Logistics warehouse and luggage transport system

Abstract

To provide a logistics warehouse / baggage transport system that can effectively utilize the space in a logistics warehouse and reduce the workload of workers. [Solution] A logistics warehouse / luggage transport system comprising: a multi-tiered rack 11 installed in a specified area of ​​the logistics warehouse and capable of holding multiple pallets and multiple shelves; a first automatic transport robot 12 capable of holding and automatically transporting a pallet P or shelf sh within the multi-tiered rack 11; a pallet shuttle 10 having an elevator device for moving the first automatic transport robot 12 up and down within the multi-tiered rack 11; and a second automatic transport robot R which holds and automatically transports the pallet P or shelf sh within the logistics warehouse, and further comprising a control device 50 which controls the operation of the first automatic transport robot 12 and the elevator device, as well as the operation of the second automatic transport robot R.

Description

[Technical Field]

[0001] This invention relates to a logistics warehouse / luggage transport system that transports luggage within a logistics warehouse. [Background technology]

[0002] Figure 5 shows the process from receiving to shipping packages in a conventional logistics warehouse. As shown in the figure, when a truck loaded with cargo on a pallet P arrives at the receiving area (truck berth) of a logistics warehouse, a forklift operator uses a forklift to remove the pallet P with the cargo from the truck bed and temporarily stores the pallet P with the cargo in a primary temporary storage area set up in the logistics warehouse.

[0003] Next, a forklift operator uses a forklift to remove the cargo loaded on the pallet P placed in the primary temporary storage area and transport it to the working station. At the working station, workers disassemble the cargo and load it onto shelves Sh (with a height of approximately 2m). Thereafter, the shelf Sh on which the cargo has been loaded is automatically transported by an automatic transport robot R to a cargo storage area in the logistics warehouse and placed there. The automatic transport robot R is designed to be able to crawl under a shelf Sh that has packages stored therein and transport the shelf Sh itself as is. Also, because the automatic transport robot R transports the shelf Sh as is, there are limits to the size of the shelf Sh that it can transport (for example, the automatic transport robot R is designed to transport shelves Sh with a height dimension of up to about 2.5 meters).

[0004] Furthermore, when it is time to ship the loaded shelves Sh placed in the luggage storage area, they are carried to a working station by an automatic transport robot R, and a worker carries out the shipping work.

[0005] A system in which an automatic transport robot R automatically transports shelves Sh on which packages are placed in a logistics warehouse is disclosed in, for example, Patent Document 1. The automatic transfer robot R is disclosed in, for example, Non-Patent Document 1. [Prior art documents] [Patent documents]

[0006] [Patent Document 1] Utility Model Registration No. 3243104 [Non-patent literature]

[0007] [Non-Patent Document 1] HIKROBOT Co., Ltd. website, "Web page presenting Latent Mobile Robot (automatic shelf transport robot)," [Retrieved August 8, 2025], Internet<URL https: / / www.hikrobotics.com / en / mobilerobot / LMR> Summary of the Invention [Problem to be solved by the invention]

[0008] Incidentally, typical logistics warehouses in Japan are designed with ceiling heights of around 5 to 5.5 meters. In the conventional logistics warehouse described above (see FIG. 5), the cargo is placed on a pallet P so that it can be transported by forklift at the primary temporary storage area. Therefore, as shown in FIG. 6, conventional logistics warehouses have the problem that the space in the upper areas of the logistics warehouse cannot be used at the primary temporary storage area. Furthermore, in the conventional logistics warehouse described above (see FIG. 6), there is also the problem that the space in the upper areas of the logistics warehouse that is about "2 m" or higher cannot be used in the cargo storage area. In other words, conventional logistics warehouses (see FIGS. 5 and 6) have the problem that they are unable to effectively utilize the upper areas of the logistics warehouse itself. In the conventional logistics warehouse described above (see Figure 5), it is possible to increase the height of the shelves sh that are automatically transported by the automatic transport robot R, but this approach would make it difficult to carry out loading and unloading work at the working station and increase the burden on workers. Also, the automatic transport robot R is limited in the height of the shelves it can transport (for example, the automatic transport robot R can only transport shelves up to about 2.5 meters in height), so there is a limit to how high the shelves sh can be made.

[0009] Furthermore, the conventional logistics warehouse described above (see Figure 5) has the problem that it requires multiple areas, such as an area (primary temporary storage area) for temporarily storing the incoming "pallets P loaded with cargo," an area for unloading the cargo loaded on the pallets P and loading it onto shelves sh, and a cargo storage area for storing the shelves sh on which the cargo is stored. For example, in a conventional logistics warehouse, there is a case where a primary temporary storage area for "pallets P loaded with cargo" is set up on the first floor, and a "picking area" and "storage area for cargo loaded on shelves sh" are set up on the second and third floors, which requires a large installation area for the logistics warehouse.

