A to the deployed position. Furthermore, since this return operation is performed by the air cylinder 90A, there is no need for an operator to access the connecting path guide 91A in order to restore the connecting path 91.

[0081] In this case, for example, the sensor SE detects that the fire shutter 70 has risen and gone above the uppermost travel path 40 and emits a signal indicating this, and in response to this signal, the connecting guide mechanism 90 operates and deploys.

[0082] Thus, in the present invention, by providing the connecting guide mechanism 90, in the event that the fire shutter 70 descends, it is possible to move the physical guide that forms the travel path of the automated mobile robot 20 out of the area where the fire shutter 70 descends. This makes it possible to install a transport equipment 100 or automated warehouse system 200 configured so that the automated mobile robot 20 moves beyond the fire compartment in a manner that complies with laws and regulations and does not obstruct the descent of the fire shutter 70.

[0083] Furthermore, as described above, after an abnormal situation such as a fire occurs and the fire shutter 70 is lowered, the connection path 91 can be quickly restored once the abnormal situation is resolved and the fire shutter 70 is retracted. In addition, there is no need for workers to access the connection path guide 91A during this restoration. Therefore, it is possible to quickly and easily restore the transport equipment 100 and the automated warehouse system 200 to normal operation after the abnormal situation has been resolved.

[0084] In the above embodiment, the fire shutter 70 is detected by the sensor SE, and the connection guide mechanism 90 operates in response to the signal indicating this. However, the connection guide mechanism 90 may also operate based on other triggers.

[0085] For example, in the event of an emergency such as a fire that causes the fire shutter 70 to operate, a signal may be emitted from an external device, such as a device installed in the facility, and the connection guide mechanism 90 may operate in response to the signal and enter an evacuation state. In this case, once the emergency has been resolved, a signal indicating this may also be emitted from the external device, and the connection guide mechanism 90 may return to an unfolded state in response to the signal. Furthermore, if an alarm sounds when the fire shutter 70 operates, the connection guide mechanism 90 may operate in response to sensing the sound.

[0086] [Regarding the control of autonomous robots] The following describes the travel control of the automated mobile robot in the automated warehouse system 200. Figure 6 is a functional block diagram showing the control unit 300 provided in the automated warehouse system 200. The control unit 300 is attached to the automated warehouse system 200, includes a CPU (Central Processing Unit), and is responsible for controlling the travel of the automated mobile robot 20 of the automated warehouse system 200 and the operation of the connection guide mechanism 90.

[0087] The order receiving unit 301 is a functional unit that receives requests for the outbound shipment (deportation) of goods to the automated warehouse system 200 or orders for the inbound shipment (receiving) of goods. For example, the order receiving unit 301 receives an order to ship specific goods to a specific work station 60.

[0088] The travel path creation unit 302 is a functional unit that creates a travel path for the automated mobile robot 20 to travel in order to execute an order received by the order receiving unit 301. For example, when the order receiving unit 301 receives an order requesting the delivery of a specific item to a specific work station 60, the travel path creation unit 302 identifies the container C in which the ordered item is stored. It then identifies the station arrival path, which is the route from the target rack, where the container C is located, to the target work station or the lifting device 50 connected to the target work station.

[0089] Subsequently, the travel path creation unit 302 searches for and identifies a suitable autonomous mobile robot, for example, the autonomous mobile mobile robot 20 that can reach the target rack the fastest, and generates a rack arrival path, which is the path from the location of the identified autonomous mobile mobile robot 20 to the target rack. Then, it transmits this rack arrival path and the station arrival path to the identified autonomous mobile mobile robot 20.

[0090] The travel permission signal transmission unit 303 is a functional unit that continuously transmits a travel permission signal to the automated mobile robot 20, which is a signal that allows it to travel. In the automated warehouse system 200, the automated mobile robot 20 is configured to be able to travel while it is receiving a travel permission signal, and to stop even if it is traveling if it cannot receive a travel permission signal, and to not be able to start traveling if it is stopped. In other words, if the automated travel permission signal disappears from the perspective of the mobile robot 20, that is, if the automated mobile robot 20 loses the travel permission signal, the mobile robot 20, which is traveling, will stop.

