Automated warehouse system and method for controlling automated warehouse system

Abstract

To provide an automatic warehouse system that can reduce damages to cargo during handling.SOLUTION: An automatic warehouse system 1 includes a shelf part 22 that has multiple storage parts 26 that can store cargo, picking means 30 that holds inverted cargoes with bottom surfaces being the upper side and moves the inverted cargoes to a loading part on which other cargoes are placed and transportation means 8 for carrying out cargo collections consisting of the inverted and other cargoes from the shelf part.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The present invention relates to an automated warehouse system and a control method for an automated warehouse system. [Background technology]

[0002] There is known an automated warehouse system equipped with a picking device for collecting products in a storage location or products temporarily stored to a shipping location. In Patent Document 1, the present applicant discloses an automated warehouse system equipped with a storage shelf for storing goods, a picking device for moving the goods, and a carrying-out device for carrying the goods out of the storage shelf. This picking device moves the goods stored in a first storage unit to a second storage unit in which other goods are stored. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Patent No. 6639721 Summary of the Invention [Problem to be solved by the invention]

[0004] The present inventor has come to the following realization regarding automated warehouse systems. When handling cargo wrapped in cases such as cardboard boxes in an automated warehouse system, the strength of the top surface of the case may be weak due to perforations, etc. In this case, there is a risk of the cargo case being damaged when handling the cargo, such as when transferring the cargo.

[0005] From these findings, the present inventors recognized that there is room for improvement in automated warehouse systems in terms of reducing damage to cargo during handling.

[0006] The present invention has been made in consideration of such problems, and one of its objects is to provide an automated warehouse system that can reduce damage to cargo during handling. [Means for solving the problem]

[0007] In order to solve the above problems, one embodiment of the automated warehouse system of the present invention comprises a shelf section including a plurality of storage sections in which goods can be stored, a picking means for holding inverted goods that have been inverted so that the bottom surface of the goods is facing up and moving them to a loading section on which another goods is placed, and a transport means for transporting a collection of goods consisting of the inverted goods and the other goods from the shelf section.

[0008] Another aspect of the present invention is a control method for an automated warehouse system having a shelf unit including a plurality of storage units capable of storing loads, the control method including the steps of: inverting a load so that a bottom surface of the load faces upward; holding the inverted load that has been inverted so that the bottom surface of the load faces upward and moving it to a placement unit on which another load is placed; and transporting an assembly of loads consisting of the inverted load and the other load from the shelf unit.

[0009] Any combination of the above components, or mutual substitution of the components or expressions of the present invention between methods, systems, etc. are also valid aspects of the present invention. Effect of the Invention

[0010] According to the present invention, it is possible to provide an automated warehouse system that can reduce damage to cargo during handling. [Brief description of the drawings]

[0011] [Figure 1] FIG. 1 is a plan view illustrating an automated warehouse system according to an embodiment. [Diagram 2] FIG. 2 is a perspective view showing an example of a package in which multiple packages are stacked. [Diagram 3] 2 is a front view showing an example of a first moving means of the automated warehouse system of FIG. 1. [Figure 4] 2 is a front view showing an example of a second moving means of the automated warehouse system of FIG. 1. [Diagram 5] FIG. 2 is a side view illustrating an example of the reversing means of FIG. 1. [Figure 6]2A and 2B are a plan view and a side view showing an example of the picking means of FIG. 1. [Figure 7] 2 is a bottom view showing a take-out unit of the picking means of FIG. 1. FIG. [Figure 8] FIG. 13 is a diagram showing a state in which the take-out unit is raised in the suction state. [Figure 9] 2 is an explanatory diagram illustrating an example of a picking operation of the picking means of FIG. 1. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0012] First, an overview of the present disclosure will be described. When handling a case such as a cardboard box containing contents (hereinafter referred to as a "load") in an automated warehouse system, the top surface (opposite bottom surface) of the load may be provided with perforations or the like to make it easier to open. For this reason, the top surface is often weaker in strength than the bottom surface. In this case, when handling the load, such as transferring the load, if the top surface is sucked from above and moved, the perforations or the like on the top surface may be damaged. The automated warehouse system of the present disclosure turns the load so that the bottom surface, which has a relatively high strength, faces upward, and sucks and moves the bottom surface from above. This makes it possible to reduce damage to the load when handling it. A detailed description will be given below with reference to an embodiment.

[0013] The present invention will be described below based on preferred embodiments with reference to the drawings. In the embodiments and modified examples, the same or equivalent components and members are given the same reference numerals, and duplicated descriptions are omitted as appropriate. The dimensions of the members in each drawing are enlarged or reduced as appropriate for ease of understanding. Some of the members that are not important for explaining the embodiments are omitted in each drawing.

[0014] In addition, terms including ordinal numbers such as first, second, etc. are used to describe various components, but these terms are used only for the purpose of distinguishing one component from another component, and the components are not limited by these terms.

[0015] [Embodiment] The configuration of an automated warehouse system 1 according to an embodiment will be described with reference to the drawings. Fig. 1 is a plan view showing a schematic configuration of the automated warehouse system 1 according to an embodiment.

