Automated warehouse system

Abstract

To provide an automatic warehouse system that can effectively reduce damage from an earthquake of any of various intensities.SOLUTION: An automatic warehouse system (1) for automatically performing loading and unloading of an article, has: a rack (4) for storing the article; a loading / unloading conveyance device (6) for performing carrying-in of the article into the rack and carrying-out of the article from the rack; a controller (8) for controlling travel of the loading / unloading conveyance device; and earthquake detection devices (10a, 10b) capable of detecting intensity of an earthquake that has occurred, in a plurality of stages. The controller emergency-stops the loading / unloading conveyance device when the intensity of the earthquake detected by the earthquake detection device is greater than a first threshold, rapidly stops the loading / unloading conveyance device when the intensity of the earthquake detected by the earthquake detection device is less than or equal to the first threshold and is greater than a second threshold, and temporarily stops the loading / unloading conveyance device when the intensity of the earthquake is less than or equal to the second threshold.SELECTED DRAWING: Figure 5

Description

【Technical Field】 【0001】 The present invention relates to an automated warehouse system, and more particularly to an automated warehouse system that automatically performs warehousing and outwarehousing of goods. 【Background Art】 【0002】 Japanese Patent Application Laid-Open No. 2012-12133 (Patent Document 1) describes an article conveying facility. When a receiving terminal receives an emergency earthquake early warning, this article conveying facility performs normal stop control to stop the conveying operation of the conveying device while maintaining the power supply means in the supply state. Further, after the receiving terminal receives an emergency earthquake early warning, during the standby period until a predetermined set time elapses, it is necessary to determine whether or not to switch the power supply means to the non-supply state based on the detection information of the earthquake detection means, and if necessary, repeatedly switch the power to the non-supply state. Also, based on the detection information of the earthquake detection means during the standby period, it is determined whether or not to allow the resumption of the conveying operation of the conveying device, and if allowed, the conveying operation of the conveying device is resumed. 【0003】 That is, if the power supply is immediately stopped when an emergency earthquake early warning is received, there is a high possibility that the goods being conveyed will fall from the conveying device, and the time required to restore the article conveying facility to the normal operating state will be long. In the article conveying facility described in Patent Document 1, after receiving an emergency earthquake early warning, normal stop control is performed and the power supply is maintained, thereby preventing the operation of the facility from stopping for a long time and suppressing a decrease in operation efficiency. 【Prior Art Documents】 【Patent Documents】 【0004】 【Patent Document 1】 Japanese Patent Application Laid-Open No. 2012-12133 【Summary of the Invention】 【Problems to be Solved by the Invention】 【0005】 However, in the article transport equipment described in Patent Document 1, a normal stop control is performed to stop the transport device after an earthquake early warning is received. Therefore, depending on the circumstances of the earthquake, there is a problem that the stopping of the transport device may be delayed, resulting in greater damage to the transport device. Furthermore, in the article transport equipment described in Patent Document 1, the power supply means is maintained in a supply state at least until the transport device is stopped by the normal stop control. Therefore, the stopping of the power supply may be delayed, potentially causing significant damage. For example, if the transport device is trolley-powered, the contact between the contact wire and the current collector sliding along this contact wire may become unstable due to the shaking of the earthquake, potentially causing sparks at the electrical contact points, and in the worst case, a fire may occur. 