Shelf processing system and shelf transport control system

Abstract

To provide a rack processing system capable of improving efficiency of rack processing and reducing burden on a person in charge.SOLUTION: The rack processing system according to an embodiment includes a take-in section, a rack conveying section, a take-out device, a container conveying section, and a returning device. The take-in section takes in conveying racks conveyed by one or more transport vehicles that convey the conveying racks having a plurality of storage units. The rack conveying section conveys the conveying racks taken-in by the take-in section. The take-out device takes out a container from the storing portion of the conveying rack taken in by the take-in section. The container conveying section conveys the container to be taken out by the take-out device. The returning device returns the container to the conveying rack that is to be conveyed by the rack conveying section.SELECTED DRAWING: Figure 3

Description

[Technical Field]

[0001] An embodiment of the present invention relates to a shelf processing system, a shelf transport control system, and a shelf transport control method. [Background technology]

[0002] With the recent trend toward more efficient logistics, various systems using self-propelled transport vehicles known as AGVs (automated guided vehicles) have been proposed. Based on instructions from a host server, the transport vehicles transport racks containing items such as luggage from a warehouse to a designated location. A worker then picks the desired item from the rack that has been transported to the designated location. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Patent No. 4423616 Summary of the Invention [Problem to be solved by the invention]

[0004] Although the above-described self-propelled transport vehicle reduces the workload of transporting the transport shelves, some improvements are required in the work of picking a target item from the transport shelves transported by the transport vehicle.

[0005] For example, there is a need to reduce the waiting time that pickers have to wait until the transport shelf is delivered to their work location. Also, picking items from containers on the upper level (especially the higher level) of the transport shelf requires the worker to climb a ladder (steps), and picking items from containers on the lower level (especially the lower level) requires the worker to bend over, which places a heavy burden on the worker, and there is a need to reduce this burden.

[0006] In addition, while the worker is picking items, the transport vehicle is on standby, and there is a demand for improvements in the operational efficiency of the transport vehicle. An object of the present invention is to provide a shelf processing system, a shelf transport control system, and a shelf transport control method that can improve the efficiency of shelf processing and reduce the burden on staff. [Means for solving the problem]

[0007] The shelf processing system according to the embodiment includes an intake unit, a shelf transport unit, a removal device, a container transport unit, and a return device. The intake unit takes in the transport shelf transported by one or more transport vehicles that transport a transport shelf having multiple storage units. The shelf transport unit transports the transport shelf taken in by the intake unit. The removal device removes containers from the storage units of the transport shelf taken in by the intake unit. The container transport unit transports the containers removed by the removal device. The return device returns the containers to the transport shelf transported by the transport unit. [Brief explanation of the drawings]

[0008] [Figure 1] FIG. 1 is a schematic diagram showing an overall image of a shelf processing system according to an embodiment. [Figure 2] FIG. 2 is a schematic diagram showing the system configuration of the shelf processing system according to the embodiment. [Figure 3] FIG. 3 is a schematic diagram illustrating an example of a picking station system according to an embodiment. [Figure 4] FIG. 4 is a side view showing a take-out device (or a return device) and a transport shelf of the shelf processing system according to the embodiment. [Figure 5] FIG. 5 is a rear view showing the take-out device (or the return device) according to the embodiment. [Figure 6] FIG. 6 is a perspective view showing the take-out device (or the return device) according to the embodiment. [Figure 7] FIG. 7 is a cross-sectional view showing the configuration of the transport shelf according to the embodiment. [Figure 8] FIG. 8 is a front view showing the configuration of the transport shelf according to the embodiment. [Figure 9] FIG. 9 is a flowchart illustrating an example of take-out control of a transport shelf by the warehouse control system according to the embodiment. [Figure 10] FIG. 10 is a flowchart showing an example of take-back control of a transport shelf by the warehouse control system according to the embodiment. [Figure 11] FIG. 11 is a flowchart showing an example of the loading and unloading control of the transport shelf by the warehouse control system according to the embodiment. [Figure 12] FIG. 12 is a flowchart showing an example of container loading and unloading control by the warehouse operations management system according to the embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0009] Hereinafter, an example of a shelf processing system according to an embodiment will be described with reference to the drawings. [composition] FIG. 1 is a schematic diagram showing an overall image of a shelf processing system SY1 according to an embodiment. FIG. 2 is a schematic diagram showing the system configuration of the shelf processing system SY1 according to an embodiment. FIG. 3 is a schematic diagram showing an example of a picking station system 2 according to an embodiment. FIG. 4 is a side view showing a take-out device 12a (or a return device 12b) and a transport shelf 3 of the shelf processing system SY1 according to an embodiment. Note that the take-out device 12a and the return device 12b are substantially identical. Here, the side view is a view seen from the side relative to the take-out direction (or return direction) of the container 81 by the take-out device 12a (or the return device 12b).

[0010] FIG. 5 is a rear view showing the take-out device 12a (or the return device 12b) according to the embodiment. Here, the rear view of the take-out device 12a (or the return device 12b) is a rear view when the direction from the moving device 25 of the take-out device 12a (or the return device 12b) toward the transport shelf 3 is defined as the front direction. FIG. 6 is a perspective view showing the take-out device 12a (or the return device 12b) according to the embodiment. FIG. 7 is a cross-sectional view showing the configuration of the transport shelf 3 according to the embodiment. Here, the cross-sectional view of the transport shelf 3 is a cross-sectional view of the transport shelf 3 taken along a cutting plane perpendicular to the vertical direction between two shelf portions 86 arranged vertically. FIG. 8 is a front view showing the transport shelf 3 according to the embodiment.

[0011] 1 and 2, the shelf processing system SY1 includes a warehouse management system (WMS) SY11, a warehouse execution system (WES) SY12, and a warehouse control system (WCS) SY13. The warehouse management system SY11, the warehouse execution system SY12, and the warehouse control system SY13 correspond to a shelf transportation control system.

[0012] The shelf processing system SY1 also includes a plurality of picking station systems 2, a plurality of transport shelves 3, and a plurality of transport vehicles 4. The picking station system 2 is an example of a container processing system that takes out containers 81 from the transport shelves 3 that are sequentially loaded, transports the plurality of transport shelves 3 and the plurality of containers 81 independently, returns the containers 81 to the transport shelves 3, and discharges the transport shelves 3 that store the containers 81.

[0013] The transport shelf 3 arranged in the shelf storage area E1 has a plurality of storage sections of different heights in the vertical direction, and each storage section can store one or more containers. Also, each container can store articles.

[0014] The warehouse management system SY11, the warehouse operations management system SY12, and the warehouse control system SY13 can be realized by one or more computers. The warehouse management system SY11, the warehouse operations management system SY12, and the warehouse control system SY13 are connected to each other.

