Automated warehouse system

Abstract

To provide an automatic warehouse system that can easily monitor distribution of a cargo.SOLUTION: An automated warehouse system 1 includes: a plurality of conveyance parts 2 that convey a cargo B; an operation information acquisition part 31 that acquires operational information regarding an operating state of the plurality of conveyance parts 2; and a distribution state determination unit 32 that determines a distribution state of the cargo B by one conveyance part 2 based on operation information of the first conveyance part 2 and operation information of an upstream conveyance part which is the conveyance part 2 that can convey the cargo B to the first conveyance part 2. The distribution state includes: a congestion state in which the cargo B is in a congestion state, a deadlock state in which the cargo B is in the congestion state and the congestion does not resolve over time, and a normal distribution state in which the cargo B is distributed normally.SELECTED DRAWING: Figure 6

Description

Technical Field

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

Background Art

[0002] As a conventional automated warehouse system, for example, an automated warehouse system described in Patent Document 1 is known. The automated warehouse system described in Patent Document 1 has a control means for controlling a transport device and a station, and its terminal, and is provided with means for displaying a three-dimensional image of the layout of the system and the status of each part of the system (each transport part) on the terminal. In the automated driving system described in Patent Document 1, the terminal displays the distinction between normal and abnormal of each transport part by color coding.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] In the automated warehouse system as described above, the user can check the normal or abnormal state of each transport part via the terminal. However, when congestion of the goods occurs during the process of transporting the goods by a plurality of transport parts, even if the terminal displays the status of the congested transport part as abnormal, it is difficult for the user to determine whether the congestion will be resolved over time. In such a case, since the user has to directly check the state of the transport part, there is a need for an automated warehouse system that can easily monitor the flow of goods.

[0005] The present invention has been made to solve the above problems, and an object thereof is to provide an automated warehouse system that can easily monitor the flow of goods.

Means for Solving the Problems

[0006] The automated warehouse system according to the present invention comprises a plurality of transport units for transporting goods, an operation information acquisition unit for acquiring operation information relating to the operating status of the plurality of transport units, and a distribution status determination unit for determining the distribution status of goods by one transport unit based on the operation information of one transport unit and the operation information of an upstream transport unit which is a transport unit capable of transporting goods to one transport unit, wherein the distribution status includes a congestion state in which goods are backed up, a deadlock state in which goods are backed up and the congestion does not resolve over time, and a normal distribution state in which goods are being distributed normally.

[0007] This automated warehouse system can determine whether or not there is congestion in one of the transport units, based on the operational information of that unit and the operational information of the upstream transport units that can transport goods to that unit. Furthermore, if congestion is occurring in the first transport unit, it can determine whether or not the congestion will resolve over time. Therefore, the need for users to directly check the status of the transport units is reduced, and monitoring of the flow of goods becomes easier.

[0008] The automated warehouse system according to the present invention further comprises a plurality of conveying devices, each of which may correspond to at least one conveying section. In this case, the conveying section can be composed of conveying devices such as a conveyor.

[0009] In the automated warehouse system according to the present invention, the operating state of the conveying unit may include at least one of the following: an abnormal state in which an abnormality has occurred in the conveying unit; a waiting state for goods to be conveyed from a process prior to the conveying unit; a waiting state for goods to be unloaded in which goods are waiting to be conveyed to a process later than the conveying unit; an unassigned state in which goods to be conveyed in the conveying unit have not been assigned; a normal state in which the flow of goods in the conveying unit is proceeding normally; and an unknown state in which the operating state cannot be determined. By using at least one of these states as the operating state, the flow state of a single conveying unit can be determined.

[0010] In the automated warehouse system according to the present invention, the flow state determination unit may determine that the flow state of one conveying unit is in a deadlock state if the operating state of one conveying unit is in a waiting state for grasping a load, and the operating state of the upstream conveying unit is in a waiting state for grasping a load or waiting state for unloading a load. In this case, it is possible to specifically determine that the flow state of one conveying unit is in a deadlock state.

[0011] In the automated warehouse system according to the present invention, the distribution state determination unit may determine that the distribution state of one conveyor unit is congested if the operating state of one conveyor unit is in a waiting state for unloading, and the operating state of the upstream conveyor unit is in a waiting state for unloading, a normal state, or an unknown state. In this case, it is possible to specifically determine that the distribution state of one conveyor unit is congested.

[0012] In the automated warehouse system according to the present invention, the distribution state determination unit may determine that the distribution state of one conveying unit is congested if the operating state of one conveying unit is normal and the operating state of the upstream conveying unit is waiting to unload. In this case, it is possible to specifically determine that the distribution state of one conveying unit is congested.

[0013] In the automated warehouse system according to the present invention, the distribution state determination unit may determine that the distribution state of one conveyor unit is congested if the operating state of one conveyor unit is unknown and the operating state of the upstream conveyor unit is waiting to unload cargo. In this case, it is possible to specifically determine that the distribution state of one conveyor unit is congested.

[0014] In the automated warehouse system according to the present invention, if the operating state of one conveying unit is abnormal, the flow state of one conveying unit may be determined to be deadlocked, regardless of the operating state of the upstream conveying unit. In this case, it is possible to specifically determine that the flow state of one conveying unit is deadlocked.

[0015] The automated warehouse system according to the present invention further comprises a conveying device capable of transporting goods in both the outbound and inbound directions, and the conveying device may include an inbound conveying unit which is a conveying unit that transports goods in the inbound direction, and an outbound conveying unit which is a conveying unit that transports goods in the outbound direction. This makes it possible to correctly determine the distribution status of goods in a conveying device capable of transporting goods in both the outbound and inbound directions.

[0016] The automated warehouse system according to the present invention further comprises a conveyor for placing and transporting goods, and the conveyor may include multiple transport sections. This allows for precise determination of the flow status of goods on the conveyor.

[0017] The automated warehouse system according to the present invention may further include a storage unit that stores the cumulative time of the flow state in each of the multiple transport units, categorized by the type of flow state. In this case, it becomes possible to identify transport units that frequently experience congestion based on the cumulative time stored in the storage unit.

[0018] The automated warehouse system according to the present invention further includes a notification unit that notifies information regarding the distribution status of a transport unit. If the distribution status determination unit determines that the distribution status of one transport unit is in a deadlock state, the notification unit may notify that the distribution status of one transport unit is in a deadlock state. In this case, the user can confirm that the distribution status of one transport unit is in a deadlock state via the notification unit.

[0019] In the automated warehouse system according to the present invention, the notification unit may display an image including a diagram that simulates the layout of multiple transport units, and the colors of the multiple transport units on the image may be color-coded according to the determination result of the distribution status determination unit. In this case, the user can easily grasp the distribution status of each of the multiple transport units.

[0020] In the automated warehouse system according to the present invention, the distribution state may include a bottleneck state in which goods are congested and the system is the bottleneck causing the congestion. In this case, it is possible to determine whether or not a particular transport unit is the bottleneck causing the congestion, and the need for the user to directly check the status of the transport unit can be reduced.

[0021] The automatic warehouse system according to the present invention further includes a notification unit that notifies information regarding the flow state of the transport unit. When the flow state determination unit determines that the flow state of one transport unit is a bottleneck state, the notification unit may notify that the flow state of the one transport unit is a bottleneck state. In this case, the user can confirm via the notification unit that the flow state of the one transport unit is a bottleneck state.

[0022] The automatic warehouse system according to the present invention includes a plurality of transport units that transport goods, an operation information acquisition unit that acquires operation information regarding the operation states of the plurality of transport units, and a flow state determination unit that determines the flow state of goods by one transport unit based on the operation information of the one transport unit and the operation information of an upstream transport unit that is a transport unit capable of transporting goods to the one transport unit. The flow state includes a bottleneck state in which goods are congested and the bottleneck of the congestion.

[0023] In this automatic warehouse system, based on the operation information of one transport unit and the operation information of an upstream transport unit that is a transport unit capable of transporting goods to the one transport unit, it is possible to determine whether the one transport unit is the bottleneck of the congestion. Therefore, it is possible to reduce the necessity for the user to directly check the state of the transport unit, and it is possible to easily monitor the flow of goods.

Advantages of the Invention

[0024] According to the present invention, it is possible to provide an automatic warehouse system capable of easily monitoring the flow of goods.