[0016] For ease of explanation, as shown in the figure, an XYZ Cartesian coordinate system is defined in which a certain horizontal direction is the X-axis direction, a horizontal direction perpendicular to the X-axis direction is the Y-axis direction, and a direction perpendicular to both, i.e., the vertical direction, is the Z-axis direction. The positive directions of the X-axis, Y-axis, and Z-axis are defined as the directions of the arrows in each figure, and the negative directions are defined as the directions opposite to the arrows. Also, the direction along the X-axis is sometimes called the column direction, the direction along the Y-axis is sometimes called the row direction, and the direction along the Z-axis is sometimes called the tier direction (up and down direction). Such directional notations do not limit the configuration of the automated warehouse system 1, and the automated warehouse system 1 can be used in any configuration depending on the application.

[0017] In this specification, the following terms are used for a load. A case such as a cardboard box containing contents is called a "load". A load may contain multiple items. A surface that is expected to be opened to remove the contents is called a "counter-bottom surface". The counter-bottom surface may be called an upper surface or a ceiling surface. The bottom surface of a load refers to the surface opposite to the counter-bottom surface. A state in which the counter-bottom surface of a load faces upward and the bottom surface of the load faces downward is called a non-inverted state. A state in which the bottom surface of a load faces upward and the counter-bottom surface of the load faces downward is called an inverted state. Regardless of whether the load is in an inverted state or a non-inverted state, a surface facing upward is called an "upward surface" and a surface facing downward is called a "downward surface". Therefore, in the inverted state, the counter-bottom surface of the load is a downward surface and the bottom surface of the load is an upward surface. The counter-bottom surface of a load can be configured to be easier to open than the bottom surface of the load. The bottom surface of a load can be configured to have greater strength than the counter-bottom surface of the load. As an example of a display method, if the characters printed on the side of the case are in an inverted orientation, it is in an inverted state, and if the characters printed on the side of the case are in a normally readable orientation, it is in a non-inverted state.

[0018] Moreover, an empty pallet is simply referred to as a "pallet 12j." A single or multiple loads 10 placed on one pallet 12j is referred to as a "loaded pallet 12." The loaded pallet 12 exemplifies an assembly of loads including multiple loads 10. The loaded pallet 12 refers to the combination of the pallet 12j and the loads 10 on the pallet 12j. The loaded pallet 12 may be composed of multiple stacked layers, and each layer may include multiple loads 10. For example, the loaded pallet 12 includes six loads 10 in each of three layers. The loaded pallet 12 may be the smallest unit that is entered, stored, and removed from the automated warehouse system 1. The loads 10 may be the smallest unit that is handled when picking.

[0019] Fig. 2 is a perspective view showing an example of a package in which a plurality of packages 10 are stacked. The example in Fig. 2 shows packages 10 in a non-inverted state in which the bottom surface 102 faces upward and the bottom surface 104 faces downward.

[0020] As shown in FIG. 1, the automated warehouse system 1 includes an inversion space 202, a judgment area 204, a shelf section 22, a picking space 302, a first moving means 14 (e.g., a first cart), a second moving means 16 (e.g., a second cart), a third moving means 18 (e.g., a lifting device), an inversion means 20 (e.g., an inversion device), a picking means 30 (e.g., a picking device), and a control unit 50.

[0021] The reversing space 202 is a space for reversing the load 10 using the reversing means 20, and in this example, is provided in front of the loading / unloading section 52 of the shelf section 22. The determination area 204 is provided in front of the reversing space 202. The determination area 204 acquires image information, etc. on the loaded load using the determination means 56 including a camera, etc., and compares the acquired image information, etc. with bottom surface direction information Jb stored in the information management section 48 described later to determine whether or not to reversing the load 10. If the determination means 56 determines that reversal is not required, the reversing means 20 moves the load to the loading / unloading section 52 without reversing it, and if the determination determines that reversal is required, the reversing means 20 moves the load to the loading / unloading section 52 without reversing it.

[0022] The first moving means 14, the second moving means 16 and the third moving means 18 constitute a conveying means 8 that moves the loaded pallet 12 (a collection of loads 10) in the row direction, the column direction and the stage direction. The first moving means 14 can move the loaded pallet 12 along the row direction. The second moving means 16 can move the loaded pallet 12 along the column direction. The third moving means 18 can move the loaded pallet 12 in the stage direction.

[0023] For example, the conveying means 8 can remove the collection of articles 10 from the storage section 26 of the shelf section 22. For example, the conveying means 8 can carry the collection of articles 10 into the storage section 26 of the shelf section 22. For example, the conveying means 8 can transport the collection of articles 10 from one storage section 26 of the shelf section 22 to another storage section 26 of the shelf section 22.