[0015] The warehouse management system SY11 is connected to a higher-level server and receives orders from the higher-level server. The warehouse operations management system SY12 corresponds to, for example, a first control device, and manages and controls the storage and retrieval of transport shelves, containers, and items 7 based on orders. The warehouse control system SY13 corresponds to, for example, a second control device, and controls the storage and retrieval of transport shelves, containers, and items 7, as well as the transportation of transport vehicles, based on orders.

[0016] The warehouse management system SY11 stores warehouse management information, which includes item information on items 7 such as luggage, shelf information on transport shelves 3 that transport containers, container information on containers 81 that store the items 7, transport vehicle information on transport vehicles 4, and overall map data of the shelf processing system SY1.

[0017] Under the control of the warehouse control system SY13, one of the multiple transport vehicles 4 moves one of the multiple transport shelves 3 to the picking station system 2, and the picking station system 2 uses the removal device 12a to remove a container 81 containing items 7 from the transport shelf 3. A picker then removes the items 7 from the container 81 and stores the removed items 7 in a predetermined sorting box. Note that a picking robot system may be used instead of or together with the picker. The picking robot system may be used, for example, to move items 7 stored on multiple transport shelves 3 to a sorting box appropriate for the items 7.

[0018] For example, the warehouse operations management system SY12 includes a processor 121, a main memory 122, an auxiliary storage device 123, and a communication interface 124.

[0019] The processor 121 is a CPU (Central Processing Unit) or the like, and corresponds to the central part of a computer that performs calculations necessary for various processes. The processor 121 realizes the functions of the entry / exit control unit 1211 by executing a program stored in an auxiliary storage device 123 or the like. The entry / exit control unit 1211 may be realized by hardware such as an LSI (Large Scale Integration), an ASIC (Application Specific Integrated Circuit), or an FPGA (Field-Programmable Gate Array) that has the same functions as the processor 121 executing a program.

[0020] The entry / exit control unit 1211 controls the loading / unloading and transport of transport shelves 3 and the loading / unloading and transport of containers 81 by the picking station system 2. That is, the entry / exit control unit 1211 outputs entry / exit control signals to the picking station system 2, causing it to retrieve a transport shelf 3 that has been transported and placed at a first specified position, remove containers from the storage units of the transport shelf 3 that has been retrieved, transport multiple transport shelves 3 and multiple containers 81 independently, return the containers 81 to the storage units of the transport shelf 3 that has been transported, and eject the transport shelf 3 to which the containers 81 have been returned. Based on the entry / exit control signals from the entry / exit control unit 1211, the picking station system 2 retrieves a transport shelf 3 transported by a transport vehicle 4, removes containers 81 from the storage units of the transport shelves 3 that have been retrieved, transports multiple transport shelves 3 and multiple containers 81 independently, returns the transported containers 81 to the storage units of the transport shelf 3 that has been transported, and ejects the transport shelf 3 that stores the containers 81.

[0021] The main memory 122 is a memory used for reading and writing data, and is used as a so-called work area for storing data that is temporarily used when the processor 121 performs various processes.

[0022] The auxiliary storage device 123 is a non-transitory computer-readable storage medium that stores the above-mentioned program. The auxiliary storage device 123 also stores data or various setting values ​​used by the processor 121 when performing various processes. The warehouse operations management system SY12 may be transferred with the above-mentioned program stored in the auxiliary storage device 123, or may be transferred without the above-mentioned program stored in the auxiliary storage device 123. In the latter case, the warehouse operations management system SY12 reads the above-mentioned program stored in a removable storage medium such as an optical disk or semiconductor memory and writes the read program to the auxiliary storage device 123. Alternatively, the warehouse operations management system SY12 downloads the above-mentioned program via a network or the like and writes the downloaded program to the auxiliary storage device 123.

[0023] The auxiliary storage device 123 also stores some or all of the warehouse management information transmitted from the warehouse management system SY11. The warehouse management information includes item information on items such as item 7, shelf information on the transport shelves 3 that transport containers, container information on the containers 81 that store the items 7, transport vehicle information on the transport vehicles 4, and map data for the entire shelf processing system SY1.

[0024] The item information includes item IDs (identification information), etc., and each item is assigned an item ID. The shelf information includes shelf IDs, storage unit IDs, etc., and each transport shelf 3 is assigned a shelf ID, and each storage unit is assigned a storage unit ID, and the storage unit ID is associated with the container ID of the container 81 currently stored. In other words, the shelf information indicates which container 81 is stored in which storage unit of which transport shelf 3. The container information includes container IDs, item IDs, etc., and each container 81 is assigned a container ID. In other words, the container information indicates which item 7 is stored in which container 81. The transport vehicle information includes transport vehicle IDs, etc., and a transport vehicle ID is assigned to each transport vehicle 4. Furthermore, the map data includes three-dimensional position information of the entire shelf processing system SY1, and includes the IDs of transport shelves 3 associated with the position information. In other words, the map data indicates which transport shelf 3 is located where.

[0025] The communication interface 124 receives orders transmitted from the warehouse management system SY11 and outputs various instructions to the picking station system 2.

[0026] The warehouse control system SY13 includes a processor 131, a main memory 132, an auxiliary storage device 133, and a communication interface 134.

[0027] The processor 131 is a CPU or the like, and corresponds to the central part of a computer that performs calculations necessary for various processes. The processor 131 realizes the functions of the transport control unit 1311 by executing a program stored in the auxiliary storage device 133 or the like. The transport control unit 1311 may be realized by hardware such as an LSI, an ASIC, or an FPGA that has the same functions as the processor 131 executing the program.

[0028] The transport control unit 1311 controls the travel of the transport vehicle 4 and the raising and lowering of the transport shelf 3. Based on the control of the transport control unit 1311, the transport vehicle 4 travels to a first designated position, lifts up the transport shelf 3 at the first designated position, travels to a second designated position, and lowers the transport shelf 3 to the second designated position.

[0029] The main memory 132 is a memory used for reading and writing data, and is used as a so-called work area for storing data that is temporarily used when the processor 131 performs various processes.

[0030] The auxiliary storage device 133 is a non-transitory computer-readable storage medium that stores the above-mentioned program. The auxiliary storage device 133 also stores data and various setting values ​​used by the processor 131 when performing various processes. The warehouse control system SY13 may be transferred with the above-mentioned program stored in the auxiliary storage device 133, or may be transferred without the program stored in the auxiliary storage device 133. In the latter case, the warehouse control system SY13 reads the above-mentioned program stored in a removable storage medium such as an optical disk or semiconductor memory and writes the read program to the auxiliary storage device 133. Alternatively, the warehouse control system SY13 downloads the above-mentioned program via a network or the like and writes the downloaded program to the auxiliary storage device 133.

[0031] The auxiliary storage device 133 also stores some or all of the warehouse management information transmitted from the warehouse management system SY11. Details of the warehouse management information are as described above.