Brief Description of the Drawings

[0025] [Figure 1] FIG. 1 is a plan view schematically showing an automatic warehouse system according to the first embodiment. [Figure 2] FIG. 2 is a block diagram showing the configuration of the controller and the notification unit in FIG. 1. [Figure 3] FIG. 3 is a table showing combinations of operation states for determining the flow state and display contents by the notification unit. [Figure 4] Figure 4 shows an example of an image displayed by the notification unit in Figure 1. [Figure 5] Figure 5 shows another example of an image displayed by the notification unit in Figure 1. [Figure 6] Figure 6 shows yet another example of the image displayed by the notification unit in Figure 1. [Figure 7] Figure 7 is a schematic plan view showing the automated warehouse system according to the second embodiment. [Figure 8] Figure 8 shows an example of an image displayed by the notification unit in Figure 7. [Figure 9] Figure 9 shows another example of an image displayed by the notification unit in Figure 7. [Modes for carrying out the invention]

[0026] The embodiments will be described in detail below with reference to the attached drawings. In the description of the drawings, the same or equivalent elements will be denoted by the same reference numeral, and redundant descriptions will be omitted.

[0027] [First Embodiment] The configuration of the automated warehouse system according to the first embodiment will now be described. As shown in Figure 1, the automated warehouse system 1 according to the first embodiment comprises a plurality of transport units 2, a controller 3, and a notification unit 4. The automated warehouse system 1 includes a system for circulating goods B by transferring goods B between the plurality of transport units 2. Goods B may be, for example, goods contained in packaging containers such as cardboard boxes. Also, if the transport unit 2 is equipped with a storage member such as a container, goods B may be goods contained in said storage member. Goods B are not particularly limited as long as they can be transported by the transport unit 2.

[0028] Each of the multiple transport units 2 transports the cargo B. A transport unit 2 is an element capable of transporting cargo B and is composed of various transport devices, as will be described later. In this embodiment, one of the multiple transport units 2 is transported cargo B from another transport unit 2. Hereinafter, another transport unit 2 capable of transporting cargo B to one of the transport units 2 will also be referred to as the upstream transport unit. The direction in which the multiple transport units 2 transport cargo B will also be referred to as the "transport direction".

[0029] The automated warehouse system 1 includes, as transport equipment, a plurality of conveyors 5, a tracked trolley system 6, and a picking robot 7. The plurality of conveyors 5, the tracked trolley system 6, and the picking robot 7 constitute a transport system for retrieving, for example, goods B from an automated warehouse that stores goods B. Each of the plurality of conveyors 5, the tracked trolley system 6, and the picking robot 7 corresponds to at least one transport unit 2.

[0030] Each of the multiple conveyors 5 carries and transports the load B. The conveyor 5 may have, for example, a pair of pulleys, a belt stretched between the pair of pulleys, and a drive source for driving at least one of the pair of pulleys. The configuration of the conveyor 5 is not particularly limited. In the example of Figure 1, the multiple conveyors 5 include a first conveyor 51, a second conveyor 52, a third conveyor 53, a fourth conveyor 54, and a fifth conveyor 55.

[0031] The first conveyor 51 and the second conveyor 52 are arranged side by side with their conveying directions parallel. In this embodiment, the conveying direction of the first conveyor 51 and the conveying direction of the second conveyor 52 are the same. The first conveyor 51 and the second conveyor 52 are located upstream (upper in Figure 1) of the tracked trolley device 6 in the conveying direction. The third conveyor 53 and the fourth conveyor 54 are arranged side by side with their conveying directions parallel. In this embodiment, the conveying direction of the third conveyor 53 and the conveying direction of the fourth conveyor 54 are the same. The third conveyor 53 and the fourth conveyor 54 are located downstream (lower in Figure 1) of the tracked trolley device 6 in the conveying direction. The fifth conveyor 55 is located downstream (lower in Figure 1) of the third conveyor 53 and the fourth conveyor 54 in the conveying direction via a picking robot 7.

[0032] In this embodiment, each of the first to fourth conveyors 54 among the multiple conveyors 5 is equipped with two transport sections 2. Each of the first to fourth conveyors 54 corresponds to two transport sections 2. The fifth conveyor 55 is equipped with one transport section 2. The fifth conveyor 55 corresponds to one transport section 2. Specifically, the first conveyor 51 is equipped with a first transport section 51a that transports cargo B to the second transport section 51b, and a second transport section 51b that transports cargo B to the transport section 2 of the tracked trolley device 6. The second conveyor 52 is equipped with a first transport section 52a that transports cargo B to the second transport section 52b, and a second transport section 52b that transports cargo B to the transport section 2 of the tracked trolley device 6. The third conveyor 53 corresponds to the first conveying section 53a, which conveys the package B to the second conveying section 53b, and the second conveying section 53b, which conveys the package B to the conveying section 2 of the picking robot 7. The fourth conveyor 54 corresponds to the first conveying section 54a, which conveys the package B to the second conveying section 54b, and the second conveying section 54b, which conveys the package B to the conveying section 2 of the picking robot 7. The fifth conveyor 55 corresponds to the conveying section 2, which conveys the package B to, for example, other conveying equipment.

[0033] The tracked trolley system 6 is positioned between the first conveyor 51 and the second conveyor 52 and the third conveyor 53 and the fourth conveyor 54. The tracked trolley system 6 has two trolleys 61 and 62 and rails 63. Each of the two trolleys 61 and 62 automatically travels in one direction (for example, counterclockwise) on the rails 63 with, for example, cargo B loaded or contained on it. The rails 63 are arranged in a ring shape. In this embodiment, one transport unit 2 is set on each of the two trolleys 61 and 62. Each of the two trolleys 61 and 62 corresponds to one transport unit 2 that transports cargo B to the first transport unit 53a or the first transport unit 54a.

[0034] The picking robot 7 is positioned between the third conveyor 53, the fourth conveyor 54, and the fifth conveyor 55. The picking robot 7 may be a manipulator having, for example, a gripping part for grasping the package B and an arm for moving the gripping part. The configuration of the picking robot 7 is not particularly limited. In this embodiment, the picking robot 7 is equipped with one transport unit 2. The picking robot 7 corresponds to one transport unit 2 that transports the package B to the transport unit 2 of the fifth conveyor 55.

[0035] Next, the controller 3 and notification unit 4 will be described in detail. Figure 2 is a block diagram of the configuration of the controller 3 and notification unit 4 shown in Figure 1. The controller 3 has an input / output interface for inputting and outputting signals to and from the outside, a storage unit such as a ROM that stores programs and information for processing, a RAM for temporarily storing data, a CPU, and a communication circuit. Based on the signals output by the CPU, the controller 3 stores input data in the RAM, loads the program stored in the ROM into the RAM, and executes the program loaded into the RAM to perform various processes.

[0036] As shown in Figure 2, the controller 3 and the notification unit 4 are connected to each other so that they can communicate with one another. The controller 3 determines the distribution status of package B by the transport unit 2 and outputs information regarding the distribution status to the notification unit 4. The distribution status refers to the state of distribution of package B by the transport unit 2. In this embodiment, the distribution status includes a congestion state, a deadlock state, and a normal distribution state. Furthermore, the distribution status also includes a bottleneck state.

[0037] A congestion state refers to a situation where cargo B is experiencing congestion. For example, if the amount of cargo B that a designated transport unit 2 must transport is greater than the amount of cargo B that the transport unit 2 can transport, congestion of cargo B is likely to occur. Furthermore, if two or more transport units 2 are not waiting for each other to complete their processing, and a closed processing loop is not formed, the congestion is likely to resolve over time. In such cases, the distribution state is considered to be congested.

[0038] A deadlock situation refers to a state in which cargo B is congested and this congestion does not resolve over time. For example, if two or more transport units 2 are waiting for each other to complete their processing, creating a closed processing loop, it is thought that cargo B will become congested because each of the two or more transport units 2 is waiting for the other transport unit 2 to complete its processing. Furthermore, because a closed processing loop exists, it is thought that this congestion will not resolve over time. In such a case, the distribution system is in a deadlock state.

