Automated Warehouse System

Abstract

To provide an automatic warehouse system which can achieve both of storage capacity and convenience.SOLUTION: An automatic warehouse system 100, which comprises a shelf part 22 having multiple stages of a plurality of storage parts 24 arranged in a row direction and a column direction and can store multiple sizes of pallets on the shelf parts 22, has: first transport means 14 which can hold the pallet 12 and move the shelf part 22 in the row direction; second transport means 16 on which the first transport means 14 is mounted and which can move a side part of the shelf part 22 in the row direction; and an acquisition part 38 which acquires a size of the pallet 12 of a storage object as an acquisition size.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. The present applicant discloses an automated warehouse system equipped with storage shelves that can store a plurality of items in Patent Document 1. This automated warehouse system is configured to carry in and out items using transport vehicles that can move in the column direction between storage shelves and carts that can move in the row direction. In this automated warehouse system, items are transported and stored by placing them on pallets. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Laid-Open No. 2017-160040 Summary of the Invention [Problem to be solved by the invention]

[0004] It is possible to store loaded pallets (hereinafter simply referred to as "pallets") of various sizes or pallets of unknown sizes in a single warehouse. In this case, it is possible to reduce wasted space and increase storage capacity. It is also possible to improve the convenience of automated warehouse systems when storing pallets of various sizes or pallets of unknown sizes.

[0005] The present invention has been made in view of such problems, and one of its objects is to provide an automated warehouse system that can achieve both storage capacity and convenience. [Means for solving the problem]

[0006] In order to solve the above problems, one embodiment of the automated warehouse system of the present invention is an automated warehouse system that has a shelf section with multiple tiers of multiple storage sections arranged in row and column directions, and is capable of storing pallets of multiple sizes on the shelf section, and has a first conveying means that holds the pallet and can move the shelf section in the column direction, a second conveying means that is equipped with the first conveying means and can move the side of the shelf section in the row direction, and an acquisition section that acquires the size of the pallet to be stored as an acquired size.

[0007] 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]

[0008] According to the present invention, an automated warehouse system can be provided that can achieve both storage capacity and convenience. [Brief explanation of the drawings]

[0009] [Figure 1] FIG. 1 is a plan view schematically illustrating an example of an automated warehouse system according to an embodiment. [Figure 2] FIG. 2 is a side view showing the automated warehouse system of FIG. 1. [Figure 3] FIG. 2 is a side view schematically showing an example of the first conveying means of FIG. 1. [Figure 4] FIG. 2 is a front view schematically showing an example of the second conveying means of FIG. 1. [Figure 5] FIG. 2 is a plan view schematically illustrating an example of an acquisition unit in FIG. [Figure 6] 2 is a flowchart showing an example of a warehousing operation of the automated warehouse system of FIG. 1. [Figure 7] 2 is a schematic diagram showing an example of arrangement of pallets on the shelf section of FIG. 1. FIG. [Figure 8] FIG. 10 is an explanatory diagram illustrating an example of an operation for packing and storing pallets. [Figure 9] FIG. 2 is a side view schematically showing an automated warehouse system according to a first modified example. [Figure 10]FIG. 10 is a side view schematically showing an automated warehouse system according to a second modified example. [Figure 11] FIG. 2 is a schematic diagram showing an example of a pallet arrangement. [Figure 12] FIG. 1 is a plan view showing an example of a storage row for storing pallets of multiple pallet widths. [Figure 13] FIG. 13 is a front view showing the storage row of FIG. 12 in a simplified form. DETAILED DESCRIPTION OF THE INVENTION

[0010] The background of the present disclosure will be explained. Handling only one type of pallet individually will enable operation with a simpler structure and a higher storage rate. In other words, the total length of the row can be calculated to determine the number of pallets that can be stored, and specifications can be easily determined with the warehouse user based on this. In addition, in this case, it is not important to reconfirm the pallet size even after delivery to the warehouse. This is because the pallet size is determined, and if the target pallet is supported at the center of the transport vehicle and the distance between the transport vehicle and the already placed pallet is detected with a sensor, the distance between the already placed pallet and the target pallet can be easily calculated. This makes it possible to determine how close the transport vehicle should be to the already placed pallet.

[0011] On the other hand, the appropriate pallet size may vary depending on the type of product. It is expected that a specialized warehouse for that product will be established within or nearby the factory that produces that product. In that case, it would be more rational to use the optimal pallet size for storing that product, and to optimize the warehouse to handle pallets of one size. On the other hand, in a base positioned as a shipping warehouse for shipments to consumption areas, it is desirable to combine and ship as many products as necessary to meet the demand of the consumption area. In that case, it is desirable to store a mix of these multiple types of products, and in that case, a warehouse that can handle different pallet sizes is desirable. Even when handling pallets of multiple sizes, it is considered preferable for users to handle multiple pallet sizes in the same shelving unit (warehouse) rather than having multiple specialized shelves for each size.

[0012] However, if a warehouse designed to handle one type of pallet as mentioned above also handles different pallet sizes, the warehouse must be designed to accommodate the largest size. Specifically, the largest size pallet that will be used can be anticipated, and the warehouse can be designed to arrange them at a fixed pitch.

[0013] FIG. 11 is a schematic diagram showing an example of pallet arrangement in a storage row 123. FIG. 11(a) shows an example in which pallets are arranged at a constant pitch Pd according to the maximum size, while FIG. 11(b) shows an example in which pallets are arranged closely together. As shown in FIG. 11(a), when pallets are arranged at a pitch Pd according to the maximum size pallet 12-L, gaps between pallets can be maintained even when the maximum size pallets are arranged consecutively. However, when small-size pallets 12-S and maximum-size pallets 12-L are mixed, the gaps between these pallets become larger. This results in wasted space indicated by the symbol Cd, which reduces space efficiency compared to when pallets are arranged as closely together as possible, as shown in FIG. 11(b). In other words, a warehouse designed for the maximum size does not have sufficient flexibility to handle different pallet sizes.

[0014] Given these circumstances, the inventors focused on an automated warehouse system that can flexibly respond to fluctuations in the pallet size mix by acquiring the size of the pallet to be stored and controlling the stopping position of the transport vehicle 114. This system makes it possible to easily handle pallets of multiple sizes or unknown sizes.

[0015] The automated warehouse system disclosed herein is equipped with a shelf unit having multiple tiers of storage units arranged in row and column directions, and is capable of storing pallets of multiple sizes in the shelf units.The automated warehouse system includes a first conveying means capable of holding a pallet and moving the shelf unit in the column direction, a second conveying means mounted on the first conveying means and capable of moving the side of the shelf unit in the row direction, and an acquisition unit that acquires the size of the pallet to be stored as the acquired size.The multiple storage units can be arranged in a row direction to form a storage row.Each storage row can flexibly handle pallets of multiple sizes without any partitions between them.

