Automated Warehouse

Abstract

To provide an automatic warehouse with an improved novel configuration that can avoid unnecessary stoppage of an operation or continue the operation to the extent possible, for example, after an earthquake.SOLUTION: An automatic warehouse includes: an automatic warehouse having a storage shelf that is installed on a movable part of a seismic isolation mechanism and has multiple storage locations for items, the seismic isolation mechanism having a fixed part and the movable part that moves substantially horizontally from an initial position on the fixed part due to a seismic motion and maintains a moved state, and a first transport mechanism installed on the movable part and transporting items; a second transport mechanism that transports the items to or from the first transport mechanism; a measurement mechanism that measures an amount of movement of a part fixed or connected to the movable part according to a movement of the movable part due to the seismic motion; and a control mechanism that changes operating states of the first transport mechanism and the second transport mechanism according to an amount of movement measured by the measurement mechanism.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The present invention relates to an automated warehouse. [Background technology]

[0002] Conventionally, an automated warehouse equipped with a seismic isolation mechanism is known (see, for example, Patent Document 1). The seismic isolation mechanism of Patent Document 1 has an elastic body such as rubber. In this case, after an earthquake occurs, a part supported via the seismic isolation mechanism can return to its initial position before the earthquake occurs as long as the destruction limit of the seismic isolation mechanism is not exceeded.

[0003] Also, a seismic isolation mechanism having a base and a sliding plate that moves on the base is known (for example, Patent Document 2). In the seismic isolation mechanism of Patent Document 2, if an earthquake causes the sliding plate to move from its initial position on the base, the sliding plate cannot return to its initial position. For this reason, in an automated warehouse equipped with this seismic isolation mechanism, after an earthquake occurs, a change in relative position, that is, a shift, occurs between the parts supported by the seismic isolation mechanism and the parts not supported by the seismic isolation mechanism, and this shift may be maintained. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Patent No. 3077571 [Patent Document 2] Patent No. 5002724 [Patent Document 3] JP 2003-063632 A Summary of the Invention [Problem to be solved by the invention]

[0005] In an automated warehouse equipped with the seismic isolation mechanism of Patent Document 2, after an earthquake occurs, operation of the automated warehouse may be stopped and work may be carried out to return the relative positions of the parts supported by the seismic isolation mechanism and the parts not supported by the seismic isolation mechanism to their initial states.

[0006] However, even if a relatively weak earthquake occurs that does not cause any problems in the automated warehouse, it may be wasteful to stop the operation of the automated warehouse. In addition, after the occurrence of an earthquake, the demand for logistics may increase, and there is a demand to avoid stopping the operation of the automated warehouse as much as possible.

[0007] Therefore, one of the objectives of the present invention is to provide an automated warehouse having an improved and novel configuration that can, for example, avoid unnecessary operational shutdowns after an earthquake and continue operation to the extent possible. [Means for solving the problem]

[0008] The automated warehouse of the present invention, for example, comprises an automated warehouse having: a storage shelf installed on a movable part of a seismic isolation mechanism having a fixed part and a movable part that moves approximately horizontally from an initial position on the fixed part in response to seismic motion and maintains the moved state, the storage shelf having a plurality of storage locations for items, and a first conveying mechanism installed on the movable part and conveying the items; a second conveying mechanism that conveys the items to or from the first conveying mechanism; a measuring mechanism that measures the amount of movement of a part fixed to or connected to the movable part in response to the movement of the movable part in response to seismic motion; and a control mechanism that changes the operating state of the first conveying mechanism and the second conveying mechanism in response to the amount of movement measured by the measuring mechanism. [Brief description of the drawings]

[0009] [Figure 1] FIG. 1 is an exemplary schematic plan view of an automated warehouse according to a first embodiment. [Diagram 2] FIG. 2 is an illustrative schematic side view of the seismic isolation mechanism of the automated warehouse according to the first embodiment. [Diagram 3]FIG. 3 is an illustrative schematic plan view of a measurement mechanism of the automated warehouse according to the first embodiment. [Figure 4] FIG. 4 is an exemplary schematic plan view of the flexible conveyor of the automated warehouse according to the first embodiment, illustrating an initial state. [Diagram 5] FIG. 5 is an exemplary schematic plan view showing a deformation state of the flexible conveyor in the automated warehouse according to the first embodiment after an earthquake occurs, and is a diagram showing an extended state. [Figure 6] FIG. 6 is an exemplary schematic plan view showing a deformation state of the flexible conveyor in the automated warehouse according to the first embodiment after an earthquake occurs, and shows a substantially V-shaped curved state. [Figure 7] FIG. 7 is an exemplary schematic plan view showing a deformation state of the flexible conveyor in the automated warehouse according to the first embodiment after an earthquake occurs, and shows a substantially S-shaped curved state. [Figure 8] FIG. 8 is an exemplary schematic plan view showing a deformation state of the flexible conveyor in the automated warehouse according to the first embodiment after an earthquake occurs, and shows a substantially bell-shaped curved state. [Figure 9] FIG. 9 is an exemplary block diagram of a controller of the automated warehouse according to the first embodiment. [Figure 10] FIG. 10 is a flowchart illustrating an example of a control procedure by the controller of the automated warehouse according to the first embodiment. [Figure 11] FIG. 11 is an illustrative schematic plan view of a flexible conveyor and a measurement mechanism of the automated warehouse according to the first modified example of the first embodiment. [Figure 12] FIG. 12 is an illustrative schematic plan view of a flexible conveyor and a measuring mechanism of an automated warehouse according to a second modified example of the first embodiment. [Figure 13] FIG. 13 is an illustrative schematic plan view of the automated warehouse according to the second embodiment. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0010] Exemplary embodiments and modifications of the present invention are disclosed below. The configurations of the embodiments and modifications shown below, as well as the actions and results (effects) obtained from the configurations, are merely examples. The present invention can be realized by configurations other than those disclosed in the following embodiments and modifications. Furthermore, according to the present invention, it is possible to obtain at least one of the various effects (including derivative effects) obtained by the following configurations.