[0010] Furthermore, the conventional logistics warehouse described above (see Figure 5) also has the problem that a forklift operator must transport the cargo from the temporary storage area where the "pallet P loaded with cargo" is temporarily stored to the working station.

[0011] This invention was made in consideration of the above-mentioned problems, and its purpose is to provide a logistics warehouse / baggage transport system that can make effective use of the space in a logistics warehouse and reduce the workload. [Means for solving the problem]

[0012] The present invention, which has been made to solve the above problems, is a logistics warehouse / luggage transport system for storing and transporting luggage within a logistics warehouse, comprising: a multi-tiered rack installed in a predetermined area of ​​the logistics warehouse and capable of holding multiple pallets and multiple shelves; a first automatic transport robot that can hold the pallet or the shelf within the multi-tiered rack and automatically transport it; a pallet shuttle having an elevator device that moves the first automatic transport robot up and down within the multi-tiered rack; and a second automatic transport robot that holds the pallet or the shelf and automatically transports it within the logistics warehouse, wherein the multi-tiered rack is capable of holding the pallets and the shelves stacked in the vertical direction, luggage can be placed on the pallets and the luggage can be stored on the shelves, and further characterized by having a control device that controls the operation of the first automatic transport robot and the elevator device, and also controls the operation of the second automatic transport robot.

[0013] Thus, with the logistics warehouse and cargo transport system of the present invention, for example, by installing a pallet shuttle that can hold multiple pallets and multiple shelves near the receiving area (truck berth) of the logistics warehouse, it is possible to store "pallets with cargo on them" and "shelves with cargo stored" in a single area. Therefore, according to the present invention, the "primary temporary storage area" and "cargo storage area (shelf storage area)" provided in the conventional logistics warehouse described above (see Figure 5) can be consolidated into one location. Furthermore, since the pallet shuttle can store "pallets and shelves" by stacking them vertically on multi-tiered racks, the upper floors of the logistics warehouse can be effectively utilized. Furthermore, according to the configuration of the present invention, pallets (pallets with cargoes placed on them) are automatically transported within the logistics warehouse by the second automatic transport robot controlled by the control device. As a result, unlike the conventional logistics warehouse described above, it is no longer necessary for a forklift operator to use a forklift to transport the "pallets with cargoes placed on them" temporarily stored in the primary temporary storage area to the working station, thereby reducing the workload of the workers.

[0014] Furthermore, it is desirable that the control device transmits a pallet shuttle control signal to the first automatic transfer robot and the lifting device, operates the first automatic transfer robot and the lifting device, and transports the pallet or the shelf between a storage location provided on the multi-tiered rack and an entry / exit area provided on the multi-tiered rack, and transmits a second automatic transfer robot control signal to the second automatic transfer robot, operates the second automatic transfer robot, and transports the pallet or the shelf between an entry / exit area provided on the multi-tiered rack of the pallet shuttle and a specified area of ​​the logistics warehouse.

[0015] Thus, according to the configuration of the present invention, the pallet (pallet with cargo placed on it) held in the pallet shuttle is automatically transported between a storage location provided on the multi-tiered rack of the pallet shuttle and an entry / exit area provided on the multi-tiered rack by the first automatic transport robot and lifting device, which operate under the control of the control device. Furthermore, according to the present invention, a second automatic transport robot controlled by the control device operates to hold a pallet placed in the entrance / exit area of ​​the pallet shuttle, and transports it to a predetermined area of ​​the logistics warehouse (for example, a working station (an area where work such as cargo sorting is performed)). Once the pallet has been transported to the working station, a worker can transfer the cargo on the pallet to a predetermined shelf or transfer it to a shipping container for shipping work.

[0016] The shelves loaded with goods at the working station are then transported by the second automatic transport robot to the pallet shuttle, where they are stored in the pallet shuttle's multi-tiered racks. In addition, shelves (shelves with cargo stored) stored within the pallet shuttle can be automatically transported within the pallet shuttle by the first automatic transport robot and lifting device, which operate under the control of the control device, and placed in the loading / unloading area of ​​the pallet shuttle. Then, a second automatic transport robot controlled by the control device holds the shelves placed at the loading / unloading entrance of the pallet shuttle and transports them to the working station. Once at the working station, workers transfer the goods on the shelves into shipping containers for shipping.