[0091] The driving permission signal transmission unit 303 normally continues to send driving permission signals, but when it is determined that an emergency requiring an emergency stop has occurred, such as when a fire alarm has been issued, it stops sending or transmitting driving permission signals. In addition, the driving permission signal transmission unit 303 may also stop sending driving permission signals if it is determined that an emergency has occurred, for example, based on a report from a user. Furthermore, if the driving permission signal transmission unit 303 determines that maintenance is to be performed based on user input or the scheduling function, it stops sending driving permission signals.

[0092] The guide mechanism operation signal transmitting unit 304 is a functional unit that transmits signals for the operation of the connecting guide mechanism 90. When it is determined that a fire alarm has been issued, the guide mechanism operation signal transmitting unit 304 determines that an emergency has occurred and transmits an operation signal to the connecting guide mechanism 90 that includes an operation command to set the connecting path guide 91A to the retracted position. In addition, even if an emergency has not occurred due to a fire alarm, for example, if it is determined that an emergency has occurred due to a report from a user, a retraction operation signal including an operation command to set the retracted position may be transmitted.

[0093] When the guide mechanism operation signal transmission unit 304 determines that the emergency has been resolved, it transmits a deployment operation signal to the connection guide mechanism 90, which includes an operation command to deploy the connection path guide 91A.

[0094] Figure 7 is a plan view showing the configuration of the transport equipment on a different floor from the work station floor, similar to Figure 2, when an emergency situation is detected and the transmission of the operation signal is stopped. Figure 7 shows the travel path RA of the automated mobile robot 20(A), the travel path RB of the automated mobile robot 20(B), and the travel path RC of the automated mobile robot 20(C), which are created by the travel path creation unit 302. Note that Figure 7 only shows the station arrival path as an example.

[0095] As shown in Figure 7, the travel route consists of waypoints (black circles in the figure) and travel segments that connect them. Normal segments (shown as dashed lines in the figure) are travel segments that do not pass through connecting road 91. Special segments as specific sections (shown as double dashed lines in the figure) are travel segments that pass through connecting road 91.

[0096] As described above, in the automated warehouse system 200, the autonomous mobile robot 20 is configured to stop if it cannot receive a travel permission signal. Therefore, in the automated warehouse system 200, if an emergency requiring an emergency stop occurs, or if maintenance is performed, the autonomous mobile robot 20 will stop if the transmission of the travel permission signal is stopped.

[0097] Such a state in which the transmission of the driving permission signal stops, i.e., the driving permission signal is lost, or a state in which the autonomous driving robot 20 is unable to acquire the driving permission signal due to a problem on the autonomous driving robot 20 side, that is, a state in which the autonomous driving robot 20 has lost the driving permission signal, will be referred to as the state in which the autonomous driving robot 20 has received a stop signal. Hereinafter, the stopping of the autonomous driving robot 20 due to the loss of the driving permission signal or the receipt of a stop signal will also be referred to as an emergency stop.

[0098] In the automated warehouse system 200, the automated mobile robot 20 stops immediately if it loses the ability to travel while traveling on a normal segment. In other words, the automated mobile robot 20 stops immediately if it receives a stop command while traveling on a segment other than a special segment.

[0099] On the other hand, if the driving permission signal is not received while traveling through a special segment including the connecting path 91, the robot will not stop immediately, but will stop after passing through the special segment, that is, after reaching the end of the special segment. Therefore, in the automated warehouse system 200, the automated traveling robot 20 will not stop on the connecting path 91 when it stops due to the loss of the driving permission signal.

[0100] Furthermore, if the connecting guide mechanism 90 assumes a retracted position while the autonomous driving robot 20 is passing through the connecting path 91 or before it does, there is a risk that the autonomous driving robot 20 may collide with the connecting guide mechanism 90 or deviate from the connecting path 91 and fall. Therefore, the guide mechanism operation signal transmission unit 304 described above may transmit a retraction operation signal after a predetermined time has elapsed since stopping the transmission of the driving permission signal. In addition, the retraction operation signal may be transmitted after the control unit 300 detects that the autonomous driving robot 20 has stopped.