[0039] A normal flow state refers to a state in which cargo B is flowing normally. For example, if there is no abnormality in the designated transport unit 2 and the amount of cargo B to be transported is small compared to the transportable amount, then it is considered that there will be no congestion of cargo B. In such a case, the flow state is a normal flow state. A bottleneck state refers to a state in which cargo B is congested and acts as a bottleneck for that congestion. For example, if the congestion of cargo B is caused by transport unit 2, then the flow state of transport unit 2 is a bottleneck state.

[0040] The controller 3 includes an operation information acquisition unit 31, a flow status determination unit 32, a flow status output unit 33, and a storage unit 34. The operation information acquisition unit 31 acquires operation information regarding the operation status of multiple transport units 2. The operation information acquisition unit 31 acquires predetermined information necessary to acquire operation information from transport equipment, and based on that information, acquires operation information for the transport unit 2 corresponding to the transport equipment. The operation information acquisition unit 31 acquires operation information for each of the transport units 2 corresponding to the multiple conveyors 5, tracked trolley devices 6, and picking robots 7.

[0041] The operating state refers to the operating state of each of the multiple transport units 2. The operating state of a transport unit 2 includes a non-operating state caused by the transport unit 2, a non-operating state caused by a process preceding the transport unit 2, and a non-operating state caused by a process following the transport unit 2. For example, in the automated warehouse system 1, if cargo B is backed up, the operating state of a given transport unit 2 will be a non-operating state in which cargo B is not being transported. Furthermore, the operating state of a transport unit 2 can be distinguished according to the state of cargo B being transported by the transport unit 2. That is, the operating state of a transport unit 2 includes an abnormal state, a state waiting to unload cargo, a state waiting to grab cargo cargo, an unassigned state, a normal state, and an unknown state.

[0042] An abnormal state refers to a state in which an abnormality has occurred in the transport unit 2. Examples of abnormal states include a malfunction of the transport equipment corresponding to the transport unit 2, or a state in which an abnormality has occurred due to a problem with the transport unit 2 itself. An abnormal state corresponds to a non-operational state caused by the transport unit 2. A waiting unloading state refers to a state in which the transport unit 2 is waiting to transport cargo B to a process after it. Examples of a waiting unloading state include a state in which the transport unit 2 has allocated cargo B to be transported by the transport unit 2, but the transport unit 2 has not transported cargo B to the transport unit 2 of the subsequent process due to reasons such as congestion of cargo B in a process after the transport unit 2. A waiting unloading state corresponds to a non-operational state caused by a process after the transport unit 2.

[0043] The "waiting to grab" state refers to a state in which the conveying unit 2 is waiting to be transported by cargo B from a process preceding it. An example of the waiting to grab state is a situation in which cargo B, which should be transported by the conveying unit 2, has been assigned to the conveying unit 2, but has not been transported to the conveying unit 2 due to reasons such as congestion of cargo B in a process preceding the conveying unit 2. The waiting to grab state corresponds to a non-operational state caused by a process preceding the conveying unit 2.

[0044] An unassigned state refers to a state in which the cargo B to be transported by the transport unit 2 has not been assigned. An example of an unassigned state is a state in which the cargo B to be transported by the transport unit 2 has not been determined. A normal state refers to a state in which the flow of cargo B is proceeding normally in the transport unit 2. An example of a normal state is a state that does not fall under any of the above-mentioned abnormal state, cargo grab waiting state, cargo unloading waiting state, or unassigned state. An unknown state refers to a state in which the operating state cannot be determined. An example of an unknown state is a state in which the operating state cannot be determined for reasons such as the transport equipment corresponding to the transport unit 2 being a product of another company, or the transport equipment not being compatible with communication with the controller 3 (for example, the communication methods are incompatible).

[0045] The distribution status determination unit 32 determines the distribution status of the package B by the first conveying unit 2 based on the operation information of the first conveying unit 2 and the operation information of the upstream conveying unit. For example, the picking robot 7 transports the package B from the second conveying unit 53b of the third conveyor 53 or the second conveying unit 54b of the fourth conveyor 54. Therefore, in this embodiment, the upstream conveying units of the picking robot 7 are the second conveying unit 53b and the second conveying unit 54b. Thus, the distribution status determination unit 32 determines the distribution status of the package B by the picking robot 7's conveying unit 2 based on the operation information of the first conveying unit 2 and the operation information of the second conveying unit 53b and the second conveying unit 54b. Details of the distribution status determination by the distribution status determination unit 32 will be described later.

[0046] The distribution status output unit 33 outputs information regarding the distribution status determined by the distribution status determination unit 32 to the notification unit 4. Specifically, the distribution status output unit 33 outputs information regarding the distribution status of package B by each of the multiple transport units 2 to the notification unit 4. The storage unit 34 stores the cumulative time of the distribution status in each of the multiple transport units 2, categorized by the type of distribution status. Specifically, the storage unit 34 stores the duration (cumulative time) of each distribution status (congestion status, deadlock status, normal distribution status, and bottleneck status) in each of the multiple transport units 2.

[0047] The notification unit 4 notifies the user, for example, of information regarding the distribution status of the transport unit 2 output from the controller 3. The notification unit 4 is, for example, a display. The notification unit 4 also notifies the user of the cumulative time stored in the storage unit 34. Details of the images displayed by the notification unit 4 (display on the display) will be described later.

[0048] In this embodiment, the controller 3 controls the operation of each of the multiple transport units 2 corresponding to the transport equipment described above. For example, the controller 3 assigns a transport request for transporting luggage B to at least some of the multiple transport units 2, and executes the transport of luggage B by operating each transport unit 2 to which the transport request has been assigned according to its operating state.

[0049] Next, the operation of the automated warehouse system 1 according to this embodiment will be described. Below, the operation of transporting cargo B in order to retrieve it from the automated warehouse will be described.

[0050] First, the operation information acquisition unit 31 acquires operation information regarding the operating status of each of the multiple transport units 2. The operation information acquisition unit 31 acquires operation information from the transport units 2. Next, the distribution status determination unit 32 determines the distribution status of the cargo B by the transport unit 2 based on the operation information of one transport unit 2 and the operation information of the upstream transport unit.

[0051] Specifically, if the operation of the first transport unit 2 is abnormal, it is considered that a congestion of cargo B is occurring in the first transport unit 2. Furthermore, because there is a problem with the first transport unit 2 itself, the congestion will not be resolved by the passage of time. Therefore, the flow state determination unit 32 determines that the flow state of the first transport unit 2 is deadlocked when the operation of the first transport unit 2 is abnormal, regardless of the operation state of the upstream transport unit.

[0052] Furthermore, if the operating state of one conveying unit 2 is in a state of waiting to grasp a load, and the operating state of the upstream conveying unit is in a state of waiting to grasp a load or waiting to unload a load, it is considered that a congestion of load B is occurring in the first conveying unit 2. Also, since two or more conveying units 2 are waiting for each other to complete their processing, a closed loop of processing has been created, and the congestion will not be resolved by the passage of time. Moreover, the first conveying unit 2 in which such a processing loop has occurred is considered to be the cause of the congestion. Therefore, the distribution state determination unit 32 determines that if the operating state of one conveying unit 2 is in a state of waiting to grasp a load, and the operating state of the upstream conveying unit is in a state of waiting to grasp a load or waiting to unload a load, the distribution state of the first conveying unit 2 is a deadlock state and a bottleneck state.

[0053] Furthermore, if the operating state of one transport unit 2 is in a waiting state for unloading, and the operating state of the upstream transport unit is in a waiting state for unloading, a normal state, or an unknown state, it is considered that a congestion of cargo B is occurring in one transport unit 2. Also, since two or more transport units 2 are not waiting for each other to complete their processing, and a closed loop of processing has not occurred, the congestion will resolve over time. Therefore, the distribution state determination unit 32 determines that the distribution state of one transport unit 2 is congested if the operating state of one transport unit 2 is in a waiting state for unloading, and the operating state of the upstream transport unit is in a waiting state for unloading, a normal state, or an unknown state.

[0054] Furthermore, if the operation state of the first transport unit 2 is normal and the operation state of the upstream transport unit is in a waiting state for unloading, it is considered that a congestion of cargo B is occurring in the first transport unit 2. Also, since two or more transport units 2 are not waiting for each other to complete processing and a closed loop of processing has not occurred, the congestion will resolve over time. Moreover, even though the operation state of the first transport unit 2 is normal, the operation state of the upstream transport unit is in a waiting state for unloading, so it is considered that the first transport unit 2 is the cause of the congestion. Therefore, the distribution state determination unit 32 determines that if the operation state of the first transport unit 2 is normal and the operation state of the upstream transport unit is in a waiting state for unloading, the distribution state of the first transport unit 2 is congested and a bottleneck.

