automated warehouse

Abstract

It is desirable to provide an automated warehouse that can appropriately transport items to storage shelves while preventing the equipment from becoming too large and reducing costs. [Solution] An automated warehouse (10) comprising a plurality of flying objects (1), an loading / unloading section (3), a storage shelf (2) having a plurality of storage sections (2a), and a plurality of conveying devices (4) that transport items (W) inside the storage shelf (2), wherein the plurality of conveying devices (4) are arranged in a plurality of tiers in the vertical direction and in a plurality of rows in the X direction, and each of the plurality of conveying devices (4) is configured to transport items (W) along the Y direction, and a plurality of transfer sections (5) are provided at the end of the storage shelf (2) on the first side (Y1) in the Y direction, and each of the plurality of transfer sections (5) is used to transfer items (W) between the flying objects (1) and the conveying devices (4), and the loading / unloading section (3) is positioned at a distance from the storage shelf (2) on the first side (Y1) in the Y direction, and the plurality of flying objects (1) are configured to transport items (W) between the loading / unloading section (3) and the plurality of transfer sections (5).

Description

[Technical Field]

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

[0002] For example, Japanese Patent Application Laid-Open No. 2020-023387 (Patent Document 1) discloses technology related to an automated warehouse. In the following description of the background art, the reference numerals in parentheses refer to those in Patent Document 1.

[0003] The automated warehouse of Patent Document 1 includes a storage shelf (6) that stores items W, a plurality of transport vehicles (7) that transport the items (W) inside the storage shelf (6), a plurality of lifting platforms (a first lifting platform 10, a second lifting platform 12, a third lifting platform 14), an incoming transport device (2), and an outgoing transport device (3). The storage shelf (6) is configured to store items W on each of a plurality of shelf levels. A plurality of transport vehicles (7) are arranged corresponding to each level of the storage shelf (6).

[0004] The incoming conveying device (2) is equipped with an incoming conveyor that receives the incoming goods (W) and conveys them to the first lifting platform (10) and the second lifting platform (12). The outgoing conveying device (3) is equipped with an outgoing conveyor that conveys the outgoing goods (W) received from the third lifting platform (14). [Prior art documents] [Patent documents]

[0005] [Patent Document 1] Japanese Patent Publication No. 2020-023387 Summary of the Invention [Problem to be solved by the invention]

[0006] The automated warehouse of Patent Document 1 is provided with a plurality of loading conveyors and a plurality of unloading conveyors for transporting items to storage shelves, as well as a plurality of lifting platforms. Furthermore, the plurality of loading conveyors are arranged vertically. As such, the automated warehouse described above has the problem that the equipment for transporting items tends to be large-scale and expensive.

[0007] Therefore, it is desirable to provide an automated warehouse that can appropriately transport items to storage shelves while preventing the equipment from becoming too large and reducing costs. [Means for solving the problem]

[0008] The automated warehouse according to the present disclosure is an automated warehouse including a plurality of flying objects that fly unmanned to transport items, a loading / unloading section where the items are carried in from the outside and / or the items are carried out to the outside, a storage shelf having a plurality of storage sections that store the items, and a plurality of transport devices that transport the items inside the storage shelf, A specific direction along a horizontal plane is defined as the X direction, a direction intersecting the X direction when viewed from above is defined as the Y direction, one side of the Y direction is defined as the Y direction first side, and the opposite side is defined as the Y direction second side, The plurality of conveying devices are arranged in a plurality of stages in the vertical direction and in a plurality of rows in the X direction, Each of the plurality of conveying devices is configured to convey the article along the Y direction; the plurality of storage units are arranged along the respective transport paths of the plurality of transport devices, a plurality of delivery sections are provided at an end of the storage shelf on the first side in the Y direction, the delivery sections being separated in the vertical direction and the X direction so as to correspond to the plurality of transport devices, each of the plurality of delivery units is used to deliver the article between the flying object and the conveying device; the loading / unloading unit is disposed at a distance from the storage shelf on the first side in the Y direction, The plurality of flying objects are configured to transport the items between the loading / unloading section and the plurality of delivery sections.

[0009] According to this configuration, multiple transfer sections are provided corresponding to the multiple conveying devices on the storage shelf. Furthermore, multiple flying objects transport items between the carry-in / out section and these transfer sections, which are arranged separately in the vertical and X directions. This allows multiple flying objects to transport items, and facilitates the transfer of items between the flying objects and the conveying devices via the transfer sections. Therefore, items can be transported appropriately to the storage shelf. Furthermore, the need for additional transport devices (e.g., transport conveyors, lifters, etc.) for transporting items in the X direction, Y direction, and vertical direction to connect the carry-in / out section and the multiple transfer sections can be reduced. This reduces the overall size of the facility and facilitates cost reduction. Furthermore, because the carry-in / out section is spaced apart from the multiple transfer sections in the Y direction, it is easy to ensure a flight space for multiple flying objects between the carry-in / out section and the multiple transfer sections. In this way, according to this configuration, it is possible to appropriately transport items to the storage shelves while suppressing the increase in size of the equipment and reducing costs.

