Warehouse units, automated warehouse systems

Abstract

To provide a technique for a cold storage warehouse which can improve the accuracy of a load storage position by reducing the influence of frost.SOLUTION: A warehouse unit 10 for a cold storage warehouse comprises: a storage row 3 formed by arraying, in a first direction, a plurality of storage parts 2 capable of storing a load 1 in a refrigerated manner; a conveyance path 5 provided along the storage row 3 to convey the load 1 with conveyance means 4; and a plurality of markers 6 arranged at prescribed intervals along the conveyance path 5 and detectable by detection means 7 provided in the conveyance means 4.SELECTED DRAWING: Figure 1

Description

Technical Field

[0001] The present invention , storehouse relates to a storage unit and and a mobile warehouse system.

Background Art

[0002] An automated warehouse system for a refrigerated warehouse capable of storing goods in a frozen state is known. The applicant has disclosed, in Patent Document 1, an automated warehouse system for a refrigerated warehouse. This automated warehouse system includes a refrigerated storage shelf for storing a plurality of goods in a frozen state, and a transport vehicle capable of transporting the goods stored in the refrigerated storage shelf. The refrigerated storage shelf includes a plurality of storage stages, and a running space where the transport vehicle can run is provided below each storage stage.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] The inventor has obtained the following recognition. In order to realize an automated warehouse for a refrigerated warehouse, it is conceivable to use a transport vehicle that transports goods along a refrigerated storage shelf in which a plurality of storage units are arranged in the front-rear direction. For example, in order to store goods at predetermined intervals from the base end of the storage shelf toward the entrance, it is conceivable to measure the distance to the previously placed goods by the optical distance measuring means provided on the transport vehicle, and control the running of the transport vehicle based on this measurement result. In this case, in the refrigerated space, due to the influence of frost on the optical path, there is a problem that the error of the measurement result of the optical distance measuring means increases and the accuracy of the storage position of the goods decreases. From these, there is room for improvement in the conventional automated warehouse system for a refrigerated warehouse from the viewpoint of reducing the influence of frost and improving the accuracy of the storage position of the goods.

[0005] This invention has been made in view of these problems, and one of its objectives is to provide a technology for a cold storage warehouse that can reduce the effects of frost and improve the accuracy of the storage location of goods. [Means for solving the problem]

[0006] To solve the above problems, a warehouse unit for a cold storage warehouse according to one aspect of the present invention comprises: a storage row having a plurality of storage sections capable of storing goods in a cold storage manner arranged in a first direction; a transport path provided along the storage row for transporting goods by a transport means; and a plurality of markers arranged at predetermined intervals along the transport path and detectable by a detection means provided on the transport means.

[0007] Another aspect of the present invention is an automated warehouse system for a cold storage warehouse. This automated warehouse system for a cold storage warehouse comprises a storage row consisting of a plurality of storage units arranged in a first direction, each capable of storing goods in a cold storage environment; a transport path provided along the storage row; a transport means capable of transporting goods by moving along the transport path; and a plurality of markers arranged at predetermined intervals along the transport path. The transport means includes a detection means capable of detecting the markers.

[0008] Furthermore, any combination of the above components, or in which the components or expressions of the present invention are mutually substituted among methods, systems, etc., are also valid embodiments of the present invention. [Effects of the Invention]

[0009] According to the present invention, it is possible to provide a technology for a cold storage warehouse that can reduce the effects of frost and improve the accuracy of the storage position of goods. [Brief explanation of the drawing]

[0010] [Figure 1] This is a schematic plan view showing an example of an automated warehouse system for a cold storage warehouse according to the embodiment. [Figure 2] This is a schematic side view of the automated warehouse system shown in Figure 1. [Figure 3] This figure schematically shows the transport mechanism of the automated warehouse system shown in Figure 1. [Figure 4] This figure shows the transport means and stretching member. [Figure 5] Figure 1 is a schematic side view showing the transport mechanism of the automated warehouse system. [Figure 6] This is a plan view showing a first example of the arrangement of multiple markers. [Figure 7] This is a plan view showing a second example of the arrangement of multiple markers. [Modes for carrying out the invention]

[0011] The present invention will be described below with reference to the drawings, based on preferred embodiments. In the embodiments and modifications, the same or equivalent components and members will be denoted by the same reference numerals, and redundant explanations will be omitted as appropriate. In addition, the dimensions of the members in each drawing will be enlarged or reduced as appropriate to facilitate understanding. Furthermore, some members that are not important for explaining the embodiments will be omitted from the drawings.