[0055] Furthermore, if the operating state of the first transport unit 2 is unknown and the operating state of the upstream transport unit is in a waiting state for unloading, it is considered that a congestion of cargo B is occurring in the first transport unit 2. Also, since two or more transport units 2 are not waiting for each other to complete processing and a closed loop of processing has not occurred, the congestion will resolve over time. Therefore, the distribution state determination unit 32 determines that the distribution state of the first transport unit 2 is congested when the operating state of the first transport unit 2 is unknown and the operating state of the upstream transport unit is in a waiting state for unloading.

[0056] Furthermore, if the operating status of the first transport unit 2 is unknown, and the operating status of the upstream transport unit is also unknown, it is not possible to determine whether or not there is congestion with cargo B, and whether or not the congestion will resolve over time. Therefore, the distribution status determination unit 32 does not determine the distribution status of the first transport unit 2 when the operating status of the first transport unit 2 is unknown, and the operating status of the upstream transport unit is also unknown. Except in the above cases, it is considered that there is no congestion with cargo B and that the distribution of cargo B is proceeding normally. In this case, the distribution status determination unit 32 determines that the distribution status of the first transport unit 2 is normal.

[0057] Next, the distribution status output unit 33 outputs the distribution status determination result, which has been determined by the distribution status determination unit 32, to the notification unit 4. The notification unit 4 notifies the user, for example, of the distribution status determination result output by the distribution status output unit 33. In this embodiment, the notification unit 4 notifies the user by color-coding the distribution status determination result of the distribution status determination unit 32 on an image displayed by the notification unit 4.

[0058] Specifically, if the flow status of the first transport unit 2 is in a deadlock state, the notification unit 4 displays the flow status of the first transport unit 2 in red. If the flow status of the first transport unit 2 is in a congestion state, the notification unit 4 displays the flow status of the first transport unit 2 in yellow. If the flow status of the first transport unit 2 is in a normal flow state, the notification unit 4 displays the flow status of the first transport unit 2 in green. Furthermore, if the flow status of the first transport unit 2 is in a bottleneck state, the notification unit 4 displays the flow status of the first transport unit 2 in a blinking state. If the flow status determination unit 32 does not determine the flow status of the first transport unit 2, the notification unit 4 will exclude the flow status of the first transport unit 2 from display. In this case, the notification unit 4 may display the flow status of the first transport unit 2 in a color other than red, yellow, or green (for example, gray).

[0059] Furthermore, if the operating status of the first transport unit 2 is in a state of waiting to grasp a load, an unassigned state, or a normal state, and the operating status of the upstream transport unit is unknown, the notification unit 4 adds blinking to the display of the upstream transport unit's flow status based on the flow status information output from the flow status output unit 33.

[0060] The distribution status determination unit 32 may determine the distribution status based on a pre-stored data table. The notification unit 4 may notify the user of the distribution status determination result based on a pre-stored data table. For example, the distribution status determination unit 32 and the notification unit 4 may determine and notify the distribution status based on the data table DT shown in Figure 3. The data table DT corresponds to a correspondence table between the operating status of one transport unit 2, the operating status of the upstream transport unit, and the distribution status corresponding to both operating statuses. The data table DT corresponds, for example, to a correspondence table between the distribution status of one transport unit 2 and the color or presence or absence of blinking displayed by the notification unit 4. The data table DT is stored, for example, in the storage unit 34 of the controller 3.

[0061] In the example in Figure 3, the operating state is illustrated with predetermined symbols. An abnormal state is illustrated with symbol a, and the state of waiting to unload is illustrated with symbol b. Furthermore, the state of waiting to grab the load is illustrated with symbol c, and the unassigned state is illustrated with symbol d. In addition, the normal state is illustrated with symbol e, and the unknown state is illustrated with symbol NN.

[0062] Next, we will explain an example of an image displayed by the notification unit 4.

[0063] Figure 4 shows an example of an image displayed by the notification unit 4 in Figure 1, Figure 5 shows another example of an image displayed by the notification unit 4 in Figure 1, and Figure 6 shows yet another example of an image displayed by the notification unit 4 in Figure 1. In the examples in Figures 4 to 6, for convenience, the parts shown in green are illustrated with dot hatching, the parts shown in yellow are illustrated with thin line hatching, and the parts shown in red are illustrated with thick line hatching.

[0064] As shown in Figures 4 to 6, the notification unit 4 displays an image that includes a diagram simulating the layout of multiple transport units 2, and colors the multiple transport units 2 on the image according to the determination result of the distribution state determination unit 32. In this embodiment, the image displayed by the notification unit 4 has a display unit G51a corresponding to the first transport unit 51a, a display unit G51b corresponding to the second transport unit 51b, a display unit G52a corresponding to the first transport unit 52a, a display unit G52b corresponding to the second transport unit 52b, a display unit G53a corresponding to the first transport unit 53a, a display unit G53b corresponding to the second transport unit 53b, a display unit G54a corresponding to the first transport unit 54a, and a display unit G54b corresponding to the second transport unit 54b. The image displayed by the notification unit 4 further includes a display unit G61 corresponding to the transport unit 2 of the trolley 61, a display unit G7 corresponding to the transport unit 2 of the picking robot 7, and a display unit G55 corresponding to the transport unit 2 of the fifth conveyor 55.

[0065] In the example shown in Figure 4, for instance, all transport units 2 are in a normal operating state (symbol e). In this case, for transport units 2 excluding the first transport units 51a and 52a, one transport unit 2 is in a normal operating state, and the upstream transport unit is also in a normal operating state. Therefore, as shown in Figures 3 and 4, the notification unit 4 displays the display units excluding the display units G51a and G52a in green.

[0066] In this embodiment, there are no upstream transport units capable of transporting cargo B to the first transport units 51a and 52a. In this case, the distribution status determination unit 32 may determine the distribution status by assuming, for example, that the operating status of the upstream transport units of the first transport units 51a and 52a is unknown. That is, for the first transport units 51a and 52a, the determination is made assuming that the operating status of one transport unit 2 is normal and the operating status of the upstream transport unit is unknown. Therefore, as shown in Figures 3 and 4, the notification unit 4 displays the display units G51a and G52a in green. From the above, the user can understand via the notification unit 4 that there is no congestion of cargo B in any of the transport units 2 and that none of the transport units 2 are bottlenecks causing congestion.

[0067] In the example shown in Figure 5, for example, the operating status of the first conveying units 51a, 53a, the second conveying units 51b, 53b, and the conveying unit 2 of the trolley 61 is in a waiting state for unloading (symbol b). Also, the operating status of the first conveying units 52a, 54a, the second conveying units 52b, 54b, and the conveying unit 2 of the trolley 62 is in an unassigned state (symbol d). Furthermore, the operating status of the conveying unit 2 of the picking robot 7 and the conveying unit 2 of the fifth conveyor 55 is in a normal state (symbol e). In this case, for the first conveying unit 53a, the second conveying units 51b, 53b, and the conveying unit 2 of the trolley 61, the operating status of one conveying unit 2 is in a waiting state for unloading, and the operating status of the upstream conveying unit is also in a waiting state for unloading. Therefore, as shown in Figures 3 and 5, the notification unit 4 displays the display units G51b, G53a, G53b, and G61 in yellow.

[0068] In this case, with respect to the first transport unit 54a, the second transport units 52b, 54b, and the transport unit 2 of the trolley 62, the operating state of one transport unit 2 is unassigned, and the operating state of the upstream transport unit is also unassigned. Therefore, as shown in Figures 3 and 5, the notification unit 4 displays the display units G52b, G54a, G54b, and G62 in green. Also in this case, with respect to the transport unit 2 of the picking robot 7, the operating state of one transport unit 2 is normal, and the operating state of the upstream transport unit (second transport unit 53b) is waiting to unload. Therefore, as shown in Figures 3 and 5, the notification unit 4 displays the display unit G7 in yellow and blinking.