[0101] In the state shown in Figure 7, as described above, the transmission of the driving permission signal has stopped, and the autonomous driving robot 20 is stopped. Autonomous driving robots 20(A) and 20(B) are stopped within the normal segment because the driving permission signal disappeared while they were driving in the normal section.

[0102] Meanwhile, while the autonomous driving robot 20(C) was traveling at the position indicated by the dashed line, the driving permission signal disappeared. However, because it was traveling on a special segment, it continued to the end of the special segment and stopped.

[0103] Thus, in the automated warehouse system 200, the automated mobile robot 20 is configured not to stop in the connecting path 91 even when it should be stopped in an emergency. This makes it possible to prevent the automated mobile robot 20 from coming into contact with the shutter 70 by remaining in the connecting path 91, for example, if a fire alarm is sounded and the shutter 70 comes down during an emergency stop.

[0104] Note that while Figure 7 shows an example where a waypoint is placed at the location where the robot changes direction, the location of the waypoint is not limited to the location where the robot changes direction. For example, the waypoint could be placed not only at the point where the robot changes direction, but also just outside the area where, if the automated robot 20 were to make an emergency stop from the connecting path 91, it might not be able to stop before the connecting path 91 and could end up entering the connecting path 91.

[0105] In other words, by placing waypoints at a predetermined distance from the connecting road, the special segment may be defined as a section that starts at a predetermined distance from the connecting road 91 and ends at a point beyond the connecting road 91. This makes it possible to set the special segment as only the area where there is a possibility of entering the connecting road 91 in the event of an emergency stop, regardless of the point where the vehicle changes direction.

[0106] To address this, for example, one can define a specific area where the autonomous robot 20 may not be able to stop without entering the connecting path 91 when performing an emergency stop operation, and then set a waypoint before this area.

[0107] Figure 8 shows a plan view similar to Figure 7, but with the specific area described above defined. In Figure 8, the specific area USR is defined as an area that can be approached in a straight line from the connecting path 91 without changing direction and is a predetermined distance away. In other words, the specific area USR is defined based on the distance from the connecting path 91.

[0108] Furthermore, in Figure 8, waypoints are placed just outside the specific area. For example, in the travel route RC, waypoints are placed in the block of the travel route 40 closest to the specific area USR (each rectangular area on the travel route 40 in the figure is referred to as a block).

[0109] In this way, by defining a specific area USR and setting a waypoint just outside of it, the special segment can be minimized. This reduces the possibility that the autonomous driving robot 20 will be located in the special segment in an emergency, i.e., the possibility that it will continue driving to avoid stopping on the connecting path 91. This makes it possible to achieve a rapid and complete stop of the autonomous driving robot 20 in an emergency.

[0110] Furthermore, the specific USR area may be set according to the time required to reach the connecting path. For example, the time required to reach the connecting path may be calculated from the speed of the autonomous robot 20, and the area that can be reached in a predetermined time may be designated as the specific USR area. In this way, the special segment may be defined as a section that starts from a point where the connecting path 91 can be reached in a predetermined distance and time, and ends at a point beyond the connecting path 91.

[0111] In the above embodiment, an example was described in which the fire shutter 70 connects the second travel path 40 of shelf 100A and the second travel path 40 of shelf 100B, which are located in adjacent, different fire compartments, across the fire compartment. However, shelves 100A and 100B may also be arranged so that the ends of the first travel paths 30 of shelves 100A and 100B face the boundary of the fire compartment, and their first travel paths 30 are connected. In this case, a connection guide mechanism 90 having the above-described connection path guide 91A can be provided at the connection portion between the first travel path 30 of shelf 100A and the first travel path 30 of shelf 100B.

[0112] Furthermore, in the above embodiment, an automated warehouse system having two shelves whose travel paths are connected by a connecting guide mechanism was constructed. However, an automated warehouse system having three or more shelves whose travel paths are connected by a connecting guide mechanism may also be constructed.

[0113] Furthermore, the connection guide mechanism 90 can be applied to automated warehouse systems 200 other than those having travel paths for the automated mobile robot 20 on each floor as described above. For example, when installing a warehouse system with shelves where travel paths for the automated mobile robot are formed only on a predetermined floor across adjacent fire compartments, a connection guide mechanism having a retractable physical guide, such as the connection path guide described in the above embodiment, can be provided on the predetermined floor.