[0011] In this specification, ordinal numbers are given for the sake of convenience to distinguish mechanisms, parts, thresholds, directions, etc., and do not indicate a priority order or sequence.

[0012] In each drawing, each direction in the automated warehouse is indicated by an arrow. The X direction, Y direction, and Z direction intersect each other and are perpendicular to each other. The Z direction is approximately along the vertical direction, and the arrow Z points vertically upward. The X direction and the Y direction are approximately along the horizontal direction. The X direction can be called the front-rear direction or the longitudinal direction, the Y direction can be called the left-right direction, the short direction, or the width direction, and the Z direction can be called the up-down direction.

[0013] [First embodiment] [Basic configuration of the automated warehouse] 1 is a plan view of the automated warehouse 100A (100). As shown in FIG. 1, the automated warehouse 100A includes a plurality of storage shelves 10, a stacker crane 20, and a conveyor 40.

[0014] Each storage shelf 10 extends in the X direction and has a plurality of storage compartments 11 arranged at a predetermined interval in the X direction. Although not shown, each storage shelf 10 also extends in the Z direction and has a plurality of storage compartments 11 arranged at a predetermined interval in the Z direction. That is, when viewed in the Y direction, the storage shelf 10 has rows of storage compartments 11 extending in the X direction and columns of storage compartments 11 extending in the Z direction, and the plurality of storage compartments 11 are arranged in a matrix in the storage shelf 10. Each storage compartment 11 can store an item 1. In the following drawings, the storage compartments 11 are simply represented as rectangles for simplicity. The storage compartments 11 are an example of a storage location.

[0015] The item 1 is an object to be stored in the storage section 11 and transported by the stacker crane 20 and the conveyor 40. The item 1 can take various forms, such as a box containing an object, a container containing an object, or the object itself. The automated warehouse 100A can also be used for various purposes.

[0016] The stacker crane 20 transports the article 1 on the transport path 30 between the storage section 11 and the conveyor 40, between a plurality of storage sections 11, etc. The stacker crane 20 is an example of a first transport mechanism. The transport path 30 may also be referred to as a transport space.

[0017] The stacker crane 20 has a rail 21 extending in the X direction and a movable part 22. The movable part 22 is configured to be movable along the rail 21 in the X direction and the opposite direction to the X direction, and is configured to be able to move the article 1 in the Z direction and the opposite direction to the Z direction. The movable part 22 is also configured to be able to deliver the article 1 between the storage section 11 and the conveyor 41. Note that the transport mechanism between the conveyor 40 and the storage section 11 is not limited to the stacker crane 20, and may include, for example, a self-propelled cart provided on each floor of the storage shelf 10, and a lifter and a conveyor that transport the article 1 between the self-propelled cart on each floor and the conveyor 41.

[0018] The floor of the automated warehouse 100A has a fixed floor 111 and a movable floor 112. The movable floor 112 is configured to be able to slide approximately horizontally relative to the fixed floor 111, in other words, to be movable. Due to earthquake motion, the movable floor 112 can move in any direction intersecting with the Z direction relative to the fixed floor 111. The storage shelves 10 and the stacker crane 20 are installed on the movable floor 112.

[0019] The conveyor 40 has a plurality of conveyors 41 to 43. The conveyor 40 transports the article 1 to the stacker crane 20, in other words, the article 1 to be carried into the storage shelf 10, or the article 1 from the stacker crane 20, in other words, the article 1 to be carried out from the storage shelf 10. The conveyor 40 is an example of a second transport mechanism.

[0020] The conveyor 41 is provided on the movable floor 112, and the conveyor 42 is provided on the fixed floor 111. The conveyor 43 is provided so as to straddle the boundary between the movable floor 112 and the fixed floor 111, and transports the article 1 between the conveyor 41 and the conveyor 42. The arrangement of the conveyors 41 to 43 is not limited to the arrangement shown in Fig. 1. The conveyor 41 may include a conveyor 41 for transporting the article 1 to the stacker crane 20 and a conveyor 41 for transporting the article 1 from the stacker crane 20 separately.