[0024] The shelf section 22 is a storage space capable of storing a large number of loads 10, and may be referred to as a storage shelf. The shelf section 22 in this embodiment includes two shelf sections 22a, 22b separated by the second travel path 44. The configuration of the shelf section 22 is not particularly limited as long as it is capable of storing and storing a plurality of loads 10. The shelf section 22 includes a plurality of storage sections 26 arranged along the X-axis direction (column direction), the Y-axis direction (row direction), and the Z-axis direction (tier direction). Each storage section 26 is configured to be capable of storing a loading pallet 12.

[0025] The shelf unit 22 is provided with a first running path 40 (e.g., a first rail) along which the first moving means 14 runs, and a second running path 44 (e.g., a second rail) along which the second moving means 16 runs. The first running path 40 extends in the Y-axis direction in the shelf units 22a, 22b and the picking space 302. The first moving means 14 can run below each storage unit 26. The second running path 44 extends in the X-axis direction adjacent to the shelf units 22a, 22b and the picking space 302.

[0026] (1st means of transportation) FIG. 3 is a front view showing an example of the first moving means 14. The first moving means 14 drives a plurality of wheels 14f by a motor (not shown) and moves along the first running path 40 in the Y-axis direction with an empty or loaded pallet 12. The first moving means 14 raises and lowers the loaded pallet 12 on the loading platform 14c by the lift mechanism 14d. In FIG. 3, the loading platform 14c in the raised state is shown by a broken line, and the loading platform 14c in the lowered state is shown by a solid line. The first moving means 14 can lower the loaded pallet 12 into the storage section 26. The first moving means 14 can lift and support the loaded pallet 12 from the storage section 26. The first moving means 14 can get on and off the second moving means 16 and the third moving means 18.

[0027] (Second means of transportation) 4 is a front view showing an example of the second moving means 16, showing a state in which the first moving means 14 is mounted. The second moving means 16 drives a plurality of wheels 16f by a motor (not shown) and travels in the X-axis direction on the second travel path 44. The second moving means 16 transports the first moving means 14 in an empty state or with the loading pallet 12 mounted thereon.

[0028] (Third means of transportation) As shown in Fig. 1, the third moving means 18 is provided adjacent to the second travel path 44. The third moving means 18 can raise and lower the first moving means 14 and the loading pallet 12 from any storage stage to another storage stage. In the example of Fig. 1, a single loading / unloading section 52 is provided for all stages, and the third moving means 18 is connected to the loading / unloading section 52.

[0029] In this example, the loaded pallet 12 to be stored is carried into the loading / unloading section 52 by external transport means 54 (e.g., a forklift) and is transferred to the desired tier by the third moving means 18. The loaded pallet 12 to be unloaded is raised or lowered from the tier on which it was stored to the tier of the loading / unloading section 52 by the third moving means 18, transferred to the loading / unloading section 52, and carried out from the loading / unloading section 52 by the external transport means 54.

[0030] The third moving means 18 can transport the first moving means 14 carrying the load pallet 12 to each storage tier including the top storage tier. The first moving means 14 transported to each storage tier moves the load pallet 12 to the second moving means 16 of each storage tier.

[0031] Returning to FIG. 1, the control unit 50 is configured to include an MPU (Micro Processing Unit) and controls the movement of the loading pallet 12 for storing, retrieving, carrying out, transporting, etc., based on the result of an operation by a user. As an example, the control unit 50 controls the operation of the first moving means 14, the second moving means 16, and the third moving means 18 so as to transport the loading pallet 12 between a storing / retrieving area and a storage unit, or between multiple storage units. The control unit 50 also controls the operation of the reversing means 20 to reverse the load 10. The control unit 50 also controls the operation of the picking means 30 to pick the load 10.

[0032] An example of the reversing means 20 will be described with reference to FIG. 1 and FIG. 5. In this description, in order to distinguish the empty pallet 12j, "-A" or "-B" will be added to the end of the reference numeral. As an example, another empty pallet 12j-B is used in this reversing process. FIG. 5 is a diagram showing an example of the reversing means 20. First, the reversing space 202 will be described. As shown in FIG. 1, the reversing space 202 is a space for reversing the load 10 using the reversing means 20, and is provided outside the shelf 22 in this embodiment. The reversing means 20 may reverse the load during conveyor transport before storing it in the shelf 22, or in front of the third moving means 18 immediately after storage. The reversing means 20 may reverse each load 10, but here, an example of reversing the load as a unit of a collection of loads (loading pallet 12) placed on the pallet 12j-A will be described.

[0033] The loading pallet 12 to be inverted is carried into a conveying means such as a belt conveyor (not shown) of the inversion space 202 by the external conveying means 54. The inversion space 202 in this embodiment is provided with a placement section 26u. The loading pallet 12 before inversion is carried into the placement section 26u by the external conveying means 54. The loading pallet 12 after inversion is carried out from the placement section 26u by the belt conveyor. The inversion means 20 in this embodiment is a stand-alone mechanism that does not have a crane mechanism such as a gantry type.

[0034] The reversing operation of the reversing means 20 will be described with reference to FIGS.