[0012] Furthermore, while terms including ordinal numbers such as "first" and "second" are used to describe various components, these terms are used solely to distinguish one component from others, and do not limit the components themselves.

[0013] [Embodiment] The configuration of the automated warehouse system 100 for a cold storage warehouse according to the embodiment (hereinafter referred to as "automated warehouse system 100") will be described with reference to the drawings. Figure 1 is a schematic plan view showing an example of the automated warehouse system 100. In this figure, a part of the storage row 3 is cut out. Figure 2 is a side view of the automated warehouse system 100. In this figure, one of the two extension members 52 is omitted.

[0014] For the sake of explanation, as shown in the diagram, we define an XYZ Cartesian coordinate system where a certain horizontal direction is the X-axis direction, a horizontal direction perpendicular to the X-axis direction is the Y-axis direction, and a direction perpendicular to both, i.e., the vertical direction, is the Z-axis direction. The left-right direction is sometimes referred to as the "left-right direction." The Y-axis direction is sometimes referred to as the "front-back direction." The Z-axis direction is sometimes referred to as the "up-down direction." The first direction is exemplified as the front-back direction. Such directional notations do not restrict the configuration of the automated warehouse system 100, and the automated warehouse system 100 can be used in any configuration depending on the application.

[0015] In this specification, the following terms are used for "shipping": A "shipping" refers to a collection of one or more cases, such as cardboard boxes, containing their contents. A shipping may contain multiple items. When shipping is handled as a whole while loaded onto a pallet, the pallet is included in the term "shipping." Shipping may also refer to the smallest unit handled within a warehouse.

[0016] The overall configuration of the automated warehouse system 100 will be described. The automated warehouse system 100 is a system that includes storage rows 3 capable of accommodating multiple loads 1 in a refrigerated space 90 maintained at a predetermined low temperature. Hereinafter, the front-to-back dimension of load 1 in a plan view will be referred to as "load dimension," and the left-to-right dimension of load 1 will be referred to as "load width." Loads 1 with dimensions of 1100 mm, 900 mm, and 1200 mm will be denoted as load 1(M), load 1(S), and load 1(L). The load widths of loads 1(M), load 1(S), and load 1(L) are all equal to 1100 mm. Hereinafter, the automated warehouse system 100 will be described as accommodating loads 1(M), load 1(S), and load 1(L).

[0017] The automatic warehouse system 100 includes a shelf section 33, a conveying means 4, a conveying path 5, a plurality of markers 6, a conveying path 82, a conveying means 81, and a control section 80. The shelf section 33 includes a plurality of storage rows 3 arranged at a predetermined interval in the left-right direction. The storage row 3, the conveying path 5, and the plurality of markers 6 constitute a warehouse unit 10 for a freezer warehouse (hereinafter, simply referred to as "warehouse unit 10"). In other words, the automatic warehouse system 100 can be constituted by a plurality of warehouse units 10, a conveying means 4, a conveying path 82, a conveying means 81, and a control section 80. The conveying path 82, the conveying means 81, and the control section 80 will be described later.

[0018] The storage row 3 is configured by arranging a plurality of storage portions 2 capable of storing the load 1 in the first direction (front-rear direction). The conveying path 5 is provided along the plurality of storage portions 2 in order to convey the load 1 by the conveying means 4. The storage row 3 and the conveying path 5 extend in the front-rear direction.

[0019] The shelf section 33 is a storage space capable of storing a plurality of loads 1, and is installed between the floor portion Lg and the ceiling Lc of the freezer space 90. The configuration of the shelf section 33 is not particularly limited as long as it can store a plurality of loads 1. The automatic warehouse system 100 has a plurality (for example, 3) of stages of shelf sections 33 stacked in layers in the vertical direction.