[0114] For example, if the travel path for the autonomous robot 20 is formed only on the top layer, a connection guide mechanism having a retractable physical guide, such as the connection path guide described in the above embodiment, can be provided only on the top layer.

[0115] Furthermore, although the above embodiment described an automated warehouse system having shelves with multiple levels, the present invention is also applicable to an automated warehouse system having shelves with only one level. In that case, a retractable physical guide such as the connection path guide 91A described above should be provided for that one level.

[0116] In the above embodiment, the autonomous driving robot 20 was described as stopping after crossing a special segment when the driving permission signal is lost. However, the autonomous driving robot 20 may be made able to recognize the connecting path 91, and the autonomous driving robot 20 may be stopped after crossing the connecting path 91 without having to leave the special segment.

[0117] Of course, the waypoint can also be set beyond the connecting path 91, so that the autonomous robot 20 stops immediately after crossing the connecting path 91. By configuring the system in this way to stop the autonomous robot 20 in the special segment immediately after crossing the connecting path 91 in an emergency, the time until all autonomous robots 20 stop can be minimized.

[0118] Furthermore, in the above embodiment, an example was described in which a connection guide mechanism 90 is provided to make the connection path guide 91A movable so that it can be moved out of the area from which the shutter 70 descends. However, the connection path guide 91A does not have to be movable. For example, it is sufficient to form a gap in the part of the connection path guide 91A that is located in the area from which the shutter 70 descends, allowing the shutter to move through the gap, and enabling the automated robot 20 to move across that gap.

[0119] Furthermore, although the above embodiment describes an automated warehouse system 200 equipped with an autonomous mobile robot 20 that travels along a travel path 30 or 40, the control of the autonomous mobile robot 20 using the special segment described above can also be used in an automated warehouse system using an autonomous mobile robot that travels unconstrained without being constrained by guides or the like.

[0120] For example, in an automated warehouse system in which an autonomous mobile robot has steering wheels and can travel freely on a floor surface without guides, a connecting path is formed at a position that straddles the fire shutters between shelves, as described above, and the travel segment that passes through this section may be designated as a special segment. In such a system, if the autonomous mobile robot 20 is located within the special segment in an emergency, the autonomous mobile robot may be stopped after exiting the special segment, as described above.

[0121] In the above embodiment, the control unit 300 maintains the operational state of the autonomous driving robot 20 by continuously sending a driving permission signal. However, the control unit 300 may not send a signal under normal circumstances, but may send an emergency stop signal when an emergency stop is necessary. In other words, the autonomous driving robot 20 may be considered to have received a stop instruction when it has received an emergency stop signal.

[0122] The embodiments described above are illustrative and not limiting, and the present invention can be implemented in various other modified and altered forms. [Explanation of Symbols]

[0123] 10 racks 20 Autonomous Driving Robots 30 First running track 30A Route Guide 40 Second running track 40A Route Guide 90 Connection Guide Mechanism 90B Air Cylinder 91 Connection 91A Connection Guide 100 Conveying equipment 200 Automated Warehouse Systems 300 Control Unit

Claims

1. Autonomous driving robots and It comprises a first shelf and a second shelf, each having multiple storage areas capable of storing objects and each having a travel path for the autonomous mobile robot, Between the first shelf and the second shelf, a connecting path is formed, which is the travel path of the automated mobile robot, connecting the travel path of the first shelf and the travel path of the second shelf. The automated warehouse system includes an automated mobile robot that travels along a travel path, and if it receives a stop command while traveling in a specific section of the travel path that includes the connecting path, it stops after passing the connecting path.

2. The automated warehouse system according to claim 1, wherein the autonomous driving robot, if it receives a stop instruction while traveling through the specified section, stops after reaching the end of the specified section.

3. The automated warehouse system according to claim 2, characterized in that the specified section is a section that starts from a point on the travel path that is a predetermined distance away from the connecting path.

4. The automated warehouse system according to claim 2, characterized in that the specified section is a section that starts from a point on the travel path from which it is possible to reach the connecting road in a predetermined time.

5. The automated warehouse system according to any one of claims 1 to 4, characterized in that the autonomous driving robot immediately stops when it receives a stop command while traveling outside the specified section.

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