[0021] The conveyors 41 and 42 are, for example, chain conveyors, but are not limited thereto and may be other types of conveyors such as roller conveyors and belt conveyors. The conveyor 43 is, for example, a roller conveyor and also a flexible conveyor that can be curved and stretched. The conveyor 43 will be described in detail later.

[0022] [Seismic isolation mechanism] FIG. 2 is a side view (partial cross-sectional view) showing an example of the seismic isolation mechanism 200. As shown in FIG. 2, the seismic isolation mechanism 200 has a fixed plate 201 and a movable plate 202. The fixed plate 201 is fixed on the fixed floor 111, and crosses the Z direction and spreads perpendicularly. The movable plate 202 crosses the Z direction and spreads perpendicularly. The movable plate 202 is placed on the fixed plate 201 so as to be movable in the horizontal direction. The movable floor 112 is fixed to the movable plate 202, and the storage shelf 10 and the stacker crane 20 of the automated warehouse 100A are installed on the movable floor 112. Hereinafter, the movable plate 202, the movable floor 112, and the storage shelf 10 and the stacker crane 20 installed on the movable floor 112 are referred to as a movable assembly. The fixed plate 201 is an example of a fixed part, and the movable plate 202 is an example of a movable part. Moreover, the movable assembly and the components included in the movable assembly are an example of a portion fixed to the movable plate 202.

[0023] The fixed plate 201 has a flat base 201a and a plurality of protrusions 201b protruding from the base 201a in the Z direction. The plurality of protrusions 201b each have a convex curved surface, such as a hemisphere, that is convex in the Z direction, and are arranged in a lattice pattern on the base 201a. The seismic isolation mechanism 200 converts the horizontal kinetic energy of the movable assembly caused by seismic motion into thermal energy by appropriate friction between the fixed plate 201 and the movable plate 202, thereby suppressing vibration of the movable assembly. In order to obtain appropriate friction, the fixed plate 201 or the movable plate 202 may be subjected to a surface treatment such as a resin coating, or a lubricant or the like may be inserted between the fixed plate 201 and the movable plate 202.

[0024] By having such a seismic isolation mechanism 200, when an earthquake occurs, the movable assembly moves approximately horizontally on the fixed plate 201 from its initial position before the earthquake in response to seismic motion. In this case, the moving direction, amount of deviation (movement amount), and rotational attitude around the Z axis of the movable assembly change depending on the occurrence conditions of the earthquake, etc. Furthermore, the seismic isolation mechanism 200 itself does not have the function of returning the movable assembly to its initial position. Therefore, after an earthquake, the change from the initial position of the movable assembly caused by the occurrence of an earthquake, i.e., the deviation, will be maintained unless the movable assembly is returned to its initial position separately.

[0025] [Measurement mechanism] The automated warehouse 100A is equipped with a measurement mechanism 50 to measure the amount of deviation of the movable assembly from its initial position. In this embodiment, the measurement mechanism 50 is configured as a system including a non-contact displacement meter that measures distance based on transmitted electromagnetic waves. The non-contact displacement meter is, for example, a known laser displacement meter.

[0026] FIG. 3 is a plan view of the measurement mechanism 50. As shown in FIG. 3, the measurement mechanism 50 has a light transmitting / receiving unit 51 and a reflecting unit 52. The light transmitting / receiving unit 51 has, for example, a light emitting unit that emits laser light as an electromagnetic wave and a light receiving unit that receives the laser light. The reflecting unit 52 reflects the laser light from the light transmitting / receiving unit 51 toward the light transmitting / receiving unit 51. The controller 120 (see FIG. 9) can calculate the transmission distance (measurement distance) from the light transmitting / receiving unit 51 to the light transmitting / receiving unit 51 via the reflecting unit 52 based on the characteristics (for example, phase) of the laser light received by the light transmitting / receiving unit 51. That is, the controller 120 is also a component of the measurement mechanism 50.

[0027] As shown in FIG. 1, the automated warehouse 100A includes a plurality of measuring mechanisms 50. In each measuring mechanism 50, as shown in FIG. 3, the light transmitting / receiving unit 51 is provided on the fixed floor 111, and the reflecting unit 52 is provided on the movable floor 112. Therefore, the controller 120 can measure the distance between the light transmitting / receiving unit 51 and the reflecting unit 52 based on the detection result in the light transmitting / receiving unit 51, and can measure the deviation (movement) of the reflecting unit 52, i.e., the movable assembly, as a change from the initial value of the measured distance. In this case, the deviation of the movable assembly is an example of the horizontal movement of the part fixed to the movable plate 202. Note that in the measuring mechanism 50, the light transmitting / receiving unit 51 may be provided on the movable floor 112, and the reflecting unit 52 may be provided on the fixed floor 111. Also, the measuring mechanism 50 may have a light emitting unit and a light receiving unit instead of the combination of the light transmitting / receiving unit 51 and the reflecting unit 52, and measure the distance between the light emitting unit and the light receiving unit. In the combination of the light transmitting and receiving unit 51 and the reflecting unit 52, or the combination of the light emitting unit and the light receiving unit, the one fixed to the fixed floor 111 is an example of a first part, and the one fixed to the movable floor 112 is an example of a second part. In this embodiment, the light transmitting and receiving unit 51 is an example of the first part, and the reflecting unit 52 is an example of the second part.