[0069] In this case, with respect to the transport section 2 of the fifth conveyor 55, the operating state of the first transport section 2 is normal, and the operating state of the upstream transport section (transport section 2 of the picking robot 7) is normal. Therefore, as shown in Figures 3 and 5, the notification unit 4 displays the display unit G8 in green. In this case, with respect to the first transport section 51a, it is determined that the operating state of the first transport section 2 is waiting to unload, and the operating state of the upstream transport section is unknown. In addition, with respect to the first transport section 52a, it is determined that the operating state of the first transport section 2 is not assigned, and the operating state of the upstream transport section is unknown. Therefore, as shown in Figures 3 and 5, the notification unit 4 displays the display unit G51a in yellow and the display unit G52a in green.

[0070] From the above, the user can understand via the notification unit 4 that there is congestion of cargo B in the first transport units 51a, 53a, the second transport units 51b, 53b, the transport unit 2 of the trolley 61, and the transport unit 2 of the picking robot 7, and that this congestion will be resolved over time. The user can also understand that the transport unit 2 of the picking robot 7 is the bottleneck causing the congestion.

[0071] In the example in Figure 6, for example, the operating state of the transport unit 2 of the picking robot 7, excluding the transport unit 2, is the same as in the example in Figure 5. Also, the operating state of the transport unit 2 of the picking robot 7 is the load-grabbing waiting state (symbol c). In this case, as shown in Figures 3 and 6, the notification unit 4 displays display units G51a, G51b, G53a, G53b, and G61 in yellow, and displays display units G52a, G52b, G54a, G54b, and G62 in green.

[0072] In this case, with respect to the transport unit 2 of the picking robot 7, the operating state of the first transport unit 2 is in a load-grabbing waiting state, and the operating state of the upstream transport unit (second transport unit 53b) is in a load-unloading waiting state. Therefore, as shown in Figures 3 and 6, the notification unit 4 displays the display unit G7 in red and flashing. Also in this case, with respect to the transport unit 2 of the fifth conveyor 55, the operating state of the first transport unit 2 is in a normal state, and the operating state of the upstream transport unit (transport unit 2 of the picking robot 7) is in a load-grabbing waiting state. Therefore, as shown in Figures 3 and 6, the notification unit 4 displays the display unit G55 in green.

[0073] From the above, the user can understand via the notification unit 4 that there is congestion of cargo B in the first transport units 51a, 53a, the second transport units 51b, 53b, the transport unit 2 of the trolley 61, and the transport unit 2 of the picking robot 7, and that this congestion will not be resolved over time. The user can also understand that the transport unit 2 of the picking robot 7 is the bottleneck causing the congestion.

[0074] In the automated warehouse system 1, based on the operation information of the first transport unit 2 and the operation information of the upstream transport unit 2, which is capable of transporting cargo B to the first transport unit 2, it is possible to determine not only whether or not there is congestion of cargo B in the first transport unit 2, but also whether or not the congestion will resolve over time if it does occur in the first transport unit 2. Therefore, it is possible to determine whether or not user action is required to resolve the congestion of cargo B, thereby reducing the need for users to directly check the status of the transport unit 2 and making it easier to monitor the flow of cargo B.

[0075] The automated warehouse system 1 further comprises multiple conveying devices, each of which corresponds to at least one conveying unit 2. In this case, the conveying unit 2 can be composed of conveying devices such as conveyors.

[0076] In the automated warehouse system 1, the operating state of the conveying unit 2 includes at least one of the following: a non-operating state caused by the conveying unit 2, a non-operating state caused by a process preceding the conveying unit 2, and a non-operating state caused by a process succeeding the conveying unit 2. This allows the flow state of a single conveying unit 2 to be determined by using at least one of these non-operating states as the operating state.

[0077] In the automated warehouse system 1, the operating state of the transport unit 2 includes at least one of the following: an abnormal state in which an abnormality has occurred in the transport unit 2; a load-grabbing waiting state in which the transport unit 2 is waiting for load B to be transported from a process prior to the transport unit 2; a load-unloading waiting state in which the transport unit 2 is waiting to transport load B to a process later than the transport unit 2; an unassigned state in which load B to be transported in the transport unit 2 has not been assigned; a normal flow state in which the flow of load B in the transport unit 2 is proceeding normally; and an unknown state in which the operating state cannot be determined. As a result, the flow state of a single transport unit 2 can be determined by using at least one of these states as the operating state.

[0078] In the automated warehouse system 1, the flow status determination unit 32 determines that the flow status of the first conveying unit 2 is deadlocked if the operating status of the first conveying unit 2 is in a state of waiting to grasp a load, and the operating status of the upstream conveying unit is in a state of waiting to grasp a load or waiting to unload a load. In this case, it is possible to specifically determine that the flow status of the first conveying unit 2 is deadlocked.

[0079] In the automated warehouse system 1, the distribution status determination unit 32 determines that the distribution status of the first conveyor unit 2 is congested if the operating status of the first conveyor unit 2 is in a waiting state for unloading, and the operating status of the upstream conveyor unit is in a waiting state for unloading, a normal state, or an unknown state. In this case, it is possible to specifically determine that the distribution status of the first conveyor unit 2 is congested.

[0080] In the automated warehouse system 1, the distribution status determination unit 32 determines that the distribution status of the first conveying unit 2 is congested if the operating status of the first conveying unit 2 is normal and the operating status of the upstream conveying unit is waiting to unload. In this case, it is possible to specifically determine that the distribution status of the first conveying unit 2 is congested.

[0081] In the automated warehouse system 1, the distribution status determination unit 32 determines that the distribution status of the first transport unit 2 is congested if the operating status of the first transport unit 2 is unknown and the operating status of the upstream transport unit is waiting to unload. In this case, it is possible to specifically determine that the distribution status of the first transport unit 2 is congested.

[0082] In the automated warehouse system 1, the flow status determination unit 32 determines that the flow status of the first conveying unit 2 is deadlocked if the operating status of the first conveying unit 2 is abnormal, regardless of the operating status of the upstream conveying unit. In this case, it is possible to specifically determine that the flow status of the first conveying unit 2 is deadlocked.

[0083] The automated warehouse system 1 further includes a conveyor 5 for placing and transporting goods B, and the conveyor 5 includes multiple transport sections 2. This allows for precise determination of the flow status of goods B on the conveyor 5.

[0084] The automated warehouse system 1 further includes a storage unit 34 that stores the cumulative time of the flow status in each of the multiple transport units 2, categorized by the type of flow status. In this case, based on the cumulative time stored in the storage unit 34, it becomes possible to identify the transport unit 2 that frequently experiences congestion. For example, by comparing the cumulative times stored in the storage unit 34, the user can identify the transport unit 2 that is the main cause of congestion or deadlock.

[0085] Furthermore, in order to improve the overall transport processing capacity of the automated warehouse system 1, it is necessary for the user to more accurately identify transport units 2 that are chronically bottlenecks. For example, by comparing the cumulative time during which each transport unit 2 is in a bottleneck state, the user can identify the transport unit 2 that has a particularly long cumulative time in a bottleneck state among the multiple transport units 2. This allows the user to recognize that the transport unit 2 in question is not a bottleneck caused by a one-off (accidental) reason, but rather a true bottleneck that needs to be addressed in order to increase the overall processing capacity.

[0086] The automated warehouse system 1 further includes a notification unit 4 that notifies information regarding the distribution status of the transport unit 2. When the distribution status determination unit 32 determines that the distribution status of one transport unit 2 is in a deadlock state, the notification unit 4 notifies that the distribution status of one transport unit 2 is in a deadlock state. In this case, the user can confirm that the distribution status of one transport unit 2 is in a deadlock state via the notification unit 4.

[0087] In the automated warehouse system 1, the notification unit 4 displays an image including a diagram that simulates the layout of multiple transport units 2, and colors the multiple transport units 2 on the image according to the determination result of the distribution status determination unit 32. In this case, the user can easily grasp the distribution status of each of the multiple transport units 2. For example, if the notification unit 4 is composed of a display or the like, the notification unit 4 displays an image on the screen that represents the real-time distribution status of each transport unit 2 by color-coding it against a schematic diagram of the overall layout of the equipment. As a result, the notification unit 4 can provide the user with the image showing the distribution status of each transport unit 2 as support information.