[0020] The shelf section 33 includes a plurality of storage rows 3 connected in the left-right direction. Regarding the plurality of storage rows 3, from left to right in FIG. 1, they are referred to as storage rows 3-A, 3-B, 3-C, and 3-D. In the storage row 3, a region for storing one load 1 is called a storage portion 2. The load widths that can be stored are set to be equal to each other at 1100 mm in each storage row 3. Each storage row 3 can store the load 1 (M), the load 1 (S), and the load 1 (L).

[0021] Storage row 3 has multiple storage sections 2 connected in the front-rear direction from the upper base end 34 to the lower entrance 35 in Figure 1. The multiple storage sections 2 are denoted as the first storage section 2(1), second storage section 2(2), third storage section 2(3), fourth storage section 2(4), and fifth storage section 2(5), in order from the base end 34 side. The entrance 35 on the transport path 82 side of storage row 3 is along the opening of the shelf section 33 and functions as an entrance / exit for the transport means 4 to enter and exit. Storage row 3 will be described later.

[0022] (Transportation means) The transport means 4 will be explained with reference to Figures 3, 4, and 5. Figure 3(A) is a plan view of the transport means 4, and Figure 3(B) is a side view of the transport means 4. Figure 4 shows the transport means 4 and the extension member. Figure 5 is a front view of the transport means 81, showing the transport means 4 mounted on the trolley mounting section 86. The transport means 4 is, for example, a first trolley, and can transport the load 1 by moving along the transport path 5 with the load 1 on it. The transport means 4 can rotate a plurality (for example, 4) of wheels 44 provided on both the left and right sides by driving a built-in motor (not shown) with power from a built-in battery (not shown). The transport means 4 can move along the transport path 5 by rotating the wheels 44. The transport means 4 can raise and lower the loading platform 42 for placing the load 1 using a built-in lift mechanism (not shown). In Figure 4, the raised mounting platform 42 is shown by a dashed line, and the lowered mounting platform 42 is shown by a solid line.

[0023] The transport means 4 has a detection means 7 capable of detecting the position of the marker 6. For example, the multiple markers 6 are configured to include a magnetic material 62, and the detection means 7 can be configured to detect the position of the marker 6 based on the result of detecting the magnetism of the magnetic material 62. For example, the magnetic material 62 can be any known magnetic material, and in this example, it is a permanent magnet. The detection means 7 can be a magnetic detection means based on a known principle, and for example, a Hall element capable of detecting the magnetic flux of a permanent magnet can be used. Figure 2 shows some of the multiple markers 6 and the multiple detection means 7.

[0024] As another example, the multiple markers 6 are protrusions, and the detection means 7 can be configured to detect the position of the markers 6 based on the result of detecting the protrusions. In this case, the detection means 7 can employ a protrusion detection means based on a known principle. Examples of such protrusion detection means include a distance sensor capable of detecting the distance to the protrusion, a proximity sensor that detects when a protrusion approaches, and a contact-type sensor such as a limit switch. The markers 6 may include multiple different types of marking means, such as magnetic materials and protrusions.

[0025] The transport path 5 is a first travel path (e.g., a first rail) for the transport means 4 to travel on, and extends in the longitudinal direction along the storage row 3. In this example, the transport path 5 is provided below the storage row 3 so that the transport means 4 can pass underneath the storage row 3. Each storage row 3 is provided with two extending members 52 spaced apart to the left and right and extending in the longitudinal direction (first direction). As shown in Figure 4, the extending members 52 have an angular C-shape in which the cross section perpendicular to the extension direction (longitudinal direction) encloses a space through which the wheels 44 of the transport means 4 can pass.