[0028] 1, the multiple measurement mechanisms 50 include a measurement mechanism 50x that measures the distance in the X direction and a measurement mechanism 50y that measures the distance in the Y direction at each of multiple locations spaced apart from one another on the movable floor 112. The controller 120 can calculate the movement direction, amount of deviation, and rotational attitude around the Z axis of the movable floor 112, i.e., the movable assembly, based on the amount of deviation in the X direction and the Y direction at each of these multiple locations.

[0029] [Flexible conveyor] In addition, in the automated warehouse 100A, the conveyor 43 spanning the boundary between the fixed floor 111 and the movable floor 112 is configured as a known flexible conveyor that is bendable and extendable along an approximately horizontal plane, as disclosed in Patent Document 3, for example.

[0030] FIG. 4 is a plan view showing the initial state of the conveyor 43. As shown in FIG. 4, the conveyor 43 is a roller conveyor having a plurality of rollers 43a. The plurality of rollers 43a are arranged at intervals in a direction intersecting with the longitudinal direction (Y direction in FIG. 4), i.e., in the short direction (X direction in FIG. 4). The plurality of rollers 43a includes a driving roller rotated by a motor or the like, and a driven roller that rotates in conjunction with the driving roller via a rotation transmission mechanism such as a belt. In addition, the conveyor 43 is configured to be curved approximately along a horizontal plane and to be expandable and contractible due to the configuration and action of a link mechanism (not shown) provided between each of two rollers 43a adjacent to each other in the conveying direction of the article 1 (hereinafter simply referred to as the conveying direction), i.e., in the short direction of the rollers 43a.

[0031] Here, one end 43e1 of the conveyor 43 in the conveying direction is fixed to the movable floor 112, i.e., the movable plate 202. Therefore, the end 43e1 moves approximately horizontally relative to the fixed floor 111 in association with the movement of the movable plate 202 when an earthquake occurs. In contrast, the other end 43e2 of the conveyor 43 in the conveying direction is fixed to the fixed floor 111, i.e., the fixed plate 201. Therefore, the end 43e2 does not move relative to the fixed floor 111 even when an earthquake occurs.

[0032] 5 to 8 are plan views illustrating deformation states of the conveyor 43 after an earthquake occurs. As shown in Fig. 5, the length L1 of the conveyor 43 in the conveying direction may become longer than the length L0 in the initial state (Fig. 4). Conversely, although not shown, the length of the conveyor 43 may become shorter than the length L0 in the initial state.

[0033] The conveyor 43 may be curved in a substantially V-shape at one curved portion as shown in Fig. 6, in a substantially S-shape at two curved portions as shown in Fig. 7, or in a substantially bell-shape at three curved portions as shown in Fig. 8. The shape of the conveyor 43 is determined by the relative position and rotational posture of the movable assembly including the movable floor 112 with respect to the fixed floor 111, the movement trajectory of the movable assembly due to seismic motion, etc. Of course, the deformation state of the conveyor 43 is not limited to those shown in Figs. 5 to 8, and may be a deformation state that combines a plurality of deformation modes.

[0034] [Automated warehouse operation control according to post-earthquake conditions] As described above, the automated warehouse 100A includes the controller 120. The controller 120 can change the operation of the automated warehouse 100A in accordance with the amount of deviation (amount of movement) obtained by the measurement mechanism 50. The controller 120 is an example of a control mechanism.

[0035] Fig. 9 is a configuration diagram of the controller 120. The controller 120 is configured as a computer, and has an arithmetic processing unit 121, a main memory unit 122, and an auxiliary memory device 123, as shown in Fig. 9.

[0036] The arithmetic processing unit 121 is, for example, a processor (circuit) such as a CPU (central processing unit). The main storage unit 122 is, for example, a RAM (random access memory) or a ROM (read only memory), and the auxiliary storage unit 123 is, for example, a HDD (hard disk drive) or an SSD (solid state drive). The arithmetic processing unit 121 reads and executes a program (application) stored in the ROM of the main storage unit 122 or the auxiliary storage unit 123. The processor operates according to the program to operate as a detection value acquisition unit 121a, a deviation amount measurement unit 121b, a discrimination unit 121c, a transport processing plan unit 121d, and a transport control unit 121e. In this case, the program includes program modules corresponding to the detection value acquisition unit 121a, the deviation amount measurement unit 121b, the discrimination unit 121c, the transport processing plan unit 121d, and the transport control unit 121e, respectively.

[0037] The program may be provided in the form of an installable or executable file recorded on a computer-readable recording medium. The recording medium may also be referred to as a program product. The program may be stored in a storage unit of a computer connected to a communications network, and may be introduced into the computer by being downloaded via the network. The program may also be pre-installed in a ROM or the like.

[0038] Furthermore, when at least a portion of the computer is configured from hardware, the computer may include, for example, an FPGA (field programmable gate array) or an ASIC (application specific integrated circuit).