[0016] This automated warehouse system can transport the pallet to the desired storage unit using the first transport means and the second transport means. Furthermore, this automated warehouse system can determine the size of a pallet of multiple sizes or an unknown size by acquiring the size of the pallet to be stored using the acquisition unit. The pallet to be stored may be held by the first transport means after the size of the pallet has been acquired. This allows the storage unit to be determined for the pallet based on the acquisition result from the acquisition unit.

[0017] As one example, a storage row may store multiple pallets of different sizes. As another example, a storage row may store a group of pallets divided into multiple groups based on size. These configurations allow the automated warehouse system to flexibly respond to changes in the size mix of pallets. Furthermore, the pallets can be designed (length) to optimize storage efficiency. Hereinafter, the present invention will be described in detail with reference to the embodiments.

[0018] The present invention will be described below based on preferred embodiments with reference to the drawings. In the embodiments and modifications, identical or equivalent components and members are designated by the same reference numerals, and redundant explanations will be omitted where appropriate. The dimensions of the members in the drawings are enlarged or reduced as appropriate to facilitate understanding. Some members that are not important for explaining the embodiments will be omitted from the drawings.

[0019] 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.

[0020] [Embodiment] The overall configuration of an automated warehouse system 100 according to an embodiment will be described with reference to FIGS. 1 and 2. FIG. 1 is a plan view schematically illustrating an example of the automated warehouse system 100 according to an embodiment. FIG. 2 is a side view illustrating the automated warehouse system 100. Area 22-B, which will be described later, is omitted from FIG. 2. For ease of explanation, an XYZ Cartesian coordinate system is defined as shown in the figure, with a horizontal direction as the X-axis direction, a horizontal direction perpendicular to the X-axis direction as the Y-axis direction, and a direction perpendicular to both, i.e., the vertical direction, as shown in the figure. The positive directions of the X-axis, Y-axis, and Z-axis are defined as the directions indicated by the arrows in each figure, and the negative directions are defined as the directions opposite to the arrows. Note that the X-axis direction is sometimes referred to as the "row direction," the Y-axis direction as the "column direction," and the Z-axis direction as the "up-down direction." The traveling direction of a first conveying means, which will be described later, is sometimes referred to as the "forward" or "front," and the opposite direction is sometimes referred to as the "rear" or "rear." Such directional notation does not limit the configuration of the automated warehouse system 100, and the automated warehouse system 100 can be used in any configuration depending on the application.

[0021] Furthermore, in this disclosure, unless otherwise specified, "pallet" primarily refers to a pallet loaded with a load, but also includes empty pallets. Unless otherwise specified, "position" refers to the position in the column direction, and "size" refers to the size in the column direction (total length in the column direction). Furthermore, unless otherwise specified, "pallet size" or "pallet size" refers to the size of a single pallet without a load (total length in the column direction). Furthermore, the total length of a pallet in the row direction is referred to as "pallet width."

[0022] 1, the automated warehouse system 100 includes a shelf unit 22, a first conveying means 14, a second conveying means 16, a lifting mechanism 20, an acquisition unit 38, a conveyor device 44, and a control unit 50. The shelf unit 22 is a storage shelf having a plurality of storage units 24 capable of storing pallets 12 arranged along rows and columns. A pallet 12 may be the smallest unit that is received, stored, rearranged, and removed from the automated warehouse system 100.

[0023] The shelf section 22 is a storage shelf having multiple tiers of storage sections 24 arranged in row and column directions. Each storage section 24 can store a pallet 12. The first conveying means 14 is a self-propelled cart that can hold a pallet 12 and move along the shelf section 22 in the column direction. The second conveying means 16 is a self-propelled cart that can move along the side of the shelf section 22 in the row direction and that is equipped with the first conveying means 14 that holds the pallet 12. The lifting mechanism 20 is a lifter that can raise and lower the pallet 12 up and down. The first conveying means 14, second conveying means 16, and lifting mechanism 20 are collectively referred to as the conveying mechanism.

[0024] The acquisition unit 38 acquires the size of the pallet 12 to be stored as the acquired size Sa. In this example, the acquisition unit 38 includes a measurement unit 40 and a data providing unit 52. The measurement unit 40 measures the size of the pallet 12 to be stored and provides the measurement result to the control unit 50 as the acquired size Sa. The data providing unit 52 provides the stored data Dm stored in association with the pallet 12 to be stored to the control unit 50 as the acquired size Sa.

[0025] The acquisition unit 38 may include only one of the measurement unit 40 and the data providing unit 52, but in this embodiment, it includes both. By comparing the determination results of both the measurement unit 40 and the data providing unit 52, it is possible to detect errors in one determination result based on the other determination result, thereby increasing the reliability of the overall determination results. Furthermore, it is possible to widen the allowable range of measurement error in the measurement unit 40 and the allowable range of errors in the stored data Dm, which is advantageous in terms of simplifying the configuration, reducing costs, and making the device smaller.

[0026] The data providing unit 52 will be explained first, and the measurement unit 40 will be explained later. The data providing unit 52 has a memory unit 52m. The memory unit 52m stores data related to the positions and sizes of pallets 12 on the shelf unit 22 and pallets 12 in motion. In this case, it is easy to manage because it is possible to visually check how many and what size pallets are stored in a particular storage unit and what size pallets are in motion. In addition, for example, the type of pallet that caused the error can be stored, and knowing this type makes it easy to respond.

[0027] The memory unit 52m stores memory data Dm, which will be described later. In this example, the data providing unit 52 identifies the memory data Dm using the reading unit 46. The reading unit 46 reads display information Cs of the pallet 12 to be stored or the cargo on the pallet 12, and provides the data providing unit 52. The memory data Dm is stored in the memory unit 52m as a data table corresponding to the display information Cs. The data providing unit 52 provides the memory data Dm identified by table processing using the display information Cs as a key as the acquired size Sa.

[0028] The stored data Dm may be created at the sender of the pallet 12 and input to the memory unit 52m via a transmission means such as a storage medium or a communication medium. The stored data Dm may also be created within the automated warehouse system 100, and data created at the sender of the pallet 12 may be used for this creation.

[0029] The display information Cs may be a visible display such as a barcode, two-dimensional barcode, letters, symbols, figures, or patterns, or an invisible display such as a magnetic record or an electronic tag. The display information Cs includes pallet identification information such as a product code or lot code. Note that the use of the display information Cs is not essential, and another means for identifying the correspondence between each pallet 12 and the stored data Dm may be provided.

[0030] Conveyor device 44 moves pallets 12 carried in by external transport means 54, such as a forklift, to lifting mechanism 20. In this embodiment, measurement unit 40 and reading unit 46 are disposed in front of lifting mechanism 20 of conveyor device 44, and measurement unit 40 measures the size of pallets 12 to be stored in front of lifting mechanism 20, and reading unit 46 reads display information Cs of pallets 12 to be stored in front of lifting mechanism 20.

[0031] The control unit 50 includes an MPU (Micro Processing Unit) and the like. Based on the results of operations from an operator, the control unit 50 controls the operations of the first conveying means 14, the second conveying means 16, and the lifting mechanism 20 to transport the pallet 12. The control unit 50 also controls the operations of the conveyor device 44 and the acquisition unit 38 (measuring unit 40, reading unit 46, data providing unit 52, etc.) to acquire the size of the pallet 12.