[0026] Specifically, the extension member 52 has an upper lateral extension portion 53 that extends left and right on the upper side, an intermediate vertical extension portion 54 that extends downward from the end of the upper lateral extension portion 53, and a lower lateral extension portion 55 that extends parallel to the upper lateral extension portion 53 from the lower end of the intermediate vertical extension portion 54. The housing portion 2 is provided on the upper lateral extension portion 53 of the extension member 52, and the transport path 5 is provided on the lower lateral extension portion 55 of the extension member 52. Multiple markers 6 are positioned opposite the side surfaces of the wheels 44 on the intermediate vertical extension portion 54 of the extension member 52. The upper lateral extension portion 53, the intermediate vertical extension portion 54, and the lower lateral extension portion 55 can be formed integrally.

[0027] Multiple markers 6 are arranged at predetermined intervals along the transport path 5 so that a detection means 7 provided on the transport means 4 can detect the position of the markers 6.

[0028] The dimensions of the storage section 2 in the front-to-back direction (hereinafter referred to as "storage section dimensions") can be set by adding a predetermined gap to the dimensions of the cargo 1 to be stored. The storage section dimensions of the storage row 3 can be set according to the ratio of the planned number of cargo 1(M), cargo 1(S), and cargo 1(L) to be stored (hereinafter referred to as "planned number to be stored"). In this example, since the planned number of cargo 1(M) to be stored is greater than the planned number of cargo 1(S) and cargo 1(L) to be stored, storage rows 3-A and 3-B are set to store cargo 1(M), storage row 3-C is set to store cargo 1(S), and storage row 3-D is set to store cargo 1(L).

[0029] However, the proportion of the planned number of items to be stored is not always constant and changes due to various factors such as the season. If the dimensions of the storage compartments of each storage row 3 cannot be changed, the proportion of items that can be stored for each size of cargo becomes fixed, which greatly increases the possibility that the proportion of the planned number of items to be stored and the proportion of items that can be stored will not match, and storage efficiency will decrease. Therefore, in this embodiment, the dimensions of the storage compartments of each storage row 3 can be changed arbitrarily. In other words, each storage row 3 is configured to be able to store cargo 1(M), cargo 1(S), and cargo 1(L), and the dimensions of the storage compartments of each storage row 3 can be flexibly changed in accordance with changes in the proportion of the planned number of items to be stored.

[0030] In this embodiment, the storage position of load 1 is controlled so that each storage row 3 can accommodate load 1(M), load 1(S), or load 1(L). Here, in order to control the storage position of load 1, it is conceivable to measure the distance to a previously placed load using an optical distance-settering means and use this measurement result to control the storage position of the load. In this case, however, it was found that in the refrigerated space 90, the error in the measurement result of the optical distance-settering means becomes large due to the effect of frost on the optical path, resulting in a problem of reduced accuracy in determining the storage position of the load.

[0031] Therefore, the warehouse unit 10 of this embodiment is equipped with a plurality of markers 6 that are arranged at predetermined intervals along the transport path 5 and can be detected by a detection means 7 provided on the transport means 4, and the unloading position of the transport means 4 is controlled based on the detection result obtained by the detection means 7 detecting the plurality of markers 6.

[0032] Each storage row 3 is configured as either a storage section 2(M) for storing load 1(M), a storage section 2(S) for storing load 1(S), or a storage section 2(L) for storing load 1(L). In addition, each storage row 3 is provided with markers 6(M), marker 6(L), and marker 6(S) at positions corresponding to the storage sections 2(M), 2(S), and 2(L).

[0033] Furthermore, the control unit 80 stores the storage section 2 in which each storage row 3 contains a load 1, and the storage section 2 that does not contain a load 1. In this embodiment, the load 1 is stored sequentially from the storage section 2 on the base end 34 side to the storage section 2 on the entrance end 35 side. Therefore, the control unit 80 controls the transport means 4 to store the load 1 in the storage section 2 closest to the base end 34 among the storage sections 2 that do not contain a load 1.

[0034] For example, the transport means 4 traveling along storage rows 3-A and 3-B stops at the position where the detection means 7 detects the marker 6(M) based on the above control, and unloads the load 1(M) onto storage row 3 at that position, thereby allowing the load to be stored in the storage section 2(M) corresponding to the dimensions of the load 1(M).