[0010] Further features and advantages of the automated warehouse will become apparent from the following description of exemplary, non-limiting embodiments which are given with reference to the drawings. [Brief explanation of the drawings]

[0011] [Figure 1] Schematic floor plan of an automated warehouse [Figure 2] A perspective view showing a storage shelf [Figure 3] Control Block Diagram [Figure 4] Schematic diagram of the flight path area [Figure 5] A plan view showing the flight path of the aircraft [Figure 6] FIG. 10 is a diagram illustrating a posture adjustment transport process according to another embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0012] An embodiment of an automated warehouse will be described with reference to the drawings. As shown in FIGS. 1 and 2, an automated warehouse 10 includes a plurality of flying objects 1 that fly unmanned and transport items W, a loading / unloading section 3 that carries out at least one of carrying in and out of items W from the outside, a storage shelf 2, and a plurality of conveying devices 4 that transport items W within the storage shelf 2. In this embodiment, the loading / unloading section 3 carries out both carrying in and out of items W from the outside. Each of the plurality of flying objects 1 transports an item W between the loading / unloading section 3 and the storage shelf 2. In the following description, a specific direction along a horizontal plane is defined as the X direction, and a direction intersecting the X direction in a vertical view is defined as the Y direction. One side of the Y direction is defined as the Y direction first side Y1, and the opposite side is defined as the Y direction second side Y2. Furthermore, one side of the X direction is defined as the X direction first side X1, and the opposite side is defined as the X direction second side X2.

[0013] In this embodiment, the automated warehouse 10 includes a plurality of storage shelves 2. As shown in FIG. 1, the transport paths 9 of the transport devices 4 are arranged along the Y direction and separated in the X direction. The storage shelves 2 are arranged spaced apart from one another in the X direction to correspond to the respective transport paths 9 lined up in the X direction. As shown in FIG. 2, each storage shelf 2 has a plurality of vertically arranged stages of the transport paths 9. As shown in FIGS. 1 and 2, the plurality of transport devices 4 are arranged in a plurality of stages in the vertical direction and in a plurality of rows in the X direction. Each of the plurality of transport devices 4 is configured to transport an item W along the Y direction. In this example, the plurality of transport paths 9 are arranged in a plurality of stages in the vertical direction and in a plurality of rows in the X direction. A transport device 4 is arranged to correspond to each of the transport paths 9. The transport device 4 is a transport vehicle that holds and transports the item W. The transport path 9 is a path along which the transport device 4 serving as a transport vehicle travels. In the illustrated example, one transport device 4 (transport carriage) is provided for each transport route 9, but depending on the structure of the storage shelf 2, for example, multiple transport devices 4 may be provided for each transport route 9.

[0014] The storage shelf 2 has a plurality of storage sections 2a for storing items W. The plurality of storage sections 2a are arranged along the respective conveying paths 9 of the plurality of conveying devices 4. The plurality of storage sections 2a are arranged in multiple tiers in the vertical direction corresponding to the multiple tiers of the conveying paths 9. The plurality of storage sections 2a are also arranged adjacent to the conveying paths 9 along the Y direction in the X direction and aligned in the Y direction. In this example, a plurality of storage sections 2a are arranged on both sides (both sides) of one conveying path 9 in the X direction.

[0015] The storage shelf 2 includes a plurality of support columns 21, a plurality of shelf members 22, and a plurality of connecting members 23. The plurality of support columns 21 are arranged side by side in the X and Y directions. The plurality of connecting members 23 are rod-shaped members arranged to connect the plurality of support columns 21. The shelf members 22 are plate-shaped members on which items W are placed. The shelf members 22 are supported by the plurality of support columns 21 and the plurality of connecting members 23. In this example, the shelf members 22 are arranged in multiple tiers in the vertical direction and adjacent to each other on both outer sides in the X direction with respect to the conveying path 9. A storage section 2a for storing items W is formed by the space between two shelf members 22 adjacent to each other in the vertical direction and the upper surface of the lower shelf member 22 of the two shelf members 22. Here, the shelf members 22 are formed to extend along the X and Y directions and also in the Y direction. The plurality of storage sections 2a are arranged side by side in the Y direction on the shelf members 22. In the illustrated example, each storage section 2a is configured to be able to store two items W side by side in the X direction. Thus, the storage shelf 2 has a so-called double-deep structure, but is not limited to this. It may have a so-called multi-deep structure in which more than two items W can be stored in one storage section 2a, or a so-called single-deep structure in which one storage section 2a can store one item W. In the illustrated example, the storage sections 2a are not separated from each other; however, if the size of the items W to be stored is constant, adjacent storage sections 2a may be separated from each other. In FIGS. 1 and 5, the storage sections 2a of the storage shelves 2 other than the storage shelf 2 located furthest to the first side X1 in the X direction are not shown.