[0088] In automated warehouse system 1, the distribution state includes a bottleneck state where cargo B is congested and acts as a bottleneck in that congestion. In this case, it is possible to determine whether a transport unit 2 is the bottleneck in the congestion, reducing the need for the user to directly check the status of transport unit 2.

[0089] The automated warehouse system 1 further includes a notification unit 4 that notifies information regarding the flow status of the transport unit 2. When the flow status determination unit 32 determines that the flow status of one transport unit 2 is in a bottleneck state, the notification unit 4 notifies that the flow status of one transport unit 2 is in a bottleneck state. In this case, the user can confirm that the flow status of one transport unit 2 is in a bottleneck state via the notification unit 4.

[0090] In this automated warehouse system 1, based on the operational information of the first transport unit 2 and the operational information of the upstream transport unit 2, which is capable of transporting cargo B to the first transport unit 2, it is possible to determine whether the first transport unit 2 is the bottleneck in the congestion. Therefore, the need for the user to directly check the status of the transport unit 2 is reduced, and the flow of cargo B can be easily monitored.

[0091] In the automated warehouse system 1, the operating state of each conveying unit 2 can be classified by considering the handling of cargo B between a first conveying unit 2 and the conveying units 2 in the processes before and after that first conveying unit 2. Based on this, it is possible to determine whether the congestion of cargo B will be resolved over time, based on the combination of the operating state of the first conveying unit 2 and the operating state of the upstream conveying unit. Furthermore, even if the automated warehouse system 1 includes conveying units 2 whose operating state cannot be determined for reasons such as the conveying equipment corresponding to the conveying unit 2 being a product of another company, it is possible to identify the cause of the congestion of cargo B and the bottleneck, and provide the user with information regarding the cause of the congestion and the bottleneck.

[0092] In order to detect abnormalities in the distribution of cargo B (e.g., congestion), a typical automated warehouse system might detect abnormalities based on tracking data used to identify each cargo B. For example, a typical automated warehouse system might detect abnormalities in the distribution of cargo B based on recorded past tracking data and current tracking data. In other words, a typical automated warehouse system might detect abnormalities in the distribution of cargo based on changes in tracking data over time. However, in this case, since processing is based on past tracking data, the data volume can become excessive if the amount of data is large, and the processing time can also become excessive. In this respect, the automated warehouse system 1 according to this embodiment determines the distribution status of the transport unit 2 without relying on changes in tracking data over time. This makes it possible to suppress excessive data volume and excessive processing time.

[0093] [Second Embodiment] The configuration of the automated warehouse system according to the second embodiment will be described. This description will focus on the differences from the first embodiment.

[0094] As shown in Figure 7, the automated warehouse system 1A according to the second embodiment has a picking robot 7A instead of the picking robot 7 (see Figure 1), and a tracked trolley system 6A instead of the tracked trolley system 6 (see Figure 1). In the automated warehouse system 1A, the plurality of conveyors 5 include a sixth conveyor 56 and a seventh conveyor 57. The plurality of conveyors 5, the tracked trolley system 6A, and the picking robot 7A constitute a transport system for, for example, loading and unloading goods B from the automated warehouse.

[0095] The picking robot 7A is capable of transporting goods B in both the outbound direction (downward in the example of Figure 7), which is the transport direction for retrieving goods B, and the inbound direction (upward in the example of Figure 7), which is the transport direction for receiving goods B. In this embodiment, the picking robot 7A is equipped with two transport units 2. The picking robot 7A corresponds to two transport units 2. Specifically, the picking robot 7A corresponds to an inbound transport unit 7a that transports goods B in the inbound direction and transports goods B to the second transport unit 51b, and an outbound transport unit 7b that transports goods B in the outbound direction and transports goods B to the first transport unit 54a.

[0096] The first conveyor 51 and the second conveyor 52 are arranged side by side with their conveying directions parallel. In this embodiment, the conveying directions of the first conveyor 51 and the second conveyor 52 are opposite to each other. The first conveyor 51 is located downstream (upper in Figure 7) of the picking robot 7A in the receiving direction, and the second conveyor 52 is located upstream (upper in Figure 7) of the picking robot 7A in the output direction. The third conveyor 53 and the fourth conveyor 54 are arranged side by side with their conveying directions parallel to each other. In this embodiment, the conveying directions of the third conveyor 53 and the fourth conveyor 54 are opposite to each other. The third conveyor 53 is located upstream (lower in Figure 7) of the picking robot 7A in the receiving direction, and the fourth conveyor 54 is located downstream (lower in Figure 7) of the picking robot 7A in the output direction.

[0097] The sixth conveyor 56 and the seventh conveyor 57 are arranged side by side with their conveying directions parallel to each other. In this embodiment, the conveying directions of the sixth conveyor 56 and the seventh conveyor 57 are opposite to each other. The sixth conveyor 56 is located upstream (downward in Figure 7) of the tracked trolley device 6A in the inbound direction. The seventh conveyor 57 is located downstream (downward in Figure 7) of the tracked trolley device 6A in the outbound direction.

[0098] In this embodiment, each of the first to fourth conveyors 51 to 54, the sixth conveyor 56, and the seventh conveyor 57 is equipped with two conveying sections 2. Each of the first to fourth conveyors 54, the sixth conveyor 56, and the seventh conveyor 57 corresponds to two conveying sections 2.

[0099] Specifically, the first conveyor 51 corresponds to a first conveying section 51a that conveys cargo B to other conveying equipment, and a second conveying section 51b that conveys cargo B to the first conveying section 51a. The second conveyor 52 corresponds to a first conveying section 52a that conveys cargo B to the second conveying section 52b, and a second conveying section 52b that conveys cargo B to the outbound conveying section 7b. The third conveyor 53 corresponds to a first conveying section 53a that conveys cargo B to the inbound conveying section 7a, and a second conveying section 53b that conveys cargo B to the first conveying section 53a. The fourth conveyor 54 corresponds to a first conveying section 54a that conveys cargo B to the second conveying section 54b, and a second conveying section 54b that conveys cargo B to the outbound conveying section 6b (described later). The sixth conveyor 56 corresponds to a first conveying section 56a that conveys cargo B to the receiving and conveying section 6a (described later), and a second conveying section 56b that conveys cargo B to the first conveying section 56a. The seventh conveyor 57 corresponds to a first conveying section 57a ​​that conveys cargo B to the second conveying section 57b, and a second conveying section 57b that conveys cargo B to, for example, other conveying equipment.

[0100] The tracked trolley system 6A is positioned between the third conveyor 53 and the fourth conveyor 54, and the sixth conveyor 56 and the seventh conveyor 57. The tracked trolley system 6A has one trolley 61A instead of two trolleys 61 and 62. The trolley 61A automatically travels in one direction (for example, counterclockwise) on the rails 63 with, for example, cargo B loaded or contained on it. The rails 63 are arranged in a ring shape.

[0101] In this embodiment, the trolley 61A is equipped with two transport units 2. The trolley 61A corresponds to two transport units 2. Specifically, the trolley 61A corresponds to an inbound transport unit 6a that transports cargo B in the inbound direction and transports cargo B to a second transport unit 53b, and an outbound transport unit 6b that transports cargo B in the outbound direction and transports cargo B to a first transport unit 57a.

[0102] Next, we will explain an example of an image displayed by the notification unit 4.

[0103] Figure 8 shows an example of an image displayed by the notification unit 4 in Figure 7, and Figure 9 shows another example of an image displayed by the notification unit 4 in Figure 7. In this embodiment, the image displayed by the notification unit 4 includes a display unit G56a corresponding to the first transport unit 56a, a display unit G56b corresponding to the second transport unit 56b, a display unit G57a corresponding to the first transport unit 57a, and a display unit G57b corresponding to the second transport unit 57b. The image displayed by the notification unit 4 further includes a display unit G6a corresponding to the receiving transport unit 6a, a display unit G6b corresponding to the outbound transport unit 6b, a display unit G7a corresponding to the receiving transport unit 7a, and a display unit G7b corresponding to the outbound transport unit 7b.