[0035] For example, the transport means 4 traveling along the storage row 3-C stops at the position where the detection means 7 detects the marker 6(S) based on the above control, and unloads the load 1(S) onto the storage row 3 at that position, thereby allowing the load to be stored in the storage section 2(S) corresponding to the dimensions of the load 1(S).

[0036] For example, the transport means 4 traveling along the storage row 3-D stops at the position where the detection means 7 detects the marker 6(L) based on the above control, and unloads the load 1(L) onto the storage row 3 at that position, thereby allowing the load to be stored in the storage section 2(L) corresponding to the dimensions of the load 1(L).

[0037] Refer to Figures 6 and 7 to illustrate examples of the arrangement of multiple markers 6. Figures 6 and 7 show examples of the arrangement of multiple markers 6. In the first arrangement example shown in Figure 6, markers 6(M), marker 6(L), and marker 6(S) are arranged on one side of the two opposing sides of the two stretching members 52. In this case, the detection means 7 only needs to be placed on one side of the transport means 4, which reduces the cost of parts and installation work for the detection means 7, making it cost-effective.

[0038] If multiple markers 6 are placed too close together, the detection means 7 is more likely to falsely detect markers 6 that are not intended for detection. Furthermore, the detection accuracy of the detection means 7 decreases due to the influence of the magnetic flux from the markers 6 that are not intended for detection. Therefore, multiple markers 6 can be placed in a dispersed manner.

[0039] For example, in the example shown in Figure 6, multiple markers 6 are close together in the area indicated by circle N. Therefore, in this embodiment, the second arrangement example shown in Figure 7 is adopted. In the example shown in Figure 7, the multiple markers 6 are distributed across the two stretching members 52. In particular, the multiple markers 6 are arranged alternately across the two stretching members 52. Specifically, markers 6(M) and 6(L) are placed on the side of one of the two stretching members 52 (the left stretching member in Figure 7), and marker 6(S) is placed on the side of the other (the right stretching member in Figure 7). In this case, since each marker 6 is distributed to the left and right, the possibility of false detection or a decrease in detection accuracy is reduced.

[0040] When each marker 6 is distributed to the left and right, as shown in Figures 3 and 4, the detection means 7(M) and detection means 7(L) corresponding to marker 6(M) and marker 6(L) are arranged on the side of the transport means 4 facing marker 6(M) and marker 6(L), and the detection means 7(S) corresponding to marker 6(S) is arranged on the side of the transport means 4 facing marker 6(S).

[0041] From the perspective of further reducing the possibility of false detections and decreased detection accuracy, multiple markers 6 may be arranged at multiple different heights H1, H2, and H3. In the example in Figure 4, marker 6(M) is placed at the first height H1, marker 6(S) is placed at the second height H2 which is lower than the first height, and marker 6(L) is placed at the third height H3 which is lower than the second height. In this case, the detection means 7(M) is placed at the first height H1, the detection means 7(S) is placed at the second height H2, and the detection means 7(L) is placed at the third height H3.

[0042] In this embodiment, the detection means 7(M), detection means 7(S), and detection means 7(L) are arranged at a plurality of positions P1, P2, and P3 that are different from each other in the front-rear direction. Specifically, as shown in Figure 3, the detection means 7(M) is located at the first position P1, the detection means 7(S) is located at the second position P2, and the detection means 7(L) is located at the third position P3. The first position P1 is a position shifted forward (towards the side indicated by the arrow in the Y-axis direction) relative to the second position P2, and the third position P3 is a position shifted backward relative to the second position P2.

[0043] In this manner, when the detection means 7 is shifted, the marker 6(M) is shifted forward in accordance with the shift amount of the detection means 7(M) (the difference between P1 and P2), and the marker 6(L) is shifted backward in accordance with the shift amount of the detection means 7(L) (the difference between P2 and P3).

[0044] (Means of transport) The other components of the automated warehouse system 100 will be described with reference to Figures 1 and 5. The trolley mounting section 86 has two rails 87 on which the transport means 4 travels. The rails 87 have a cross-section perpendicular to the extension direction (front-rear direction) that is angular and C-shaped, enclosing a space through which the wheels 44 of the transport means 4 can pass.