[0032] The shelf section 22 will be described with reference to Figures 1 and 2. The configuration of the shelf section 22 is not particularly limited as long as it is capable of storing multiple pallets 12. The shelf section 22 includes multiple storage sections 24 arranged along the X-axis direction and the Y-axis direction. Each storage section 24 is configured to be able to store a pallet 12. The shelf section 22 of this embodiment has two areas 22-A and 22-B that are spaced apart in the Y-axis direction with the second rail 28 between them. The two areas 22-A and 22-B can store pallets 12 in each storage section 24.

[0033] In this embodiment, multiple storage sections 24 are arranged in series in the Y-axis direction. Specifically, the storage sections 24 are arranged continuously on a first rail 26 (described later) that extends in the Y-axis direction, and the locations where the pallets 12 on the first rail 26 are stored are referred to as storage sections 24. Therefore, even if the length of the first rail 26 is the same, the number of storage sections 24 varies depending on the size of the pallets 12 to be stored and the size of the gaps between adjacent pallets 12. The multiple storage sections 24 arranged in series in the Y-axis direction are referred to as storage rows 23. On the side of each storage row 23 facing the travel path (second rail 28) of the second conveying means 16, an opening 23a is provided through which the first conveying means 14 enters and exits to load and unload pallets 12. The opening 23a functions as an entrance and exit for the pallets 12.

[0034] In this embodiment, N levels (N is an integer equal to or greater than 1, for example, 3) of shelf sections 22 are provided, arranged in layers one above the other. FIG. 1 shows the shelf section 22 of the first level, which is closest to the floor Fr. In the second and subsequent levels, the shelf section 22 of the Nth level is arranged above the shelf section 22 of the (N-1)th level. The shelf sections 22 of each level may have a similar configuration. In particular, the shelf section 22 of each level is provided with a set of one or more first conveying means 14 and one or more second conveying means 16. The shelf section 22 of each level may be referred to as a "shelf level."

[0035] A first rail 26 is provided on the shelf 22 as a running path for the first transport means 14. The first rail 26 extends in the Y-axis direction on the shelf 22. The first transport means 14 is a transport means that can run below each storage section 24. A second rail 28 is provided on the side of the shelf 22 as a running path for the second transport means 16. The second rail 28 extends in the X-axis direction adjacent to the shelf 22 and the lifting mechanism 20.

[0036] The first conveying means 14 will be described with reference to Figure 3. Figure 3 is a side view schematically showing an example of the first conveying means 14. The first conveying means 14 includes a vehicle body 14b, a motor (not shown), multiple wheels 14f, a platform 14c, and a lift mechanism 14d. The first conveying means 14 drives the multiple wheels 14f using the motor and travels on the first rail 26 in the Y-axis direction with a pallet 12 mounted thereon. The first conveying means 14 raises and lowers the platform 14c and the pallet 12 on the platform 14c using the lift mechanism 14d. In Figure 3, the platform 14c in the raised state is shown by a dashed line, and the platform 14c in the lowered state is shown by a solid line.

[0037] The first conveying means 14 can enter the storage section 24. The first conveying means 14 can get on and off the second conveying means 16 and the lifting mechanism 20. The first conveying means 14 can lower the pallet 12 into the storage section 24 and the second conveying means 16. The first conveying means 14 can lift and hold the pallet 12 from the storage section 24 and the second conveying means 16.

[0038] The first conveying means 14 is equipped with two first sensors 14s, one at one end and the other at the other end in the Y-axis direction of the first conveying means 14. The first sensors 14s scan a laser 14e and detect the reflected light to detect the distance to an object (another pallet 12, a wall W, an obstacle, etc.) in the direction of travel. Based on the detection results of the first sensors 14s, the first conveying means 14 moves along the shelf section 22 while detecting a previously stored pallet 12, stops a predetermined distance before that pallet 12, and unloads the pallet 12 it was holding. In other words, the first conveying means 14 can place multiple pallets 12 in a storage row 23 at a predetermined interval. The first sensors 14s can also detect the relative position of the pallet 12 held by the first conveying means 14.

[0039] The second conveying means 16 will be described with reference to FIG. 4. FIG. 4 is a front view schematically illustrating an example of the second conveying means 16, showing the state in which the first conveying means 14 is mounted. The second conveying means 16 includes a mounting portion 16c, a guide portion 16j, a motor (not shown), and multiple wheels 16f. The second conveying means 16 drives the multiple wheels 16f using the motor and travels on the second rail 28 in the X-axis direction. The second conveying means 16 can mount the first conveying means 14 on the mounting portion 16c. The second conveying means 16 can transport the first conveying means 14 with or without a pallet 12 mounted. The mounting portion 16c is provided with two guide portions 16j spaced apart in the X-axis direction. The two guide portions 16j guide the first conveying means 14 when it is loaded. Pallets 12 can be placed on the two guide portions 16j.

[0040] The second conveying means 16 is equipped with a second sensor 16s that can detect the position of the first conveying means 14 and whether the pallet 12 held by the first conveying means 14 protrudes. For example, the second sensor 16s is a transmission-type optical sensor consisting of a set of a light-emitter 16h and a light-receiver 16k that are spaced apart in the X-axis direction. The second sensor 16s detects whether the light emitted by the light-emitter 16h is blocked by the light-receiver 16k. Two sets of second sensors 16s are provided on the second conveying means 16 at positions that do not interfere with the first conveying means 14 and the pallet 12 and are spaced apart in the Y-axis direction.

[0041] The lifting mechanism 20 and the conveyor device 44 will be described with reference to Figures 1 and 2. The lifting mechanism 20 raises and lowers the pallet 12 between the shelf sections 22 of each tier. One opening of the lifting mechanism 20 faces the conveyor device 44, and the other opening faces the conveying path (second rail 28) of the second conveying means. When storing, the lifting mechanism 20 transports the pallet 12 delivered from the conveyor device 44 to the desired tier. When retrieving, the lifting mechanism 20 transports the target pallet 12 to the first tier and delivers it to the conveyor device 44. The lifting mechanism 20 may raise and lower a pallet 12 held by the first conveying means 14, but in this embodiment, it raises and lowers a standalone pallet 12 that is not held by the first conveying means 14.

[0042] The conveyor device 44 in this embodiment is a belt conveyor. When storing, the conveyor device 44 transports the pallet 12 delivered from the external transport means 54 to the acquisition unit 38 and the lifting mechanism 20. When retrieving, the conveyor device 44 transports the pallet 12 delivered from the lifting mechanism 20 to a position where it can be picked up by the external transport means 54. In other words, the conveyor device 44 transports the pallet 12 in the opposite direction during storing and retrieving.

