Automated Warehouse System

Abstract

To provide an automatic warehouse system that allows efficient electric power supply to a dolly to charge the battery mounted on the dolly.SOLUTION: The automatic warehouse system that can store a cargo 12, comprises: a first dolly 14 that can carry the cargo 12 and moves to a first direction; a predetermined part that can carry the first dolly 14 and moves to a second direction intersecting the first direction. Power charge is performed from the predetermined part to the dolly 14 while the first dolly 14 is carried by the predetermined part.SELECTED DRAWING: Figure 1

Description

[Technical Field]

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

[0002] Automated warehouse systems that can efficiently store and retrieve a large number of items in a small space are known. Various configurations have been proposed for automated warehouse systems. For example, Patent Document 1 describes a warehouse in a large warehouse or the like that has multiple storage shelves that can store multiple items, and that is equipped with a transport vehicle that carries specified items into or out of a specified storage section on the storage shelves. The transport vehicle described in Patent Document 1 travels on installed rails and can access the specified storage shelf. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Laid-Open No. 2015-157683 Summary of the Invention [Problem to be solved by the invention]

[0004] The present inventor has come to the following realization regarding automated warehouse systems. In an automated warehouse system, in order to automate the loading and unloading of goods onto storage shelves, rails connected to each shelf can be installed, and goods can be transported by a self-propelled cart on these rails. Such a cart can be configured to use a motor powered by a battery mounted on the vehicle body to rotate the wheels. In this case, the onboard battery needs to be charged appropriately depending on the amount of operation of the cart. When the onboard battery is charged, the cart cannot move during that period, which reduces the cart's operating rate, and ultimately reduces the operating efficiency of the automated warehouse system.

[0005] The transporting vehicle described in Patent Document 1 is configured so that an opening is provided in the platform of the vehicle, and the battery can be replaced through this opening. However, with this transporting vehicle, it is necessary to temporarily retrieve the vehicle, replace the battery manually, and then return it to the rail, which poses a problem of time and effort required for battery replacement. From these findings, the inventor recognized that there is room for improvement in automated warehouse systems in terms of enabling efficient power supply to carts in order to charge the batteries mounted on the carts.

[0006] The present invention has been made in view of the above problems, and an object of the present invention is to provide an automated warehouse system that enables efficient power supply to carts. [Means for solving the problem]

[0007] In order to solve the above problems, an automated warehouse system according to one aspect of the present invention is an automated warehouse system capable of storing loads, and includes a first cart capable of carrying loads and moving in a first direction, and a predetermined unit capable of carrying the first cart and moving in a second direction intersecting the first direction. The first cart is equipped with a battery, and when the first cart is mounted on the predetermined unit, the battery is charged from the predetermined unit.

[0008] According to this aspect, the first carriage can charge the onboard battery when it is located on the predetermined portion.

[0009] Another aspect of the present invention is also an automated warehouse system. This automated warehouse system is capable of storing loads and includes a first cart that can carry the load and moves in a first direction, and a predetermined unit that can carry the first cart and moves in a second direction intersecting the first direction. Power is supplied to the first cart from the predetermined unit when the first cart is loaded on the predetermined unit.

[0010] According to this aspect, the first bogie is supplied with power from the predetermined portion, and therefore can travel or charge the on-board battery using the power supplied at the predetermined portion.

[0011] Any combination of the above components, or mutual substitution of the components or expressions of the present invention between methods, systems, etc., are also valid aspects of the present invention. [Effects of the Invention]

[0012] According to the present invention, it is possible to provide an automated warehouse system that enables efficient power supply to carts. [Brief explanation of the drawings]

[0013] [Figure 1] 1 is a plan view schematically illustrating an example of an automated warehouse system according to an embodiment. [Figure 2] FIG. 2 is a plan view showing the arrangement of storage shelves in the automated warehouse system of FIG. [Figure 3] FIG. 2 is a front view schematically showing the automated warehouse system of FIG. 1. [Figure 4] FIG. 2 is a front view showing the arrangement of storage shelves in the automated warehouse system of FIG. [Figure 5] 2 is a plan view schematically showing an example of a first carriage of the automated warehouse system of FIG. 1. FIG. [Figure 6] FIG. 6 is a side view of the first carriage of FIG. 5. [Figure 7] 2 is a plan view schematically showing an example of a second carriage of the automated warehouse system of FIG. 1. FIG. [Figure 8] FIG. 8 is a side view of the second carriage of FIG. 7. [Figure 9] FIG. 2 is a block diagram illustrating an example of the configuration of the automated warehouse system of FIG. 1. [Figure 10] 2 is a flowchart showing an example of a charging operation of the automated warehouse system of FIG. 1. [Figure 11] FIG. 10 is a plan view schematically showing an example of a stacker crane according to a second embodiment. [Figure 12] FIG. 12 is a side view of the stacker crane of FIG. 11. DETAILED DESCRIPTION OF THE INVENTION

[0014] The present invention will be described below based on preferred embodiments with reference to the drawings. In the embodiments, comparative examples, and modified examples, identical or equivalent components and members are designated by the same reference numerals, and redundant explanations will be omitted where appropriate. Furthermore, the dimensions of the members in each drawing are enlarged or reduced as appropriate for ease of understanding. Furthermore, some members that are not important for explaining the embodiments in each drawing are omitted. Furthermore, terms including ordinal numbers such as first and second are used to describe various components, but these terms are used only to distinguish one component from another and do not limit the components.