[0045] As shown in Figure 1, the transport means 81 can travel along the transport path 82 in a left-right direction to transport the transport means 4, either empty or loaded with load 1. The transport means 81 receives power from the power supply unit 83 via a power collection unit 85 located on its side, and supplies the received power to a motor (not shown), which rotates a plurality (for example, four) of wheels 84 located on both sides. The transport means 81 is configured to charge the battery of the transport means 4 with the power it receives.

[0046] The transport path 82 is a second travel path (for example, a second rail) for the transport means 81 to travel on, and extends in the left-right direction along the entrance 35 of the storage row 3. The power supply unit 83 extends in the left-right direction along the transport path 82 and can supply power to the transport means 81.

[0047] As shown in Figure 1, an inbound / outbound section 88 is located near the end of the transport path 82. When goods are brought in, goods 1 from outside are brought into the inbound / outbound section 88, and the brought-in goods 1 are transported by the transport means 4 and transport means 81 to the target storage section 2 and stored there. When goods are released, the goods 1 that were stored in the target storage section 2 are transported back to the inbound / outbound section 88 by the transport means 4 and transport means 81, and the transported goods 1 are carried out to the outside.

[0048] The control unit 80 includes an MPU (Micro Processing Unit) and controls the movement of the cargo 1 for purposes such as receiving, shipping, unloading, and transporting based on user input. For example, the control unit 80 controls the transport means 4 and the transport means 81 to transport the cargo 1 between a predetermined storage unit 2 and a receiving / shipping unit 88.

[0049] An example of the operation of this embodiment will be described. Here, an example of storing a load 1(M) brought into the loading / unloading section 88 in storage row 3-B will be described. In this embodiment, the load 1 is stored in this order from the storage section 2 on the base end 34 side to the storage section 2 on the entrance end 35 side. The control unit 80 stores the storage sections 2 in which the load 1 is stored and the storage sections 2 in which the load 1 is not stored. In this example of operation, the control unit 80 controls the transport means 4 to store the load 1(M) in the third storage section 2(3) that is closest to the base end 34 among the storage sections 2 that do not contain the load 1.

[0050] (1) When the operation is started, the control unit 80 controls the transport means 81 to move to the side of the loading / unloading section 88 with the empty transport means 4 loaded on it. (2) Next, the control unit 80 controls the transport means 4 to move to the loading / unloading unit 88 and hold the load 1(M).

[0051] (3) Next, the control unit 80 controls the transport means 4 to move to the transport means 81 while holding the load 1(M). (4) Next, the control unit 80 controls the transport means 81 to move in front of the entrance 35 of the storage row 3-B with the transport means 4 mounted on it.

[0052] (5) Next, the control unit 80 controls the transport means 4 to move to the third storage section 2(3) of the storage row 3-B while holding the load 1(M). At this time, the control unit 80 counts the number of times the detection means 7 detects the marker 6(M) while the transport means 4 is moving along the storage row 3-B, and when the marker 6(M) corresponding to the target storage section 2 is detected, the control unit 80 stops the transport means 4 at that position.

[0053] (6) Next, the control unit 80 controls the transport means 4 to lower the loading platform 42 and lower the load 1(M) into the storage row 3-B. Through this operation, the load 1(M) is stored in the target third storage section 2(3). (7) Next, the control unit 80 controls the transport means 4 to move to the transport means 81 with the mounting base 42 lowered. The above is an explanation of one example of operation. Various modifications of this operation are possible.

[0054] Thus, in this embodiment, as the transport means 4 moves along the storage row 3, the detection means 7 counts the number of times it detects the marker 6, and the storage row 3 can be stopped at the position where the marker 6 corresponding to the target storage section 2 is detected. At this stopping position, the cargo 1 to be stored can be stored, and at this stopping position, the cargo 1 to be shipped out can be picked up.