【0006】 This invention was made to solve these technical problems and aims to provide an automated warehouse system that can effectively mitigate damage from earthquakes of various intensities. [Means for solving the problem] 【0007】 To solve the above-mentioned problems, the present invention provides an automated warehouse system for automatically receiving and shipping goods, comprising: racks for storing goods; a loading / unloading transport device for loading goods into and out of the racks; a controller for controlling the movement of the loading / unloading transport device; and an earthquake detection device capable of detecting the intensity of an earthquake in multiple stages. The controller is characterized in that, if the intensity of the earthquake detected by the earthquake detection device is stronger than a first threshold, it makes an emergency stop of the loading / unloading transport device; if the intensity of the earthquake detected by the earthquake detection device is less than or equal to the first threshold and stronger than a second threshold, it makes a rapid stop of the loading / unloading transport device; and if the intensity of the earthquake detected by the earthquake detection device is less than or equal to the second threshold, it makes a temporary stop of the loading / unloading transport device. 【0008】 In the present invention configured as described above, the controller controls the loading and unloading transport device to load goods into racks for storage and unload goods from racks. The earthquake detection device detects the intensity of an earthquake in multiple stages, and the controller performs an emergency stop, a rapid stop, or a temporary stop according to the detected earthquake intensity. 【0009】 According to the present invention configured in this way, the controller performs an emergency stop, a rapid stop, or a temporary stop depending on the intensity of the earthquake detected by the earthquake detection device, thereby effectively mitigating damage from earthquakes of various intensities. 【0010】 In the present invention, preferably, when the controller temporarily stops the loading / unloading transport device, it stops the loading / unloading transport device in motion at a normal deceleration rate, and when the controller makes an emergency stop or a rapid stop of the loading / unloading transport device, it stops the loading / unloading transport device in motion at a deceleration rate greater than the normal deceleration rate. 【0011】 According to the present invention configured in this way, when the loading / unloading transport device is temporarily stopped, it is stopped at the normal deceleration rate, so the deceleration rate required to stop can be kept low, preventing cargo from falling from the transport device or shifting from its predetermined position. Furthermore, when the loading / unloading transport device is stopped in an emergency or rapid stop, it is stopped at a greater deceleration rate than normal, so damage caused by the transport device continuing to operate while shaking due to an earthquake can be suppressed. 【0012】 In the present invention, preferably, the loading and unloading transport device is a trolley-powered stacker crane that is powered by a contact wire and a current collector that slides along the contact wire, and when the stacker crane is to be brought to an emergency stop or rapid stop, the controller stops the power supply to the contact wire without substantially performing control to decelerate the stacker crane while it is moving. 【0013】 According to the present invention configured in this way, when a stacker crane, which is an inbound / outbound transport device, is brought to an emergency stop or rapid stop, the controller cuts off the power supply without substantially controlling the deceleration of the stacker crane. This minimizes the generation of sparks between the contact wires and the current collector due to earthquake tremors. As a result, the risk of fire caused by the generated sparks can be sufficiently suppressed. 【0014】 In the present invention, preferably, the loading / unloading transport device is a non-trolley powered stacker crane, and when the loading / unloading transport device is to be stopped rapidly, the controller stops the stacker crane at a lower deceleration than when there is no load on it, if there is a load on the stacker crane. 【0015】 With the present invention configured in this way, when rapidly stopping a stacker crane, which is a loading and unloading transport device, if there is cargo loaded on it, the stacker crane is stopped at a lower deceleration rate than when there is no cargo loaded, thus effectively suppressing the risk of cargo loaded on the stacker crane falling. Furthermore, since the stacker crane is not trolley-powered, even if power is supplied while the stacker crane is shaking due to an earthquake, there is almost no risk of sparks being generated, and deceleration control can be performed safely. 【0016】 In the present invention, preferably, there are multiple inbound / outbound transport devices and earthquake detection devices, and the controller controls the inbound / outbound transport device associated with the first earthquake detection device based on the earthquake intensity detected by the first earthquake detection device among the multiple earthquake detection devices, and controls the inbound / outbound transport device associated with the second earthquake detection device based on the earthquake intensity detected by the second earthquake detection device among the multiple earthquake detection devices. 