[0043] Pallets 12 delivered from external transport means 54 may be tilted in a plane relative to the transport direction of conveyor device 44. For this reason, in this embodiment, a guide (not shown) capable of correcting the tilt is provided midway along conveyor device 44. Pallets 12 come into contact with the guide while being transported by conveyor device 44, and the tilt is gradually corrected.

[0044] The measuring unit 40 will be described with reference to Figure 5. Figure 5 is a plan view schematically showing an example of the measuring unit 40. In this figure, reference numeral 12-S indicates a small-sized pallet 12 (e.g., total length = reference size - 100 mm), reference numeral 12-M indicates a medium-sized pallet 12 (e.g., total length = reference size + 100 mm), and reference numeral 12-L indicates a large-sized pallet 12 (e.g., total length = reference size + 400 mm). The pallets 12-L, 12-M, and 12-S are shown overlapping each other while being shifted in the X-axis direction.

[0045] The configuration of the measurement unit 40 is not limited, and methods such as measuring the size based on an image of the pallet 12, using an ultrasonic sensor, or using a laser sensor can be employed. As an example, the measurement unit 40 of this embodiment performs measurements using three optical sensors 41, 42, and 43 spaced apart in the X-axis direction. Optical sensor 41 is arranged on the lifting mechanism 20 side of optical sensor 42 in the Y-axis direction, and optical sensor 43 is arranged on the opposite side of optical sensor 42 from lifting mechanism 20 in the Y-axis direction. Optical sensors 41, 42, and 43 are transmissive optical sensors each consisting of a set of light-emitters 41j, 42j, and 43j and light-receivers 41k, 42k, and 43k. Optical sensors 41, 42, and 43 detect whether light emitters 41e, 42e, and 43e from light-emitters 41j, 42j, and 43j are blocked using light-receivers 41k, 42k, and 43k.

[0046] As an example, the measuring unit 40 measures the size of the pallet 12 based on the detection results of the optical sensors 42 and 43 at the timing when the optical sensor 41 detects the front end 12j of the pallet 12 (hereinafter referred to as the "front end detection timing"). Note that the conveyor device 44 may be temporarily stopped at the front end detection timing.

[0047] If optical sensors 42 and 43 are both ON (non-blocking state) at the timing of front end detection, measurement unit 40 determines the size of pallet 12 to be "small." If optical sensor 42 is OFF (blocking state) and optical sensor 43 is ON (non-blocking state) at the timing of front end detection, measurement unit 40 determines the size of pallet 12 to be "medium." If optical sensors 42 and 43 are both OFF (blocking state) at the timing of front end detection, measurement unit 40 determines the size of pallet 12 to be "large."

[0048] The measuring unit 40 may stop the conveyor device 44 and measure the stopped pallets 12. In this case, the measuring unit 40 can be configured simply and measurement accuracy can be easily ensured. The measuring unit 40 may also measure the moving pallets 12 while the conveyor device 44 is still moving. In this case, the loss of stoppage time can be reduced, and the number of pallets that can be measured per hour can be increased.

[0049] As shown in Figure 5, the reading unit 46 of this embodiment is disposed near the measuring unit 40. The reading unit 46 scans the pallet 12 with a laser scanner and reads the display information Cs. The reading unit 46 may read the display information Cs asynchronously, independent of the operation of the measuring unit 40, or may read the display information Cs synchronized with the operation of the measuring unit 40. The reading unit 46 may read the display information Cs when the pallet 12 stops, or may read the display information Cs while the pallet 12 is moving.

[0050] The following describes an example of the operation of the automated warehouse system 100 configured as described above. The operation described below is merely an example, and various modifications are possible.

[0051] (warehousing operation) The storage operation S110 of the automated warehouse system 100 will be described with reference to Figures 1, 2, and 6. Figure 6 is a flowchart showing the storage operation S110. These operations are controlled by the control unit 50.

[0052] (1) In the storing operation S110, first, the pallet 12 to be stored is placed on the conveyor device 44 by the external transport means 54 such as a forklift (step S111). (2) Next, the conveyor device 44 transports the pallet 12 to the acquisition unit 38 (measurement unit 40, reading unit 46) (step S112). (3) Next, the acquisition unit 38 acquires the pallet size of the pallet 12 on the conveyor device 44 and sends the acquired result to the control unit 50 (step S113). The conveyor device 44 transfers the pallet 12 to the lifting mechanism 20.

[0053] (4) The control unit 50 determines the storage unit that will store the pallet 12 based on the acquired results (step S114). The determination result may include information about the storage unit where the pallet 12 is to be stored, information about the storage row to which the storage unit belongs, information about the area to which the storage row belongs, and information about the shelf to which the area belongs. If the determination results of the measurement unit 40 and the data providing unit 52 match in this step, the control unit 50 proceeds to the next step; if they do not match, the control unit 50 temporarily stops the process and notifies the worker that an abnormality has occurred. Once the worker has taken the required corrective action, the control unit 50 proceeds to the next step.

[0054] (5) Next, the pallet 12 is loaded onto the lifting mechanism 20 and transported to the determined shelf for storage (step S115). For example, the conveyor device 44 stops transporting the pallet 12 in front of the lifting mechanism 20. When the platform of the lifting mechanism 20 descends, the conveyor device 44 pushes out the pallet 12 and places it on the platform of the lifting mechanism 20.

[0055] (6) At the shelf where the product is to be stored, the second conveying means 16 carries the empty first conveying means 14 and moves in front of the lifting mechanism 20 (step S116). (7) Next, the first conveying means 14 moves from the second conveying means 16 to the lifting mechanism 20 and holds the pallet 12 (step S117). In this manner, in this embodiment, the pallet size of the pallet 12 is acquired, and then the pallet 12 is held by the first conveying means 14. (8) Next, the first conveying means 14 holding the pallet 12 moves from the lifting mechanism 20 to the second conveying means 16 (step S118).

[0056] (9) Next, the second conveying means 16 carries the first conveying means 14 and moves to the front of the storage row 23 to which the storage section 24 of the storage destination belongs (step S119). (10) Next, the first conveying means 14 moves from the second conveying means 16 to the storage section 24 where the pallet 12 is to be stored, and unloads the pallet 12 there (step S120). The first conveying means 14 may transmit the position of the storage section 24 where the pallet 12 has been unloaded (hereinafter referred to as the "storage position") to the control unit 50. The control unit 50 may calculate the storage capacity (e.g., size) of the storage row 23 based on the storage position transmitted from the first conveying means 14. The control unit 50 can refer to the calculated storage capacity to determine the storage section 24 in which to store the pallet 12 that will be carried in later.

[0057] After unloading the pallet 12, the first conveying means 14 may remain on standby or may move to another standby location.