[0017] According to this invention, it is possible to provide a logistics warehouse / luggage transport system that can effectively utilize the space in a logistics warehouse and reduce the workload of workers. [Brief explanation of the drawings]

[0018] [Figure 1] 1 is a schematic diagram for explaining the overall configuration of a logistics warehouse and luggage transport system according to an embodiment of the present invention. [Figure 2] 1 is a schematic diagram for explaining the flow of goods within a logistics warehouse carried out by a logistics warehouse / baggage transport system according to an embodiment of the present invention. [Figure 3] 1 is a schematic diagram showing the flow of processing performed by a logistics warehouse / baggage transport system according to an embodiment of the present invention. FIG. [Figure 4] 1 is a schematic diagram showing the flow of processing performed by a logistics warehouse / baggage transport system according to an embodiment of the present invention. FIG. [Figure 5] FIG. 1 is a schematic diagram for explaining the process from receiving to shipping in a logistics warehouse according to the prior art. [Figure 6] FIG. 1 is a schematic diagram for explaining a problem that a logistics warehouse of the prior art has. BEST MODE FOR CARRYING OUT THE INVENTION

[0019] Hereinafter, a logistics warehouse / baggage transport system according to an embodiment of the present invention will be described with reference to the drawings. In the description of this embodiment, the same components (or corresponding components) as those in the prior art shown in FIGS. 5 and 6 are denoted by the same reference numerals.

[0020] <Configuration of logistics warehouse and luggage transport system> First, the configuration of the logistics warehouse / package transport system of this embodiment will be described with reference to FIG.

[0021] As shown in the figure, the logistics warehouse / luggage transport system of this embodiment includes, for example, a 3D pallet shuttle 10 installed near the receiving area (truck berth) of the logistics warehouse, an in-warehouse automatic transport robot (second automatic transport robot) R that holds and transports pallets P or shelves sh within the logistics warehouse, a control device 50, and a communication device 51. The pallet P can be used to place cargo, and the shelves sh can be used to store cargo.

[0022] The 3D pallet shuttle 10 is a high-density storage system that automatically transports and stores pallets P and shelves sh in three dimensions (front-back, left-right, and up-down). Specifically, the 3D pallet shuttle 10 has a multi-tier rack 11 with multiple rows and multiple tiers that can hold multiple pallets P and multiple shelves sh, an automatic transport robot (first automatic transport robot 12) within the pallet shuttle that holds the pallet P (or shelf sh) within the multi-tier rack 11 and can automatically transport the pallet P (or shelf sh) to any position on the multi-tier rack 11, and a lifting device (not shown) that moves the first automatic transport robot 12 holding the pallet P (or shelf sh) up and down within the multi-tier rack 11. The lifting device also has a lifting table that moves up and down, and moves the first automatic transport robot 12 placed on the lifting table up and down within the multi-tier rack 11, thereby moving the first automatic transport robot 12 in the vertical direction. In addition, a pallet shuttle entrance area (entrance / exit area) for taking in and out pallets P (or shelves sh) is provided below the multi-tier rack 11 (first tier).

[0023] In addition, the first automatic transport robot 12 is configured to be able to communicate with the control device 50 via the communication device 51, and is configured to be controlled by the control device 50 to crawl under a specific pallet P (or shelf sh) specified by the control device 50, lift up the pallet P itself or the shelf sh itself, and automatically transport the pallet P or shelf sh within the multi-tier rack 12. In addition, the lifting device (not shown) is configured to be able to communicate with the control device 50 via the communication device 51, and is configured to be controlled by the control device 50 to move the first automatic transport robot 12 holding the pallet P (or shelf sh) in the vertical direction (upper and lower floors).

[0024] Then, the "first automatic transfer robot 12 and the lifting device" that operates under the control of the control device 50 transports the pallet P (or shelf sh) arranged in the loading / unloading area of ​​the multi-tiered rack 11 to a predetermined storage location of the multi-tiered rack 11. When transporting the pallet P (or shelf sh) from the loading / unloading area to a storage location on the first level (first floor) of the multi-tiered rack 11, there is no need to operate the lifting device, and the pallet P (or shelf sh) is transported by the first automatic transfer robot 12 alone. Furthermore, the "first automatic transport robot 12 and the lifting device" that operates under the control of the control device 50 transports the pallet P (or shelf sh) stored in a predetermined storage location of the multi-tiered rack 11 to the loading / unloading area of ​​the multi-tiered rack 11. When transporting the pallet P (or shelf sh) placed in a storage location on the first level (first floor) of the multi-tiered rack 11 to the loading / unloading area, there is no need to operate the lifting device, and the pallet P (or shelf sh) is transported by the first automatic transport robot 12 alone.

[0025] Since the 3D pallet shuttle 10 is an existing technology, a detailed description will be omitted. For example, the "3D pallet shuttle" from ZIKOO can be used as the 3D pallet shuttle 10. The "3D pallet shuttle" from ZIKOO is available on the ZIKOO ROBOTICS channel on YouTube (registered trademark) under the title "Zikoo 4-way 3D pallet shuttle ASRS system (https: / / www.youtube.com / watch?v=vgF9CBqdrrQ)."