【0017】 For example, if an automated warehouse system is a large-scale system installed on a vast site, or if it is installed in a multi-story building, the intensity of shaking experienced by each inbound / outbound transport device may differ even during a single earthquake. According to the present invention configured as described above, multiple inbound / outbound transport devices and earthquake detection devices are provided, and the inbound / outbound transport device associated with the earthquake is controlled based on the intensity of the earthquake detected by the first earthquake detection device, and the inbound / outbound transport device associated with the earthquake is controlled based on the intensity detected by the second earthquake detection device. As a result, each inbound / outbound transport device can perform an emergency stop, rapid stop, or temporary stop depending on the intensity of shaking it experiences, thereby sufficiently suppressing damage caused by earthquakes, and accelerating the recovery of inbound / outbound transport devices that experience less shaking after an earthquake. 【0018】 In the present invention, preferably, multiple earthquake detection devices are provided and installed at multiple locations where the degree of shaking differs for the same earthquake. The controller evaluates the earthquake intensity by converting the earthquake intensity detected by the earthquake detection devices installed at locations with a high degree of shaking to a weaker intensity. 【0019】 The seismic intensity detected by an earthquake detection device will differ depending on its mounting location, even for the same earthquake. For example, an earthquake detection device installed in a location prone to shaking, such as a rack in an automated warehouse system, tends to detect a higher intensity of earthquake than an earthquake detection device installed on the floor, walls, columns, or other fixed parts of the building where the automated warehouse system is installed. According to the present invention configured as described above, the intensity of earthquakes detected by an earthquake detection device installed in a location with a high degree of shaking is converted to a weaker intensity, making it possible to install earthquake detection devices even in locations prone to shaking. Furthermore, by converting the detected earthquake intensity to a weaker intensity, the detection results from earthquake detection devices installed in locations with high shaking can be properly evaluated. 【0020】 In the present invention, preferably, when the intensity of the earthquake detected by the earthquake detection device is less than or equal to a third threshold value that is weaker than the second threshold value, the controller reduces the traveling speed of the incoming and outgoing transfer device during traveling and then continues the traveling of the incoming and outgoing transfer device. 【0021】 According to the present invention configured as described above, when the intensity of the earthquake is less than or equal to the third threshold value, the traveling speed of the incoming and outgoing transfer device during traveling is reduced and then the traveling of the incoming and outgoing transfer device is continued. Therefore, it is possible to suppress a decrease in transfer efficiency caused by stopping the incoming and outgoing transfer device while ensuring safe traveling of the incoming and outgoing transfer device. 【Advantages of the Invention】 【0022】 According to the automatic warehouse system of the present invention, it is possible to effectively reduce damage against earthquakes of various intensities that occur. 【Brief Description of the Drawings】 【0023】 [Figure 1] It is a front view showing the entire automatic warehouse system according to an embodiment of the present invention installed in a building. [Figure 2] It is a plan view showing the entire automatic warehouse system according to an embodiment of the present invention. [Figure 3] It is a perspective view showing a part of a stacker crane and a rack provided in the automatic warehouse system according to an embodiment of the present invention. [Figure 4] It is a block diagram for explaining the control of the stacker crane when an earthquake occurs in the automatic warehouse system according to an embodiment of the present invention. [Figure 5] It is a flowchart showing the control of the stacker crane by the controller when an earthquake occurs in the automatic warehouse system according to an embodiment of the present invention. 