[0058] (Removal operation) The retrieval operation of the automated warehouse system 100 will be described with reference to FIGS. 1 and 2. In the retrieval operation, first, the first conveying means 14, with its platform 14c lowered, enters under the pallet 12 to be retrieved in the source storage section 24, raises the platform 14c to hold the pallet 12, and then loads onto the second conveying means 16. Once the first conveying means 14 is loaded, the second conveying means 16 moves in front of the lifting mechanism 20. Next, the first conveying means 14 exits the second conveying means 16, enters the lifting mechanism 20, unloads the pallet 12, and exits the lifting mechanism 20. Next, the lifting mechanism 20 lowers the pallet 12 and places it on the conveyor device 44. The conveyor device 44 transports the pallet 12 to the front of the external conveying means 54. The pallet 12 transported to the front of the external conveying means 54 is then retrieved to the outside by the external conveying means 54. The released pallet 12 may be loaded onto a truck (not shown) or the like and shipped.

[0059] Next, an example of the arrangement of pallets 12 on the shelf section 22 will be described with reference to Figure 7. Figure 7 is a schematic diagram showing an example of the arrangement of pallets 12 on the shelf section 22. As described above, the shelf section 22 has a plurality of storage rows 23 each consisting of a plurality of storage sections 24 arranged in a row direction. Storage rules regarding the size of the pallets 12 (hereinafter referred to as the "attributes" of the storage row 23) are set in advance for each storage row 23. As an example, the storage row 23 may have the following attributes:

[0060] As shown in Figure 7, pallets 12 of the same size may be stored in one storage row 23. In this case, efficient operation is possible when storing a large number of pallets of the same type. In the example of Figure 7, storage rows 23-A and 23-B have an attribute (hereinafter referred to as the "S attribute") for storing small-sized pallets 12-S. Storage row 23-C has an attribute (hereinafter referred to as the "M attribute") for storing medium-sized pallets 12-M. Storage rows 23-D and 23-E have an attribute (hereinafter referred to as the "L attribute") for storing large-sized pallets 12-L.

[0061] Furthermore, as shown in Figure 7, a plurality of pallets of different sizes may be stored in one storage row 23. In this case, flexible operation is possible when storing a wide variety of pallets of different sizes. In the example of Figure 7, storage row 23-F has an attribute (hereinafter referred to as "attribute C") that allows a mixture of pallets 12-M, 12-S, and 12-L of different sizes to be stored.

[0062] Furthermore, as shown in Figure 7, multiple pallets with different pallet widths may be stored in one storage row 23. In this case, flexible operation is possible when storing a wide variety of pallets with different pallet widths. In the example of Figure 7, storage row 23-G has an attribute (hereinafter referred to as the "P attribute") that allows multiple pallets 12-M(1), 12-S(2), 12-L(1), and 12-L(2) with different pallet widths to be stored together.

[0063] The alphabetic symbols attached to the pallets 12 indicate the pallet size L, M, or S, and the number in parentheses indicates the pallet width of the pallet. In the symbols indicating the pallet width, (1) indicates the first pallet width (1200 mm in this example), and (2) indicates the second pallet width (1100 mm in this example). In other words, pallet 12-M(1) indicates a medium-sized pallet with the first pallet width, and pallet 12-S(2) indicates a small-sized pallet with the second pallet width. Pallet 12-L(1) indicates a large-sized pallet with the first pallet width, and pallet 12-L(2) indicates a large-sized pallet with the second pallet width. Note that pallets with the first pallet width are collectively referred to as first pallet 12(1), and pallets with the second pallet width are collectively referred to as second pallet 12(2).

[0064] In addition, among the symbols indicating the pallet width, the "(1)" indicating the first pallet width may be omitted. In this example, the hallet width of the pallets stored in storage rows 23-A to 23-F is the first pallet width. These storage rows may also be configured to be able to store multiple pallets with different pallet widths. The pallet width is not limited to two types, and may be three or more types.

[0065] 12 and 13, a storage row 23-G capable of storing a wide variety of pallets with different pallet widths will be described. FIG. 12 is a plan view of the storage row 23-G capable of storing pallets 12 with a plurality of pallet widths. FIG. 13 shows the storage row 23-G as viewed from the front. The storage row 23-G has a pair of placement sections 33, 34 spaced apart in the row direction for placing the pallets 12, and a pair of side restriction sections 31, 32 that restrict movement of the pallets 12 placed on the pair of placement sections 33, 34 in the row direction.

[0066] Each set of mounting portions 33, 34 has a first mounting portion 33 and a second mounting portion 34, and each set of side restriction portions 31, 32 has a first side restriction portion 31 and a second side restriction portion 32. The first side restriction portion 31 is disposed on the opposite side of the first mounting portion 33 from the second mounting portion 34, and the second side restriction portion 32 is disposed on the opposite side of the second mounting portion 34 from the first mounting portion 33.

[0067] The first and second loading sections 33, 34 in this embodiment are the upper surfaces of the first rails 26 extending in the Y-axis direction in the storage section 24. The first and second side restriction sections 31, 32 in this embodiment have rail shapes extending in the Y-axis direction and are arranged to sandwich both side sections of the pallet 12 placed on the first and second loading sections 33, 34. The first and second side restriction sections 31, 32 are arranged on both sides of the first and second loading sections 33, 34 in the row direction in a plan view.

[0068] The first and second side restriction sections 31, 32 have guide sections 31e, 32e that guide the row direction position of the pallet 12. The guide sections 31e, 32e contact the sides of the pallet 12 to restrict its position when the pallet 12 approaches. The guide sections 31e, 32e are located above the first and second placement sections 33, 34.

[0069] The size of the gap between the first and second side restriction portions 31, 32 is configured so that the first pallet 12(1) can pass through without interfering with the first and second side restriction portions 31, 32. For this reason, the row-direction spacing D1 between the first and second side restriction portions 31, 32 is larger than the pallet width W1 of the first pallet 12(1). The row-direction spacing D1 is set to the pallet width W1 plus a sufficient margin. In this example, the row-direction spacing D1 is the row-direction spacing between the guide portions 31e, 32e.

[0070] If the gap between the first and second loading sections 33, 34 is too large, the second pallet 12(2) will fall into that gap. For this reason, the row-direction spacing D2 between the first and second loading sections 33, 34 is smaller than the pallet width W2 of the second pallet 12(2). In this example, the row-direction spacing D2 is the spacing between the opposing ends 33e, 34e of the first and second loading sections 33, 34 that face each other in the row direction.

[0071] If the row spacing D1 is too large, as shown in Figures 13(c) and 13(d), when the second pallet 12(2) is biased to one side in the row direction, the other end of the pallet may fall into the gap between the first and second loading sections 33, 34. Therefore, the first and second loading sections 33, 34 are positioned to be able to support the second pallet 12(2) regardless of the position of the second pallet 12(2) located between the first and second side restriction sections 31, 32. Specifically, the row direction distance E1 in a plan view between the first side restriction section 31 and the second loading section 34 and the row direction distance E2 in a plan view between the second side restriction section 32 and the first loading section 33 are set to be smaller than the pallet width W2 of the second pallet 12(2). Note that the distance between two points in a plan view is the distance between those two points projected onto a plane.