[0015] [First embodiment] The configuration of an automated warehouse system 100 according to the first embodiment will be described with reference to the drawings. FIG. 1 is a plan view that schematically shows an example of the automated warehouse system 100 according to the first embodiment. FIG. 2 is a plan view that shows the arrangement of storage shelves 20 in the automated warehouse system 100. FIG. 3 is a front view that schematically shows the automated warehouse system 100. FIG. 4 is a front view that shows the arrangement of storage shelves 20 in the automated warehouse system 100. In these figures, pillars, beams, and the like that are not important for the explanation are omitted, and the same applies to the following figures.

[0016] For ease of explanation, an XYZ Cartesian coordinate system is defined as shown in the figure, with a horizontal direction defined as the X direction, a horizontal direction perpendicular to the X direction defined as the Y direction, and a direction perpendicular to both, i.e., the vertical direction, defined as the Z direction. Note that, although the following explanation will be given using the XYZ Cartesian coordinate system, the X, Y, and Z directions do not necessarily have to be perpendicular to one another; they may intersect at approximately 90 degrees. The positive direction of each of the X, Y, and Z axes is defined as the direction of the arrow in each figure, and the negative direction is defined as the direction opposite to the arrow. The positive side of the X axis is sometimes referred to as the "right side," and the negative side of the X axis is sometimes referred to as the "left side." The positive side of the Y axis is sometimes referred to as the "front side," the negative side of the Y axis is sometimes referred to as the "rear side," the positive side of the Z axis is sometimes referred to as the "upper side," and the negative side of the Z axis is sometimes referred to as the "lower side." These directional notations do not limit the configuration of the automated warehouse system 100; the automated warehouse system 100 can be used in any configuration depending on the application.

[0017] First, the overall configuration of the automated warehouse system 100 will be described. The automated warehouse system 100 is a system including a storage shelf 20 capable of storing a large number of items 12. The automated warehouse system 100 includes the storage shelf 20, a first cart 14, a second cart 16, a first rail 40, a second rail 44, a power supply unit 50, a power supply unit 52, a charging unit 54, and a control unit 18. The storage shelf 20 stores the items 12. In the first embodiment, the X-axis direction is illustrated as an example of the first direction. The first rail 40 is connected to the storage unit 26 and extends in the X-axis direction. The power supply unit 50 includes a power supply line 36 that extends in the Y-axis direction near the second rail 44. The power supply unit 52 supplies power to the power supply unit 50. The charging unit 54 charges a battery mounted on the first cart 14, which will be described later.

[0018] The first carriage 14 travels on the first rail 40 in the X-axis direction. The second carriage 16 travels on the second rail 44 in the Y-axis direction. The first carriage 14 and the second carriage 16 are sometimes collectively referred to simply as carriages. Furthermore, the first carriage 14, the second carriage 16, the first rail 40, and the second rail 44 are sometimes collectively referred to simply as the "internal transport mechanism." The control unit 18 controls the operation of the first carriage 14 and the second carriage 16.

[0019] In the first embodiment, the load 12 is handled while placed on the pallet 12p, but this is not limiting, and the load 12 may be handled independently without using a pallet. Transporting the load 12 while placed on the pallet 12p is simply referred to as transporting the load 12.

[0020] The loading and unloading operations of the automated warehouse system 100 will be described. The automated warehouse system 100 loads the goods 12 from outside the warehouse into the receiving section 30, for example, by a forklift (not shown). The automated warehouse system 100 transports the goods 12 loaded into the receiving section 30 to a predetermined storage section 26 for storage by an internal transport mechanism including a first cart 14 and a second cart 16. The automated warehouse system 100 transports the goods 12 stored in the predetermined storage section 26 to an unloading section 32 by the internal transport mechanism. The automated warehouse system 100 unloads the goods 12 loaded to the unloading section 32 outside the warehouse, for example, by a forklift.

[0021] (storage shelf) The storage shelf 20 is a so-called high-density storage space capable of storing a large number of items 12. The configuration of the storage shelf 20 is not particularly limited as long as it is capable of accommodating and storing a plurality of items 12. In this example, the storage shelf 20 includes multiple (e.g., three) storage stages 22 stacked in layers in the vertical direction. Each storage stage 22 includes multiple (e.g., six) storage rows 24 aligned in the Y-axis direction, and each storage row 24 includes multiple (e.g., six) storage sections 26 connected in the X-axis direction. The storage section 26 is a unit for storing the items 12. An entrance / exit section 24b for loading and unloading the items 12 is provided at the end of each storage row 24 on the second rail 44 side.

[0022] Here, each of the multiple storage stages 22 is provided with an entry section 30 and an exit section 32, and goods 12 may be carried in and out of each storage stage 22 by a forklift. Alternatively, each storage stage 22 may be provided with a separate lifting mechanism (not shown) for raising and lowering goods, and the entry section 30 and the exit section 32 may be provided only on the lowest storage stage 22. In this case, goods 12 received from the entry section 30 are raised by the lifting mechanism and moved to each storage stage 22, and goods 12 unloaded from each storage stage 22 are lowered by the lifting mechanism and unloaded to the exit section 32.