【Modes for Carrying Out the Invention】 【0024】 Next, an automatic warehouse system according to an embodiment of the present invention will be described with reference to the accompanying drawings. Figure 1 is a front view showing the entire automated warehouse system according to an embodiment of the present invention installed inside a building. Figure 2 is a plan view showing the entire automated warehouse system according to an embodiment of the present invention. Figure 3 is a perspective view showing a portion of the stacker crane and racks provided in the automated warehouse system according to an embodiment of the present invention. 【0025】 As shown in Figure 1, the automated warehouse system 1 according to an embodiment of the present invention is installed inside a building 2. This automated warehouse system 1 includes a plurality of racks 4 for storing goods W, a plurality of stacker cranes 6 which are loading and unloading devices for loading and unloading goods W from the racks 4, a controller 8 which controls the movement of these stacker cranes 6, a power supply 9 which supplies power to the stacker cranes 6, and a main earthquake detection device 10a and an auxiliary earthquake detection device 10b which are earthquake detection devices capable of detecting earthquakes that occur. Furthermore, as shown in Figure 2, the automated warehouse system 1 includes loading and unloading stations 12 provided at one end of each rack 4, a track 14 provided to connect each loading and unloading station 12, a tracked trolley 16 which travels on the track 14 to transport goods W, and a long-distance conveyor 18 arranged along the track 14. 【0026】 Rack 4 is equipped with numerous shelves for placing and storing goods W to be stored in the automated warehouse system 1. The goods W are placed on pallets (not shown) and then placed on each shelf. In this embodiment, as shown in Figure 1, five-tier racks 4 are arranged in six parallel rows, with stacker cranes 6 positioned between two opposing racks 4. In this specification, five-tier racks 4 are shown for simplification of the illustration, but racks with 10 or more tiers also exist, and the taller the rack, the more violent the shaking at the top, making the application of the present invention effective. 【0027】 The stacker crane 6 is positioned between opposing racks 4 and is configured to transport goods W stored in each rack 4 to the loading / unloading station 12, or to transport goods W from the loading / unloading station 12 to each rack 4. Power to operate the stacker crane 6 is supplied from the power supply unit 9. The structure of the stacker crane 6 will be described later. 【0028】 Controller 8 is configured to control the movement of the stacker crane 6 based on commands from a higher-level controller (not shown). Specifically, when loading cargo W based on commands from the higher-level controller, Controller 8 controls the stacker crane 6 so that the cargo W is transported from the shelf of the rack 4 on which the cargo W is placed to the loading / unloading station 12 located at one end of the rack 4. When loading cargo W, Controller 8 controls the stacker crane 6 so that the cargo W is transported from the loading / unloading station 12 to the shelf of the adjacent rack 4 where the cargo W should be stored. Furthermore, if an earthquake is detected by the main earthquake detection device 10a or the auxiliary earthquake detection device 10b, Controller 8 stops the stacker crane 6. Details of the control in the event of an earthquake will be described later. 【0029】 As shown in Figure 2, the loading / unloading station 12 is a conveyor located adjacent to each rack 4, and is configured to transport the cargo W that has been transported from the rack 4 to the loading / unloading station 12 to the track 14, and to transport the cargo W that has been transported from the tracked trolley 16 to the loading / unloading station 12 to the end of the rack 4. 【0030】 The track 14 is a path for the tracked trolley 16 to travel on, and in this embodiment, the track 14 is formed in an oval ring shape. One straight section of the oval track 14 is arranged adjacent to each entry / exit station 12, and the other straight section is arranged adjacent to each long-distance conveyor 18. 【0031】 The tracked trolley 16 travels on the track 14 and is configured to transport goods W (not shown) on pallets between each loading / unloading station 12 and each long-distance conveyor 18. When goods W stored in rack 4 are to be loaded, the goods W transported to loading / unloading station 12 by the stacker crane 6 are placed on the tracked trolley 16, transported to a designated long-distance conveyor 18, and placed on that long-distance conveyor 18. When goods W are to be loaded into rack 4, the goods W transported by the long-distance conveyor 18 are placed on the tracked trolley 16, transported to a designated loading / unloading station 12, and placed on that loading / unloading station 12. 