[0016] In this embodiment, as shown in FIG. 2 , rails R (here, a pair of rails R) are provided along the Y direction on each conveying path 9 to guide the movement of the conveying device 4 in the Y direction. The pair of rails R are arranged separately in the X direction and are configured to support the conveying device 4 (conveying vehicle). The conveying device 4 includes a traveling device 4a having a plurality of wheels that roll on the pair of rails R and a traveling drive mechanism (not shown) that drives the wheels, and a vehicle body 4b that supports the traveling device 4a and houses the traveling drive mechanism. In this embodiment, the conveying device 4 is configured to deliver and receive articles W to and from each storage unit 2a. The conveying device 4 further includes a transfer device 4c that transfers articles W along the X direction. Here, the transfer device 4c is configured to transfer articles W by pushing or pulling in articles W placed between a pair of advancing and retracting members by advancing and retracting the pair of advancing and retracting members. This allows the conveying device 4 to transfer articles W between each storage unit 2a arranged on both sides of the conveying path 9. The transfer device 4c may be a roller-type conveyor device or the like. The transport device 4 can be appropriately changed to suit the structure of the storage shelf 2. For example, the transport device 4 may be a parent-child cart having a child cart on which the transfer device 4c is provided, or may be a conveyor device.

[0017] As shown in FIGS. 1 and 2 , a plurality of transfer sections 5 are provided at the end of the storage shelf 2 on the first side Y1 in the Y direction, separated in the vertical direction and the X direction so as to correspond to each of the plurality of conveyance devices 4. Each of the plurality of transfer sections 5 is used to transfer an article W between the flying object 1 and the conveyance device 4. In this embodiment, a plurality of transfer sections 5 are provided on each tier of the storage shelf 2. Specifically, two transfer sections 5 are provided on each tier, corresponding to the conveyance device 4 and the conveyance path 9 of each tier. In this example, the transfer sections 5 are arranged so as to protrude from the end of the shelf member 22 on the first side Y1 in the Y direction toward the first side Y1 in the Y direction (the side facing the loading / unloading unit 3, which will be described later). In the illustrated example, the transfer sections 5 arranged separately in the vertical direction are arranged so as to overlap when viewed in the vertical direction. Furthermore, on each tier, the transfer sections 5 are supported by each of a pair of shelf members 22 arranged on either side of the conveyance path 9. Here, the delivery section 5 is set to a size that allows the flying object 1 to land on the delivery section 5. In the illustrated example, the X-direction dimension of the delivery section 5 is formed to be shorter than the X-direction dimension of the shelf member 22. Note that the delivery section 5 may be formed to a size that allows multiple flying objects 1 to land. In this example, the delivery section 5 is a conveyor device for transport that can put items W into and take them out of the storage shelf 2. Furthermore, the delivery section 5 is not limited to such a conveyor device, and may be a transfer machine equipped with a slide table or forks, or may be a support platform that supports the items W and the flying object 1.

[0018] In this example, the automated warehouse 10 further includes a plurality of relay sections 8 that connect the receiving / transferring section 5 and the conveying path 9. The relay sections 8 are arranged in the end regions of the first side Y1 in the Y direction of each shelf member 22. Here, the relay sections 8 are illustrated as conveyor devices, but may also be transfer machines equipped with slide tables or forks. The relay sections 8 are connected to the end of the receiving / transferring section 5 on the second side Y2 in the Y direction. The relay sections 8 convey the items W in the Y direction. The conveying device 4 (transportation vehicle) delivers the items W to and from the relay sections 8 by the transfer device 4c. In the example of FIG. 2, the receiving / transferring section 5 and the relay sections 8 are provided as a single unit.

[0019] A plurality of first standby charging units 6 are provided at the end of the storage shelf 2 on the first side Y1 in the Y direction, where the aircraft 1 lands and waits, and where the power storage device 11 of the waiting aircraft 1 is charged. The plurality of first standby charging units 6 are arranged separately in at least one of the vertical direction and the X direction so as to correspond to at least some of the plurality of delivery units 5. In this example, the first standby charging units 6 are arranged in each storage shelf 2 on one side in the X direction (the first side X1 in the X direction) of the conveying path 9, so as to correspond to each of the delivery units 5 lined up in the vertical direction. For this reason, as shown in FIGS. 1 and 2, a plurality of first standby charging units 6 are arranged in the automated warehouse 10, lined up in the vertical direction and separated in the X direction. In the illustrated example, the first standby charging units 6 are arranged to protrude from the delivery unit 5 toward the first side X1 in the X direction. For this reason, the first standby charging units 6 are arranged at the same height as the corresponding delivery unit 5. The first standby charging units 6 are formed to be large enough for one aircraft 1 to land. The first standby charging unit 6 is a support platform that supports the aircraft 1 and is equipped with a charging device (not shown) to charge the aircraft 1's power storage device 11 (described later). The first standby charging unit 6 may be equipped with a contact-type charging device or a non-contact-type charging device. The first standby charging unit 6 may be provided corresponding to each of the transfer units 5 arranged on the second side X2 in the X direction with respect to the transport path 9, or may be provided corresponding to each of the transfer units 5 arranged on both sides of the transport path 9 in the X direction. The first standby charging unit 6 may be provided at a different vertical position from the corresponding transfer unit 5 as long as it is near the corresponding transfer unit 5. The first standby charging unit 6 does not necessarily have to be provided corresponding to each of the transfer units 5 arranged in the vertical direction, and may be provided corresponding to only one or some of the transfer units 5 arranged in the vertical direction. In this way, the arrangement of the first standby charging unit 6 can be appropriately changed depending on the configuration of the storage shelf 2.