[0055] The features of the warehouse unit 10 will now be described. The warehouse unit 10 for a cold storage warehouse comprises a storage row 3 formed by arranging a plurality of storage sections 2 capable of storing goods 1 in a cold storage manner in a first direction, a transport path 5 provided along the storage row 3 for transporting goods 1 by a transport means 4, and a plurality of markers 6 arranged at predetermined intervals along the transport path 5 and detectable by a detection means 7 provided on the transport means 4.

[0056] With this configuration, the distance between the marker 6 and the detection means 7 is short, so the effect of frost is smaller than when the transport vehicle is controlled based on the measurement result of the distance to the load placed in front. This allows the accuracy of the stopping position of the transport means 4 to be maintained even in a frozen space, and improves the accuracy of the storage position of the load 1.

[0057] For example, multiple markers 6 include a magnetic material 62, and the detection means 7 detects the markers 6 based on the result of detecting the magnetism of the magnetic material 62. In this case, it is hardly affected by frost.

[0058] For example, the multiple markers 6 may be protrusions, and the detection means 7 may detect the position of the markers 6 based on the result of detecting these protrusions. In this case, the system is hardly affected by frost.

[0059] As an example, in the transport path 5, two extending members 52 extending in the first direction are arranged spaced apart to the left and right, and multiple markers 6 are provided on the extending members 52. In this case, the cost and space of mounting members can be saved compared to using dedicated mounting members for the markers.

[0060] For example, multiple markers 6 are provided on the opposing sides of two stretching members 52. In this case, compared to the case where the markers 6 are provided on the opposite side of the stretching members 52 from the opposing surfaces, the stretching members 52 do not become an obstacle, and the transport means 4 can easily detect the markers 6.

[0061] For example, the stretching member 52 has a cross-section perpendicular to the stretching direction that is angularly C-shaped, enclosing a space through which the wheels 44 of the transport means 4 can pass, and the multiple markers 6 are arranged in the region of the stretching member 52 facing the side surface of the wheels 44. In this case, since this region is large, the markers 6 can be easily attached.

[0062] For example, multiple markers 6 are arranged alternately on two extending members 52. In this case, compared to arranging multiple markers 6 in close proximity, the markers 6 can be distributed, reducing the possibility of false detection or a decrease in detection accuracy.

[0063] For example, multiple markers 6 are placed at different heights. In this case, because the multiple markers 6 are spaced apart in the height direction, the possibility of false detection or a decrease in detection accuracy is reduced.

[0064] The features of the automated warehouse system 100 are described below. The automated warehouse system 100 for a cold storage warehouse comprises a storage row 3 formed by arranging a plurality of storage units 2 capable of storing goods 1 in a cold storage manner in a first direction, a transport path 5 provided along the storage row 3, a transport means 4 capable of transporting goods 1 by moving along the transport path 5, and a plurality of markers 6 arranged at predetermined intervals along the transport path 5. The transport means 4 has a detection means 7 capable of detecting the markers 6.

[0065] With this configuration, the distance between the marker 6 and the detection means 7 is short, so the effect of frost is smaller than when the transport vehicle is controlled based on the measurement result of the distance to the load placed in front. This allows the accuracy of the stopping position of the transport means 4 to be maintained even in a frozen space, and improves the accuracy of the storage position of the load 1.

[0066] The embodiments of the present invention have been described in detail above. The embodiments described above are merely examples of how to implement 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 as long as they do not depart from the spirit of the invention as defined in the claims. In the embodiments described above, such design changes are explained with notations such as "of the embodiments" or "in the embodiments," but this does not mean that design changes are not permitted for contents without such notations. Furthermore, the hatching in the drawings does not limit the material of the object to which the hatching is applied.

[0067] (modified version) The following describes modified examples. In the drawings and descriptions of the modified examples, components and parts that are the same as or equivalent to those in the embodiments are denoted by the same reference numerals. Descriptions that overlap with those in the embodiments will be omitted as appropriate, and the descriptions will focus on the configurations that differ from those in the embodiments.

[0068] In the description of the embodiment, an example was shown in which the multiple markers 6 and the detection means 7 are facing each other in the left-right direction, but the present invention is not limited to this. For example, some or all of the multiple markers 6 can be provided on the lower side of the housing section 2 (the lower surface of the upper lateral extension section 53). In this case, the detection means 7 can be positioned in the transport means 4 so as to face the lower markers 6 of the housing section 2 in the vertical direction.