[0032] The communication interface 134 receives orders transmitted from the warehouse management system SY11 and outputs various instructions to the picking station system 2.

[0033] The transport vehicle 4 is configured to be able to move on the transport shelf 3. The transport vehicle 4 is, for example, a self-propelled robot having a shelf lift mechanism 91 and wheels 92.

[0034] The shelf lift mechanism 91 has a top plate 91a and a drive unit 91b that pushes up the top plate 91a. When the drive unit 91b extends upward, it pushes up the top plate 91a. When the drive unit 91b retracts, the top plate 91a is lowered. When the transport vehicle 4 moves under the transport shelf 4 and the drive unit 91b pushes up the top plate 91a, the top plate 91a lifts the transport shelf 4. The transport vehicle 4 can rotate on the spot by adjusting the steering angle of the wheels 92, and the top plate 91a can rotate horizontally. When the transport vehicle 4 has lifted the transport shelf 4, the orientation of the transport shelf 4 can be changed by rotating the transport vehicle 4 (main body) (by changing the attitude of the transport vehicle 4). Furthermore, when the transport vehicle 4 has lifted the transport shelf 4, the orientation of the transport shelf 4 can be changed by rotating the top plate 91a without rotating the transport vehicle 4 (main body) (without changing the attitude of the transport vehicle 4).

[0035] Based on a control signal from the transport control unit 1311, the transport vehicle 4 moves to a recovery position (for example, directly below the transport shelf 3) corresponding to the target transport shelf 3, recovers the target transport shelf 3 at the recovery position, and travels toward the placement position of the target transport shelf 3. Based on a control signal from the transport control unit 1311, the transport vehicle 4 places the target transport shelf 3 at the placement position of the target transport shelf 3.

[0036] 3, the picking station system 2 includes, for example, a take-in mechanism 11, a take-out device 12a, a container conveying unit 13, a shelf conveying unit 14, a return device 12b, and a discharge mechanism 16. The picking station system 2 is configured by installing the take-in mechanism 11, the take-out device 12a, the container conveying unit 13, the shelf conveying unit 14, the return device 12b, and the discharge mechanism 16 in a predetermined area on the floor of a warehouse or the like.

[0037] The transport vehicle 4 transports a designated transport shelf 3 from the shelf storage area E1 to a designated position P11 (first designated position). The transport vehicle 4 can access the designated position P11 from a designated direction (either up, down, left, or right in FIG. 3). Furthermore, the transport vehicle 4 lifts the transport shelf 4 at the designated position P11, and then rotates the transport vehicle 4 (main body) or the top plate 91a to change the orientation of the transport shelf 3 to the designated direction, and then lowers the orientation-changed transport shelf 3 to the designated position P11. This makes it easy to take out and store not only the containers 81 on the front side of the transport shelf 3 but also the containers 81 on the back side.

[0038] The take-in mechanism 11 functions as a take-in section and sequentially takes in the transport shelves 3 transported by the transport vehicle 4 to the designated position P11. The take-out device 12a sequentially takes out designated containers 81 from designated storage sections of the multiple transport shelves 3 that are taken in sequentially and supplies them to the container transport section 13. The container transport section 13 receives and transports the designated container 81 from the take-out device 12a. The shelf transport section 14 also receives and transports the transport shelf 3 from the take-in mechanism 11. That is, the container transport section 13 and the shelf transport section 14 independently transport the multiple transport shelves 3 and the multiple containers 81. The return device 12b returns the containers 81 that have been transported to the storage sections of the transported transport shelf 3. The discharge mechanism 16 functions as a discharge section and discharges the transport shelf 3 to which the container 81 has been returned to the designated position P12 (second designated position).

[0039] The transport vehicle 4 transports a specified transport shelf 3 from a specified position P12 to the shelf storage area E1. The transport vehicle 4 can access the specified position P12 from a specified direction (either up, down, left, or right in FIG. 3). In addition, with the transport shelf 4 raised at the specified position P12, the transport vehicle 4 can change the orientation of the transport shelf 3 to the specified direction by rotating the transport vehicle 4 (main body) or by rotating the top plate 91a.

[0040] As shown in FIGS. 4 to 6, the take-out device 12a is configured to be able to take out from the transport shelf 3, among the plurality of containers 81 on the transport shelf 3, a container 81 containing an item 7 to be taken out.

[0041] The take-out device 12a includes, for example, a housing 21, a holding unit 23, a lifting device 24, a moving device 25, and a take-out device controller .

[0042] Here, an example of the up-down direction, front-rear direction, and width direction of the take-out device 12a is defined. The up-down direction is defined as the direction of gravity, the front-rear direction is defined as the forward direction, and the direction perpendicular to the up-down direction and heading from the take-out device 12a to the transport shelf 3 is defined as the forward direction. The direction perpendicular to both the up-down direction and the front-rear direction is defined as the width direction.

[0043] The housing 21 includes, for example, a bottom portion 31, pillar portions 32, and a ceiling portion 33. 6, the bottom 31 is formed, for example, in the shape of a rectangular frame. The bottom 31 is provided, for example, with a plurality of legs 34. For example, four legs 34 are provided, and each leg is fixed to a corner of the lower surface of the bottom 31.

[0044] The pillar portion 32 is provided on the bottom portion 31. The pillar portion 32 has, for example, four pillar members 35. Two of the pillar members 35 are fixed, for example, to a pair of adjacent corners of the bottom portion 31. The remaining two pillar members 35 are fixed, for example, to the corner of the bottom portion 31 to which the pillar member 35 is fixed, and to a corner between the corner and an adjacent corner to which the pillar member 35 is fixed.

[0045] The ceiling portion 33 is fixed to the upper end of the column portion 32. The ceiling portion 33 is formed, for example, in the shape of a plate.

[0046] The holder 23 detachably holds the container 81. In this embodiment, as shown in Fig. 6, the holder 23 includes one or more arms, and holds the container 81 by placing the container 81 on the arms. The holder 23 includes, for example, one or more arms 23a and a stopper 23b.

[0047] The number of arms 23a used is sufficient to stably hold the underside of the container 81, and three are provided in this embodiment. The arms 23a are formed, for example, in the shape of a rod that is long in the front-rear direction. The three arms 23a are arranged spaced apart in the width direction. The upper surfaces of the arms 23a are formed, for example, as a flat surface, and the cross sections perpendicular to the longitudinal direction of the arms 23a are formed, for example, as a rectangle. Here, the number that can stably hold a container 81 is the number that will not cause the container 81 to fall off the arms 23a even when the holder 23 is raised and lowered by the lifting device 24 and moved by the moving device 25 with the container 81 placed on the arms 23a. In this embodiment, the two outer arms 23a in the width direction support both ends of the underside of the container 81 in the width direction, and the center arm 23a in the width direction supports the center of the underside of the container 81 in the width direction.