【0032】 The long-distance conveyor 18 is configured to transport the cargo W, which has been transported by the tracked trolley 16, to a work area (not shown) where workers are waiting. The workers pick up the required number of items (not shown) from the boxes of cargo W that have been transported by the long-distance conveyor 18. After picking, the cargo W is returned to the loading / unloading station 12 by the long-distance conveyor 18 and loaded onto the designated shelves of the rack 4 by the stacker crane 6. 【0033】 Next, the configuration of the stacker crane 6 will be explained with reference to Figure 3. Note that in Figure 3, only one stacker crane 6 and its associated rack 4 are shown, while the other racks 4 are omitted. Also, in order to show the stacker crane 6, a portion of the rack 4 on the foreground side is omitted. 【0034】 As shown in Figure 3, the stacker crane 6 includes a traveling carriage 20, two masts 22 extending upward from both ends of the traveling carriage 20, and a lifting platform 24 supported between these masts 22 so as to be able to move up and down. The trolley 20 is configured to travel between two opposing racks 4 along a lower running rail 20a laid on the floor of building 2 (Figure 1). Furthermore, an upper running rail 20b is supported between the two racks 4, extending vertically above the lower running rail 20a and parallel to it. A running motor 20c for propelling the trolley 20 along the lower running rail 20a is attached to one end of the trolley 20. 【0035】 Furthermore, the trolley 20 is equipped with a mechanical automatic brake (not shown), which is configured to activate when the power supply is cut off, stopping the trolley 20. This automatic brake consists of brake pads, a disc rotor, a spring that biases the brake pads toward the disc rotor, and an electromagnet (all not shown) that pulls the brake pads away from the disc rotor against the biasing force of the spring. When the power supply to the trolley 20 is cut off, the electromagnetic force from the electromagnet ceases to act, and the brake pads are pressed against the disc rotor by the biasing force of the spring, activating the automatic brake. In this embodiment, when the automatic brake is activated, the stacker crane 6 stops at a deceleration greater than that that occurs when decelerating by normal control. 【0036】 The masts 22 are columns that extend vertically upward from both ends of the trolley 20, and the lifting platform 24 moves up and down along the masts 22 on both sides. The upper ends of each mast 22 are connected by a horizontal member 22a. This horizontal member 22a is configured to slide relative to the upper running rail 20b, and the trolley 20 is guided by the lower running rail 20a and the upper running rail 20b to travel between the racks 4. 【0037】 Furthermore, a contact wire 26a is laid along the upper running rail 20b. On the other hand, a current collector 26b is provided on the lateral member 22a, and the current collector 26b is slidably attached to the contact wire 26a. Power for driving the running motor 20c, etc., is supplied to the contact wire 26a from the power supply device 9 (Figure 1), and power is supplied to the running trolley 20 side by the current collector 26b making electrical contact with the contact wire 26a. In other words, in this embodiment, the stacker crane 6 is a trolley-powered loading and unloading transport device that is powered by the contact wire 26a and the current collector 26b that slides along the contact wire 26a. 【0038】 Next, the lifting platform 24 is a plate-shaped member that is slidably supported on two masts 22 and is configured to move up and down along the masts 22. A lifting motor 24a is attached to the end of the traveling carriage 20 opposite to the traveling motor 20c, and the lifting platform 24 is raised and lowered by rotating a drum (not shown) with this lifting motor 24a to wind up a wire (not shown). Furthermore, two sliding forks 24b are provided on the upper surface of the lifting platform 24, and these sliding forks 24b allow for the transfer of cargo W placed on pallets (not shown) between the rack 4 and the lifting platform 24, and between the lifting platform 24 and the loading / unloading station 12. 【0039】 In other words, the slide fork 24b is a plate-shaped member that can protrude from the lifting platform 24 toward the rack 4. When transferring the cargo W from the rack 4 to the lifting platform 24, the two slide forks 24b are inserted under the pallet (not shown), the cargo W is lifted, and the slide forks 24b are retracted to transfer the cargo W onto the lifting platform 24. Furthermore, since each slide fork 24b is configured to protrude on both sides, cargo W stored in either rack 4 located on either side of the lifting platform 24 can be transferred. The same procedure applies to transferring cargo W from the lifting platform 24 to the rack 4, and to transferring cargo W between the lifting platform 24 and the loading / unloading station 12. 