[0035] (1) The loading pallet 12 before inversion is carried into the placement section 26u. In the loading pallet 12 before inversion, the opposite bottom surface 102 faces upward and the bottom surface 104 faces downward. (2) Next, an empty pallet 12j-(B) is placed on the loaded pallet 12 before being inverted (FIG. 5(B)). (3) Next, the loading pallet 12 is turned upside down and lowered onto the placement section 26u (FIG. 5(C)). At this time, in order to prevent the load from collapsing, the load may be turned over while applying pressure from above and below the pallets 12j-(A) and 12j-(B). (4) Next, the pallet 12j-(A) is removed (FIG. 5(D)). After inversion, the bottom surface 104 of the loading pallet 12 faces upward, and the opposite bottom surface 102 faces downward. The loaded pallet 12 thus inverted is transferred from the placement section 26u to the loading / unloading section 52. The transfer of the loaded pallet 12 completes the inversion operation.

[0036] Returning to FIG. 1, the automated warehouse system 1 of this embodiment is equipped with an information management unit 48 that acquires bottom surface orientation information Jb relating to the orientation of the bottom surface 104 of the brought-in cargo 10. In the example of FIG. 1, the information management unit 48 is provided in the control unit 50. The bottom surface orientation information Jb is information on whether the bottom surface 104 of the brought-in cargo 10 is facing downward or upward. The information management unit 48 may acquire the bottom surface orientation information Jb provided from an external information system. The bottom surface orientation information Jb may be input to the information management unit 48 by an operator. The bottom surface orientation information Jb may be stored in the information management unit 48 as an information table linked to the stored item information of each storage unit 26.

[0037] The reversing means 20 of this embodiment can determine whether or not to reverse the load 10 based on the bottom surface orientation information Jb stored in the information management unit 48. In this example, when the bottom surface 104 of the load 10 that has been brought in faces upward, the reversing means 20 stores the load 10 in the storage section 26 of the shelf section 22 without reversing it. In this case as well, the picking means 30 adsorbs the bottom surface 104 of the load 10 from above and moves it to a placement section where another load is stored.

[0038] The configuration of the picking means 30 will be described with reference to FIG. 1 and FIG. 6. First, the picking space 302 will be described. In the example of FIG. 1, the picking space 302 includes a picking space 302a provided in the shelf portion 22a and a picking space 302b provided in the shelf portion 22b. The picking space 302 may be provided in one shelf portion or in a part of the shelf portion. FIG. 6(A) is a plan view showing an enlarged view of the picking means 30. FIG. 6(B) is a side view showing an enlarged view of the picking means 30. In these figures, the illustration of some columns, beams, etc. is omitted. The picking space 302 is a space for picking using the picking means 30, and in this embodiment, it is provided in the shelf portion 22 (see also FIG. 1). The picking space 302 is provided with a first loading section 26p for placing the loading pallet 12 before picking (hereinafter referred to as the "first loading pallet 12S"), and a second loading section 26s for placing the loading pallet 12 after picking (hereinafter referred to as the "second loading pallet 12M").

[0039] The first placement section 26p and the second placement section 26s do not refer to a specific location in the picking space 302, but rather refer to a space for temporarily storing the loading pallet 12. Therefore, the positions and ranges of the first placement section 26p and the second placement section 26s in the picking space 302 may change for each picking operation. The first placement section 26p and the second placement section 26s in this embodiment have the same configuration as the storage section 26.

[0040] In the picking space 302 of this embodiment, a first running path 40 is provided extending in the Y-axis direction. The first placement portion 26p and the second placement portion 26s are provided on the first running path 40. The first moving means 14 can travel under the first placement portion 26p and the second placement portion 26s. The first loading pallet 12S before picking is carried into the first placement portion 26p by the first moving means 14. The second loading pallet 12M after picking is carried out from the second placement portion 26s by the first moving means 14.

[0041] The configuration of the picking means 30 will be described. The picking means 30 is configured to hold the bottom surface 104 of the inverted load 10 inverted by the inverting means 20. The picking means 30 in this example is configured to adsorb the bottom surface 104 of the inverted load 10. The picking means 30 may be configured to hold the side of the inverted load 10. Specifically, the picking means 30 adsorbs the upward facing surface of the load 10 inverted by the inverting means 20 from above and moves it to a placement section where another load 10 is stored. At this time, the bottom surface 104 may be an upward facing surface, or the inverted bottom surface may be a facing surface 102. These may be selected according to the properties of the load 10.

[0042] Specifically, as shown in FIG. 6(B), the picking means 30 picks the load 10 from the first load pallet 12S before picking and transfers it to the second load pallet 12M.

[0043] As shown in Fig. 6(B), the picking means 30 of this embodiment includes a so-called gantry-type crane mechanism. The picking means 30 includes a pair of cross beams 30e, a cross girder 30k, a crane cart 30d, a hanging unit 30j, and a take-out unit 30h. The pair of cross beams 30e are provided spaced apart on both sides in the Y-axis direction in the upper space of the picking space 302. Both ends of the cross beam 30e are supported by the upper ends of the vertical columns 30g.