[0048] Stopper 23b is configured to be able to come into contact with the surface of container 81 facing take-out device 12a when holder 23 is moved forward by moving device 25. Stopper 23b is fixed to, for example, the upper surface of arm 23a. The front surface of stopper 23b is formed, for example, on a plane perpendicular to the front-rear direction.

[0049] The length in the front-rear direction of the portion of the holding unit 23 configured in this manner that is forward of the stopper 23b of the arm 23a is long enough to stably place the container 81 on the forward portion. Here, the length that allows stable placement is a length that prevents the container 81 from falling even when the holding unit 23 is moved by the lifting device 24 and the moving device 25.

[0050] The lifting device 24 is configured to be able to raise and lower the holder 23 and the moving device 25 between a position where the holder 23 removes a container 81 from the bottom shelf of the transport shelf 3 and a position where the holder 23 removes a container 81 from the top shelf of the transport shelf 3. The lifting device 24 is also configured to be able to move the container 81 removed from the transport shelf 3 by the holder 23 and the moving device 25 to a pick height. When a picking robot is used, the pick height is a height position where the picking robot removes an item 7 from the container 81, and is a height position set by the picking robot. When a picking worker picks an item, the pick height is adjusted to a height position that makes it easy for the picking worker to pick the item. The lifting device 24 is provided in the housing 21. The lifting device 24 includes, for example, a rail 51, a lifting unit 52, and a drive unit 53.

[0051] The rails 51 support the lifting unit 52 so that the lifting unit 52 can move up and down. The rails 51 are provided, for example, on the pillars 32 of the housing 21. For example, one rail 51 is provided on each of two pillar members 35 arranged side by side in the width direction.

[0052] The lifting section 52 is supported on the rails 51 so as to be movable up and down. For example, one lifting section 52 is provided for each of the two rails 51.

[0053] The driving unit 53 is configured to be able to move the lifting unit 52 in the up and down direction. The driving unit 53 includes, for example, a motor 54 and a transmission mechanism 55.

[0054] The motor 54 is fixed, for example, between two pillar members 35 at the rear end of the bottom part 31. The motor 54 is electrically connected to the take-out device controller 28.

[0055] The transmission mechanism 55 is configured to be able to convert the rotation of the motor 54 into vertical movement of the lifting unit 52. The transmission mechanism 55 includes, for example, a shaft 56 that is engaged with the output shaft of the motor 54 and rotates in accordance with the rotation of the output shaft, a pair of first pulleys 57, a pair of second pulleys 58, and a pair of belts 59.

[0056] The shaft 56 is rotatably supported on the bottom 31, for example, in a position parallel to the width direction. The pair of first pulleys 57 are fixed to both ends of the shaft 56 and rotate integrally with the shaft 56. The pair of second pulleys 58 are rotatably supported on, for example, the ceiling 33. The pair of second pulleys 58 are disposed, for example, at positions facing the pair of first pulleys 57 in the vertical direction.

[0057] The pair of belts 59 are wound around the first pulley 57 and the second pulley 58. The pair of belts 59 are fixed to the lifting unit 52.

[0058] With the drive unit 53 configured in this manner, a pair of first pulleys 57, a pair of second pulleys 58, and a pair of belts 59 rotate in accordance with the rotation of the motor 54, causing the holding unit 23 and the moving device 25 to move up and down via the lifting unit 52 fixed to the pair of belts 59.

[0059] The moving device 25 moves the holding unit 23 in a single axial direction that intersects with the vertical direction. In this embodiment, the moving device 25 moves the holding unit 23 in a front-to-rear direction that is perpendicular to the vertical direction. The moving device 25 also moves the holding unit 23 in the front-to-rear direction between a position where the holding unit 23 holds a container 81 stored on the transport shelf 3 and a position where removal of the container 81 is complete. The position where the container 81 is held is, for example, a position where the stopper 23b abuts against the container 81.

[0060] The moving device 25 includes, for example, a base 61, a moving part 62, and a driving part 63. The base 61 supports the moving part 62 so that the moving part 62 can move in the front-rear direction. The base 61 is fixed to the two lifting parts 52 of the lifting device 24.

[0061] The holding unit 23 is fixed to the moving unit 62. The moving unit 62 is supported on the base 61 so as to be movable in the front-rear direction, for example, by a transmission mechanism 65 (described later) of the driving unit 63. Note that a rail may be provided on the upper surface of the base 61 to support the movement of the moving unit 62 in the front-rear direction.

[0062] The drive unit 63 includes a motor 64 and a transmission mechanism 65 . The motor 64 is provided, for example, on the base 61. The motor 64 is electrically connected to the takeout device controller . The transmission mechanism 65 is configured to be able to convert the rotation of the motor 64 into forward and backward movement of the moving part 62. As shown in Fig. 4, the transmission mechanism 65 may be configured to include, for example, a screw 66 that is rotated by the motor 64, and a nut 67 that is provided on the moving part 62 and threaded onto the screw 66.

[0063] Another example of the transmission mechanism 65 may include a belt that converts the rotation of the motor 64 into forward and backward movement of the moving unit 62. In this example, the transmission mechanism 65 includes a shaft that is engaged with the output shaft of the motor 64 and rotates in accordance with the rotation of the output shaft, a third pulley that is fixed to the shaft and rotates integrally with the shaft, a fourth pulley that is rotatably provided at the front end of the base 61, and a belt that is passed around the third pulley and the fourth pulley and to which the moving unit 62 is fixed.

[0064] According to the transmission mechanism 65 configured in this manner, the third pulley, the fourth pulley, and the belt 59 rotate in accordance with the rotation of the motor 64, causing the moving part 62 fixed to the pair of belts to move in the forward and backward directions, and the holding part 23 moves in the forward and backward directions via the moving part 62.

[0065] When a picking robot is used, the camera is installed, for example, at an arbitrary position in the picking station and is configured to be able to photograph the inside of the container 81 picked up from the transport shelf 3 by the picking device 12a. The camera is, for example, a camera that can capture information that can detect the position of the item 7 in the container 81 at the picking station. The camera is, for example, a camera that can capture information that can detect the shape of the item 7 in the container 81 at the picking station. Alternatively, these functions may be achieved by using multiple cameras that have one of these functions. The camera transmits data of the captured image to the picking device controller 28. The camera may be, for example, a depth camera or an RGB camera. The image data captured by the depth camera can be used to detect the distance to the item 7 in the vertical direction. The image data captured by the RGB camera can be used to detect the position of the item 7 in the horizontal direction. The depth camera and the RGB camera can also detect the shape of the item 7. For example, one camera is installed. The camera is, for example, equipped with a depth camera and an RGB camera.