[0020] As shown in FIG. 1 , the loading / unloading section 3 is spaced apart from the shelf 2 on a first side Y1 in the Y direction. In this embodiment, the automated warehouse 10 includes multiple loading / unloading sections 3. The area in which the flying object 1 transporting the item W between the loading / unloading section 3 and the multiple transfer sections 5 flies is defined as a flight path area E. The multiple loading / unloading sections 3 are located on the first side Y1 in the Y direction across the flight path area E from the shelf 2, and are also arranged separately in the X direction. The loading / unloading section 3 includes multiple loading / unloading conveying devices 3a that transport the item W for at least one of bringing in the item W from the outside and transporting the item W to the outside, and multiple second standby charging units 7 that charge the power storage device 11 of the flying object 1 while waiting after landing. The multiple loading / unloading conveying devices 3a are arranged separately in the X direction. In this example, the automated warehouse 10 is provided with a transport conveyor 18 that runs along the X direction. The transport conveyor 18 transports articles W between the automated warehouse 10 and the outside. Each of the loading / unloading transport devices 3a is provided branching off from the transport conveyor 18 to the second side Y2 in the Y direction. Here, the loading / unloading transport devices 3a are configured as conveyor devices for transport. Note that the loading / unloading transport devices 3a may also be configured as a transfer machine or the like equipped with a slide table or forks.

[0021] The multiple second standby charging units 7 are arranged separately in the X direction to correspond to at least some of the multiple loading / unloading conveying devices 3a. In this example, as shown in FIG. 1, multiple second standby charging units 7 are provided to correspond to all of the loading / unloading conveying devices 3a. In the illustrated example, the second standby charging units 7 are arranged adjacent to each loading / unloading conveying device 3a on both outer sides in the X direction. In other words, two second standby charging units 7 are arranged for each loading / unloading conveying device 3a. Here, the structure of the second standby charging units 7 is the same as the structure of the first standby charging unit 6 described above, so a detailed description will be omitted. In this example, the multiple second standby charging units 7 are provided on the floor of the automated warehouse 10 and are not arranged separately in the vertical direction like the first standby charging units 6. Note that the second standby charging units 7 may be arranged only on one side in the X direction of the loading / unloading conveying device 3a. In addition, the second standby charging section 7 may be arranged spaced apart in the X direction or Y direction from the corresponding loading / unloading conveying device 3a, or may be arranged above the corresponding loading / unloading conveying device 3a.

[0022] As shown in FIG. 1, the multiple aircraft 1 are configured to transport items W between a loading / unloading section 3 and multiple delivery sections 5. In this embodiment, the multiple aircraft 1 transport items W between multiple loading / unloading conveying devices 3a and multiple delivery sections 5. As shown in FIG. 3, each of the multiple aircraft 1 is equipped with a power storage device 11 and is configured to fly using the electricity stored in the power storage device 11. The aircraft 1 also includes a holding section 12 that holds and releases the items W, a flight device 14 for flight, and a flight main body section 15 that supports the holding section 12 and the flight device 14.

[0023] The flight device 14 is equipped with multiple rotors 13, the control unit H for controlling each element of the flying object 1, and a drive unit for applying a driving force to each element. The rotors 13 generate lift and thrust by rotating around their rotational axes. Driving the multiple rotors 13 facilitates maintaining the flying object 1 in a horizontal position during flight. The flight device 14 may also be configured with fixed wings and a propulsion device for generating thrust in the air. The holding unit 12 supports the item W below the flight device 14. The holding unit 12 is configured to support the item W in a suspended manner. The holding unit 12 may, for example, have gripping claws for grasping the item W or an adsorption unit for adsorbing the top surface of the item W. The configuration of the holding unit 12 can be modified as appropriate depending on the type and size of the item W. For example, the holding unit 12 may be configured with a mechanism for scooping and holding the item W from below. The holding unit 12 may also be equipped with a transfer device (conveyor type, fork type, etc.) that supports the item W and transfers the item W to the loading / unloading unit 3 or the delivery unit 5. In the illustrated example, the holding unit 12 is equipped with a pair of gripping claws that can hold and release the item W. The item W is also fitted with a gripped portion (not shown) that can be engaged with each of the pair of gripping claws. The gripped portion may be a hook or string-like member that can be caught on the gripping claws. The pair of gripping claws can be configured to hold and release the item W, for example, by moving towards or away from each other in the horizontal direction.

[0024] In this embodiment, the number of standby charging units (first standby charging unit 6, second standby charging unit 7) provided in the automated warehouse 10 is greater than the number of flying bodies 1 deployed in the automated warehouse 10. This allows all flying bodies 1 to be placed in the standby charging units during periods when no goods W are being transported. Note that the standby charging units may not only be used to wait for the flying bodies 1 and charge the flying bodies 1, but may also be used to perform maintenance work on the flying bodies 1.

[0025] The automated warehouse 10 further includes a control system 100 that controls the multiple flying objects 1. The control system 100 includes a host controller 80 that controls the entire automated warehouse 10 and a control unit H that is provided in each of the multiple flying objects 1. Each of the host controller 80 and the control unit H includes, for example, a processor such as a microcomputer, peripheral circuits such as memory, and the like. Each function is realized by cooperation between this hardware and a program executed on a processor such as a computer. The host controller 80 and the control unit H that is provided in each of the multiple flying objects 1 are configured to be able to communicate with each other. The host controller 80 is also configured to be able to communicate with the transfer unit 5, the first standby charging unit 6, the second standby charging unit 7, the loading / unloading transport device 3a, and the transport device 4 of the storage shelf 2. The host controller 80 controls these devices in the automated warehouse 10. In this example, the host controller 80 includes a memory unit 81 and a path setting unit 82. Each flying object 1 performs autonomous flight based on commands from the host controller 80. The memory unit 81 pre-stores the layout of each device in the automated warehouse 10, the settings of the flight path area E, the type of each flying object 1, etc. The route setting unit 82 sets the flight path of each flying object 1 in the flight path area E. Note that the flying object 1 may not fly autonomously, and the host controller 80 may control the overall flight operations of the flying object 1.