[0039] The ROM of the main memory 122 or the auxiliary memory 123 stores information used in the calculation process by the detection value acquisition unit 121a, the deviation amount measurement unit 121b, the discrimination unit 121c, the transport process plan unit 121d, and the transport control unit 121e. The information used in the calculation process may be described in a program. For example, the auxiliary memory 123 may rewritably store a transport process plan indicating the transport procedure of the item 1.

[0040] Fig. 10 is a flowchart showing an example of a control procedure of the automated warehouse 100A by the controller 120. As shown in Fig. 10, the calculation processing unit 121 operates as a detection value acquiring unit 121a and acquires a detection value obtained by the measurement mechanism 50 (S1).

[0041] Next, the arithmetic processing unit 121 operates as a deviation amount measuring unit 121b, and measures the deviation amount of the movable assembly at the position where the measuring mechanism 50 is provided, from the detection value obtained in S1 (S2).

[0042] Next, the calculation processing unit 121 operates as the discrimination unit 121c and determines whether the amount of deviation is greater than the first threshold value (S3). If the amount of deviation is greater than the first threshold value (Yes in S3), the calculation processing unit 121 operates as the transport control unit 121e and controls the stacker crane 20 and the conveyor 40 to stop the transport of the item 1 (S4). If the amount of deviation is large, the seismic intensity is often greater than when the amount of deviation is small, and there is a risk that the item 1 may be shifted or dropped on the storage shelf 10, the transport path 30, the stacker crane 20, the conveyor 40, etc. By setting an appropriate first threshold value, if the amount of deviation exceeds the first threshold value, the transport of the item 1 may be temporarily stopped and an inspection of the automated warehouse 100A may be performed.

[0043] In addition, when the conveyor 43 is deformed to such an extent that the conveyor 43 cannot transport the article 1 due to the displacement of the movable assembly, the operation of the conveyor 43 must be stopped, and the operation of the stacker crane 20 and the conveyors 41 and 42 as other transport mechanisms must also be stopped. From this perspective, the first threshold value may be set to an amount of displacement at which the conveyor 43 cannot transport the article 1. The deformation state of the conveyor 43 is determined according to the position and posture of the movable assembly including the movable floor 112. In addition, the larger the amount of displacement at each position of the measurement mechanism 50, the larger the amount of deformation of the conveyor 43. Therefore, a first threshold value of the amount of displacement at each position of the measurement mechanism 50 can be determined in advance, which corresponds to a deformation state of the conveyor 43 at which the conveyor 43 cannot or has difficulty transporting the article 1. For example, as shown in FIGS. 1 and 4, for a conveyor 43 whose conveying direction in the initial state is the X direction, in the expansion / contraction deformation mode as shown in FIG. 5, a first threshold value may be set for the amount of deviation in the X direction at each measurement position, and in the curvature deformation mode as shown in FIGS. 6 to 8, a first threshold value may be set for the amount of deviation in the Y direction at each measurement position.

[0044] If the result of S3 is No, the calculation processing unit 121 operates as the discrimination unit 121c and determines whether the deviation is greater than a second threshold value that is smaller than the first threshold value (S5). If the deviation is greater than the second threshold value (Yes in S5), the calculation processing unit 121 operates as the transport control unit 121e and controls the drive mechanism of the stacker crane 20 and the conveyor 40 to change the transport speed of the article 1 (S6). If the conveyor 43 is curved and deformed but the amount of deformation is not so large, the article 1 may be transported by lowering the transport speed below the normal speed. Also, as described above, the amount of deformation of the conveyor 43 increases as the deviation at each position of the measurement mechanism 50 increases. Therefore, the second threshold value of the deviation at each position of the measurement mechanism 50 can be determined in accordance with the deformation state of the conveyor 43 that can transport the article 1 at a predetermined transport speed lower than the normal speed. For example, as shown in Figs. 1 and 4, for the conveyor 43 whose conveying direction in the initial state is the X direction, a second threshold value can be set for the deviation amount in the Y direction at each measurement position in the curvature deformation mode as shown in Figs. 6 to 8. Also, the second threshold value may be set in multiple stages, and the conveying speed may be set in multiple stages. In this case, the larger the second threshold value, the lower the conveying speed is set.

[0045] If the result of S5 is No, the calculation processing unit 121 operates as the discrimination unit 121c and determines whether the deviation is greater than a third threshold value smaller than the first threshold value (S7). If the deviation is greater than the third threshold value (Yes in S7), the calculation processing unit 121 operates as the transport control unit 121e and the transport process planning unit 121d and restricts the size of the item 1 transported by the conveyor 43, that is, limits the items 1 to be transported (S8). When the conveyor 43 is curved and deformed but the amount of deformation is not so large, it may not be possible to transport a relatively large item 1, but it may be possible to transport a relatively small item 1. Therefore, the third threshold value of the deviation amount at each position of the measurement mechanism 50 can be determined in accordance with the deformation state in which the item 1 can be transported as long as it is equal to or smaller than a predetermined size. For example, for the conveyor 43 whose transport direction in the initial state is the X direction as shown in Figs. 1 and 4, the third threshold value can be set for the deviation amount in the Y direction at each measurement position for the curve deformation mode as shown in Figs. 6 to 8. As an example, the third threshold value is a value smaller than the second threshold value, but is not limited to this.