[0026] The second automatic transport robot R is configured to move under the pallet P or shelf sh, lift up and hold the pallet P or shelf sh itself, and automatically transport the pallet P or shelf sh within the logistics warehouse. The second automatic transport robot R is configured to be able to communicate with the control device 50 via a communication device 51, and is configured to be controlled by the control device 50 to automatically transport a specific pallet P (or shelf sh) specified by the control device 50. In this embodiment, the second automatic transfer robot R is a well-known technology, and therefore a detailed description thereof will be omitted. For example, the second automatic transfer robot R may be the "Latent Mobile Robot (automatic shelf transfer robot)" by HIKROBOT Co., Ltd., which is disclosed in the above-mentioned Non-Patent Document 1.

[0027] The control device 50 is connected to a communication device 51 via a network NW such as a LAN, and transmits control signals via the communication device 51 to the first automatic transport robot 12 that constitutes the 3D pallet shuttle 10, thereby controlling the operation of the first automatic transport robot 12. In addition, the control device 50 is connected to a communication device 51 via a network NW such as a LAN, and sends control signals via the communication device 51 to a lifting device (not shown) that constitutes the 3D pallet shuttle 10 to control the operation of the lifting device. In addition, the control device 50 is connected to a communication device 51 via a network NW such as a LAN, and transmits control signals to the second automatic transport robot R via the communication device 51 to control the operation of the second automatic transport robot R.

[0028] The control device 50 is configured by a computer including, for example, a CPU, a storage device (main storage device, auxiliary storage device), a communication interface, an I / O interface, and the like. The auxiliary storage device of the control device 50 stores a program (computer program) for controlling the operation of the 3D pallet shuttle 10 (the first automatic transfer robot 12 and the lifting device) and the second automatic transfer robot R. The CPU of the control device 50 loads the program stored in the auxiliary storage device into the main storage device and executes it, thereby realizing the function of controlling the operation of the 3D pallet shuttle 10 (the first automatic transfer robot 12 and the lifting device) and the second automatic transfer robot R.

[0029] In addition, the auxiliary storage device of the control device 50 stores a pallet / shelf information database that stores records in which a pallet / shelf ID that identifies a pallet P or a shelf sh, a cargo ID that identifies the cargo loaded on that pallet P (or shelf sh), and location information that indicates the storage location in the multi-tiered rack 11 of the 3D pallet shuttle 10 are associated with each other. By referring to the pallet / shelf information database, the control device 50 is able to determine where on the multi-tiered rack 11 of the 3D pallet shuttle 10 a pallet P (or shelf sh) carrying which cargo is located.

[0030] The communication device 51 wirelessly transmits control signals to the 3D pallet shuttle 10 (first automatic transport robot 12 and lifting device) and the second automatic transport robot R, but as it uses existing technology, detailed explanation will be omitted.

[0031] The shelf sh has a height dimension of less than 2 m 30 cm, and the second automatic transfer robot R can get under it and lift up the shelf sh itself.

[0032] 《The flow of goods within a logistics warehouse using a luggage transport system》 Next, the flow of goods within a logistics warehouse using the logistics warehouse and baggage transport system will be explained using Figures 1 and 2 mentioned above. FIG. 2 is a schematic diagram for explaining the flow of goods in a logistics warehouse carried out by the logistics warehouse / baggage transport system according to the embodiment of the present invention. The control device 50 stores in advance the expected arrival pallet information (pallet / shelf ID, and cargo ID for identifying the cargo loaded on the pallet) relating to the "pallet P loaded with cargo" that is expected to arrive.

[0033] As shown in Figures 1 and 2, the "pallet P loaded onto the loading platform" that has arrived at the receiving area of ​​the logistics warehouse is removed from the loading platform of the truck by a forklift operated by a forklift operator and placed in the loading / unloading area of ​​the multi-tiered rack 11 of the 3D pallet shuttle 10 installed in the shelf storage area of ​​the logistics warehouse. When the forklift operator places the pallet P on the 3D pallet shuttle 10, the forklift operator sends a pallet storage request including information about the pallet P (pallet and shelf ID) to the control device 50 from his / her own information terminal (not shown) via the communication device 51.

[0034] When the control device 50 receives a pallet receiving request, it accesses the pre-stored pallet information scheduled to arrive and reads out the cargo ID associated with the pallet / shelf ID included in the pallet receiving request. Furthermore, the control device 50 refers to the pallet / shelf information database to select a storage location (empty space) where the multi-stage rack 11 of the 3D pallet shuttle 10 can be stored.

[0035] The control device 50 also transmits a receiving instruction signal (control signal) including position information indicating the selected storage location where the item can be stored to the first automatic transfer robot 12 of the 3D pallet shuttle 10. This position information is information that identifies the location (XY position) on which level of the multi-level rack 11 (in the example of FIG. 1, either the first, second or third level) the storage location is located. Furthermore, if the position information indicates a position other than the first stage of the multi-stage rack 11, the control device 50 also transmits a receiving instruction signal (control signal) to the lifting device of the 3D pallet shuttle 10.