[0026] In this embodiment, the flight path area E in which the aircraft 1 flies is a three-dimensional space extending in the vertical, X, and Y directions to include multiple transfer sections 5, multiple loading / unloading sections 3 (loading / unloading transport devices 3a, second standby charging sections 7), and multiple first standby charging sections 6 (FIGS. 1 and 4). As shown in FIG. 4, the flight path area E is set at multiple heights (CL5) corresponding to the respective heights of the multiple transfer sections 5 arranged separately in the vertical direction. Each flight path area E at each height includes a first area E1 in which the aircraft 1 flies from the loading / unloading section 3 to the transfer section 5, and a second area E2 in which the aircraft 1 flies from the transfer section 5 to the loading / unloading section 3, and the first area E1 and the second area E2 are set at different heights. In this example, the first area E1 is set lower than the second area E2 in correspondence with each transfer section 5. The aircraft 1 flies horizontally through the first area E1 and the second area E2. In this example, the first area E1 and the second area E2 correspond to all the delivery sections 5 arranged at the same height (FIG. 5). In other words, two layers, the first area E1 and the second area E2 above it, are set as the flight path area E in correspondence with all the delivery sections 5 arranged at the same height. Note that "same height" here includes not only delivery sections 5 arranged at the same vertical position, but also delivery sections 5 arranged at positions slightly offset vertically.

[0027] In this example, as shown in Figures 4 and 5, the first area E1 and the second area E2 each include a first straight section A, a flight position change section B, a second straight section C, and an ascent / descent section D. The first straight section A, the flight position change section B, and the second straight section C are set along the horizontal direction in the respective flight path area E floors corresponding to the multiple delivery sections 5. The ascent / descent section D overlaps with the multiple loading / unloading sections 3 lined up in the X direction when viewed in the vertical direction, and is set along the vertical direction. The ascent / descent section D is a section that is also shared by the first area E1 and the second area E2 on other floors at different heights.

[0028] The first straight-line section A is the section closest to multiple delivery sections 5 belonging to the same floor (multiple delivery sections 5 arranged at the same height). In the first straight-line section A, the aircraft 1 travels straight along the Y direction. The flight position change section B is a section adjacent to the first straight-line section A on the first side Y1 in the Y direction. In the flight position change section B, the aircraft 1 can travel straight along not only the Y direction but also the X direction. The second straight-line section C is a section adjacent to the first side Y1 in the Y direction of the flight position change section B, and is a section adjacent to the second side Y2 in the Y direction of the ascent / descent section D. In the second straight-line section C, the aircraft 1 travels straight along the Y direction.

[0029] Here, the control system 100 sets the origin and destination for each of the multiple flying objects 1. In the example of FIG. 5, the host controller 80 selects the loading / unloading section 3 as the origin and the delivery section 5 as the destination for the flying object 1 flying in the first area E1. The control system 100 also sets the operation to be performed by the flying object 1. Specifically, the host controller 80 determines whether the flying object 1 will deliver the item W or receive the item W. In the example of FIG. 5, when the flying object 1 is instructed to deliver the item W, it lands on the loading / unloading conveying device 3a instructed as the origin and receives the item W. Thereafter, the flying object 1 ascends in the lifting section D to a floor position corresponding to the delivery section 5 as the destination. Then, the flying object 1 travels straight through the second straight section C and moves to the flight position change section B. The aircraft 1 moves to a position corresponding to the delivery section 5 (a position in front of the delivery section 5) that will be its destination during the flight position change section B. In this case, the aircraft 1 moves along the X direction as necessary.

[0030] As shown in FIG. 5, it is preferable that the flight position change section B has multiple sections corresponding to the respective delivery sections 5 and first standby charging sections 6 lined up in the X direction. Only one aircraft 1 can enter one section. This configuration reduces the possibility of collisions with other aircraft 1 when multiple aircraft 1 move in the X and Y directions through the flight position change section B. When the aircraft 1 moves to a position (section in FIG. 5) corresponding to the destination delivery section 5, it moves to the first straight section A and moves straight along the Y direction. The aircraft 1 then lands at the destination delivery section 5 and delivers the item W. In this way, by setting the first straight section A and the second straight section C in each of the first area E1 and the second area E2, it is easier to avoid collisions and other problems caused by the aircraft 1 moving in a direction other than the X direction. In addition, by setting up a flight position change section B, the aircraft 1 can easily move towards its destination, and since the position of the aircraft 1 can be managed for each section, it becomes easier to avoid collisions between aircraft 1.