[0066] When a picking robot is used, the sensor is provided at a position corresponding to the picking robot, for example, at any position in the picking station, and is configured to be able to detect that the picking robot has picked up the item 7 from the container 81. The sensor detects, for example, that the picking robot has moved the item 7 from the container 81 to the removal completion height. In the example of this embodiment, removal is considered to be complete when the item 7 has been moved to the removal completion height. The removal completion height is the height at which the bottom end of the item 7 is located above the upper edge of the container 81. The sensor is, for example, a laser range finder.

[0067] The take-out device controller 28 can be realized, for example, by one computer or a combination of multiple computers. The take-out device controller 28 communicates with the warehouse operations management system SY12 via wire or wirelessly. The take-out device controller 28 controls the motor 54 of the lifting device 24 and the motor 64 of the moving device 25 based on signals from the warehouse operations management system SY12, thereby controlling the lifting device 24 and the moving device 25.

[0068] In addition, the removal device controller 28 controls the holding unit 23, the moving device 25, and the lifting device 24 so that the holding unit 23 holds the container 81, the moving device 25 controls the holding unit 23 to move in the forward and backward directions, and then controls the lifting device 24 to move to a predetermined height.

[0069] In this embodiment, the holder 23 holds the container 81 by placing the container 81 on the arm 23a. That is, in this embodiment, controlling the holder 23 to hold the container 81 is equivalent to controlling the moving device 25 and the lifting device 24 so that the container 81 is placed on the arm 23a. In other words, in this embodiment, the holder 23 is indirectly controlled by controlling the moving device 25 and the lifting device 24.

[0070] Note that, for example, if the holding unit 23 is configured to include a suction pad and to hold the container 81 by creating a negative pressure in the suction pad with a pump, controlling the holding unit 23 means controlling the pump. Alternatively, if the holding unit 23 is configured to include a clamping unit and a drive unit that drives the clamping unit and to hold the container 81 by clamping the container 81 with the clamping unit, controlling the holding unit 23 means controlling the drive unit. In this way, if the holding unit 23 is configured to include a drive unit such as a pump or a motor, controlling the drive unit means controlling the holding unit 23.

[0071] As shown in Figure 3, the picker or picking robot system picks up the item 7 from the container 81 placed at the picking position and moves the picked item 7 to one of multiple sorting boxes that corresponds to the item 7.

[0072] 4, the transport shelf 3 is configured so that a plurality of containers 81 can be arranged in the vertical direction. The transport shelf 3 is configured so that it can be moved by a transport vehicle 4. The transport shelf 3 includes, for example, a plurality of containers 81 and a transport shelf main body 82 that stores the plurality of containers 81.

[0073] The plurality of containers 81 are placed on an upper surface 89 of the shelf portion 86. In other words, the shelf portion 86 corresponds to a storage portion that stores the containers. The plurality of containers 81 are configured to be able to store items 7 therein. The containers 81 are configured to allow the items 7 to be removed from above. The containers 81 are configured, for example, in the shape of a rectangular container that is open at the top.

[0074] The transport shelf body 82 is configured to be able to take in and out the containers 81 along the direction of movement of the holder 23 by the moving device 25. The transport shelf body 82 includes, for example, a shelf bottom plate 83, legs 84, support members 85, and a plurality of shelf portions 86.

[0075] The shelf bottom plate 83 forms a shelf bottom 83a that contacts the transport vehicle 4. The shape of the legs 84 relative to the shelf bottom plate 83 is appropriately formed. The legs 84 extend downward, for example, from a corner of the shelf bottom 83a of the shelf bottom plate 83. The length of the legs 84 (the height below the shelf (the height from the floor to the shelf bottom 83a of the shelf bottom plate 83)) is slightly longer than the minimum height of the transport vehicle 4. In other words, the legs 84 have a height that allows the transport vehicle 4 to be positioned. The legs 84 are spaced apart by a distance that allows the transport vehicle 4 to be positioned below the shelf bottom plate 83 by passing between the legs 84. Therefore, the transport vehicle 4 can slip under the shelf of the transport shelf 3 by passing between the legs 84 of the transport shelf 3.

[0076] In this embodiment, an example will be described in which four or more legs 84 extend downward from the shelf bottom 83a at the corner of the shelf bottom plate 83 so that the transport shelf 3 can stand upright stably on the floor surface. The number of legs 84 may be three as long as the transport shelf 3 can stand upright stably on the floor surface. Five or more legs 84 are also preferable.

[0077] The support members 85 are fixed to the shelf bottom plate 83, and a plurality of shelf plate portions 86 are fixed thereto. In this embodiment, for example, four support members 85 are used. As shown in FIG. 7, the four support members 85 are provided at the four corners of the shelf bottom 83a. The four support members 85 are, for example, members that are formed with an L-shaped cross section and are long in one direction.

[0078] The space between the rear pair of support members 85 and the space between the front pair of support members 85 have a width that allows the container 81 to pass through.

[0079] The multiple shelf portions 86 are fixed to the support member 85 at intervals in the vertical direction. The shelf portion 86 is large enough to place one or multiple containers 81 on it. In this embodiment, the shelf portion 86 is formed in the shape of a rectangular plate large enough to accommodate two containers 81 in the front-to-rear direction. The four corners of the multiple shelf portions 86 are fixed to the four support members 85.

[0080] 7 and 8, grooves 87, into which the arms 23a of the holder 23 can be placed, are formed in the upper surface 89 of the shelf portion 86, the number of which is the same as the number of arms 23a. The grooves 87 are formed so that the holder 23 can be inserted. The rear ends of the grooves 87 are open. The depth of the grooves 87 is set to be longer than the thickness of the arms 23a.

[0081] The groove 87 has a length that allows the arm 23a to be inserted to a position where the container 81 can be stably placed on the arm 23a. For example, the groove 87 has a length that allows the arm 23a to enter until the stopper 23b abuts against the container 81. The width of the groove 87 is set to a dimension larger than the width of the arm 23a. The width of the groove 87 has a movement allowance that allows the holder 23 to move in the width direction when all of the arms 23a are inserted into all of the grooves 87.

[0082] The groove 87 thus configured may be formed, for example, by fixing a plurality of rod members 88b to the plate member 88a. Alternatively, the groove 87 may be formed by performing cutting or the like on the upper surface 89 of the shelf board portion 86.

[0083] Next, the operation of the shelf processing system SY1 will be described. The warehouse management system SY11 receives orders from a higher-level server and notifies the warehouse operations management system SY12 of the orders. The warehouse operations management system SY12 manages and controls the storage and retrieval of transport shelves, containers, and items based on the orders. The warehouse control system SY13 controls the storage and retrieval of transport shelves, containers, and items based on the orders.

[0084] [Controlling removal from transport shelves] FIG. 9 is a flowchart showing an example of take-out control of the transport shelf 3 by the warehouse control system SY13 according to the embodiment.