[0072] In the example of Figure 13, distance E1 is the shortest distance on a plane from the opposing end 34e to the farther guide section 31e, and distance E2 is the shortest distance on a plane from the opposing end 33e to the farther guide section 32e. In the example of Figure 13, the pallet width W1 of the first pallet 12(1) is the maximum width that can be stored in the storage row 23-G, and the pallet width W2 of the second pallet 12(2) is the minimum width that can be stored in the storage row 23-G. In other words, the storage row 23-G can store a mixture of multiple types of pallets 12 with different row widths, with pallet widths ranging from W1 to W2.

[0073] The acquisition unit 38 may be configured to acquire the pallet width in addition to the pallet size. The measurement unit 40 may be configured to measure the pallet width in addition to the pallet size. The data providing unit 52 may be configured to provide the pallet width in addition to the pallet size. The control unit 50 may control the transport mechanism to store one pallet 12 in a storage row 23 determined in accordance with the pallet width acquired by the acquisition unit 38 for that pallet 12.

[0074] Next, changing the attributes of each storage queue 23 will be described. The product mix may change seasonally, monthly, weekly, or daily. If the attributes of the storage queues 23 remain initially set and cannot be changed, there is a possibility that it will not be possible to respond to changes in the product mix. For this reason, in this embodiment, the attributes of the storage queues 23 can be changed. For example, if there is likely to be an increase in products on pallet 12-L, the proportion of storage queues 23 with the L attribute can be increased. The attributes of the storage queues 23 may be changed based on an operator's operation, or may be changed automatically based on the calculation results, in which the control unit 50 or its higher-level control system calculates the proportion of each attribute in accordance with the product inventory plan.

[0075] The attributes of each storage row 23 may be stored in the control unit 50. In this case, the attributes of the storage row 23 can be changed by rewriting the attributes stored in the control unit 50. When the attributes of a storage row 23 are changed, the pallets 12 stored in the storage row 23 may be rearranged to match the changed attributes. Rearrangement is the operation of transferring a pallet 12 from one storage row 23 to another storage row 23 in the shelf unit 22.

[0076] While the above explanation shows an example of handling three pallet sizes, there is a need to handle even more types of pallets. For example, if the minimum and maximum pallet sizes are determined, this embodiment is not limited to the small, medium, and large sizes described above, but can also handle intermediate sizes (e.g., total length = reference size + 200 mm, reference size - 50 mm, etc.). In this embodiment, each storage row 23 stores one group of pallets divided into multiple groups based on pallet size. The pallets 12 can be designed (length) to optimize storage efficiency.

[0077] For example, pallets with a size of small (reference size - 100 mm) or less may be classified as the first group, pallets larger than small (reference size - 100 mm) and smaller than medium (reference size + 100 mm) may be classified as the second group, and pallets larger than medium (reference size + 100 mm) and smaller than large (reference size + 400 mm) may be classified as the third group. Pallets in the first group may be stored in a storage row with an S attribute, pallets in the second group may be stored in a storage row with an M attribute, and pallets in the third group may be stored in a storage row with an L attribute. These groups may be set for each shelf level of the shelf unit 22. A design (length) can be made that can optimize the storage efficiency of each shelf level of the shelf unit 22.

[0078] An example of the operation of packing and storing pallets 12 in the storage row 23 will be described with reference to Figure 8. This operation realizes the state in which the pallets 12 are packed and arranged as shown in Figure 11(b). Figure 8 is an explanatory diagram that explains an example of the operation of packing and storing pallets 12. In this operation, the size of the pallet to be stored is acquired in advance, and the movement of the first conveying means 14 is controlled based on the acquired result.

[0079] First, the first conveying means 14 holds the pallet 12-S(A) to be stored near the center of the first conveying means 14 and moves from left to right in the figure, approaching the already placed pallet 12-S(B) and stopping just before that pallet (FIG. 8(a)). "Near the center" refers to the range from the center that allows for error and variation in movement. At this time, the first conveying means 14 detects the distance from the pallet with the first sensor 14s to avoid contact with the pallet and stops a predetermined distance before it, leaving a large gap between adjacent pallets.

[0080] Next, the first conveying means 14 temporarily drops the pallet 12-S(A) into the storage row 23 and moves to the left in the figure ( FIG. 8( b)). Next, the first conveying means 14 holds the pallet 12-S(A) in the new position and moves to the right in the figure ( FIG. 8( c)). During this operation, the first conveying means 14 may detect the previously placed pallet 12-S(B) and determine the gap based on the distance to that pallet and the pallet size of the pallet 12-S(A). For example, the first conveying means 14 calculates the distance that the first conveying means 14 should move relative to the previously placed pallet 12-S(B) based on the size of the pallet 12-S(A) to be stored measured by the measuring unit 40. During this operation, the stopping position of the first conveying means 14 is controlled based on the calculation result, the measured pallet size, and the detection distance of the first sensor 14s so that a predetermined gap Sd is formed between adjacent pallets. Next, the first conveying means 14 drops the pallet 12-S(A) at that position into the storage row 23 (FIG. 8(d)).

[0081] This operation is completed by lowering the pallet 12-S(A) into the storage row 23, and the first conveying means 14 moves to the standby location. By storing pallets with closer spacing in this way, wasted space is reduced by the amount indicated by symbol Cd compared to the case in Figure 11(a), improving space efficiency.

[0082] Next, we will explain how to store a plurality of randomly stored pallets 12 of different sizes in each storage row 23 of the shelf section 22. In this example, the following dimensions are input as parameters into the control section 50 and stored in advance. Unless otherwise specified, the following dimensions are dimensions in the row direction. (1) Storage dimensions of the shelf section 22. In particular, the dimension Yc of each storage row 23 (2) Distance Sd between adjacent pallets (3) Other dimensions. In particular, the dimension Yd of the dead space at the back of each storage row 23 where no pallets 12 are placed.

[0083] Next, the control unit 50 calculates the dimensions of each available storage space (hereinafter referred to as "available storage dimensions Ys") from the current storage state of each storage row 23. For this calculation, the dimensions Yp(1) to Yp(n) of the n pallets currently being stored are used. The control unit 50 stores the dimensions Yp(1) to Yp(n) for each storage row 23. As an example, the control unit 50 can calculate the dimension Ys of each storage column 23 using equation (1). Ys=Yc-Σ[Yp(1)~Yp(n)]-n·Sd-Yd···(1) The storage capacity Ys of each storage row 23 is stored in the control unit 50.

[0084] When a new pallet 12 is received, the control unit 50 searches for a storage row 23 having a storage capacity dimension Ys larger than the pallet size Yj of the new pallet 12.

[0085] The control unit 50 can add storage destination determination conditions, such as the type of pallet 12 or the storage row closest to the exit, to the storage rows 23 found by the search, and determine the storage destination for the new pallet 12. These storage destination determination conditions can be changed to any desired conditions.

[0086] When a pallet 12 is removed from the warehouse, the control unit 50 recalculates the storage capacity dimension Ys of each storage row 23 by adding the pallet size Ye of the removed pallet 12, and updates the memory.

[0087] By determining the storage row in this manner, a plurality of pallets 12 of different sizes randomly stored on the shelf section 22 can be stored at high density, improving space efficiency.