[0044] The cross beam 30k is a rail-like structure extending in the Y-axis direction and is spanned between a pair of cross beams 30e. The cross beam 30k is configured to be self-moving on the cross beam 30e in the X-axis direction. The cross beam 30k is sometimes called a crane girder. The crane dolly 30d is a dolly that is self-moving on the cross beam 30k in the Y-axis direction. The crane dolly 30d is sometimes called a trolley dolly. The suspending part 30j can suspend the take-out unit 30h from the crane dolly 30d and move it up and down in the Z-axis direction. The suspending part 30j can also rotate the take-out unit 30h horizontally. The take-out unit 30h is provided at the tip of the suspending part 30j and is configured to be able to lift the load 10.

[0045] The picking means 30 supports the take-out unit 30h so as to be freely movable in the horizontal column direction and row direction (X-axis direction, Y-axis direction). Also, the picking means 30 supports the take-out unit 30h so as to be movable in the row direction (Z-axis direction).

[0046] The take-out unit 30h will be described. FIG. 7 is a bottom view showing the take-out unit 30h. The take-out unit 30h has a substantially rectangular shape in bottom view. On the bottom surface of the take-out unit 30h, a plurality of suction units 30s are arranged in a matrix in the X-axis direction and the Y-axis direction. The suction units 30s each have an adjustable suction force. The suction unit 30s may be divided into a plurality of sections. The suction unit 30s may be configured to generate a suction force by sucking in air.

[0047] As an example, the suction units 30s may be configured to be individually switchable between an ON state in which they generate an attractive force capable of attracting the load 10, and an OFF state in which they do not substantially generate an attractive force. The take-out unit 30h may be configured to be able to individually adjust the attractive forces of the multiple suction units 30s to change the suction range in which the load 10 is attracted. Furthermore, the take-out unit 30h may be configured to adjust the area in which the attractive force is generated to attract and hold all the loads 10 on one layer, some of the loads 10, or a single load 10.

[0048] In the process of picking the load 10, the take-out unit 30h of the picking means 30 performs a transfer operation in which the take-out unit 30h adsorbs the load 10 and lifts and transfers the load 10. The transfer operation involves raising and lowering the take-out unit 30h while adsorbing the load 10. FIG. 8 is a diagram showing a state in which the take-out unit 30h that has adsorbed the load 10 has been raised. As shown in this figure, the picking means 30 can adsorb the load 10 with the take-out unit 30h and lift the load 10. The picking means 30 can transfer the lifted load 10 from the source pallet to the destination pallet.

[0049] Next, an example of the picking operation of the picking means 30 will be described with reference to FIG. 9. FIG. 9 is an explanatory diagram for explaining an example of a picking operation S140. The picking operation in this example is an operation for removing the load 10 from the first loading pallet 12S based on a shipping plan and creating a second loading pallet 12M for shipping to a destination such as a retail store. In this description, in order to distinguish between the load, the pallet, and the storage unit, the reference numerals are suffixed with "-A", "-B", and "-C". In FIG. 9, the load 10-A is shown in white, the load 10-B is shown with straight hatching, and the load 10-C is shown with dashed hatching.

[0050] (1) The transport means 8 (particularly, the first moving means 14 and the second moving means 16) transports the first loading pallet 12S stored on the shelf section 22a to the first placement section 26p of the picking space 302. In this example, the first loading pallets 12S-A, 12S-B, and 12S-C carrying different types of loads 10-A, 10-B, and 10-C are transported to the first placement sections 26p-A, 26p-B, and 26p-C.

[0051] (2) An empty pallet 12j for creating a second loading pallet 12M is placed on the second placement section 26s of the picking space 302.

[0052] (3) By the transfer operation of the picking means 30, the required number of loads 10-A are removed from the first loading pallet 12S-A and placed on an empty pallet 12j to create a second loading pallet 12M.

[0053] (4) By the transfer operation of the picking means 30, the required number of loads 10-B are removed from the first loading pallet 12S-B and placed on the second loading pallet 12M on which the loads 10-A are placed.

[0054] (5) By the transfer operation of the picking means 30, the required number of loads 10-C are removed from the first load pallet 12S-C and placed on the second load pallet 12M on which the loads 10-A and 10-B are placed.

[0055] In the above (3) to (5), the take-out unit 30h may be rotated horizontally as necessary to change the postures of the loads 10-A, 10-B, and 10-C.

[0056] (6) When the second loading pallet 12M is completed, the second loading pallet 12M is transferred to a predetermined area. For example, the second loading pallet 12M may be transferred to the shelf section 22b for temporary storage, or may be transferred to the loading / unloading section 52 for removal from the warehouse. The first moving means 14, the second moving means 16, and the third moving means 18 may be used to transfer the second loading pallet 12M, or another moving means such as a forklift may be used. The picking operation is completed by these operations.

[0057] The picking means 30 of this embodiment picks out the target load 10 by suction force, so it is possible to configure the picking means without using a conveyor, which is advantageous for saving space in the automated warehouse. In addition, since the suction range can be changed, the load 10 can be lifted in different modes within the suction range.