[0031] For example, when the remaining amount of power in the power storage device 11 of the aircraft 1 falls below a specified amount, the control system 100 moves the aircraft 1 to the first standby charging unit 6 or the second standby charging unit 7. The host controller 80 monitors the amount of power in the power storage device 11 for each of the multiple aircraft 1. Note that an aircraft 1 transporting an item W may be moved to these standby charging units after completing the transport of the item W. The first standby charging unit 6 and the second standby charging unit 7 may temporarily hold an aircraft 1 that is not transporting an item W, regardless of whether charging is being performed. Furthermore, all aircraft 1 may be placed in the first standby charging unit 6 or the second standby charging unit 7 during periods when the automated warehouse 10 is not operating. In this example, when the aircraft 1 transfers an item W to the transfer unit 5 or the loading / unloading conveying device 3a, it lands on the top of these units and releases its hold on the item W. On the other hand, if the holding section 12 of the aircraft 1 is a transfer device such as a conveyor, the aircraft 1 may land at the first standby charging section 6 to transfer the item W between it and the transfer section 5, and may also land at the second standby charging section 7 to transfer the item W between it and the loading / unloading conveying device 3a.

[0032] As shown in FIG. 4, the control system 100 executes an attitude adjustment transport process in which the flying device 14 controls the flying main body 15 to rotate around an axis along the vertical direction relative to the storage shelf 2, thereby adjusting the attitude of the item W held in the holder 12 and delivering it to the transfer section 5 or the loading / unloading section 3. The attitude adjustment transport process is a process that is performed appropriately depending on the shape and size of the item W being transported by the flying device 1. In this example, if the item W has a rectangular parallelepiped shape, the attitude adjustment transport process reverses the orientation of the long and short sides of the item W. In the illustrated example, the flying device 1, flying in the first area E1 in the Y direction, rotates around an axis along the vertical direction, causing the holder 12 and the item W held in the holder 12 to similarly rotate (indicated by the two-dot chain line in FIG. 4). This adjusts the attitude of the item W. The flying body 1 then flies while maintaining the adjusted attitude of the article W, and delivers the article W to the transfer section 5 or the loading / unloading section 3 (loading / unloading conveying device 3a). The flying body 1 may be equipped with a turning device. In this case, it is preferable that the flying main body 15 does not turn, but the holding section 12 and the article W held by the holding section 12 turn around an axis along the vertical direction by the turning device, thereby adjusting the attitude of the article W.

[0033] Other Embodiments (1) In the above embodiment, a configuration has been described in which a plurality of transfer sections 5 are provided at the end of the storage shelf 2 on the first side Y1 in the Y direction, separated in the vertical direction and the X direction so as to correspond to each of a plurality of transport devices 4, and the loading / unloading section 3 is arranged at a distance from the storage shelf 2 on the first side Y1 in the Y direction, but this is not limited to this. A plurality of transfer sections 5 may also be provided at the end of the storage shelf 2 on the second side Y2 in the Y direction. In this case, it is preferable that the loading / unloading section 3 is further arranged at a distance from the storage shelf 2 on the second side Y2 in the Y direction.

[0034] (2) In the above embodiment, an example was described in which a configuration was provided in which a plurality of first standby charging units 6 are provided at the end of the storage shelf 2 on the first side Y1 in the Y direction, where the flying vehicle 1 lands and waits while charging the storage device 11 of the waiting flying vehicle 1, but this is not limited to this. The first standby charging units 6 do not necessarily have to be provided at the end of the storage shelf 2 on the first side Y1 in the Y direction. The first standby charging units 6 may also be provided near the storage shelf 2. For example, they may be provided on the floor or wall of the automated warehouse 10 around the storage shelf 2.

[0035] (3) In the above embodiment, the loading / unloading section 3 is described as having a plurality of loading / unloading conveying devices 3a that transport items W for at least one of bringing in items W from the outside and transporting items W to the outside, and a plurality of second standby charging units 7 that charge the power storage devices 11 of the aircraft 1 while the aircraft 1 is waiting after landing. However, this is not limited to this. The loading / unloading section 3 may not have the second standby charging unit 7, but may have a plurality of loading / unloading conveying devices 3a. In this case, it is preferable that a charging station for charging the plurality of aircraft 1 be provided separately inside the automated warehouse 10.

[0036] (4) In the above embodiment, the control system 100 performs an attitude adjustment transfer process by controlling the flight device 14 during flight of the aircraft 1 to rotate the flight main body 15 around an axis along the vertical direction relative to the storage shelf 2, thereby adjusting the attitude of the item W held in the holder 12 and delivering it to the transfer section 5 or the loading / unloading section 3. However, this is not limiting. The control system 100 may perform an attitude correction transfer process instead of or in addition to the attitude adjustment transfer process. Such an example is shown in FIG. 6. In FIG. 6, the aircraft 1 is equipped with an attitude correction device 19 that corrects the attitude of the item W. This attitude correction device 19 is a device that lifts a lower portion of the item W in the vertical direction when the item W is tilted relative to the horizontal plane, thereby forcing the item W to a proper attitude. As shown in FIG. 6, the attitude correction device 19 is preferably provided when the item W is held in the holder 12 via a string, for example.