[0046] In addition, in S8, the transport process planner 121d may change the transport process plan so that the transport of the item 1 having a predetermined size or less is performed first, and the transport of the item 1 having a size larger than the predetermined size is performed after the deviation amount becomes equal to or less than the third threshold value. In this case, the transport control unit 121e controls the stacker crane 20 and the conveyor 40 according to the changed transport process plan so that only the item 1 having a predetermined size or less is transported first.

[0047] When the processes of S4, S6, and S8 are completed, the series of processing procedures is completed. The processing procedures shown in Fig. 10 may be executed, for example, at all times and repeatedly at a predetermined time interval, or may be executed repeatedly at a predetermined time interval only when an earthquake of a predetermined seismic intensity or more occurs. If the answer is No in S5 or No in S7, normal transport processing may be executed. Also, when an earthquake occurs, the transport of all items 1 may be temporarily stopped, and the manner of resumption may be determined according to the processing procedures shown in Fig. 10.

[0048] As described above, according to this embodiment, in the automated warehouse 100A equipped with the seismic isolation mechanism 200 in which the displaced state of the movable plate 202 (movable part) is maintained after the occurrence of an earthquake, the operation state of the stacker crane 20 (first conveying mechanism) and the conveyor 40 (second conveying mechanism) can be changed according to the amount of displacement (amount of movement) measured by the measurement mechanism 50. Specifically, as described above, the automated warehouse 100A can stop conveying the item 1 when the amount of displacement is greater than the first threshold, and can convey the item 1 at a speed slower than normal or convey only the items 1 that can be conveyed when the amount of displacement is equal to or less than the first threshold. That is, according to this embodiment, by changing the operation state of the stacker crane 20 and the conveyor 40 based on the amount of displacement measured by the measurement mechanism 50, it is possible to obtain advantages such as avoiding unnecessary stoppage of the automated warehouse 100A after the occurrence of an earthquake and continuing the operation of the automated warehouse 100A to the extent possible.

[0049] [First Modification] Fig. 11 is a plan view of a conveyor 43 of a first modified example as a modified example of the first embodiment. As shown in Fig. 11, in this modified example, a plurality of measuring mechanisms 50 measure the amount of deviation at a plurality of parts spaced apart in the conveying direction of the conveyor 43. Specifically, the plurality of measuring mechanisms 50 measure the amount of deviation (amount of movement) at the ends 43e1 and 43e2 in the conveying direction of the conveyor 43 and at the intermediate part 43m in the conveying direction. The measuring mechanisms 50 are provided at each part of the conveyor 43 on both sides (both ends) of the conveyor 43 in the width direction.

[0050] In this modified example, as an example, in each portion, the light transmitting / receiving unit 51 is fixed to the conveyor 43, and the reflecting unit 52 is fixed to the fixed floor 111. However, this is not limited thereto, and the light transmitting / receiving unit 51 may be fixed to the fixed floor 111, and the reflecting unit 52 may be fixed to the conveyor 43, or a combination of a light emitting unit and a light receiving unit may be provided instead of the combination of the light transmitting / receiving unit 51 and the reflecting unit 52. Furthermore, for each portion, the amount of deviation in multiple directions may be measured by multiple measuring mechanisms 50. Note that the measuring mechanism 50 corresponding to the end 43e2 fixed to the fixed floor 111 is not essential.

[0051] The conveyor 43 is connected to the movable floor 112, i.e., the movable assembly, at the end 43e1. Therefore, each portion of the conveyor 43 is displaced in accordance with the displacement of the movable assembly relative to the fixed floor 111. Moreover, the amount of displacement of at least the end 43e1 and the middle portion 43m increases as the amount of displacement of the movable assembly increases.

[0052] Therefore, the controller 120 changes the operating states of the stacker crane 20 and the conveyor 40 in the same procedure as in the first embodiment, based on the amount of deviation of each portion of the conveyor 43 obtained by measurement by the measurement mechanism 50. The first threshold, the second threshold, and the third threshold are set corresponding to the amount of deviation measured by the measurement mechanism 50 of this modified example.

[0053] This modification also provides the same actions and effects as those of the first embodiment. Moreover, this modification can directly reflect the deformation state of the conveyor 43, so that it is possible to change the operating state more appropriately from the viewpoint of transporting the article 1 on the conveyor 43.

[0054] [Second modified example] Fig. 12 is a plan view of a conveyor 43 according to a second modified example of the first embodiment. As shown in Fig. 12, in this modified example, similar to the first modified example, the multiple measurement mechanisms 50 measure the amount of deviation at multiple locations spaced apart in the conveying direction of the conveyor 43.