[0058] The take-out unit 30h can take out the target load 10 upward, so it can work without using much side space. Since the relatively ample upper space can be used effectively, the dedicated space for installing the take-out unit 30h can be reduced, which is advantageous for space saving.

[0059] (warehousing operation) Next, an example of a warehousing operation of the automated warehouse system 1 will be described with reference to Fig. 1. In this example, a process will be described in which a loaded pallet 12 (e.g., a single pallet 12S) transported from outside by a truck or the like (not shown) and received is stored in a target storage section 26 of the shelf section 22. (1) The loading pallet 12 produced in the manufacturing plant is transported to the automated warehouse system 1 by a truck or the like, and is carried into the loading / unloading section 52 by external transport means 54. (2) Next, the loaded pallet 12 carried into the loading / unloading section 52 is transferred by the third moving means 18 to a level (e.g., the top level) of the reversal space 202. At this time, the loaded pallet 12 may be placed on the third moving means 18 while still stacked on the first moving means 14, or may be placed on the third moving means 18 alone. (3) Next, the loading pallet 12 is carried into the placement portion 26u of the reversal space 202 by the first moving means 14 and the second moving means 16. (4) Next, the loading pallet 12 carried into the placement section 26u is turned upside down by a turning operation S120. (5) Next, the inverted loaded pallet 12 is transported by the first moving means 14, the second moving means 16 and the third moving means 18 to a predetermined storage section 26 and stored therein.

[0060] In the storing operation, the first moving means 14, the second moving means 16 and the third moving means 18 are controlled by the control unit 50.

[0061] The loaded pallet 12 (e.g., single pallet 12S) stored in the storage section 26 is transferred to a mixed pallet 12M based on the shipping plan by the picking operation S140 of the picking means 30. The transferred mixed pallet 12M may be temporarily stored on the shelf section 22, or may be shipped out by the outgoing operation described below. The following example shows a case where the mixed pallet 12M is temporarily stored on the shelf section 22 and then shipped out by the outgoing operation.

[0062] (Removal operation) Next, an example of a retrieval operation of the automated warehouse system 1 will be described with reference to Fig. 1. In this example, a process of loading a mixed pallet 12M stored in the storage section 26 of the shelf section 22 onto a truck or the like will be described. (1) The mixed pallet 12M stored in the storage section 26 of the shelf section 22 is transported to the loading / unloading section 52 by the first moving means 14, the second moving means 16 and the third moving means 18. (2) The mixed pallet 12M transported to the loading / unloading section 52 is loaded onto a truck or the like by the external transport means 54. (3) The 12M mixed pallet is loaded onto a truck or other vehicle and shipped to its destination.

[0063] In the outgoing operation, the first moving means 14, the second moving means 16 and the third moving means 18 are controlled by the control unit 50.

[0064] The features of the automated warehouse system 1 configured as above will be described. The automated warehouse system 1 includes a shelf section 22 including a plurality of storage sections 26 capable of storing goods, a picking means 30 that holds an inverted goods that has been inverted so that the bottom surface of the goods is on the top and moves it to a placement section on which another goods is placed, and a transport means 8 that transports an assembly of goods consisting of the inverted goods and the other goods from the shelf section.

[0065] According to this configuration, the load 10 is inverted so that the bottom surface 104, which has a relatively high strength, faces upward, and the bottom surface 104 is attracted from above and moved, thereby reducing damage to the load 10 during handling.

[0066] Above, examples of the embodiments of the present invention have been described in detail. The above-mentioned embodiments are merely examples of implementing the present invention. The contents of the embodiments do not limit the technical scope of the present invention, and many design changes such as changes, additions, and deletions of components are possible within the scope of the invention as defined in the claims. In the above-mentioned embodiments, the contents for which such design changes are possible are described with notations such as "of the embodiment" and "in the embodiment", but this does not mean that design changes are not permitted for contents without such notations. In addition, hatching in the drawings does not limit the material of the hatched object.

[0067] (Modification) The following describes the modified examples. In the drawings and description of the modified examples, the same or equivalent components and members as those in the embodiment are denoted by the same reference numerals. Descriptions that overlap with the embodiment will be omitted as appropriate, and the description will focus on configurations that differ from the embodiment.

[0068] In the description of the embodiment, an example of turning over a load in an automated warehouse has been shown, but the present invention is not limited to this, and for example, a turning means may be provided outside the automated warehouse, and the load may be received in a previously turned over state. In this case, image information, etc. on the load to be received may be acquired in the judgment area 204, and the acquired image information, etc. may be compared with database information to determine whether or not turning over is necessary. If turning over is not necessary, the load may be stored as is, and if turning over is necessary, the load may be turned over before being stored.

[0069] In the description of the embodiment, an example has been shown in which the reversal space 202 is provided outside the shelf portion 22, but the present invention is not limited to this. For example, the reversal space 202 may be provided inside the shelf portion 22. For example, the reversal means 20 may be provided at a position overlapping with the shelf portion 22 in a plan view. For example, the reversal space 202 may be provided in the uppermost shelf portion 22.