[0023] (rail) The first rail 40 extends in the X-axis direction in the storage row 24. The second rail 44 extends in the Y-axis direction near the entrance / exit section 24b of the storage row 24. The first rail 40 and the second rail 44 are sometimes collectively referred to simply as rails. In this specification, a rail is a member or part having a rolling surface for wheels configured to run a cart in the direction of its extension. Therefore, the rail may be a rail having a rolling surface formed on a rod-shaped or strip-shaped member, or a rail having a rolling surface formed on a flat surface.

[0024] (First bogie) Next, the first carriage 14 will be described with reference to Figures 5 and 6. Figure 5 is a plan view that schematically shows an example of the first carriage 14. Figure 6 is a side view of the first carriage 14. The first carriage 14 travels on the first rail 40 in the X-axis direction within the storage row 24 to transport the load 12. The first carriage 14 takes the load 12 in and out of the storage section 26. The first carriage 14 travels on the second carriage 16 in the X-axis direction to get on and off the second carriage 16.

[0025] The first bogie 14 mainly includes a car body 14b, a platform 14c, a lift mechanism 14d, a plurality of (e.g., four) wheels 14f, a power receiving terminal 46, and a battery 28. The car body 14b has a generally rectangular parallelepiped shape that is flat in the vertical direction. Inside the car body 14b, a motor (not shown) that drives the plurality of wheels 14f, a control circuit (not shown) that controls the motor, and a battery 28 are mounted. The first bogie 14 is configured to drive the motor using power from the battery 28. The battery 28 may be a secondary battery such as a repeatedly rechargeable lithium-ion battery. The first bogie 14 is configured to charge the battery 28 using power supplied from the second bogie 16, which will be described later.

[0026] The placing section 14c is a section that lifts and holds the load 12. The lift mechanism 14d is a mechanism that raises and lowers the placing section 14c. In FIG. 6, the placing section 14c shown by the dashed line is in a raised state, and the placing section 14c shown by the solid line is in a lowered state. The lift mechanism 14d can raise the placing section 14c to lift the load 12 from the storage section 26. The lift mechanism 14d can lower the placing section 14c to unload the load 12 into the storage section 26. The multiple wheels 14f run on the first rail 40 and the second bogie 16.

[0027] (power receiving terminal) The power receiving terminal 46 electrically contacts the power supply terminal 42 of the second bogie 16 (described later) and functions as an electrode that receives power for charging the battery 28. For example, the power receiving terminal 46 may include a power receiving terminal 46b and a power receiving terminal 46c provided on both sides of the car body 14b. For example, the power receiving terminal 46 may include a power receiving terminal 46d and a power receiving terminal 46e provided on the bottom surface of the outside of the car body 14b. For convenience of explanation, both a pair of power receiving terminals 46b and 46c and a pair of power receiving terminals 46d and 46e are shown in FIGS. 5 and 6 . However, only one pair or both pairs may be provided. The shape of the power receiving terminal 46 is not particularly limited. In this example, the center portion of the power receiving terminal 46 has a spherical surface that protrudes toward the other terminal. While the power receiving terminal 46 has a spherical surface in this example, the power supply terminal 42 (described later) may also have a spherical surface.

[0028] (biasing mechanism) At least one of the power feeding terminal 42 and the power receiving terminal 46 may be biased toward the other. For example, the power receiving terminal 46 may be biased toward the power feeding terminal 42. As an example, the power receiving terminal 46 may be supported so as to be movable vertically or horizontally toward the power feeding terminal 42 and biased by a biasing member. In the example shown in FIG. 6 , the power receiving terminal 46d is housed in a housing 46h so as to be movable up and down, and the power receiving terminal 46d is biased downward by a coil spring 46j provided in the housing 46h. The power receiving terminal 46d is positioned so that when it comes into contact with the power feeding terminal 42, it moves upward and applies downward contact pressure to the power feeding terminal 42. In this case, applying contact pressure to the power receiving terminal 46 against the power feeding terminal 42 stabilizes the contact between the power receiving terminal 46 and the power feeding terminal 42. The power receiving terminals 46b, 46c, and 46e are configured in a similar manner.

[0029] (Second bogie) Next, the specified part will be described. In the first embodiment, the specified part is the second bogie 16, and the second direction is the Y-axis direction. As described above, the Y-axis direction horizontally intersects the X-axis direction. The second bogie 16 will be described with reference to FIGS. 7 and 8. FIG. 7 is a plan view schematically showing an example of the second bogie 16. FIG. 8 is a side view of the second bogie 16. The second bogie 16 travels on the second rail 44 in the Y-axis direction. The second bogie 16 transports the first bogie 14 in an empty state or when it is loaded with a load 12.

[0030] The second bogie 16 mainly includes a car body 16b, a recess 16c, a plurality of wheels 16f, a current collecting unit 38, and a power supply terminal 42. The car body 16b has a contour of a generally rectangular parallelepiped that is flat in the vertical direction. Inside the car body 16b, a motor (not shown) that drives each wheel 16f and a control circuit (not shown) that controls the motor are mounted. The wheels 16f run on a second rail 44. The current collecting unit 38 is in contact with a power supply line 36, which will be described later, and receives a supply of power. The second bogie 16 receives power from the power supply line 36 via the current collecting unit 38. The second bogie 16 is configured to drive the motor with the received power and also supply power to the first bogie 14.