[0085] 9, in order to remove the designated transport shelf 3 from the shelf storage area E1, the transport control unit 1311 of the processor 131 outputs a transport control signal S111 that causes the transport vehicle 4 to travel to the storage position P01 of the designated transport shelf 3 in the shelf storage area E1 (ST111). The communication interface 134 transmits the transport control signal S111 to the transport vehicle 4, and based on this transport control signal S111, the transport vehicle 4 travels to the storage position P01 that corresponds to the designated transport shelf 3 in the shelf storage area E1, stops, and lifts up the designated transport shelf 3, making the designated transport shelf 3 movable.

[0086] Next, the transport control unit 1311 outputs a transport control signal S112 (first transport control signal) that causes the transport vehicle 4 that has lifted the designated transport shelf 3 to travel from the storage position P01 of the designated transport shelf 3 in the shelf storage area E1 to the designated position P11 (ST112). The communication interface 134 transmits the transport control signal S112 to the transport vehicle 4, and based on this transport control signal S112, the transport vehicle 4 travels from the position of the designated transport shelf 3 in the shelf storage area E1 to the designated position P11, stops, and unloads the designated transport shelf 3 at the designated position P11.

[0087] If the transport control unit 1311 continues transport control (ST113, YES), it outputs a transport control signal S113 that causes the transport vehicle 4 to travel from the designated position P11 to the storage position P01 of the designated transport shelf 3 in the shelf storage area E1 (ST114). The communication interface 134 transmits the transport control signal S113 to the transport vehicle 4, and based on this transport control signal S113, the transport vehicle 4 travels from the designated position P11 to the storage position P01 of the designated transport shelf 3 in the shelf storage area E1, stops, and lifts the designated transport shelf 3, making the designated transport shelf 3 movable.

[0088] The transport control unit 1311 outputs a transport control signal S112 that causes the transport vehicle 4, which has lifted the designated transport shelf 3, to travel from the storage position P01 of the designated transport shelf 3 in the shelf storage area E1 to the designated position P11 (ST112). The communication interface 134 transmits the transport control signal S112 to the transport vehicle 4, and based on this transport control signal S112, the transport vehicle 4 travels from the position of the designated transport shelf 3 in the shelf storage area E1 to the designated position P11, stops, and unloads the designated transport shelf 3 at the designated position P11.

[0089] If the transport control unit 1311 does not continue the transport control (ST113, NO), the process ends. In this way, the specified transport vehicle 4 repeatedly takes out the designated transport shelf 3 from the shelf storage area E1.

[0090] [Controlling transport shelf take-back] FIG. 10 is a flowchart showing an example of take-back control of the transport shelf 3 by the warehouse control system SY13 according to the embodiment.

[0091] 10, in order to bring back the designated transport shelf 3 from the shelf storage area E1, the transport control unit 1311 of the processor 131 outputs a transport control signal S121 that causes the transport vehicle 4 to travel to the designated position P12 (ST121). The communication interface 134 transmits the transport control signal S121 to the transport vehicle 4, and based on this transport control signal S121, the transport vehicle 4 travels to a position corresponding to the designated transport shelf 3 at the designated position P12, stops, and lifts up the designated transport shelf 3, making it movable.

[0092] Next, the transport control unit 1311 outputs a transport control signal S122 (second transport control signal) that causes the transport vehicle 4, which has lifted the designated transport shelf 3, to travel from the position corresponding to the designated transport shelf 3 in the designated position P12 to the storage position P02 of the designated transport shelf 3 in the shelf storage area E1 (ST122). The communication interface 134 transmits the transport control signal S122 to the transport vehicle 4, and based on this transport control signal S122, the transport vehicle 4 travels from the position corresponding to the designated transport shelf 3 in the designated position P12 to the storage position P02 of the designated transport shelf 3 in the shelf storage area E1, stops, and unloads the designated transport shelf 3 at the storage position P02.

[0093] When the transport control unit 1311 continues transport control (ST123, YES), the transport control unit 1311 outputs a transport control signal S123 that causes the transport vehicle 4 to travel from the storage position P02 to a position corresponding to the designated transport shelf 3 at the designated position P12 (ST124). The communication interface 134 transmits the transport control signal S123 to the transport vehicle 4, and based on this transport control signal S123, the transport vehicle 4 travels from the storage position P02 to a position corresponding to the designated transport shelf 3 at the designated position P12, stops, lifts the designated transport shelf 3, and makes the designated transport shelf 3 movable.

[0094] The transport control unit 1311 outputs a transport control signal S122 that causes the transport vehicle 4, which has lifted the designated transport shelf 3, to travel from the position corresponding to the designated transport shelf 3 in the designated position P12 to the storage position P02 of the designated transport shelf 3 in the shelf storage area E1 (ST122). The communication interface 134 transmits the transport control signal S122 to the transport vehicle 4, and based on this transport control signal S122, the transport vehicle 4 travels from the position corresponding to the designated transport shelf 3 in the designated position P12 to the storage position P02 of the designated transport shelf 3 in the shelf storage area E1, stops, and unloads the designated transport shelf 3 at the storage position P02.

[0095] If the transport control unit 1311 does not continue the transport control (ST123, NO), the process ends. In this way, the specified transport vehicle 4 repeatedly brings back the designated transport shelf 3 to the shelf storage area E1.

[0096] For example, in cases where the storage location of the transport shelf 3 being taken out is different from the storage location of the transport shelf 3 being taken back, the transport efficiency of the transport shelf 3 can be improved by using a transport vehicle 4 specialized for taking out as shown in Figure 9 and a transport vehicle 4 specialized for taking back as shown in Figure 10.

[0097] [Controlling the loading and unloading of transport shelves] FIG. 11 is a flowchart showing an example of the loading / unloading control of the transport shelf 3 by the warehouse control system SY13 according to the embodiment. 11, the transport control unit 1311 outputs a transport control signal S131 that causes the transport vehicle 4 to travel to the storage position P01 of the designated transport shelf 3 in the shelf storage area E1 (ST131). The communication interface 134 transmits the transport control signal S131 to the transport vehicle 4, and based on this transport control signal S131, the transport vehicle 4 travels to the storage position P01 corresponding to the designated transport shelf 3 in the shelf storage area E1, stops, and lifts up the designated transport shelf 3, making the designated transport shelf 3 movable.

[0098] Next, the transport control unit 1311 outputs a transport control signal S132 (first transport control signal) that causes the transport vehicle 4 that has lifted the designated transport shelf 3 to travel from the storage position P01 of the designated transport shelf 3 in the shelf storage area E1 to the designated position P11 (ST132). The communication interface 134 transmits the transport control signal S132 to the transport vehicle 4, and based on this transport control signal S132, the transport vehicle 4 travels from the position of the designated transport shelf 3 in the shelf storage area E1 to the designated position P11, stops, and unloads the designated transport shelf 3 at the designated position P11.