[0070] In the description of the embodiment, an example has been shown in which the reversing means 20 does not include a crane mechanism, but the present invention is not limited to this, and the reversing means 20 may include a so-called gantry-type crane mechanism.

[0071] In the description of the embodiment, an example has been shown in which the received loaded pallet 12 is inverted immediately after being received, and the inverted loaded pallet 12 is stored, but the present invention is not limited to this. The received loaded pallet 12 may be temporarily stored on the shelf section 22 and then inverted. For example, the loaded pallet 12 before inversion stored on the shelf section 22 may be inverted by the inversion operation S120, and after inversion (for example, immediately after), it may be provided to the picking operation S140. In other words, the stored loaded pallet 12 before inversion may be inverted by the inversion operation S120 before (for example, immediately before) the picking operation S140.

[0072] In the description of the embodiment, an example is shown in which the reversing means 20 is provided to reverse the loaded pallet 12 that has been received, but the present invention is not limited to this. For example, a second reversing means may be provided to reverse the loaded pallet 12 (collection of goods) picked by the picking means 30 upside down. The second reversing means may be provided separately from the reversing means 20, but the reversing means 20 may also serve as the second reversing means. By providing the second reversing means, the mixed pallet 12M in an inverted state after picking can be re-inverted to a non-inverted state, and the non-inverted mixed pallet 12M loaded with non-inverted goods 10 can be shipped out. The control unit 50 may determine whether to ship out in an inverted state or a non-inverted state based on the shipping plan information.

[0073] Although an example has been shown in which the conveying means 8 is provided with the second moving means 16 and the third moving means 18 separately, the present invention is not limited to this. As the second moving means, a moving means (e.g., a stacker crane) having a lifting function for moving the loading pallet 12 (assembly of the loads 10) in the row direction and capable of moving in the row direction may be adopted. In this case, the stacker crane may be one in which the first moving means cannot be mounted, or one in which the first moving means can be mounted together with the loading pallet 12.

[0074] In the description of the embodiment, a single loading / unloading section 52 is provided for all the tiers, and the third moving means 18 is connected to the loading / unloading section 52, but the present invention is not limited to this. Each tier may be provided with a loading / unloading section, and goods to be loaded and unloaded may be loaded and unloaded from the loading / unloading section of each tier by a forklift. Also, the loading / unloading section may be divided into a loading section and an unloading section.

[0075] In the description of the embodiment, an example has been shown in which the bottom surfaces 104 of all the loads 10 on the loading pallet 12 face the same direction, but this is not limiting. The loads 10 on the loading pallet 12 may be a mixture of loads 10 with their bottom surfaces 104 facing upward and loads 10 with their bottom surfaces 104 facing downward. Information regarding the direction of the bottom surfaces 104 may be included in bottom surface direction information Jb and stored in the information management unit 48.

[0076] In the description of the embodiment, an example has been shown in which the picking means 30 transfers the load 10 taken out from the first loading pallet 12S to the second loading pallet 12M, but the destination of the load 10 transferred by the picking means 30 is not limited to a pallet. For example, the picking means 30 may transfer the taken out load 10 onto a belt conveyor or the like, onto the bed of a forklift or truck, or onto a self-propelled cart such as the first moving means 14.

[0077] In the description of the embodiment, an example has been shown in which the reversing space 202 and the picking space 302 are provided integrally with the shelf unit 22, but the present invention is not limited to this, and the reversing space 202 or the picking space 302 may be provided apart from the shelf unit 22. In this case, the loading pallet 12 may be transported between the shelf unit 22 and the reversing space 202 or the picking space 302 by a transport mechanism such as a forklift.

[0078] In the description of the embodiment, an example was shown in which the inversion space 202 and the picking space 302 are provided on the same plane as the shelf portion 22, but the present invention is not limited to this, and the inversion space 202 or the picking space 302 may be provided on a plane different from the shelf portion 22.

[0079] In the description of the embodiment, the take-out unit 30h holds the load 10 only by the suction force, but the present invention is not limited to this, and the take-out unit 30h may hold the inverted load. For example, the take-out unit 30h may be configured to hold the load 10 by an arm and a hand in addition to the suction force.

[0080] In the description of the embodiment, an example has been shown in which the removal unit 30h generates an adhesive force by sucking in air to hold a load, but the present invention is not limited to this. For example, the removal unit 30h may use magnetic attraction force from a magnet or the like, or an attraction force based on other physical principles, instead of air suction.

[0081] In the description of the embodiment, an example has been shown in which the removal unit 30h adsorbs the bottom surface of the inverted load, but the present invention is not limited to this. For example, the removal unit 30h may hold the side of the inverted load using an arm and a hand, and preferably may hold the part of the side of the inverted load close to the bottom surface.