[0031] (Power supply unit) The power supply unit is a component for supplying power to the second bogie 16. The second bogie 16 may be configured to be constantly powered by the power supply unit. Therefore, the power supply unit is configured to be able to constantly supply power to the second bogie 16. In the first embodiment, the power supply unit is exemplified by the power feeder 36 extending along the axial direction. As described above, the power feeder 36 extends along the Y-axis direction near the second rail 44. The power feeder 36 functions as a contact wire that supplies power to the second bogie 16 through the current collecting unit 38. The power feeder 36 is sometimes referred to as a contact wire.

[0032] (Power supply part) Power supply unit 52 supplies power to power feeding unit 50. For example, power supply unit 52 may include a converter that converts the voltage of a commercial power source into a voltage that can be supplied to power feeding unit 50, or may include a generator that generates a predetermined voltage. Power supply unit 52 of this embodiment includes a transformer (not shown) that converts the AC voltage from the commercial power source into the predetermined voltage, a rectifier circuit (not shown), and the like.

[0033] (Charging part) The charging unit 54 functions as a charging station for charging the battery 28 mounted on the first cart 14. The charging unit 54 may be located anywhere that allows charging of the first cart 14. As shown in FIG. 1 , the charging unit 54 in this embodiment is provided adjacent to the end 24c of a predetermined storage row 24 on the side opposite the entrance / exit 24b. By providing the charging unit 54, the first cart 14 can be charged by both the second cart 16 and the charging unit 54. For example, while one first cart 14 is being charged by the second cart 16, another first cart 14 can be charged by the charging unit 54, thereby shortening the waiting time for charging.

[0034] The charging unit 54 has charging terminals 56d, 56e for supplying charging power to the first carriage 14. The charging terminals 56d, 56e are arranged in positions corresponding to the power receiving terminals 46d, 46e of the first carriage 14 when the first carriage 14 is stopped at the predetermined charging position 24d. As shown in FIG. 1, the charging terminals 56d, 56e are provided at different positions in the X-axis direction. As shown in FIG. 1, the charging terminals 56d, 56e are located at different positions in the X-axis direction, and the distance between the terminals is greater than when the terminals are located at the same position. This reduces the possibility of a short circuit even if a conductive foreign object adheres to one of the terminals. The charging terminals 56d, 56e are collectively referred to as charging terminals 56.

[0035] The charging unit 54 may be provided in a plurality of storage rows 24, or in each of all storage rows 24. In this case, a plurality of first carriages 14 can be charged at the same time. Also, the travel distance for charging the first carriages 14 can be shortened. The charging unit 54 may be provided in a predetermined one storage stage 22, or in a plurality of storage stages 22, or in all storage stages 22. In this case, the first carriages 14 can be charged at a plurality of storage stages 22 at the same time. Also, the travel distance for charging the first carriages 14 can be shortened.

[0036] (recess) The second bogie 16 has a concave recess 16c for mounting the first bogie 14. The recess 16c is recessed downward from the upper surface of the carbody 16b to mount the first bogie 14. The size of the recess 16c is determined by adding a sufficient margin to the size of the first bogie 14 so that the first bogie 14 can travel in the X-axis direction without interfering with the surrounding area of ​​the recess 16c. The first bogie 14 travels on the recess 16c. The inside of the recess 16c has a bottom 16h extending on the lower flat surface and a pair of sidewalls 16j extending upward from both sides of the bottom 16h in the Y-axis direction. The bottom 16h is part of the travel path along which the first bogie 14 travels in the X-axis direction. The pair of sidewalls 16j face the sidewalls of the carbody 14b of the first bogie 14 in the Y-axis direction with a narrow gap between them.

[0037] (power supply terminal) The second bogie 16 is configured to be able to supply power to the first bogie 14. When the second bogie 16 is moving in the Y-axis direction and when the second bogie 16 is stopped, power is supplied from the second bogie 16 to the first bogie 14.

[0038] The second carriage 16 has a power supply terminal 42 for supplying power to the first carriage 14. The power supply terminal 42 includes multiple power supply terminals provided at different positions in the X-axis direction. In this case, the distance between each terminal can be increased, which reduces the possibility of a short circuit occurring between the multiple power supply terminals even if a conductive member falls into the recess 16c. The multiple power supply terminals may be arranged at positions sandwiching the center of the bottom 16h in the X-axis and Y-axis directions.

[0039] The power supply terminal 42 includes power supply terminals 42b and 42c provided on each side wall portion 16j inside the recess 16c. The power supply terminals 42b and 42c are provided at different positions in the X-axis direction. In this example, the power supply terminal 42b is provided on the side wall portion 16j on the positive side of the Y-axis, near the end on the positive side of the X-axis. The power supply terminal 42c is provided on the side wall portion 16j on the negative side of the Y-axis, near the end on the negative side of the X-axis. The power supply terminals 42b and 42c are provided at positions corresponding to the power receiving terminals 46b and 46c of the first bogie 14, respectively. The power supply terminals 42b and 42c are provided at different positions in the Z-axis direction. In this example, the power supply terminal 42b is provided at a higher position in the Z-axis direction than the power supply terminal 42c.