[0036] When the first automatic transport robot 12 receives the arrival instruction signal (control signal), it moves to the loading / unloading area, lifts the pallet P from below the pallet P placed in the loading / unloading area, moves to the storage location indicated by the location information included in the arrival instruction signal, and places the pallet P with the cargo loaded at that location. If the storage location information indicates a location other than the first stage of the multi-stage rack 11, the lifting device places the lifting table on the first stage of the multi-stage rack 11 when it receives the arrival signal. The first automatic transfer robot 12 also moves to the loading / unloading area, lifts the pallet P placed in the loading / unloading area from below, moves to the lifting device, and gets on the lifting table while holding the pallet P. The lifting device detects when the first automatic transfer robot 12 gets on, raises the lifting table to the level (second or third level) indicated in the position information included in the arrival instruction signal, and sends an up / down movement completion signal to the first automatic transfer robot 12. When the first automatic transfer robot 12 receives the up / down movement completion signal, the multi-tiered rack 11 The pallet P moves to the position indicated by the position information included in the arrival instruction signal and places the pallet P with the cargo at that position. When the first automatic transfer robot 12 places the pallet P on the multi-tiered rack 11, it transmits a receiving completion signal to the control device 50.

[0037] When the control device 50 receives the arrival completion signal, it generates a record that associates and stores the pallet / shelf ID included in the above-mentioned pallet warehousing request, the cargo ID read from the expected arrival pallet information, and the location information of the selected storage location, and stores the generated record in the pallet / shelf information database.

[0038] As shown in Figure 2, the "pallet P loaded with cargo" stored in the storage location of the multi-tiered rack 11 of the 3D pallet shuttle 10 is transported to the loading / unloading area of ​​the multi-tiered rack 11 by the "first automatic transport robot 12 and lifting device" operated by a control signal from the control device 50, and then held by the second transport robot R controlled by the control device 50 and automatically transported to the working station. The goods loaded on the pallet P transported to the working station are removed by a worker, loaded into a container 20, and transported to the shipping and packaging area for shipping. Alternatively, the goods loaded on the pallet P are picked by a worker and transferred to a shelf sh. The goods transferred to the shelf sh are held by a second transport robot R controlled by the control device 50, transported to the 3D pallet shuttle 10, and placed in the loading / unloading area of ​​the multi-tiered rack 11 of the 3D pallet shuttle 10.

[0039] The "shelf sh on which cargo is placed" placed in the entrance / exit area of ​​the multi-tiered rack 11 is transported to the storage location of the multi-tiered rack 11 by the "first automatic transport robot 12 and lifting device" which operates in response to a control signal from the control device 50, and is placed in the storage location and stored. Furthermore, the "shelf sh on which cargo is loaded" that is placed and stored in the storage location of the multi-tiered rack 11 of the 3D pallet shuttle 10 is transported to the loading / unloading area of ​​the multi-tiered rack 11 by the "first automatic transport robot 12 and lifting device" that operates in response to a control signal from the control device 50. Furthermore, the "shelf sh on which cargo is loaded" that is placed in the loading / unloading area of ​​the multi-tiered rack 11 is held by the second transport robot R controlled by the control device 50 and is automatically transported to a working station. Then, the goods placed on the shelves sh transported to the working station are picked by workers, loaded into containers 20, and transported to the shipping and packaging area for shipping.

[0040] <Shipping process for packages stored in 3D pallet shuttle 10> Next, the shipping process for the packages stored in the multi-tiered rack 11 of the 3D pallet shuttle 10 will be described with reference to FIGS. 3 and 4 are schematic diagrams showing the flow of processing performed by the logistics warehouse / baggage transport system according to the embodiment of the present invention.

[0041] Figure 3 shows the process of automatically transporting a "pallet P loaded with cargo" stored in the multi-tiered rack 11 of the 3D pallet shuttle 10 to a working station, where an operator transfers the cargo from the pallet P onto a shelf sh, and then automatically transporting the shelf sh loaded with the cargo to the 3D pallet shuttle 10. Figure 4 shows the process in which the "shelf sh loaded with cargo" transported to the 3D pallet shuttle 10 is stored in the multi-tiered rack 11 of the 3D pallet shuttle 10, and then the stored "shelf sh loaded with cargo" is automatically transported to the working station, where a worker performs the cargo retrieval work, and the retrieval work is completed.

[0042] 3, when the control device 50 receives an input from a worker requesting the transport of a specific pallet P, it references the pallet / shelf information database and generates a first control signal (pallet shuttle control signal) that instructs the transport of the pallet P to the loading / unloading gate area, and includes a "pallet / shelf ID" that identifies the pallet P to be transported and location information that indicates the storage location of the pallet P. Then, the control device 50 transmits the first control signal to the 3D pallet shuttle 10 (first automatic transport robot 12, lifting device) (S100). Here, an example is shown in which the pallet P is stored on the second level of the multi-tier rack 11. For the sake of simplicity, it is assumed that the first automatic transfer robot 12 is placed on the second level of the multi-tier rack 11.