[0088] The features of the automated warehouse system 100 of this embodiment configured as above will be described. The automated warehouse system 100 of this embodiment has a first conveying means 14 that holds a pallet 12 and can move the shelf unit 22 in the column direction, a second conveying means 16 that is equipped with the first conveying means 14 and can move the side of the shelf unit 22 in the row direction, and an acquisition unit 38 that acquires the size of the pallet 12 to be stored as an acquired size. In this case, pallets of different sizes or pallets of unknown size can be stored smoothly. Furthermore, because the pallets can be stored in a storage unit that matches their size based on the acquired size, wasted space is reduced and space efficiency is improved.

[0089] In this embodiment, the acquisition unit 38 includes a measurement unit 40 that measures the size of the pallet 12 to be stored and provides the measurement result as the acquired size. In this case, the actual measurement value can be provided as the acquired size.

[0090] In this embodiment, the acquisition unit 38 includes a data providing unit 52 that provides, as an acquired size, stored data associated with the pallet 12 to be stored. In this case, the stored data can be provided as the acquired size.

[0091] In this embodiment, the pallet 12 to be stored is held by the first conveying means 14 after the size of the pallet 12 is acquired. In this case, a storage section 24 is determined based on the acquired size, and the pallet 12 can be transported using the first conveying means 14 of the storage row 23 or shelf to which the storage section 24 belongs.

[0092] In this embodiment, the storage unit 24 for storing the pallet 12 to be stored is determined based on the acquisition result by the acquisition unit 38. In this case, since the storage unit 24 can be determined based on the acquisition result, the pallet can be stored in a storage unit that suits its size.

[0093] This embodiment has a storage row 23 consisting of a plurality of storage sections 24 arranged in a row direction, and a plurality of pallets 12 of different sizes are stored in the storage row 23. In this case, flexible operation is possible when storing a wide variety of pallets of different sizes.

[0094] This embodiment has a plurality of storage rows 23, each consisting of a plurality of storage sections 24 arranged in a row direction, and each storage row 23 stores a group of pallets 12, which are divided into a plurality of groups based on size. In this case, a wider variety of pallet sizes can be accommodated. In this way, by storing pallets of different sizes in groups, the number of pallets that can be stored in the automated warehouse system can be increased.

[0095] Furthermore, if the shelves are divided into storage sections designed for large sizes and storage sections designed for small sizes at a predetermined ratio, fluctuations in the product mix will cause the ratio of large to small pallets to fluctuate, which could result in a mismatch with the ratio of storage sections.In contrast, this embodiment is configured so that the attributes of the storage rows 23 can be changed, making it possible to flexibly respond to fluctuations in the product mix and reducing the likelihood of a mismatch between the ratio of pallets and the ratio of storage sections.

[0096] In this embodiment, a storage column 23-G is provided in which a plurality of storage sections are arranged in a column direction and capable of storing a first pallet 12(1) and a second pallet 12(2) having a row width smaller than that of the first pallet 12(1). The row width of the second pallet 12(2) is smaller than that of the first pallet 12(1). The storage column 23-G has a pair of placement sections 33, 34 spaced apart in the row direction for placing the second pallet 12(2) and the first pallet 12(1), and a pair of side restriction sections 31, 32 arranged on both sides in the row direction of the pallet placed on the pair of placement sections 33, 34. The row distance D1 between the pair of side restriction sections 31, 32 is greater than the pallet width W1 of the first pallet 12(1). The pair of placement sections 33, 34 are arranged so as to be able to support the second pallet 12(2) regardless of the position of the second pallet 12(2) located between the pair of side restriction sections 31, 32. In this case, pallets of multiple widths with different row widths can be stored in one storage row 23-G.

[0097] The above describes in detail examples of embodiments of the present invention. The above-described embodiments merely illustrate specific examples of implementing the present invention. The contents of the embodiments do not limit the technical scope of the present invention, and many design changes, such as changes, additions, and deletions of components, are possible within the scope of the inventive concept defined in the claims. In the above-described embodiments, content that allows such design changes is described using notations such as "in the embodiment" or "in the embodiment," but this does not mean that design changes are not permitted in content that does not have such notations.

[0098] (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 embodiment.

[0099] [First Modification] Although the embodiment has been described with reference to an example including a conveyor device 44, this is not limiting. FIG. 9 is a side view schematically illustrating an automated warehouse system 100 according to a first modified example, corresponding to FIG. 2. This modified example differs from the embodiment in that a lifting mechanism 20 raises and lowers the first conveying means 14 and does not include a conveyor device 44. In this modified example, an external conveying means 54 places the pallet 12 to be stored on the first conveying means 14. In this modified example, the acquisition unit 38 includes a measurement unit 40 and does not include a data providing unit. The first conveying means 14 enters the measurement unit 40 while holding the pallet 12. The measurement unit 40 measures the pallet size of the pallet 12 held by the first conveying means 14 and sends the measurement result to the control unit 50. The control unit 50 determines the storage unit in which to store the pallet 12 based on the measurement result.

[0100] The first conveying means 14 enters the lifting mechanism 20 while holding the pallet 12. The lifting mechanism 20 transports the first conveying means 14 and the pallet 12 to the shelf where the pallet 12 is to be stored. The first conveying means 14 moves from the lifting mechanism 20 to the second conveying means 16. The second conveying means 16 transports the first conveying means 14 and the pallet 12 to the storage row 23 where the pallet 12 is to be stored. The first conveying means 14 transports the pallet 12 to the storage section 24 where the pallet 12 is to be stored, and lowers the pallet 12 into the storage section 24. This modification provides the same effects as the embodiment.

[0101] [Second Modification] In the description of the embodiment, an example in which the lifting mechanism 20 is provided has been shown, but the present invention is not limited to this. Fig. 10 is a side view schematically showing an automated warehouse system 100 according to a second modified example, and corresponds to Fig. 2. This modified example differs from the embodiment in that it does not include the lifting mechanism 20, but includes an intermediate shelf 25 having multiple intermediate storage sections 21.

[0102] The intermediate storage section 21 is a temporary storage section for receiving pallets 12 from the external transport means 54 when warehousing. The intermediate storage section 21 of this modified example has the same number of tiers (three tiers) as the shelf section 22. The first transport means 14 enters the intermediate storage section 21 from an opening facing the inside to load and unload pallets 12. The external transport means 54 inserts its fork into the intermediate storage section 21 from an opening facing the outside to load and unload pallets 12.

[0103] In this modified example, the acquisition unit 38 includes a measurement unit 40, but does not include a data providing unit. In this modified example, the measurement unit 40 is provided in the intermediate storage unit 21 on each level.