[0040] The power supply terminal 42 includes power supply terminals 42d and 42e provided on the bottom 16h inside the recess 16c. The power supply terminals 42d and 42e are provided at different positions in the X-axis direction. In this example, the power supply terminal 42d is located on the positive X-axis side of the bottom 16h, closer to the negative Y-axis side. The power supply terminal 42e is located on the negative X-axis side of the bottom 16h, closer to the positive Y-axis side. The power supply terminals 42d and 42e are provided at positions corresponding to the power receiving terminals 46d and 46e of the first bogie 14, respectively. By differentiating the positions of the power supply terminals 42d and 42e in the X-axis direction, the distance between the power supply terminals can be increased compared to when the power supply terminals are located at the same position. Therefore, even if a conductive foreign object is introduced into the second bogie 16, the foreign object can electrically connect the power supply terminals, reducing the possibility of a short circuit.

[0041] There are no particular limitations on the shapes of the power supply terminals 42b, 42c, 42d, and 42e. In this example, the power supply terminals 42b and 42c are plate-shaped electrodes parallel to the XZ plane, and the power supply terminals 42d and 42e are plate-shaped electrodes parallel to the XY plane. The power supply terminals 42b and 42c have long sides along the X-axis direction and short sides along the Z-axis direction. The power supply terminals 42d and 42e have long sides along the X-axis direction and short sides along the Y-axis direction. Because these terminals are long in the X-axis direction, contact with the power receiving terminal 46 can be ensured and power can be supplied even when the stopping position of the first bogie 14 is not precisely positioned.

[0042] In order to improve the stopping position accuracy of the first bogie 14, it is conceivable to reduce the movement speed of the first bogie 14, but in this case, there is a concern that the operating efficiency of the first bogie 14 may decrease. Therefore, in the first embodiment, the range in the X-axis direction of the power supply terminals 42b, 42c, 42d, and 42e is set to be at least twice the stopping position accuracy of the first bogie 14. As an example, if the stopping position accuracy of the first bogie 14 is ±15 mm, the range in the X-axis direction of the power supply terminals 42b, 42c, 42d, and 42e may be set to be at least 30 mm. In this case, it is possible to prevent a decrease in the operating efficiency of the first bogie 14.

[0043] For ease of explanation, Figures 7 and 8 show both a pair of power supply terminals 42b and 42c and a pair of power supply terminals 42d and 42e, but it is also possible to provide only one pair or both pairs.

[0044] The first bogie 14 is configured to receive power from the second bogie 16 while the second bogie 16 is moving in the second direction. In this case, charging can be performed while the second bogie 16 is moving, compared to when power is not supplied while the second bogie 16 is moving, and therefore the time required to charge the first bogie 14 can be shortened.

[0045] Other configurations of the automated warehouse system 100 will be described with reference to FIG. 9. FIG. 9 is a block diagram that schematically illustrates an example of the configuration of the automated warehouse system 100. As shown in FIG. 9, the automated warehouse system 100 includes a first detector 14g and a second detector 16g. The first detector 14g detects the position of the first carriage 14 in the X-axis direction on the first rail 40 and the second carriage 16, and provides the detection result to the control unit 18. The first detector 14g may be various sensors or a stereo camera provided in the first carriage 14. The second detector 16g detects the position of the second carriage 16 in the Y-axis direction on the second rail 44, and provides the detection result to the control unit 18. The second detector 16g may be various sensors or a stereo camera provided in the second carriage 16.

[0046] (Control unit) The control unit 18 will now be described. The control unit 18 controls the operations of the first carriage 14 and the second carriage 16. Each block of the control unit 18 shown in Fig. 9 can be realized in hardware by elements or mechanical devices such as a computer's MPU (Micro Processing Unit), and in software by a computer program, etc., but here, functional blocks realized by the cooperation of these elements are depicted. Therefore, those skilled in the art who have read this specification will understand that these functional blocks can be realized in various ways by combining hardware and software.

[0047] The control unit 18 mainly includes a first bogie position acquisition unit 18b, a second bogie position acquisition unit 18c, a first bogie control unit 18e, a second bogie control unit 18f, and a power supply control unit 18g. The first bogie position acquisition unit 18b acquires the position of the first bogie 14 in the X-axis direction from the first detection unit 14g. The second bogie position acquisition unit 18c acquires the position of the second bogie 16 in the Y-axis direction from the second detection unit 16g. The first bogie control unit 18e controls the traveling of the first bogie 14. The second bogie control unit 18f controls the traveling of the second bogie 16. The power supply control unit 18g controls the power supply from the second bogie 16 to the first bogie 14.

[0048] (Charging operation) The charging operation of the automated warehouse system 100 will be described with reference to FIG. 10. FIG. 10 is a flowchart showing an example of the charging operation of the automated warehouse system 100, and shows process S80 related to this operation. Process S80 includes a process from when the first cart 14 starts to approach the second cart 16, through which power is supplied, to when the first cart 14 leaves the second cart 16. In this charging process, the first cart 14 is stopped at a predetermined power supply position of the second cart 16, and in this state, power is supplied from the second cart 16 to the first cart 14. At this time, the first cart 14 charges the battery 28 provided on the first cart 14 with the supplied power. The power supply position may be a position where the power receiving terminal 46 can come into contact with the power supply terminal 42.