[0043] Next, the 3D pallet shuttle 10 (first automatic transfer robot 12, lifting device) receives a first control signal (S200), and the first automatic transfer robot 12 and the lifting device operate to transport the pallet P stored in the storage location to the loading / unloading area of ​​the multi-tiered rack 11 (S201). In addition, the first automatic transfer robot 12 transmits a signal to the control device 50 indicating that the 3D pallet shuttle 10 has completed transporting the pallet to the loading / unloading area (S202). Thereafter, the control device 50 receives the signal indicating that the 3D pallet shuttle 10 has completed transporting the pallet to the loading / unloading area (S101), and proceeds to the processing of S102.

[0044] Specifically, the following processes are performed in S200 to S202 and S101. When the lifting device of the 3D pallet shuttle 10 receives the first control signal, it places the lifting table at the position of the stage number indicated by the position information included in the first control signal. In this example, the lifting table is placed on the second stage of the multi-stage rack 11. In addition, the first automatic transport robot 12 moves to the storage location indicated by the position information included in the first control signal, slips under the designated pallet P, holds the pallet P, moves to the position of the lifting device of the multi-tiered rack 11, and gets on top of the lifting table of the lifting device. When the first automatic transport robot 12 steps onto the lifting table, the lifting device detects this, lowers the lifting table to the level (first level) where the loading / unloading entrance of the multi-tiered rack 11 is located, and sends a signal to the first automatic transport robot 12 indicating that up / down movement is complete. When the first automatic transfer robot 12 receives the up / down movement completion signal, the multi-tiered rack 11 The pallet P carrying the cargo is placed at the loading / unloading area. When the first automatic transport robot 12 places the pallet P in the loading / unloading area of ​​the multi-tiered rack 11, it sends a signal to the control device 50 via the communication device 51 to indicate that the pallet has been transported to the loading / unloading area of ​​the 3D pallet shuttle 10. In S101, when the control device 50 receives a signal indicating that the pallet has been transported to the loading / unloading area, it accesses the pallet / shelf information database and deletes the record in which the pallet / shelf ID of the corresponding pallet is registered.

[0045] In S102, the control device 50 generates a second control signal (second automatic transport robot control signal) that instructs the 3D pallet shuttle 10 to transport the pallet P from the loading / unloading area to the working station, and includes a ``pallet / shelf ID'' that identifies the pallet P to be transported, and transmits the second control signal to the second automatic transport robot R via the communication device 51.

[0046] Next, the second automatic transfer robot R receives the second control signal (S300). Upon receiving the second control signal, the second automatic transfer robot R moves to the loading / unloading area of ​​the multi-tiered rack 11 of the 3D pallet shuttle 10, crawls under the pallet P placed in the loading / unloading area, lifts and holds the pallet P itself, and automatically transports the pallet P to the working station (S301). Furthermore, when the second automatic transfer robot R has transferred the pallet P to the working station, it transmits a signal to the control device 50 via the communication device 51 indicating that the pallet has been transferred to the working station (S302).

[0047] Next, the control device 50 receives a signal indicating that the pallet has been transported to the working station (S103), and sends a picking instruction request to the information terminal of the worker at the working station via the communication device 51 to instruct the worker to pick the pallet P that has been transported to the working station (S104). When the information terminal of a worker at a working station receives a picking instruction request, the worker disassembles the cargo from the pallet P and places it on a shelf sh located in a predetermined position at the working station. In other words, the worker transfers the cargo from the pallet P to the shelf sh. The worker inputs into his or her information terminal the pallet / shelf ID that identifies the corresponding shelf sh and the cargo ID that identifies the cargo loaded on that shelf. When the pallet / shelf ID and the cargo ID identifying the cargo loaded on that shelf are input, the information terminal generates a picking operation completion signal including the pallet / shelf ID and the cargo ID identifying the cargo loaded on that shelf, and transmits the picking operation completion signal to the control device 50 via the communication device 51.

[0048] Next, the control device 50 receives a picking operation completion signal from the information terminal of the worker at the working station (S105). When the control device 50 receives the picking operation completion signal, it generates a shelf transport instruction (third control signal (second automatic transport robot control signal)) to transport the shelf sh at a predetermined position in the working station to the 3D pallet shuttle 10, and transmits the third control signal to the second automatic transport robot R (S106). The shelf transport instruction (third control signal) includes the pallet / shelf ID and the package ID.