[0069] Although the description of the embodiments shows an example that includes a transport means 81 and a transport path 82, the present invention is not limited thereto. Providing a transport means 81 and a transport path 82 is not essential. For example, at the entrance 35 of each storage row 3, goods 1 entering from the outside may be placed directly onto the transport means 4, or goods 1 leaving the storage area may be taken directly from the transport means 4.

[0070] In the description of the embodiment, an example was shown in which the automated warehouse system 100 accommodates loads 1 of three different sizes, but the present invention is not limited thereto. For example, the automated warehouse system may accommodate loads of two or four or more different sizes.

[0071] For example, detection means 7(M), detection means 7(S), and detection means 7(L) may be arranged at the same position relative to each other in the front-rear direction.

[0072] For example, the transport means 4 may be provided in each of the multiple storage rows 3. For example, the transport means 81 may be provided in each of the multiple shelf sections 33. For example, a transport means capable of transporting the load 1 between each shelf section 33 may be provided.

[0073] For example, a cleaning member may be provided on the side of the conveying means 4 to reduce frost on the surface of the marker 6. Examples of such cleaning members include brushes, spatulas, and the like.

[0074] Each of these modifications produces the same functions and effects as the embodiments.

[0075] Any combination of the embodiments and modifications described above is also useful as an embodiment of the present invention. The new embodiments resulting from these combinations possess the combined effects of both the respective embodiments and modifications. [Explanation of Symbols]

[0076] 1. Load, 2. Storage section, 3. Storage row, 4. Conveying means, 5. Conveying path, 6. Marker, 7. Detection means, 10. Warehouse unit, 44. Wheels, 52. Extending members, 62. Magnetic material, 100. Automated warehouse system.

Claims

1. The system comprises a storage row consisting of multiple storage compartments arranged in a first direction, a transport path provided along the storage row for transporting the cargo by a transport means, and a plurality of markers arranged at predetermined intervals along the transport path and detectable by a detection means provided on the transport means. The warehouse unit includes a plurality of first markers arranged in a plurality corresponding to the storage positions of loads of a first dimension, and a plurality of second markers arranged in a plurality corresponding to the storage positions of loads of a second dimension different from the loads of the first dimension.

2. The aforementioned plurality of markers include a magnetic material, The warehouse unit according to claim 1, wherein the detection means detects the marker based on the result of detecting the magnetism of the magnetic material.

3. The aforementioned multiple markers are protrusions, The warehouse unit according to claim 1, wherein the detection means detects the marker based on the result of detecting the protrusion.

4. In the aforementioned transport path, two extending members extending in the first direction are arranged spaced apart to the left and right. The warehouse unit according to any one of claims 1 to 3, wherein the plurality of markers are provided on the stretching member.

5. The warehouse unit according to claim 4, wherein the plurality of markers are provided on the mutually opposing sides of the two stretched members.

6. The stretching member has a cross-section perpendicular to the stretching direction that is angular and C-shaped, enclosing a space through which the wheels of the transport means can pass. The warehouse unit according to claim 4 or 5, wherein the plurality of markers are arranged in a region of the extension member facing the side surface of the wheel.

7. The warehouse unit according to claim 5 or 6, wherein the plurality of markers are arranged alternately on the two stretching members.

8. The warehouse unit according to any one of claims 1 to 7, wherein the plurality of markers are arranged at a plurality of different heights.

9. A storage row comprising multiple storage compartments capable of storing cargo arranged in a first direction, A transport path provided along the aforementioned storage row, A conveying means capable of transporting a load by moving along the aforementioned transport path, The transport path comprises a plurality of markers arranged at predetermined intervals along the transport path, The transport means has a detection means capable of detecting the marker, The automated warehouse system includes a plurality of first markers arranged in a plurality corresponding to the storage positions of loads of a first dimension, and a plurality of second markers arranged in a plurality corresponding to the storage positions of loads of a second dimension different from the loads of the first dimension.

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