[0049] If the deviation in the stopping position of the first carriage 14 is large, the power receiving terminal 46 may not come into contact with the power feeding terminal 42, which may result in an inability to feed power. Therefore, in the first embodiment, the first carriage 14 is controlled to decelerate at a position (hereinafter referred to as the first position) before the power feeding position and gradually approach the power feeding position. By slowly approaching the power feeding position, it is possible to reduce the deviation in the stopping position of the first carriage 14. As an example, the first position may be a position 10 cm to 30 cm before the power feeding position. Below, a description is given of process S80, which includes this charging process.

[0050] When processing S80 starts, the control unit 18 moves the first carriage 14 in the X-axis direction to start approaching the second carriage 16 (step S81). After executing step S81, the control unit 18 acquires the position of the first carriage 14 in the X-axis direction from the first detection unit 14g, and determines whether or not the first carriage 14 has passed the first position (step S82). If the first carriage 14 has not passed the first position (N in step S82), the control unit 18 moves the first carriage 14 in the X-axis direction (step S83). After executing step S83, the control unit 18 returns the processing to the beginning of step S82, and repeats steps S82 to S83. Through this processing, the first carriage 14 moves in the X-axis direction at a normal speed until it passes the first position.

[0051] If the first carriage 14 has passed the first position (Y in step S82), the control unit 18 decelerates the first carriage 14 and moves it in the X-axis direction in low-speed mode (step S84). The speed in the low-speed mode may be a creep speed that allows the first carriage 14 to stop immediately. After executing step S84, the control unit 18 acquires the position of the first carriage 14 in the X-axis direction from the first detection unit 14g and determines whether the first carriage 14 has arrived at the power supply position (step S85). If the first carriage 14 has not arrived at the power supply position (N in step S85), the control unit 18 returns the process to the beginning of step S84 and repeats steps S84 to S85. This process causes the first carriage 14 to slowly approach the power supply position at a speed slower than the normal speed.

[0052] When the first bogie 14 arrives at the power supply position (Y in step S85), the control unit 18 stops the first bogie 14 (step S86). After executing step S86, the control unit 18 moves the second bogie 16 in the Y-axis direction (step S87). After executing step S87, the control unit 18 supplies power from the second bogie 16 to the first bogie 14 (step S88). The movement and power supply may start simultaneously, or the power supply may start first. The first bogie 14 charges the battery 28 based on the supplied power. The first bogie 14 may be configured to constantly charge the battery 28 while power is being supplied from the second bogie 16. The first bogie 14 may stop charging when the charge rate of the battery 28 exceeds a predetermined upper limit.

[0053] After executing step S88, the control unit 18 determines whether the second carriage 16 has arrived at the destination position in the Y-axis direction (step S89). If the second carriage 16 has not arrived at the destination position (N in step S89), the control unit 18 returns the process to the beginning of step S87 and repeats steps S87 to S89. Through this process, the second carriage 16 supplies power to the first carriage 14 while moving in the Y-axis direction toward the destination position, and the first carriage 14 uses this power to charge the battery 28. If the second carriage 16 has arrived at the destination position (Y in step S89), the control unit 18 stops the second carriage 16 (step S90).

[0054] After executing step S90, the control unit 18 stops the power supply from the second bogie 16 to the first bogie 14 (step S91). The movement and power supply may be stopped simultaneously, or the power supply may be stopped first. After executing step S91, the control unit 18 moves the first bogie 14 in the X-axis direction to move it away from the second bogie 16 (step S92). Through this process, the first bogie 14 moves toward the first rail 40. After executing step S92, the control unit 18 ends process S80. The above-described process S80 is merely an example, and other steps may be added, some steps may be changed or deleted, or the order of the steps may be changed.

[0055] This charging operation process S80 may be performed on the first trolley 14 that is loaded with the load 12 during the operation of loading and unloading the load 12, or may be performed on the first trolley 14 that is empty and does not have the load 12 loaded.

[0056] Next, the priority of charging when multiple first bogies 14 are provided will be described. If charging of a first bogie 14 with a low charging rate is postponed, there is a risk that the charging rate will become too low and the vehicle will no longer be able to move under its own power. Therefore, in the first embodiment, the second bogie 16 is configured to give priority to charging a first bogie 14 of the multiple first bogies 14 that has a relatively low charging rate of its mounted battery 28. For example, the control unit 18 may acquire the charging rate of the battery 28 from each of the first bogies 14, determine a priority based on the acquired charging rates, and control the first bogie 14 and the second bogie 16 so that the first bogie 14 is charged according to this priority.

[0057] [Second embodiment] The configuration of an automated warehouse system 200 according to the second embodiment will be described with reference to Figures 11 and 12. The second embodiment differs from the first embodiment in the configuration of certain parts, but other parts are the same, and the description will focus on the differences. In the second embodiment, a stacker crane 66 and a lifting mechanism 64 provided on the stacker crane 66 are exemplified as certain parts.