[0049] Next, the second automatic transfer robot R receives the third control signal (S303). When the second automatic transport robot R receives the third control signal, it moves to a predetermined position in the working station, crawls under the shelf sh placed in the predetermined position, lifts the shelf sh itself, automatically transports the shelf sh to the 3D pallet shuttle 10, and places the transported shelf sh in the loading / unloading area of ​​the multi-tiered rack 11 of the 3D pallet shuttle 10 (S304). Thereafter, the second automatic transfer robot R transmits a signal indicating that the shelf transfer to the 3D pallet shuttle 10 has been completed to the control device 50 via the communication device 51 (S305). 4. Furthermore, the control device 50 receives a signal from the second automatic transfer robot R indicating that the shelf has been transferred to the 3D pallet shuttle 10 (S107), and proceeds to the process of S108 in FIG.

[0050] In S108, the control device 50 refers to the pallet / shelf information database and selects a storage location (empty space) where the multi-tiered rack 11 of the 3D pallet shuttle 10 can be stored. Here, it is assumed that the storage location where the multi-tiered rack 11 can be stored is the third tier (third floor) of the multi-tiered rack 11. Then, the control device 50 generates a shelf transport instruction signal (fourth control signal (pallet shuttle control signal)) that includes the position information of the selected storage location where the item can be stored, and transmits the fourth control signal to the 3D pallet shuttle 10 (first automatic transport robot 12 and lifting device) via the communication device 51.

[0051] Next, when the first automatic transport robot 12 and the lifting device of the 3D pallet shuttle 10 receive the fourth control signal, the first automatic transport robot 12 and the lifting device transport the corresponding shelf sh to a selected storage location in the multi-tier rack 11 that is available for storage, and the shelf sh is stored in the storage location (S204).

[0052] Specifically, in S204, when the lifting device of the 3D pallet shuttle 10 receives the fourth control signal, it places the lifting table on the first stage of the multi-stage rack 11. Furthermore, when the first automatic transfer robot 12 (for convenience of explanation, it is assumed to be placed on the first stage of the multi-tier rack 11) receives the fourth control signal, it moves to the loading / unloading area of ​​the multi-tier rack 11, lifts and holds the shelf sh placed in the loading / unloading area from below, moves to the position of the lifting device, and gets on the lifting table while holding the shelf sh. When the first automatic transfer robot 12 gets on, the lifting device detects this and raises the lifting table to the stage (here, the third stage) included in the position information included in the arrival instruction signal, and sends an up / down movement completion signal to the first automatic transfer robot 12. When the first automatic transport robot 12 receives the vertical movement completion signal, it moves to the storage location indicated by the position information included in the fourth control signal and places the shelf sh with the cargo at that location. As a result, the shelf sh is stored in the selected storage location in the multi-tiered rack 11.

[0053] When the first automatic transfer robot 12 places the shelf sh in the selected storage location of the multi-tiered rack 11, it transmits a shelf transfer completion signal to the control device 50 via the communication device 51 (S205). Furthermore, the control device 50 receives the shelf transport completion signal (S109). In S109, the control device 50 generates a record that registers the "pallet / shelf ID and cargo ID" contained in the above-mentioned picking operation completion signal and the "location information" that indicates the storage location of the corresponding shelf sh, and stores the generated record in the pallet / shelf information database.

[0054] Next, when the control device 50 receives input from the worker of a request to transport a specific shelf, it generates a fifth control signal (pallet shuttle control signal) that instructs transportation of the shelf sh to the loading / unloading area, and includes a "pallet / shelf ID" that identifies the shelf sh to be transported to the working station and location information that indicates the storage location of the shelf sh, and sends the fifth control signal to the 3D pallet shuttle 10 (first automatic transport robot 12, lifting device) (S110). Here, an example is shown in which the pallet P is stored on the third level of the multi-tier rack 11. For the sake of simplicity, it is assumed that the first automatic transfer robot 12 is placed on the third level of the multi-tier rack 11.

[0055] Next, the 3D pallet shuttle 10 (first automatic transfer robot 12, lifting device) receives the fifth control signal (S206), and the first automatic transfer robot 12 and the lifting device operate to transport the pallet P stored in the storage location to the loading / unloading entrance area of ​​the multi-tiered rack 11 (S207). In addition, the first automatic transfer robot 12 transmits a signal to the control device 50 indicating that the 3D pallet shuttle 10 has completed transporting the shelf to the loading / unloading entrance area (S208). Thereafter, the control device 50 receives the signal indicating that the 3D pallet shuttle 10 has completed transporting the shelf to the loading / unloading entrance area (S111), and proceeds to the processing of S112.

[0056] The processing of S206 to S208 is substantially the same as the processing of S200 to S202 described above, except that the object to be transported is the shelf sh, and therefore a detailed description thereof will be omitted. Also, in S111, when the control device 50 receives a signal indicating that the shelf has been transported to the loading / unloading area, it accesses the pallet / shelf information database and deletes the record in which the pallet / shelf ID of the corresponding shelf is registered.

[0057] In S112, the control device 50 generates a "pallet / shelf ID" that identifies the shelf to be transported and a sixth control signal (second automatic transport robot control signal) that instructs the 3D pallet shuttle 10 to transport the shelf sh from the loading / unloading area to the working station, and transmits the sixth control signal to the second automatic transport robot R via the communication device 51.