【0040】 Next, with reference to Figures 4 and 5, the control of the stacker crane 6 in the automated warehouse system 1 according to an embodiment of the present invention during an earthquake will be described. Figure 4 is a block diagram illustrating the control of the stacker crane 6 during an earthquake. 【0041】 As shown in Figure 4, the controller 8 is connected to the main earthquake detection device 10a, the auxiliary earthquake detection device 10b, the power supply unit 9, and each stacker crane 6. That is, detection signals regarding the intensity of earthquakes detected by the main earthquake detection device 10a and the auxiliary earthquake detection device 10b are input to the controller 8. The controller 8 also sends control signals to each stacker crane 6 based on the intensity of earthquakes detected by the main earthquake detection device 10a and the auxiliary earthquake detection device 10b, causing them to make an emergency stop, a rapid stop, or a temporary stop, or to reduce their travel speed and allow each stacker crane 6 to continue traveling. In this embodiment, when the controller 8 makes an emergency stop of each stacker crane 6, the controller 8 sends a control signal to the power supply unit 9, which cuts off the power supplied to the contact wire 26a. 【0042】 Furthermore, as shown in Figure 4, the controller 8 includes a detection signal input unit 8a, a detection signal conversion unit 8b, an earthquake intensity determination unit 8c, and a command signal output unit 8d. Specifically, these functional units provided in the controller 8 are implemented by a microprocessor, memory, interface circuits, and software to operate them (not shown). 【0043】 The detection signal input unit 8a is configured to receive detection signals related to the intensity of earthquakes detected by the main earthquake detection device 10a and the auxiliary earthquake detection device 10b. In this embodiment, the main earthquake detection device 10a and the auxiliary earthquake detection device 10b are configured to detect the intensity of an earthquake in multiple stages, and the detection signal input unit 8a receives signals indicating the occurrence of an earthquake and signals related to the intensity of that earthquake. 【0044】 The detection signal conversion unit 8b is configured to convert the intensity of an earthquake detected by the auxiliary earthquake detection device 10b (Figure 1) to a weaker intensity. First, in this embodiment, as shown in Figure 1, the main earthquake detection device 10a is mounted on the wall of building 2, and the auxiliary earthquake detection device 10b is mounted on the top of one rack 4. Here, the auxiliary earthquake detection device 10b, which is mounted in a place prone to shaking such as rack 4, tends to detect a stronger earthquake intensity than the main earthquake detection device 10a, which is mounted on the floor of the building where the automated warehouse system is installed, or on fixed parts such as walls and columns. 【0045】 In other words, the auxiliary earthquake detection device 10b, mounted on the top of rack 4, detects earthquakes with a greater degree of shaking and stronger in intensity for the same earthquake than the main earthquake detection device 10a mounted on the fixed part. The detection signal conversion unit 8b converts the intensity of earthquakes detected by the auxiliary earthquake detection device 10b, which detects earthquakes with a greater degree of shaking, to a weaker intensity so that the intensity of earthquakes detected by the auxiliary earthquake detection device 10b is approximately the same as the intensity of earthquakes detected by the main earthquake detection device 10a mounted on the fixed part. This conversion factor for earthquake intensity is set based on empirical rules. 【0046】 The earthquake intensity determination unit 8c is configured to determine the control to be performed for each stacker crane 6 based on the earthquake intensity detected by the main earthquake detection device 10a and the earthquake intensity detected by the auxiliary earthquake detection device 10b and converted by the detection signal conversion unit 8b. The command signal output unit 8d is configured to transmit command signals to each stacker crane 6 and the power supply unit 9 in order to execute the control determined by the seismic intensity determination unit 8c. Details of the control to be performed for each stacker crane 6 will be described later. 