[0058] FIG. 11 is a plan view schematically showing a stacker crane 66. FIG. 12 is a side view of the stacker crane 66. In the second embodiment, the second rail 44 is provided only on the lowest level, and instead of the second carriage 16, a stacker crane 66 that moves on the second rail 44 in the Y-axis direction is provided. The stacker crane 66 has a lifting mechanism 64 and can raise and lower the first carriage 14 in the Z-axis direction. In addition, the stacker crane 66 can transport the placed first carriage 14 in the Y-axis direction. That is, in the second embodiment, the Y-axis direction and the Z-axis direction (height direction) are exemplified as the second direction.

[0059] The stacker crane 66 mainly includes a base 66b, a recess 16c, four wheels 16f, a pair of support posts 66h, a lifting mechanism 64, a current collecting unit 38, and a power feeding terminal 42. The base 66b is a vertically flat plate-like member provided at the bottom of the stacker crane 66. A motor (not shown) that drives the wheels 16f is mounted on the base 66b. As an example, the stacker crane 66 is configured to drive the motor using power received by the current collecting unit 38 from the power feeding line 36 laid above.

[0060] The recessed portion 16c is configured to be able to move up and down with the first carriage 14 placed thereon. The four wheels 16f are rotatably supported at the four corners of the base portion 66b. The pair of support columns 66h are support columns extending in the vertical direction and guide the recessed portion 16c so that it can move up and down. The pair of support columns 66h are fixed to the base portion 66b, spaced apart in the Y-axis direction so as to sandwich the recessed portion 16c therebetween. The support columns 66h have, for example, a substantially rectangular cross section in top view. The lifting mechanism 64 is a mechanism that drives the recessed portion 16c to move up and down. The lifting mechanism 64 is provided on the base portion 66b near the support columns 66h. The lifting mechanism 64 drives the recessed portion 16c to move up and down by winding and unwinding a wire rope (not shown) that suspends the recessed portion 16c. With this configuration, the recessed portion 16c functions as a lifting platform that can be raised and lowered. The stacker crane 66 travels on the second rail 44 by rotating four wheels 16f on the second rail 44. The stacker crane 66 can travel on the second rail 44 while carrying the load 12 and the first carriage 14. Note that although a stacker crane capable of traveling on the second rail 44 has been described here, it may also be a lifting mechanism that does not have a traveling function and only has a lifting function.

[0061] The inside of the recess 16c has a bottom 16h extending on the lower plane and a pair of side walls 16j extending upward from both sides of the bottom 16h in the Y-axis direction. The power supply terminal 42 is provided on the side walls 16j and bottom 16h inside the recess 16c, similar to the second carriage 16. The configuration of the inside of the recess 16c and the configuration of the power supply terminal 42 are the same as those in the first embodiment, so a description thereof will be omitted.

[0062] In the second embodiment configured as described above, when the stacker crane 66 is moving in the Y-axis direction, the first carriage 14 is supplied with power from the stacker crane 66, and the battery 28 provided in the first carriage 14 is charged with the supplied power. Furthermore, when the first carriage 14 is moving in the Z-axis direction by the lifting mechanism 64, the stacker crane 66 is supplied with power, and the battery 28 provided in the first carriage 14 is charged with the supplied power.

[0063] The second embodiment provides the same effects as the first embodiment.

[0064] The present invention has been described above based on various embodiments. These embodiments are merely examples, and it will be understood by those skilled in the art that various modifications and changes are possible within the scope of the claims of the present invention, and that such modifications and changes also fall within the scope of the claims of the present invention. Therefore, the descriptions and drawings in this specification should be treated as illustrative rather than restrictive.

[0065] (Variation) The following describes the modified examples. In the drawings and descriptions of the modified examples, the same or equivalent components and members as those in the embodiment are denoted by the same reference numerals. Explanations that overlap with the embodiment will be omitted as appropriate, and the description will focus on the configurations that differ from the first embodiment.

[0066] In the description of the first embodiment, an example was shown in which the battery 28 of the first cart 14 is charged during the operation of loading and unloading the load 12, but the first cart 14 and the second cart 16 may also be controlled to charge the battery 28 in a state in which there is no command to transport the load 12, separate from the operation of transporting the load 12. In other words, the control unit 18 may control the first cart 14 that is not currently scheduled to transport a load 12 to the power supply position of the second cart 16 or the charging unit 54, and charge the battery 28 of that first cart 14. In this case, it is also possible to charge the first cart 14 that has few opportunities to transport a load 12.

[0067] In the description of the first embodiment, an example in which the charging unit 54 is provided is shown, but providing the charging unit 54 is not essential.

[0068] In the description of the first embodiment, an example was shown in which the first bogie 14 is equipped with the battery 28, but it is not essential that the first bogie 14 be equipped with the battery 28. The first bogie 14 may be configured to run using power supplied from the second bogie 16 or a separate power supply means (not shown).

[0069] The power supply terminal 42 may be provided in a recessed portion, and the power receiving terminal 46 may be moved toward and away from the power supply terminal 42 by a retractable mechanism. By surrounding the power supply terminal 42, short-circuiting of live parts can be prevented.