[0058] Next, the second automatic transfer robot R receives the sixth control signal (S306). Upon receiving the sixth control signal, the second automatic transfer robot R moves to the loading / unloading area of ​​the multi-tiered rack 11 of the 3D pallet shuttle 10, crawls under the shelf sh arranged in the loading / unloading area, lifts up the shelf sh itself, and transports the shelf sh to the working station (S307). Furthermore, when the second automatic transfer robot R has transferred the shelf sh to the working station, it transmits a signal indicating that the shelf has been transferred to the working station to the control device 50 via the communication device 51 (S308).

[0059] Next, the control device 50 receives a signal that the shelf has been transported to the working station (S113), and sends a shipping instruction to the information terminal of the worker at the working station via the communication device 51 to instruct the shipping of the goods from the shelf sh that has been transported to the working station (S114). When the worker at the working station receives the shipping instruction on his / her own information terminal, he / she removes the cargo placed on the shelf sh that has been transported to the working station, loads it into the container 20, and carries the container 20 to the shipping and packaging area to perform the shipping work. When the worker has completed the shipping work, he / she operates the information terminal and sends a shipping work completion signal from the information terminal to the control device 50. Thereafter, the control device 50 receives the shipping work completion signal (S113), and the shipping process for the cargo stored in the 3D pallet shuttle 10 is completed.

[0060] As described above, in this embodiment, for example, a 3D pallet shuttle 10 capable of holding multiple pallets and multiple shelves is installed near the receiving area (truck berth) of a logistics warehouse, and "pallets P on which cargo is placed" and "shelves sh storing cargo" are stored in a single area. Therefore, according to this embodiment, the "primary temporary storage area" and "baggage storage area (shelf storage area)" provided in the conventional logistics warehouse described above (see FIG. 5) can be consolidated into one location. Furthermore, the 3D pallet shuttle 10 can store "pallets P loaded with cargo and shelves sh storing cargo" stacked vertically on the multi-tiered rack 11, thereby making effective use of the upper floors of the logistics warehouse.

[0061] Furthermore, according to this embodiment, the pallet P on which the goods are placed is automatically transported within the logistics warehouse by the second automatic transport robot R controlled by the control device 50. As a result, unlike the conventional logistics warehouse described above, it is no longer necessary for a forklift operator to use a forklift to transport the "pallet on which the goods are placed" temporarily stored in the primary temporary storage area to a working station, thereby reducing the workload of the workers.

[0062] As described above, according to this embodiment, it is possible to provide a logistics warehouse / baggage transport system that can effectively utilize the space in the logistics warehouse and reduce the workload of workers.

[0063] The present invention is not limited to the above-described embodiment, and various modifications are possible within the scope of the invention. For example, the 3D pallet shuttle 10 shown in Figure 1 above has three tiers in the multi-tier rack 11, but the number of tiers in the multi-tier rack 11 is set appropriately depending on the height dimension (height dimension from floor to ceiling) of the logistics warehouse. [Explanation of symbols]

[0064] P...Palette sh…shelf 10...3D pallet shuttle 11...Multi-tiered rack 12...First automatic transport robot (automatic transport robot inside the pallet shuttle) R...Second automatic transport robot (automatic transport robot in warehouse) 20...Container 50...Control device 51...Communication equipment

Claims

1. A logistics warehouse / baggage transport system that stores and transports luggage in a logistics warehouse, a multi-tiered rack installed in a predetermined area of ​​the logistics warehouse and capable of holding a plurality of pallets and a plurality of shelves; a first automatic transport robot capable of holding and automatically transporting the pallets or the shelves within the multi-tiered rack; and a pallet shuttle having an elevator device for moving the first automatic transport robot up and down within the multi-tiered rack; a second automatic transport robot that holds the pallet or the shelf and automatically transports it within the logistics warehouse, The multi-tier rack is configured to hold the pallets and the shelves stacked in a height direction, The pallet is capable of carrying cargo, and the shelf is capable of storing the cargo, The logistics warehouse / baggage transport system further comprises a control device that controls the operation of the first automatic transport robot and the elevator device, and also controls the operation of the second automatic transport robot.

2. The control device transmitting a pallet shuttle control signal to the first automatic transfer robot and the lifting device to operate the first automatic transfer robot and the lifting device, and transporting the pallet or the shelf between a storage location provided on the multi-tiered rack and an entry / exit area provided on the multi-tiered rack; 2. The logistics warehouse / baggage transport system according to claim 1, wherein a second automatic transport robot control signal is sent to the second automatic transport robot to operate the second automatic transport robot and transport the pallet or the shelf between an entrance / exit area provided in a multi-tiered rack of the pallet shuttle and a predetermined area of ​​the logistics warehouse.

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