[0099] Next, the transport control unit 1311 outputs a transport control signal S133 that causes the transport vehicle 4 to travel from the designated position P11 to the designated position P12 (ST133). The communication interface 134 transmits the transport control signal S133 to the transport vehicle 4, and based on this transport control signal S133, the transport vehicle 4 travels from the designated position P11 to a position corresponding to the designated transport shelf 3 at the designated position P12, stops, and lifts the designated transport shelf 3, making it movable.

[0100] Next, the transport control unit 1311 outputs a transport control signal S134 (second transport control signal) that causes the transport vehicle 4, which has lifted the designated transport shelf 3, to travel from the designated position P12 to the storage position P02 of the designated transport shelf 3 in the shelf storage area E1 (ST134). The communication interface 134 transmits the transport control signal S134 to the transport vehicle 4, and based on this transport control signal S134, the transport vehicle 4 travels from the designated position P12 to the storage position P02 of the designated transport shelf 3 in the shelf storage area E1, stops, and unloads the designated transport shelf 3 at the storage position P02.

[0101] If the transport control unit 1311 continues the transport control (ST135, YES), the transport control unit 1311 outputs a transport control signal S123 that causes the transport vehicle 4 to travel from storage position P02 to a position corresponding to the designated transport shelf 3 at storage position P01 (ST131). The communication interface 134 transmits the transport control signal S123 to the transport vehicle 4, and if the transport control unit 1311 does not continue the transport control (ST135, NO), the process ends.

[0102] The designated transport shelf 3 transported from storage position P01 to designated position P11 and the designated transport shelf 3 transported from designated position P12 to storage position P02 may be the same shelf or different shelves. Also, storage positions P01 and P02 may be the same location or different locations.

[0103] For example, in a case where the storage location of the transport shelf 3 being taken out and the storage location of the transport shelf 3 being taken back are the same, the transport efficiency of the transport shelf 3 can be improved by using a transport vehicle 4 that can handle both the taking out and the taking back, as shown in Figure 11.

[0104] [Container loading and unloading control] FIG. 12 is a flowchart showing an example of container loading and unloading control by the warehouse operations management system SY12 according to the embodiment.

[0105] The take-in mechanism 11 detects the designated transport shelf 3 placed at the designated position P11 and takes in the designated transport shelf 3 using a conveyor or the like (ST201). The take-in mechanism 11 takes in the designated transport shelves 3 placed at the designated position P11 one after another. The entry / exit control unit 1211 sends a take-out control signal to the picking station system 2 via the communication interface 124. The take-out device 12a of the picking station system 2 receives the take-out control signal from the entry / exit control unit 1211 and takes out the designated container 81 stored in the designated storage unit of the designated transport shelf 3 based on the received take-out control signal (ST202). The take-out device 12a takes out the designated container 81 one after another from the designated transport shelf 3 taken in by the take-in mechanism 11.

[0106] The container transport unit 13 detects a designated container 81 removed from a designated transport shelf 3 and transports the designated container 81 using a conveyor or the like (ST203). The container transport unit 13 transports a maximum of N (N≧2, N: integer) designated containers 81. The shelf transport unit 14 detects a designated transport shelf 3 from which a designated container 81 has been removed and transports the designated transport shelf 3 using a conveyor or the like (ST204). The shelf transport unit 14 transports a maximum of M (M≧N≧2, M: integer) transport shelves 3.

[0107] The transport shelf 3 has multiple storage sections of different vertical heights, and each storage section can store one or more containers. That is, the heights of the containers 81 stored on the transport shelf 3 vary depending on the storage position. For example, the container transport section 13 is arranged at a constant height along the picking lane. That is, the height of the containers 81 transported by the container transport section 13 is constant. This constant height reduces the burden on the picking work of the picker.

[0108] For example, assuming that multiple designated containers 81 are removed from one designated transport shelf 3, the maximum number of designated containers 81 transported by the container transport unit 13 is set to be greater than the maximum number of designated transport shelves 3 transported by the shelf transport unit 14. Furthermore, the shelf transport unit 14 transports multiple transport shelves 3 at a first transport speed, and the container transport unit 13 transports multiple designated containers 81 at a second transport speed. The first transport speed and the second transport speed may be the same or different. For example, when there are many pickers, the speed setting causes the container transport unit 13 to increase the second transport speed and transport the designated containers 81 at a high speed. Conversely, when there are few pickers, the speed setting causes the container transport unit 13 to decrease the second transport speed and transport the designated containers 81 at a low speed.

[0109] The entry / exit control unit 1211 transmits a return control signal to the picking station system 2 via the communication interface 124. The return device 12b of the picking station system 2 receives the return control signal from the entry / exit control unit 1211, and returns the designated container 81 to the designated storage unit of the designated transport shelf 3 based on the received return control signal (ST205). The return device 12b receives the designated transport shelf 3 transported by the shelf transport unit 14, and also receives the designated container 81 transported by the container transport unit 13, and sends the designated container 81 to the designated storage unit of the received designated transport shelf 3.

[0110] The discharge mechanism 16 detects the designated transport shelf 3 to which the designated container 81 has been returned, and discharges the designated transport shelf 3 to the designated position P12 by a conveyor or the like (ST206).

[0111] According to the present embodiment, it is possible to provide a shelf processing system, a shelf transport control system, and a shelf transport control method that can improve the efficiency of shelf processing and reduce the burden on personnel.

[0112] For example, the picking station system 2 transports the transport shelves 3 that are sequentially loaded, but can transport up to N transport shelves 3 simultaneously, and also transports the containers 81 that are sequentially removed, but can transport up to M containers 81 simultaneously. In other words, the picking station system 2 functions as a buffer that can simultaneously hold up to N transport shelves 3, and also functions as a buffer that can simultaneously hold up to M containers 81. The buffer function can reduce the waiting time for picking work.

[0113] Furthermore, the picking station system 2 transports the multiple transport shelves 3 at a first transport speed, and transports the multiple containers 81 along the picking lane at a second transport speed. For example, by adjusting the second transport speed according to the number of pickers, it is possible to ensure an appropriate picking operation time and reduce the waiting time for picking operation.

[0114] Furthermore, the picking station system 2 transports containers taken out from designated storage sections of the transport shelf 3 having multiple storage sections of different heights, i.e., containers taken out from positions of different heights, at a constant height along the picking lane. This relieves the picker from the task of climbing a ladder to pick a container from a high position or bending over to pick a container from a low position, thereby reducing the workload of the picker.

[0115] Furthermore, in the shelf processing system SY1, by separating the processing of the transport shelves 3 by the transport vehicles 4 from the processing of the transport shelves 3 by the picking station system 2, the transport vehicles 4 can transport the transport shelves 3 without being affected by the picking work, and the picking station system 2 can also perform picking work without waiting for the transport shelves 3 by the transport vehicles 4 due to the buffer described above, thereby improving the operating efficiency of the entire system.