[0082] In the description of the embodiment, an example was shown in which the picking means 30 is supported from the ceiling side by a gantry-type crane mechanism, but the present invention is not limited to this. For example, the reversing means 20 or the picking means may be supported by an articulated robot or a support means of a different configuration. In addition, the reversing means 20 or the picking means may be attached to a side wall on the side and supported from the side.

[0083] In the description of the embodiment, an example has been shown in which the picking operation removes loads 10 from a collection of loads 10 of the same type (first loading pallet 12S) to create a collection of multiple types of loads 10 (second loading pallet 12M), but the present invention is not limited to this. The picking operation may include an operation of removing loads 10 from a collection of multiple types of loads 10, or may create a collection of loads 10 of the same type using the removed loads 10. In addition, the collection of loads 10 of the same type created by picking may be shipped out.

[0084] In the description of the embodiment, an example in which picking is performed from the multiple first placement units 26p-A, 26p-B, and 26p-C to the single second placement unit 26s in the picking operation has been shown, but the present invention is not limited to this. Picking may be performed from the multiple first placement units 26p to the multiple second placement units 26s.

[0085] In the description of the embodiment, an example in which the multiple first placement parts 26p-A, 26p-B, and 26p-C are arranged in a line in the Y-axis direction is shown in Fig. 9, but the present invention is not limited to this. It is not essential to arrange the multiple first placement parts in a line, and they may be arranged separately from each other.

[0086] In the description of the embodiment, an example has been shown in which the entirety of the picking means 30 is included within the planar range of the shelf portion 22, but the present invention is not limited to this. A part or the entirety of the reversing means 20 or the picking means 30 may protrude outside the planar range of the shelf portion 22.

[0087] Each of these modified examples provides the same effects as the embodiment.

[0088] Any combination of the above-described embodiments and modifications is also useful as an embodiment of the present invention. A new embodiment resulting from the combination has the combined effects of the respective embodiments and modifications. [Explanation of symbols]

[0089] 1 automated warehouse system, 8 conveying means, 10 load, 12 loaded pallet, 12M mixed pallet, 12S single pallet, 12j pallet, 14 first moving means, 16 second moving means, 18 third moving means, 20 inversion means, 22,26 storage section, 30 picking means, 30s suction section, 48 information management section, 50 control section, 52 loading / unloading section, 102 reverse bottom surface, 104 bottom surface.

Claims

1. A shelf section including a plurality of storage sections capable of storing specific items, the storage sections having a surface with perforations and a surface without perforations; A picking means for suction-holding the upper surface of the specific load, with a surface of the specific load that does not have perforations as an upper surface, and moving the specific load to a placement section on which another load is placed; An automated warehouse system comprising:

2. A shelf section including a plurality of storage sections capable of storing specific loads, the storage sections having a surface with perforations and a surface without perforations; A picking means for holding a surface of the specific article that does not have perforations and moving the specific article to a placement section on which another article is placed; Equipped with The picking means holds the inverted load that has been inverted so that the bottom surface of the specific load is on the upper side, and moves it to a placement section on which another load is placed, Further, a conveying means for conveying an assembly of the inverted load and the other load from the shelf portion; An automated warehouse system comprising:

3. The automated warehouse system according to claim 2 , wherein the picking means holds a bottom surface of the inverted load.

4. The automated warehouse system according to claim 3 , wherein the picking means adsorbs a bottom surface of the inverted load.

5. The automated warehouse system according to claim 1 , wherein the picking means holds a side of the specific load that has been moved.

6. Further provided with a reversing means for reversing the load upside down, The automated warehouse system according to claim 1 , wherein the inversion means is provided at a position overlapping with the shelf section in a plan view and inverts a specific load stored on the shelf section.

7. The plurality of storage sections are arranged along row, column and stage directions, The automated warehouse system according to claim 2 , wherein the transport means transports the assembly from the shelf section by moving the assembly in the row direction, the column direction, and the tier direction.

8. The automated warehouse system according to claim 7, wherein the conveying means includes a first moving means for moving the assembly along the row direction, a second moving means for moving the assembly along the column direction, and a third moving means for moving the assembly in the tier direction.

9. the conveying means includes a first moving means for moving the assembly along the row direction and a second moving means for moving the assembly along the column direction; The automated warehouse system according to claim 7 , wherein the second moving means has a lifting function for moving the assembly in the tier direction.

10. An information acquisition unit is provided for storing bottom direction information regarding the orientation of the bottom of the specific load carried in, The automated warehouse system according to claim 6, wherein the inversion means does not invert the specific load if the bottom surface of the specific load that has been brought in is facing upward based on the bottom surface orientation information.

11. The automated warehouse system according to claim 6, wherein the inversion means includes a second inversion means for inverting the collection of specific loads picked by the picking means upside down.

12. A control method for an automated warehouse system having a shelf unit including a plurality of storage units capable of storing specific items having a surface with perforations and a surface without perforations, comprising: A surface of the load that is not provided with perforations is set as an upper surface, and the upper surface is suction-held; Moving the held load to a loading section on which another load is loaded; and Equipped with A method for controlling an automated warehouse system.

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