[0104] In the example shown in Figure 8, for example, the operating state of the first conveying unit 54a and the second conveying units 52b, 54b is the waiting state for unloading (symbol b). The operating state of the first conveying unit 52a is the waiting state for grasping (symbol c). The operating state of the receiving conveying unit 7a and the shipping conveying unit 7b is unknown (symbol NN). The operating state of the first conveying units 51a, 53a, 56a, 57a, the second conveying units 51b, 53b, 56b, 57b, and the receiving conveying unit 6a is the unassigned state (symbol d). Furthermore, the operating state of the shipping conveying unit 6b is normal (symbol e). In this case, for the first conveying units 51a, 53a, 56a, the second conveying units 53b, 57b, and the receiving conveying unit 6a, the operating state of one conveying unit 2 is the unassigned state, and the operating state of the upstream conveying unit is the unassigned state. Therefore, as shown in Figures 3 and 8, the notification unit 4 displays the display units G51a, G53a, G53b, G56a, G57b, and G6a in green.

[0105] In this case, with respect to the second transport unit 51b, the operating status of the first transport unit 2 is unassigned, and the operating status of the upstream transport unit (outbound transport unit 7b) is unknown. Therefore, as shown in Figures 3 and 8, the notification unit 4 displays the display unit G51b in green. In this case, with respect to the second transport unit 52b, the operating status of the first transport unit 2 is waiting to unload, and the operating status of the upstream transport unit is waiting to grab the cargo. Therefore, as shown in Figures 3 and 8, the notification unit 4 displays the display unit G52b in green.

[0106] In this case, with respect to the first transport unit 57a, the operating status of the first transport unit 2 is unassigned, and the operating status of the upstream transport unit (outbound transport unit 6b) is normal. Therefore, as shown in Figures 3 and 8, the notification unit 4 displays the display unit G57a in green. In this case, with respect to the incoming transport unit 7a, the operating status of the first transport unit 2 is unknown, and the operating status of the upstream transport unit (first transport unit 53a) is unassigned. In addition, the operating status of the second transport unit 51b is unassigned, and the operating status of the incoming transport unit 7a, which is the upstream transport unit of the second transport unit 51b, is unknown. Therefore, as shown in Figures 3 and 8, the notification unit 4 displays the display unit G7a in green and blinking.

[0107] In this case, with respect to the outbound transport unit 7b, the operating status of the first transport unit 2 is unknown, and the operating status of the upstream transport unit (second transport unit 52b) is waiting to unload. Therefore, as shown in Figures 3 and 8, the notification unit 4 displays the display unit G7b in yellow. In this case, with respect to the first transport unit 54a, the operating status of the first transport unit 2 is waiting to unload, and the operating status of the upstream transport unit (outbound transport unit 7b) is unknown. Therefore, as shown in Figures 3 and 8, the notification unit 4 displays the display unit G54a in yellow.

[0108] In this case, with respect to the second transport unit 54b, the operating state of the first transport unit 2 is in a waiting state for unloading, and the operating state of the upstream transport unit (first transport unit 54a) is also in a waiting state for unloading. Therefore, as shown in Figures 3 and 8, the notification unit 4 displays the display unit G54b in yellow. Also in this case, with respect to the outbound transport unit 6b, the operating state of the first transport unit 2 is in a normal state, and the operating state of the upstream transport unit (second transport unit 54b) is in an unassigned state. Therefore, as shown in Figures 3 and 8, the notification unit 4 displays the display unit G6b in yellow and blinking.

[0109] In this embodiment, there is no upstream transport unit capable of transporting cargo B to the first transport unit 52a and the second transport unit 56b. In this case, the distribution status determination unit 32 may determine the distribution status by assuming, for example, that the operating status of the upstream transport units of the first transport unit 52a and the second transport unit 56b is unknown. That is, for the first transport unit 52a, the determination is made by assuming that the operating status of one transport unit 2 is in a cargo-grabbing waiting state, and the operating status of the upstream transport unit is unknown. Similarly, for the second transport unit 56b, the determination is made by assuming that the operating status of one transport unit 2 is in an unassigned state, and the operating status of the upstream transport unit is unknown. Therefore, as shown in Figures 3 and 8, the notification unit 4 displays the display units G52a and G56b in green.

[0110] From the above, the user can understand via the notification unit 4 that there is congestion of cargo B in the outbound transport unit 7b, the first transport unit 54a, the second transport unit 54b, and the outbound transport unit 6b, and that this congestion will be resolved over time. The user can also understand that the outbound transport unit 6b is the bottleneck causing the congestion. As explained in the first embodiment, the user does not distinguish between the display unit G7a which is displayed in green and flashing, and the display unit which is simply displayed in green.

[0111] In the example in Figure 9, for example, the operating states of the transport units 2 other than the first transport units 52a, 54a, the second transport unit 54b, and the outbound transport unit 6b are the same as in the example in Figure 8. The operating state of the first transport unit 52a is waiting to unload (symbol b). The operating states of the first transport unit 54a, the second transport unit 54b, and the outbound transport unit 6b are unassigned (symbol d). In this case, as shown in Figures 3 and 9, the notification unit 4 displays the display units G51a, G51b, G53a, G53b, G56a, G56b, G57b, G6a, and G7a in green. The notification unit 4 also displays the display unit G7a blinking.

[0112] In this case, for the first transport unit 57a, the second transport unit 54b, and the outbound transport unit 6b, the operating state of one transport unit 2 is unassigned, and the operating state of the upstream transport unit is also unassigned. Therefore, as shown in Figures 3 and 9, the notification unit 4 displays the display units G57a, G54b, and G6b in green. Also in this case, for the second transport unit 52b, the operating state of one transport unit 2 is waiting to unload, and the operating state of the upstream transport unit (first transport unit 52a) is waiting to unload. Therefore, as shown in Figures 3 and 9, the notification unit 4 displays the display unit G52b in yellow.

[0113] In this case, with respect to the outbound transport unit 7b, the operating status of the first transport unit 2 is unknown, and the operating status of the upstream transport unit (second transport unit 52b) is waiting to unload. Also, the operating status of the first transport unit 54a is unassigned, and the operating status of the outbound transport unit 7b, which is the upstream transport unit of the first transport unit 54a, is unknown. Therefore, as shown in Figures 3 and 9, the notification unit 4 displays the display unit G7b in yellow and flashing. Also, in this case, with respect to the first transport unit 54a, the operating status of the first transport unit 2 is unassigned, and the operating status of the upstream transport unit (outbound transport unit 7b) is unknown. Therefore, as shown in Figures 3 and 9, the notification unit 4 displays the display unit G54a in green.

[0114] In this case, the first transport unit 52a is determined to be in a state where the first transport unit 2 is waiting to unload cargo, and the operational state of the upstream transport unit is unknown. Therefore, as shown in Figures 3 and 9, the notification unit 4 displays the display unit G52a in yellow. From the above, the user can understand via the notification unit 4 that there is a congestion of cargo B in the first transport unit 52a, the second transport unit 52b, and the outbound transport unit 7b, and that this congestion will be resolved over time. The user can also understand that the outbound transport unit 7b is the bottleneck causing the congestion.

[0115] In the automated warehouse system 1A, based on the operation information of the first transport unit 2 and the operation information of the upstream transport unit 2, which is capable of transporting cargo B to the first transport unit 2, it is possible to determine not only whether or not there is congestion of cargo B in the first transport unit 2, but also whether or not the congestion will resolve over time if it does occur in the first transport unit 2. Therefore, it is possible to determine whether or not user action is required to resolve the congestion of cargo B, thereby reducing the need for users to directly check the status of the transport unit 2 and making it easier to monitor the flow of cargo B.

[0116] The automated warehouse system 1A further comprises a picking robot 7A and a tracked trolley device 6A capable of transporting cargo B in both the outbound and inbound directions. The picking robot 7A includes an inbound transport unit 7a, which is a transport unit 2 that transports cargo B in the inbound direction, and an outbound transport unit 7b, which is a transport unit 2 that transports cargo B in the outbound direction. The tracked trolley device 6A also includes an inbound transport unit 6a, which is a transport unit 2 that transports cargo B in the inbound direction, and an outbound transport unit 6b, which is a transport unit 2 that transports cargo B in the outbound direction. As a result, the picking robot 7A and the tracked trolley device 6A, which are capable of transporting cargo B in both the outbound and inbound directions, can correctly determine the flow status of cargo B.