[0116] In this embodiment, the case where the shelf processing system SY1 is applied to picking work (shipping work) at a picking station has been described, but this is not limited to this, and the shelf processing system SY1 can also be applied to receiving work in which items 7 are placed into containers 81.

[0117] Although several embodiments of the present invention have been described, these embodiments are presented as examples and are not intended to limit the scope of the invention. These novel embodiments can be embodied in various other forms, and various omissions, substitutions, and modifications can be made without departing from the spirit of the invention. These embodiments and their modifications are included within the scope and spirit of the invention, and are also included in the scope of the invention and its equivalents as defined in the claims. The inventions described in the claims of the present application as originally filed are as follows: [Appendix 1] a receiving unit that receives a transport shelf transported by one or more transport vehicles that transport a transport shelf having a plurality of storage units; a shelf transport unit that transports the transport shelf taken in by the take-in unit; a take-out device that takes out a container from a storage unit of the transport shelf that is taken in by the take-in unit; a container conveying unit that conveys the containers to be taken out by the take-out device; a return device that returns the container to the transport shelf that is transported by the shelf transport unit; A shelf processing system comprising: [Appendix 2] the shelf transport unit transports a plurality of transport shelves at a first transport speed; 2. The shelf processing system of claim 1, wherein the container conveying unit conveys the plurality of containers along the picking lane at a second conveying speed. [Appendix 3] 3. The shelf processing system of claim 1, wherein the removal device removes a container from a designated storage section of a transport shelf having a plurality of storage sections of different heights and supplies the container to the container transport section. [Appendix 4] 4. The shelf processing system of any one of appendixes 1 to 3, comprising: a control system that transmits a removal control signal to the removal device to remove a container from a storage section of the transport shelf, and transmits a return control signal to the return device to return the container to the storage section of the transport shelf. [Appendix 5] the control system transmits to the transport vehicle a first transport control signal for transporting the transport shelf from a shelf storage area to a first designated position and a second transport control signal for transporting the transport shelf from a second designated position to the shelf storage area; 5. The shelf processing system of claim 4, wherein the shelf transport unit takes in a transport shelf to be transported to the first designated position and discharges the transport shelf to the second designated position. [Appendix 6] a first control device that outputs a first transport control signal to one or more transport vehicles that transport a transport shelf having a plurality of storage units, causing the transport shelf to be transported from a shelf storage area to a first specified position, and outputs a second transport control signal to be transported from a second specified position to the shelf storage area; a second control device that outputs an inlet / outlet control signal to a container processing system that causes the container processing system to load the transport shelf at the first specified position, remove containers from the storage units of the loaded transport shelf, transport the plurality of transport shelves and the plurality of containers independently, return the containers to the storage units of the transport shelf to which the containers were transported, and eject the transport shelf to which the containers were returned; A shelf transport control system comprising: [Appendix 7] outputting a first transport control signal to one or more transport vehicles that transport a transport shelf having a plurality of storage sections, for transporting the designated transport shelf from a shelf storage area to a first designated position, and outputting a second transport control signal to transport the designated transport shelf from a second designated position to the shelf storage area; A shelf transport control method that outputs a take-out control signal to a container processing system that takes in a transport shelf at the first designated position and discharges the transport shelf to the second designated position, causing the system to take out a designated container from a designated storage section of the designated transport shelf, and outputs a return control signal to return the designated container to the designated storage section of the designated transport shelf. [Explanation of symbols]

[0118] E1: Shelf storage area SY1...Shelf processing system SY11...Warehouse management system SY12...Warehouse operation management system SY13...Warehouse operation management system SY13...Warehouse control system 2. Picking station system 3...Transport shelf 4...Transport vehicle 7...Goods 11...Uptake mechanism 12a...Removal device 12b...Return device 13...Container conveying section 14...Shelf transport section 16...Ejection mechanism 21...Case 23...Holding part 23a...Arm 23b...Stopper 24...Lifting device 25...Moving device 28...Removal device controller 31...bottom 32...Column part 33...Ceiling 34...legs 35...Column member 51...Rail 52...Lifting section 53...Drive unit 54...Motor 55...Transmission mechanism 56...Shaft 57...First pulley 58...Second pulley 59...Belt 61...Base 62...Moving section 63...Drive unit 64...Motor 65...Transmission mechanism 81...Container 82...Transport shelf body 83…Shelf bottom plate 83a…Shelf bottom 84...legs 85...Support member 86...Shelf section 89…Top surface 91...Shelf lift mechanism 121...Processor 122...Main memory 123...Auxiliary storage device 124...Communication interface 131...Processor 132...Main memory 133...Auxiliary storage device 134...Communication interface 1211...Transport control unit 1211...Entry and Exit Control Unit 1311...Transport control unit

Claims

1. a receiving unit that receives a transport shelf transported by one or more transport vehicles that transport a transport shelf having a plurality of storage units; a shelf transport unit that transports the transport shelf taken in by the take-in unit; a take-out device that takes out a container from a storage unit of the transport shelf that is taken in by the take-in unit; a container conveying unit that conveys the containers to be taken out by the take-out device; a return device that returns the container to the transport shelf that is transported by the shelf transport unit; A shelf processing system comprising:

2. the shelf transport unit transports a plurality of transport shelves at a first transport speed; The shelf processing system of claim 1 , wherein the container transport section transports the plurality of containers along the picking lane at a second transport speed.

3. 3. The shelf processing system according to claim 1, wherein the take-out device takes out a container from a designated storage section of a transport shelf having a plurality of storage sections at different heights, and supplies the container to the container transport section.

4. 4. The shelf processing system of claim 1, further comprising: a control system that transmits a removal control signal to the removal device to remove a container from a storage section of the transport shelf, and transmits a return control signal to the return device to return the container to the storage section of the transport shelf.

5. the control system transmits to the transport vehicle a first transport control signal for transporting the transport shelf from a shelf storage area to a first designated position and a second transport control signal for transporting the transport shelf from a second designated position to the shelf storage area; The shelf processing system according to claim 4 , wherein the shelf transport unit takes in the transport shelf to be transported to the first designated position and discharges the transport shelf to the second designated position.

6. a first control device that outputs a first transport control signal to one or more transport vehicles that transport a transport shelf having a plurality of storage units, causing the transport shelf to be transported from a shelf storage area to a first designated position, and outputs a second transport control signal to be transported from a second designated position to the shelf storage area; a second control device that outputs an inlet / outlet control signal to a container processing system that causes the container processing system to load the transport shelf at the first designated position, remove containers from the storage units of the loaded transport shelf, transport the plurality of transport shelves and the plurality of containers independently, return the containers to the storage units of the transport shelf to which the containers were transported, and eject the transport shelf to which the containers were returned; A shelf transport control system comprising:

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