[0070] The power supply terminal 42 may be a hollow cylindrical terminal, and the power receiving terminal 46 may be a rod-shaped terminal that is inserted into the cylindrical terminal and can be moved toward and away from the power supply terminal 42 by an advance / retract mechanism. In this case, covering the cylindrical terminal of the power supply terminal 42 with an insulating material can prevent short circuits in live parts. Also, one can clean the other when inserted or removed.

[0071] The first carriage 14 may be configured to receive power from a predetermined part by contactless power supply, in which case it is possible to prevent short circuits in live parts.

[0072] The first carriage 14 may be configured to stop charging the battery 28 when it is fully charged. The predetermined unit may be configured to communicate with the first carriage 14. For example, the predetermined unit may be configured to acquire the charging rate of the battery 28 by communicating with the first carriage 14. In this case, overcharging of the battery 28 can be prevented.

[0073] The power receiving terminal 46 is supported with some play relative to the car body 14b, and the predetermined portion may include a guide member for guiding the power receiving terminal 46 to a predetermined position. When the first bogie 14 moves on the predetermined portion, the guide member can correct the position of the power receiving terminal 46 to a more appropriate position. In this case, the range of accuracy of the stopping position of the first bogie 14 to which power can be supplied can be expanded.

[0074] The power receiving terminal 46 may be configured to rub against the power supply terminal 42 while in contact with the power supply terminal 42. Alternatively, a cleaning member such as a brush may be provided on the first carriage 14, and the cleaning member may rub against the power supply terminal 42 as the first carriage 14 moves. In this case, foreign matter can be removed from the power receiving terminal 46 and the power supply terminal 42.

[0075] It is not essential that the second cart 16 and the stacker crane 66 are constantly powered by the power feeder 36. The second cart 16 and the stacker crane 66 may be battery-powered. In this case, they can be used in warehouses where it is difficult to install the power feeder 36.

[0076] It is not essential to provide a first carriage 14 in each row of each stage, and the first carriage 14 does not have to be provided in each stage.

[0077] The storage shelf 20 may be configured with one storage row 24. The storage shelf 20 may be configured with one storage row 24.

[0078] It is not essential that the number of storage sections 26 in the storage rows 24 be uniform. The number of storage sections 26 constituting the storage rows 24 may be increased or decreased depending on the irregularities of the walls of the building that houses the storage shelves 20.

[0079] It is not essential that the number of tiers of the vertically stacked storage rows 24 be uniform. The number of tiers of the storage rows 24 may be increased or decreased depending on the ceiling height of the building that houses the storage shelves 20.

[0080] It is not essential that the load 12 includes a pallet 12p. The automated warehouse system may also be configured to handle loads that do not include a pallet.

[0081] Instead of a forklift, the load 12 may be carried in and out by another type of transfer device, such as a transfer device equipped with a crane.

[0082] These modifications each provide the same effects as the first embodiment.

[0083] Any combination of the above-described embodiments and modifications is also useful as an embodiment of the present invention. A new embodiment resulting from the combination has the combined effects of the combined embodiments and modifications. [Explanation of symbols]

[0084] 12 cargo, 14 first cart, 16 second cart, 16c recess, 18 control unit, 20 storage shelf, 28 battery, 30 receiving section, 32 unloading section, 36 power supply line, 38 power collection unit, 40 first rail, 42 power supply terminal, 44 second rail, 46 power receiving terminal, 64 lifting mechanism, 66 stacker crane, 100, 200 automated warehouse system.

Claims

1. a storage stage including a plurality of storage shelves arranged in a second direction intersecting the first direction and stacked in layers in the vertical direction, the storage rows extending in a first direction for storing a plurality of articles; a transport mechanism including a plurality of carriages each having a platform on which an object is placed and a rechargeable battery for supplying power for moving the platform, the transport mechanism moving the platform in a horizontal direction; a lifting mechanism that lifts and lowers the set of the placement unit, the transport mechanism, and the rechargeable battery to and from each storage stage; Equipped with the storage shelf unit includes a plurality of charging units capable of charging the rechargeable batteries, The plurality of charging units are provided in at least one of the plurality of storage rows in each of the plurality of storage stages.

2. a plurality of sets of the placement unit, the transport mechanism, and the rechargeable battery; The automated warehouse system according to claim 1, wherein the plurality of charging units are provided in two or more of the plurality of storage rows of one storage stage among the plurality of storage stages.

3. a storage stage including a plurality of storage shelves arranged in a second direction intersecting the first direction and stacked in layers in the vertical direction, the storage rows extending in a first direction for storing a plurality of articles; a plurality of carriages each having a loading section for loading a load and a rechargeable battery for supplying power for moving the loading section; a lifting mechanism that lifts and lowers the set of the placement unit and the rechargeable battery to and from each storage stage; Equipped with the storage shelf unit includes a plurality of charging units capable of charging the rechargeable batteries, The plurality of charging units are provided in at least one of the plurality of storage rows in each of the plurality of storage stages.

4. The automated warehouse system according to claim 3, wherein the plurality of charging units are provided in two or more of the plurality of storage rows of one storage stage among the plurality of storage stages.

5. The automated warehouse system according to claim 1 , wherein the charging unit is provided adjacent to an end of the storage row opposite an entrance / exit section.