[0037] (5) In the above embodiment, the flight path areas E at each height include a first area E1 in which the aircraft 1 flies from the loading / unloading section 3 to the delivery section 5, and a second area E2 in which the aircraft 1 flies from the delivery section 5 to the loading / unloading section 3, and the first area E1 and the second area E2 are set at different heights. However, this is not limited to this. For example, the first area E1 may be an area in which the aircraft 1 holding an item W flies, and the second area E2 may be an area in which the aircraft 1 not holding an item W flies. In this way, the flight mode of the aircraft 1 in each of the first area E1 and the second area E2 can be changed as appropriate.

[0038] (6) The configurations disclosed in the above-described embodiments may be combined with configurations disclosed in other embodiments as long as no contradictions arise. Regarding other configurations, the embodiments disclosed in this specification are merely examples in all respects. Therefore, various modifications may be made as appropriate within the scope of the present disclosure.

[0039] Summary of the above embodiment The automated warehouse described above will now be summarized.

[0040] The automated warehouse according to the present disclosure is an automated warehouse including a plurality of flying objects that fly unmanned to transport items, a loading / unloading section where the items are carried in from the outside and / or the items are carried out to the outside, a storage shelf having a plurality of storage sections that store the items, and a plurality of transport devices that transport the items inside the storage shelf, A specific direction along a horizontal plane is defined as the X direction, a direction intersecting the X direction when viewed from above is defined as the Y direction, one side of the Y direction is defined as the Y direction first side, and the opposite side is defined as the Y direction second side, The plurality of conveying devices are arranged in a plurality of stages in the vertical direction and in a plurality of rows in the X direction, Each of the plurality of conveying devices is configured to convey the article along the Y direction; the plurality of storage units are arranged along the respective transport paths of the plurality of transport devices, a plurality of delivery sections are provided at an end of the storage shelf on the first side in the Y direction, the delivery sections being separated in the vertical direction and the X direction so as to correspond to the plurality of transport devices, each of the plurality of delivery units is used to deliver the article between the flying object and the conveying device; the loading / unloading unit is disposed at a distance from the storage shelf on the first side in the Y direction, The plurality of flying objects are configured to transport the items between the loading / unloading section and the plurality of delivery sections.

[0041] According to this configuration, multiple transfer sections are provided corresponding to the multiple conveying devices on the storage shelf. Furthermore, multiple flying objects transport items between the carry-in / out section and these transfer sections, which are arranged separately in the vertical and X directions. This allows multiple flying objects to transport items, and facilitates the transfer of items between the flying objects and the conveying devices via the transfer sections. Therefore, items can be transported appropriately to the storage shelf. Furthermore, the need for additional transport devices (e.g., transport conveyors, lifters, etc.) for transporting items in the X direction, Y direction, and vertical direction to connect the carry-in / out section and the multiple transfer sections can be reduced. This reduces the overall size of the facility and facilitates cost reduction. Furthermore, because the carry-in / out section is spaced apart from the multiple transfer sections in the Y direction, it is easy to ensure a flight space for multiple flying objects between the carry-in / out section and the multiple transfer sections. In this way, according to this configuration, it is possible to appropriately transport items to the storage shelves while suppressing the increase in size of the equipment and reducing costs.

[0042] wherein each of the plurality of flying bodies is provided with a power storage device and is configured to fly using the power stored in the power storage device; A plurality of standby charging units are provided at an end of the storage shelf on the first side in the Y direction, and the aircraft lands and waits, and charges the storage device of the aircraft while waiting, It is preferable that the plurality of standby charging sections are arranged separately in at least one of the vertical direction and the X direction so as to correspond to at least some of the plurality of transfer sections.

[0043] According to this configuration, the multiple standby charging units correspond to at least some of the multiple delivery units and are arranged separately in at least one of the vertical and X directions at the end of the storage shelf on the first side in the Y direction, so that multiple flying vehicles can be made to wait and be charged near the multiple delivery units on the storage shelf. Also, because the multiple standby charging units can be arranged using the space extending in the vertical and X directions at the end of the storage shelf on the first side in the Y direction, there is no need to secure a separate space for installing these standby charging units together, which makes it easier to save space in the facility.

[0044] Further, each of the plurality of flying bodies is provided with a power storage device and is configured to fly using the power stored in the power storage device, the loading / unloading section includes a plurality of loading / unloading transport devices that transport the items for at least one of loading the items from outside and unloading the items to outside, and a plurality of standby charging sections that allow the aircraft to land and wait and charge the power storage devices of the aircraft while waiting, The plurality of carrying-in / out transport devices are arranged separately in the X direction, It is preferable that the plurality of standby charging units are arranged separately in the X direction so as to correspond to at least some of the plurality of loading / unloading transport devices.

[0045] According to this configuration, the multiple standby charging units are arranged to correspond to at least some of the multiple loading / unloading transport devices, so multiple flying vehicles can be placed on standby and charged near the multiple loading / unloading transport devices. Furthermore, because the multiple standby charging units are arranged separately in the X direction, it is possible to prevent the multiple flying vehicles from interfering with each other when taking off or landing.

[0046] The aircraft further includes a control system for controlling the plurality of aircraft, The flying object includes a holding unit that holds and releases the item, a flight device for flying, and a flight main body that supports the holding unit and the flight device, It is preferable that the control system executes an attitude adjustment transport process in which the attitude of the item held in the holding section is adjusted and the item is handed over to the transfer section or the loading / unloading section by controlling the flight device while the flying object is in flight to rotate the flying main body section around an axis along the vertical direction relative to the storage shelf.