[0055] However, in this modified example, the measuring mechanism 50 measures the relative amount of deviation between two points spaced apart in the conveying direction of the conveyor 43. As an example, the light transmitting and receiving unit 51 is fixed to the ends 43e1, 43e2, and the reflecting unit 52 is fixed to the middle portion 43m. However, this is not limited thereto, and the light transmitting and receiving unit 51 may be fixed to the middle portion 43m, and the reflecting unit 52 may be fixed to the ends 43e1, 43e2, or a combination of a light emitting unit and a light receiving unit may be provided instead of the combination of the light transmitting and receiving unit 51 and the reflecting unit 52.

[0056] In this modification, the greater the deviation of the movable assembly, the greater the deviation measured by the measuring mechanism 50. Therefore, the controller 120 changes the operating states of the stacker crane 20 and the conveyor 40 in the same manner as in the first embodiment, based on the deviation of each portion of the conveyor 43 obtained by measurement by the measuring mechanism 50. The first threshold, the second threshold, and the third threshold are set in accordance with the deviation measured by the measuring mechanism 50 in this modification.

[0057] This modification also provides the same actions and effects as the first embodiment. Moreover, according to this modification, as in the first modification, the deformation state of the conveyor 43 can be directly reflected, so that the operation state can be changed more appropriately from the viewpoint of transporting the article 1 on the conveyor 43.

[0058] [Second embodiment] FIG. 13 is a plan view of the automated warehouse 100B (100) of the second embodiment. As will be clear from comparing FIG. 13 with FIG. 1, in this embodiment, the configuration of the conveyor 40 and the movable floor 112 is different from that of the first embodiment. That is, the automated warehouse 100B is provided with a dolly 44 for transporting the article 1, instead of the conveyors 42, 43 of the first embodiment. The dolly 44 can deliver the article 1 between the transfer position Pd of the conveyor 41 and the dolly 44, and can travel in a transport area 112a provided on the movable floor 112 while holding the article 1, and transport the article 1 from the conveyor 41 or the article 1 to the conveyor 41. The travel path Pt of the dolly 44 may be predetermined by rails, guides, etc., or may not have rails, guides, etc. In addition, a crossing plate 113 is provided between the transport area 112a and the fixed floor 111. The crossing plank 113 is placed on both the transfer area 112a and the fixed floor 111, and is provided so as to be slidable with at least one of the transfer area 112a and the fixed floor 111. Therefore, even if a gap occurs between the transfer area 112a and the fixed floor 111 after an earthquake occurs, the cart 44 can move between the transfer area 112a and the fixed floor 111 by crossing over the crossing plank 113.

[0059] In this embodiment, for example, the first threshold value can be set in accordance with the maximum allowable deviation between the transport area 112a (movable floor 112) and the fixed floor 111 at the position where the crossing plate 113 is provided. As an example, the first threshold value may be the upper limit value of the deviation amount in the X direction or Y direction at each measurement position at which the crossing plate 113 can be maintained in a state in which it is spanned between the transport area 112a and the fixed floor 111 and the cart 44 can move on the crossing plate 113. In this case, if the deviation amount exceeds the first threshold value as the upper limit value, the crossing plate 113 cannot be maintained in a state in which it is spanned between the transport area 112a and the fixed floor 111, and there is a risk that the cart 44 cannot move on the crossing plate 113 between the transport area 112a and the fixed floor 111. As another example, in the case where a step, bend, curvature, or other deformation occurs in a connection section between the transport area 112a and the fixed floor 111 of a guide rail (not shown) that guides the cart 44, corresponding to a deviation between the transport area 112a and the fixed floor 111, the first threshold value may be set, for example, corresponding to a limit of the deformed shape of the connection section that can guide the cart 44. In this case, if the deviation amount exceeds the first threshold value as an upper limit value, there is a risk that the cart 44 will not be guided in the connection section. Note that a margin is set for the first threshold value, and the first threshold value may be set smaller than the actual upper limit value.

[0060] In this embodiment, too, by changing the operating state of the stacker crane 20 and the conveyor 40 based on the amount of deviation measured by the measurement mechanism 50, it is possible to obtain the advantage of avoiding unnecessary stoppages in the operation of the automated warehouse 100B after an earthquake occurs and of continuing operation of the automated warehouse 100B to the extent possible.

[0061] Although the embodiment and the modified examples of the present invention have been illustrated above, the above-mentioned embodiment and the modified examples are merely examples and are not intended to limit the scope of the invention. The above-mentioned embodiment and the modified examples can be implemented in various other forms, and various omissions, substitutions, combinations, and modifications can be made without departing from the gist of the invention. In addition, the specifications of each configuration, shape, and the like (structure, type, direction, model, size, length, width, thickness, height, number, arrangement, position, material, etc.) can be appropriately changed and implemented.

[0062] For example, an automated warehouse in which case classification is performed according to the amount of movement (amount of deviation) similar to the above embodiment and modified example is included in the technical scope of the present invention. For example, instead of comparing the amount of movement with a threshold corresponding to the amount of movement, the control mechanism may perform discrimination based on a comparison of a parameter value that changes according to a change in the amount of movement with a threshold corresponding to the parameter. Such a parameter may be, for example, an average value calculated from the amounts of deviation at multiple positions, a weighted average value, a maximum value of the amounts of deviation at multiple positions, or the like.