[0117] In this embodiment, the automated warehouse system 1A is equipped with transport equipment (picking robot 7A and tracked trolley device 6A) that has the function of transporting cargo B in the outbound direction and the function of transporting cargo B in the inbound direction. In this case, as described above, it is preferable to correspond the transport equipment to an outbound transport unit that transports cargo B in the outbound direction and an inbound transport unit that transports cargo B in the inbound direction. The reason for this is that in the automated warehouse system 1A according to this embodiment, the operating state of each transport unit 2 is classified by considering the handling of cargo B between one transport unit 2 and the transport units 2 in the processes before and after that transport unit 2. Therefore, unless one direction of transport of cargo B is specified for each transport unit 2, it is not possible to define the transport units 2 in the processes before and after one transport unit 2.

[0118] [Differentiation] While embodiments of the present invention have been described above, the present invention is not necessarily limited to the embodiments described above, and various modifications are possible without departing from the spirit of the invention.

[0119] In the above embodiment, the operation information acquisition unit 31 was described in a manner in which it acquires information on operation states distinguished according to the state of transport of cargo B by the transport unit 2. Furthermore, the distribution state determination unit 32 was described in a manner in which it determines the distribution state of the transport unit 2 based on, for example, the data table DT shown in Figure 3. However, the operation information acquisition unit 31 may also acquire information on operation states distinguished according to the non-operational state of the transport unit 2.

[0120] Specifically, the operating state of the transport unit 2 may include at least one of the following: a non-operating state caused by the transport unit 2, a non-operating state caused by a process prior to the transport unit 2, and a non-operating state caused by a process after the transport unit 2. In this case, the operation information acquisition unit 31 acquires the operating state of the transport unit 2. In this case, for example, if the operating state of one transport unit 2 is a non-operating state caused by the transport unit 2, the flow state determination unit 32 determines that the flow state of the one transport unit 2 is in a deadlock state. Also, for example, if the operating state of one transport unit 2 is a non-operating state caused by a process prior to the transport unit 2, and the operating state of the upstream transport unit is a non-operating state caused by a process after the transport unit 2, the flow state determination unit 32 determines that the flow state of the one transport unit 2 is in a deadlock state. In this way, the flow state determination unit 32 can determine the flow state of the first conveying unit 2 based on the operating states, which are distinguished according to the non-operating state of the first conveying unit 2 and the upstream conveying unit 2.

[0121] In the above embodiment, the flow state determination unit 32 determines the flow state of the first transport unit 2 based on the operating state of the first transport unit 2 and the operating state of the upstream transport unit. In this case, if there are multiple upstream transport units of the first transport unit 2, the flow state determination unit 32 may determine the flow state of the first transport unit 2 based on the operating state with the highest priority among the operating states of the multiple upstream transport units (for example, in the operating states of the data table DT shown in Figure 3, the higher the row, the higher the priority).

[0122] In the above embodiment, a configuration was described in which the user does not distinguish between a display unit that is displayed in green and blinking and a display unit that is simply displayed in green. However, the notification unit 4 may simply display a display unit in green if it is displayed in green and blinking based on information indicating the distribution status output from the distribution status output unit 33. In this case, the user can more easily grasp the distribution status of each of the multiple transport units.

[0123] In the above embodiment, an embodiment in which the conveying equipment corresponds to at least one conveying unit 2 has been described, but multiple conveying devices may constitute one conveying unit 2. In the above embodiment, a conveyor 5, tracked trolley devices 6, 6A, and picking robots 7, 7A were given as examples of conveying equipment. However, the configuration of a warehouse, etc. to which the automated warehouse system 1, 1A is applied can be appropriately modified without departing from the spirit of the present invention. [Explanation of Symbols]

[0124] 1,1A...Automated warehouse system, 2...Transportation unit, 4...Notification unit, 5...Conveyor (transportation equipment), 6,6A...Tracked trolley system (transportation equipment), 6a,7a...Inbound transport unit, 6b,7b...Outbound transport unit, 7,7A...Picking robot (transportation equipment), 31...Operation information acquisition unit, 32...Distribution status determination unit, 34...Storage unit, B...Cargo.

Claims

1. Multiple transport units for transporting cargo, An operation information acquisition unit that acquires operation information regarding the operating status of multiple transport units, A distribution state determination unit determines the distribution state of the cargo by the first transport unit based on the operation information of the first transport unit and the operation information of the upstream transport unit, which is a transport unit capable of transporting the cargo to the first transport unit. The aforementioned distribution conditions are, The aforementioned traffic congestion situation where the cargo is backed up, A deadlock situation in which the aforementioned cargo is backed up and the congestion does not resolve over time, This includes a normal distribution state in which the aforementioned goods are being distributed normally, The operating state of the transport unit is An abnormal condition in which an abnormality occurs in the transport unit, A state of waiting to be grabbed, in which the cargo is waiting to be transported from a process prior to the transport unit, The state of waiting to be unloaded, where the cargo is awaiting to be transported to a process after the transport unit, In the transport section, the cargo to be transported is in an unassigned state where it has not been assigned, The normal state in which the cargo in the transport section is being transported normally, This includes at least one of the following: an unknown state in which the aforementioned operating state cannot be determined, An automated warehouse system in which the flow state determination unit determines that the flow state of one of the transport units is in a deadlock state when the operating state of one of the transport units is in a load-grabbing waiting state, and the operating state of the upstream transport unit is in a load-grabbing waiting state or a load-unloading waiting state.

2. Furthermore, equipped with multiple transport devices, The automated warehouse system according to claim 1, wherein each of the plurality of conveying devices corresponds to at least one of the conveying units.

3. The automated warehouse system according to claim 1 or 2, wherein the distribution state determination unit determines that the distribution state of one of the transport units is the congestion state when the operating state of one of the transport units is the waiting state for unloading, and the operating state of the upstream transport unit is the waiting state for unloading, the normal state, or the unknown state.

4. The automated warehouse system according to any one of claims 1 to 3, wherein the distribution state determination unit determines that the distribution state of one of the transport units is the congested state when the operating state of one of the transport units is the normal state and the operating state of the upstream transport unit is the waiting state for unloading.

5. The automated warehouse system according to any one of claims 1 to 4, wherein the distribution state determination unit determines the distribution state of one of the transport units as the congestion state when the operating state of one of the transport units is the unknown state and the operating state of the upstream transport unit is the waiting state for unloading.

6. The automated warehouse system according to any one of claims 1 to 5, wherein the distribution state determination unit determines that the distribution state of one of the transport units is deadlocked when the operating state of one of the transport units is in the abnormal state, regardless of the operating state of the upstream transport unit.

7. The system further includes a conveying device capable of transporting the aforementioned cargo in both the outbound and inbound directions. The aforementioned conveying equipment is A storage transport unit which is a transport unit that transports the goods in the direction of storage, An automated warehouse system according to any one of claims 1 to 6, comprising: an outbound transport unit which is a transport unit that transports the goods in the outbound direction.

8. The system further includes a conveyor for placing and transporting the aforementioned cargo, The automated warehouse system according to any one of claims 1 to 7, wherein the conveyor includes a plurality of transport units.

9. The automated warehouse system according to any one of claims 1 to 8, further comprising a storage unit that stores the cumulative time of the distribution state in each of the plurality of transport units, categorized by the type of distribution state.

10. The transport unit further comprises a notification unit that notifies information regarding the flow status of the transport unit, The automated warehouse system according to any one of claims 1 to 9, wherein the distribution state determination unit determines that the distribution state of one of the transport units is in the deadlock state, and the notification unit notifies that the distribution state of one of the transport units is in the deadlock state.

11. The automated warehouse system according to claim 10, wherein the notification unit displays an image including a diagram that simulates the layout of a plurality of transport units, and colors the plurality of transport units on the image according to the determination result of the distribution state determination unit.

12. The automated warehouse system according to any one of claims 1 to 11, wherein the distribution state includes a bottleneck state in which the goods are congested and become a bottleneck in the congestion.

13. The transport unit further comprises a notification unit that notifies information regarding the flow status of the transport unit, The automated warehouse system according to claim 12, wherein when the distribution state determination unit determines that the distribution state of one of the transport units is in the bottleneck state, the notification unit notifies that the distribution state of one of the transport units is in the bottleneck state.

14. The automated warehouse system according to any one of claims 1 to 13, wherein the distribution state includes a bottleneck state in which the goods are congested and become a bottleneck in the congestion.

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