[0047] According to this configuration, the flying body can be rotated as needed during flight to adjust the attitude of the item and deliver it to the delivery section or the loading / unloading section. This reduces the need for a separate direction change device or the like to adjust the attitude of the item at the delivery section or the loading / unloading section. This makes it easier to reduce the cost of the entire facility.

[0048] Further, an area in which the flying object that transports the article flies between the carry-in / out section and the plurality of delivery sections is defined as a flight path area, The flight path area is set at a plurality of heights corresponding to the respective heights of the plurality of delivery sections arranged separately in the vertical direction, The flight path areas at each height include a first area in which the flying object flies from the loading / unloading section to the delivery section, and a second area in which the flying object flies from the delivery section to the loading / unloading section, It is preferable that the first area and the second area are set at different heights.

[0049] According to this configuration, multiple flight path areas are set corresponding to the respective heights of the multiple transfer sections arranged separately in the vertical direction, and the first area and the second area in each flight path area are set at different heights. Therefore, in the flight path areas corresponding to the respective heights of the multiple transfer sections, it is easy to reduce the possibility of a collision between a flying object heading from the loading / unloading section to the transfer section and a flying object heading from the transfer section to the loading / unloading section. Furthermore, by reducing the collision avoidance operations of the multiple flying objects, it is easy to improve the efficiency of transporting goods.

[0050] The automated warehouse according to the present disclosure may have at least one of the above-described effects. [Explanation of symbols]

[0051] 1: Flying object 2: Storage shelf 2a: Storage section 3: Loading and unloading area 3a: Loading and unloading transport device 4:Transportation device 5: Delivery department 6: Standby charging section 10: Automated warehouse 11: Power storage device 12: Holding part 14:Flight equipment 15: Flight body 100: Control System E: Flight path area E1: Area 1 E2: Area 2 Y1: Y-direction first side Y2: Y-direction second side

Claims

1. An automated warehouse comprising: a plurality of unmanned flying objects that fly to transport items; a loading / unloading section where the items are carried in from outside and / or the items are carried out to outside; a storage shelf having a plurality of storage sections that store the items; and a plurality of transport devices that transport the items inside the storage shelf, A specific direction along a horizontal plane is defined as an X direction, a direction intersecting the X direction when viewed from above is defined as a Y direction, one side of the Y direction is defined as a Y direction first side, and the opposite side is defined as a Y direction second side, The plurality of conveying devices are arranged in a plurality of stages in the vertical direction and in a plurality of rows in the X direction, Each of the plurality of conveying devices is configured to convey the article along the Y direction; the plurality of storage units are arranged along the respective transport paths of the plurality of transport devices, a plurality of delivery sections are provided at an end of the storage shelf on the first side in the Y direction, the delivery sections being separated in the vertical direction and the X direction so as to correspond to the plurality of transport devices, each of the plurality of delivery units is used to deliver the article between the flying object and the conveying device; the loading / unloading unit is disposed at a distance from the storage shelf on the first side in the Y direction, An automated warehouse, wherein a plurality of the flying objects are configured to transport the items between the loading / unloading section and a plurality of the delivery sections.

2. Each of the plurality of flying objects is equipped with a power storage device and is configured to fly using the power stored in the power storage device; A plurality of standby charging units are provided at an end of the storage shelf on the first side in the Y direction, and the aircraft lands and waits, and charges the storage device of the aircraft during standby; The automated warehouse according to claim 1, wherein the plurality of standby charging sections are arranged separately in at least one of the vertical direction and the X direction so as to correspond to at least some of the plurality of transfer sections.

3. Each of the plurality of flying objects is equipped with a power storage device and is configured to fly using the power stored in the power storage device; the loading / unloading section includes a plurality of loading / unloading transport devices that transport the items for at least one of loading the items from outside and unloading the items to outside, and a plurality of standby charging sections that allow the aircraft to land and wait and charge the power storage devices of the aircraft while waiting, The plurality of carrying-in / out transport devices are arranged separately in the X direction, The automated warehouse according to claim 1, wherein the plurality of standby charging units are arranged separately in the X direction so as to correspond to at least some of the plurality of loading / unloading conveying devices.

4. a control system for controlling the plurality of flying vehicles; The flying object includes a holding unit that holds and releases the item, a flight device for flying, and a flight main body that supports the holding unit and the flight device, The automated warehouse described in any one of claims 1 to 3, wherein the control system performs an attitude adjustment transport process in which the attitude of the item held in the holding section is adjusted and the item is handed over to the transfer section or the loading / unloading section by controlling the flight device while the flying object is in flight to rotate the flying main body section around an axis along the vertical direction relative to the storage shelf.

5. an area in which the flying object that transports the article flies between the loading / unloading section and the plurality of delivery sections is defined as a flight path area; The flight path area is set at a plurality of heights corresponding to the respective heights of the plurality of delivery sections arranged separately in the vertical direction, The flight path areas at each height include a first area in which the flying object flies from the loading / unloading section to the delivery section, and a second area in which the flying object flies from the delivery section to the loading / unloading section, The automated warehouse according to claim 1 , wherein the first area and the second area are set at different heights.

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