[0063] In addition, the items whose transport is restricted or permitted when the movement amount is greater than the third threshold value may be determined in advance, regardless of size.

[0064] The second threshold value and the third threshold value may be the same value, or the third threshold value may be greater than the second threshold value.

[0065] The measurement mechanism may also include a camera or the like, and measure the amount of movement from an image captured by the camera. [Explanation of symbols]

[0066] 1...Goods 10…Storage shelf 11. Storage area 20...Stacker crane (first transport mechanism) 21…Rail 22...Movable part 30...Transportation path 40...Conveyor (second conveying mechanism) 41,42...Conveyor 43...Conveyor (flexible conveyor) 43a…Laura 43e1...End (one end) 43e2...End (other end) 43m…middle part 44…Trolley 50,50x,50y…Measuring mechanism 51...Light transmitting / receiving unit (first portion) 52...Reflection part (second part) 100, 100A, 100B...Automated warehouse 111…Fixed floor 112… Movable floor 112a...Transportation area 113…Gangplank 120...Controller (control mechanism) 121...arithmetic processing unit 121a…detection value acquisition unit 121b...Displacement measurement unit 121c...Discrimination part 121d…Transportation and Processing Planning Department 121e...Transport control unit 122...Main memory section 123…Auxiliary storage device 200…Seismic isolation mechanism 201...Fixed plate (fixed part) 201a…base 201b…Protrusion 202... Movable plate (movable part) L0, L1...Length Pd…Delivery position Pt…Route X…direction (first direction) Y...Direction Z…direction

Claims

1. a storage shelf provided with a plurality of storage locations for items and installed on a movable part of a seismic isolation mechanism having a fixed part and a movable part that moves substantially horizontally from an initial position on the fixed part in response to seismic motion and is maintained in the moved state; a first conveying mechanism that is installed on the movable portion and conveys the object; a second conveying mechanism for conveying the object to or from the first conveying mechanism; a measuring mechanism that measures a movement amount of a part fixed or connected to the movable part in response to the movement of the movable part caused by seismic motion; a control mechanism that changes an operating state of the first transport mechanism and the second transport mechanism in response to the movement amount measured by the measurement mechanism; and Equipped with The control mechanism includes: When the movement amount is greater than a first threshold value, the operation of the first conveying mechanism and the second conveying mechanism is stopped, and When the movement amount is greater than a second threshold value and less than or equal to the first threshold value, the transport speed of the item by the second transport mechanism is slower than the normal transport speed.

2. The automated warehouse according to claim 1 , wherein the control mechanism limits the items to be transported by the first transport mechanism when the movement amount is greater than a third threshold value and less than or equal to the first threshold value.

3. a storage shelf provided with a plurality of storage locations for items and installed on a movable part of a seismic isolation mechanism having a fixed part and a movable part that moves substantially horizontally from an initial position on the fixed part in response to seismic motion and is maintained in the moved state; a first conveying mechanism that is installed on the movable portion and conveys the object; a second conveying mechanism for conveying the object to or from the first conveying mechanism; a measuring mechanism that measures a movement amount of a part fixed or connected to the movable part in response to the movement of the movable part caused by seismic motion; a control mechanism that changes an operating state of the first transport mechanism and the second transport mechanism in response to the movement amount measured by the measurement mechanism; and Equipped with The control mechanism includes: When the movement amount is greater than a first threshold value, the operation of the first conveying mechanism and the second conveying mechanism is stopped, and An automated warehouse that limits the items to be transported by the first transport mechanism when the movement amount is greater than a third threshold value and less than or equal to the first threshold value.

4. The automated warehouse of claim 2 or 3, wherein the control mechanism restricts the first conveying mechanism from conveying the item exceeding a predetermined size when the movement amount is greater than a third threshold value and less than or equal to the first threshold value.

5. The second conveying mechanism has one end in the conveying direction of the item that moves approximately horizontally in accordance with the movement of the movable part, and the other end in the conveying direction is fixed to the fixed part, and the conveying path of the item has a flexible conveyor that is curved and extendable along an approximately horizontal plane between the one end and the other end.

6. a storage shelf provided with a plurality of storage locations for items and installed on a movable part of a seismic isolation mechanism having a fixed part and a movable part that moves substantially horizontally from an initial position on the fixed part in response to seismic motion and is maintained in the moved state; a first conveying mechanism that is installed on the movable portion and conveys the object; a second conveying mechanism for conveying the article to the first conveying mechanism or the article from the first conveying mechanism, the second conveying mechanism having one end in a conveying direction of the article moving substantially horizontally in accordance with the movement of the movable part and the other end in the conveying direction fixed to the fixed part, and a conveying path of the article having a flexible conveyor that is curved and extendable along a substantially horizontal plane between the one end and the other end; A measuring mechanism for measuring the amount of movement of a portion of the flexible conveyor; a control mechanism that changes an operating state of the first transport mechanism and the second transport mechanism in response to the movement amount measured by the measurement mechanism; and An automated warehouse equipped with

7. The automated warehouse according to any one of claims 1 to 6, wherein the measuring mechanism measures the amount of movement based on electromagnetic waves transmitted between the first portion and the second portion.

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