[0104] In this modified example, the external conveying means 54 carries the pallet 12 to be stored into the intermediate storage area 21. The measuring unit 40 measures the pallet size of the pallet 12 carried into the intermediate storage area 21 and sends the measurement result to the control unit 50. The control unit 50 determines the storage area in which to store the pallet 12 based on the measurement result. The second conveying means 16 transports the empty first conveying means 14 to the front of the intermediate storage area 21. The first conveying means 14 enters the intermediate storage area 21 and boards the second conveying means 16 while holding the pallet 12. The second conveying means 16 transports the first conveying means 14 and the pallet 12 to the storage row 23 where the pallet 12 is to be stored. The first conveying means 14 transports the pallet 12 to the storage area 24 where the pallet 12 is to be stored and unloads the pallet 12 into the storage area 24. This modification provides the same effects as the embodiment.

[0105] [Other variations] In the description of the embodiment, an example has been shown in which the second conveying means 16 does not have a lifting mechanism, but this is not limiting. For example, the second conveying means 16 may have a lifting mechanism that raises and lowers the first conveying means 14. In this case, the measuring unit 40 or the reading unit 46 may be provided in the second conveying means 16. The second conveying means 16 may also be a stacker crane.

[0106] In the description of the embodiment, an example has been shown in which the measuring unit 40 and the reading unit 46 are provided upstream of the lifting mechanism 20, but this is not limiting. The measuring unit 40 or the reading unit 46 may be provided in the lifting mechanism 20, or may be provided between the lifting mechanism 20 and the shelf unit 22, or may be provided in the second conveying means 16. Furthermore, the obtaining unit 38 may obtain the pallet size anywhere upstream of the lifting mechanism 20, and may obtain the pallet size immediately after storage, for example.

[0107] In the embodiment, an example was shown in which all pallets 12 whose pallet size was acquired by the acquisition unit 38 were stored, but this is not limiting. For example, pallets 12 whose pallet size is outside a predetermined range may be rejected without being stored on the shelf unit 22.

[0108] In the description of the embodiment, an example has been shown in which the second rail 28 is provided on the running path of the second conveying means 16, but this is not limiting. For example, the second conveying means 16 may run on a running path without rails.

[0109] Each of these modifications provides the same effects as the embodiment.

[0110] 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.

[0111] The present invention can also be defined by the features described in the following items. (Item 1) An automated warehouse system comprising a shelf unit having a plurality of storage sections arranged in rows and columns, each of which has a plurality of stages, and capable of storing pallets of a plurality of sizes in the shelf unit, a first conveying means capable of holding a pallet and moving the shelf portion in the row direction; a second conveying means that carries the first conveying means and is movable along the side of the shelf in the row direction; an acquisition unit that acquires the size of the pallet to be stored as an acquisition size; An automated warehouse system with

[0112] (Item 2) The acquisition unit includes a measurement unit that measures the size of the pallet to be stored and provides the measurement result as the acquired size. Item 1. The automated warehouse system according to item 1.

[0113] (Item 3) The acquisition unit includes a data providing unit that provides stored data associated with a pallet to be stored as the acquired size. 3. The automated warehouse system according to item 1 or 2.

[0114] (Item 4) The pallet to be stored is held by the first conveying means after the acquired size is acquired. 4. The automated warehouse system according to any one of items 1 to 3.

[0115] (Item 5) A storage unit that stores the pallet to be stored is determined based on the acquisition result of the acquisition unit. 5. The automated warehouse system according to any one of items 1 to 4.

[0116] (Item 6) a storage row consisting of a plurality of storage units arranged in a row direction; A plurality of pallets of different sizes are stored in the storage row. 6. The automated warehouse system according to any one of items 1 to 5.

[0117] (Item 7) A plurality of storage rows each including a plurality of storage units arranged in a row direction are provided, The storage queue stores pallets of one group divided into a plurality of groups according to size. 7. The automated warehouse system according to any one of items 1 to 6.

[0118] (Item 8) The group is set for each stage of the shelf portion. Item 7. The automated warehouse system according to item 7.

[0119] (Item 9) Detecting the position of a pallet that has already been placed and determining a gap based on the distance to the pallet and the acquired size; 9. The automated warehouse system according to any one of items 1 to 8.

[0120] (Item 10) a storage row in which a plurality of storage units capable of storing a first pallet and a second pallet having a row width smaller than the row width of the first pallet are arranged in a column direction; The storage row includes a pair of placement sections arranged apart in the row direction for placing the second pallet and the first pallet, and a pair of side restriction sections arranged on both sides in the row direction of the pallet placed on the pair of placement sections, the row-direction spacing of the pair of side restriction portions is greater than the row-direction width of the first pallet, the set of placement sections are arranged to be able to support the second pallet regardless of the position of the second pallet located between the set of side restriction sections; 5. The automated warehouse system according to any one of items 1 to 4.

[0121] (Item 11) An automated warehouse system comprising a shelf unit having a plurality of storage sections arranged in rows and columns, and capable of storing pallets in the shelf unit, a first conveying means capable of holding the pallet and moving the shelf portion in the column direction; a second conveying means that carries the first conveying means and is movable along the side of the shelf in the row direction; and The shelf is controlled so that pallets of a plurality of sizes can be stored. Automated warehouse system.

[0122] (Item 12) a storage unit for storing data relating to the pallets of the shelf unit, the positions of the pallets during movement, and the pallet sizes; 12. The automated warehouse system according to any one of items 1 to 11. [Explanation of symbols]

[0123] 12 Pallet, 14 First conveying means, 16 Second conveying means, 20 Lifting mechanism, 21 Intermediate storage section, 22 Shelf section, 23 Storage row, 24 Storage section, 25 Intermediate shelf, 31, 32 Side regulating section, 33, 34 Placement section, 38 Acquisition section, 40 Measurement section, 44 Conveyor device, 50 Control section, 52 Data providing section, 54 External conveying means, 100 Automated warehouse system.

Claims

1. An automated warehouse system including a shelf unit having a plurality of storage sections arranged in rows and columns, a plurality of conveying devices that hold pallets and move them along column and row directions on each of the plurality of shelf sections; the shelf unit has a storage row made up of a plurality of storage units arranged in a row direction, and the transport device moves in the row direction in the storage row; the storage row is capable of storing a first pallet having a large row width and a second pallet having a smaller row width; The storage row is provided with a set of placement sections arranged apart in the row direction for placing the first pallet and the second pallet, and a set of side restriction sections arranged on both sides in the row direction of the pallet placed on the set of placement sections, a row-direction interval between the pair of side restriction portions is greater than a row-direction width of the first pallet; a row-direction spacing between the pair of placement sections is smaller than a row-direction width of the second pallet; the set of side restriction portions are arranged to be able to support the second pallet regardless of the position of the second pallet located between the set of placement portions; Automated warehouse system.

2. The set of side regulating portions is arranged to be able to support the second pallet regardless of the position of the second pallet located between the set of loading portions. The automated warehouse system according to claim 1 .

3. The row-direction distance between each end of the side regulating portion on the loading portion side and each end of the loading portion is set to be smaller than the row-direction width of the second pallet, As a result, the second pallet is supported by the placement units regardless of the position of the second pallet between the pair of placement units. The automated warehouse system according to claim 2.

Images