【0047】 As shown in Figure 4, the main earthquake detection device 10a and the auxiliary earthquake detection device 10b each incorporate a strong seismic sensor 28a, a medium seismic sensor 28b, and a weak seismic sensor 28c, respectively. Each of these seismic sensors is configured to output an earthquake detection signal indicating that an earthquake has occurred when it detects an earthquake of a predetermined intensity or greater. In this embodiment, the strong seismic sensor 28a is configured to output an earthquake detection signal when it detects an earthquake with an intensity stronger than a predetermined first threshold, equivalent to or greater than seismic intensity 5. The medium seismic sensor 28b is configured to output an earthquake detection signal when it detects an earthquake with an intensity stronger than a predetermined second threshold, equivalent to or greater than seismic intensity 3. Furthermore, the weak seismic sensor 28c is configured to output an earthquake detection signal when it detects an earthquake with an intensity less than or equal to a predetermined second threshold, equivalent to or greater than seismic intensity 2. In the following explanation, earthquakes stronger than the first threshold will be referred to as strong earthquakes, earthquakes stronger than the second threshold but less than or equal to the first threshold will be referred to as moderate earthquakes, and earthquakes less than or equal to the second threshold will be referred to as weak earthquakes. Furthermore, the ranges of strong, moderate, and weak earthquakes described above can be appropriately changed based on the strength of the ground on which the automated warehouse system 1 is installed, the strength of the building 2, etc. 【0048】 Therefore, for example, in the event of a strong earthquake with a seismic intensity of 6, the strong seismic sensor 28a, the medium seismic sensor 28b, and the weak seismic sensor 28c will output earthquake detection signals. In the event of a moderate earthquake with a seismic intensity of 4, the medium seismic sensor 28b and the weak seismic sensor 28c will output earthquake detection signals, and in the event of a weak earthquake with a seismic intensity of 2, only the weak seismic sensor 28c will output earthquake detection signals. This allows the intensity of the earthquake's shaking to be determined by detecting which seismic sensor has outputted the earthquake detection signal. In other words, in this embodiment, the main earthquake detection device 10a and the auxiliary earthquake detection device 10b are configured to detect the intensity of the earthquake in multiple stages. 【0049】 In this embodiment, the earthquake detection device is equipped with multiple seismic sensors to detect the intensity of an earthquake in multiple stages. However, as a modified example, the present invention can also be configured so that the earthquake detection device is equipped with an acceleration sensor (not shown), and the intensity of an earthquake is detected in multiple stages based on the magnitude of the acceleration detected by this acceleration sensor. In this case, each threshold for determining the intensity of an earthquake can be set by the acceleration of the earthquake. For example, the detected acceleration is compared with a predetermined first threshold, and if it is greater than the first threshold, it is determined that a strong earthquake has occurred. Similarly, if the detected acceleration is greater than a second threshold, it is determined that a moderate earthquake has occurred, and if it is less than or equal to the second threshold, it is determined that a weak earthquake has occurred. 【0050】 In this case, the present invention can be configured such that the detection signal from the acceleration sensor (not shown) provided in the earthquake detection device is directly input to the controller 8, and the controller 8 determines the earthquake intensity based on the input acceleration detection signal. Alternatively, the present invention can be configured such that the earthquake detection device determines the earthquake intensity based on the detection signal from the acceleration sensor (not shown) provided in the earthquake detection device, and the determined earthquake intensity is input to the controller 8. 【0051】 Next, with reference to Figure 5, the control of the stacker crane 6 by the controller 8 during an earthquake will be explained. Figure 5 is a flowchart showing the control of the stacker crane 6 by the controller 8 during an earthquake. The process shown in the flowchart in Figure 5 is repeatedly executed at predetermined time intervals while the automated warehouse system 1 is in operation. 【0052】 First, in step S1 of Figure 5, it is determined whether or not an earthquake detection signal has been input to the detection signal input unit 8a of the controller 8 from either the main earthquake detection device 10a or the auxiliary earthquake detection device 10b. If neither the main earthquake detection device 10a nor the auxiliary earthquake detection device 10b outputs an earthquake detection signal (i.e., neither the seismic sensors built into the main earthquake detection device 10a nor the auxiliary earthquake detection device 10b outputs an earthquake detection signal), then no earthquake has occurred, and the process shown in the flowchart of Figure 5 is terminated. On the other hand, if an earthquake detection signal is input to the detection signal input unit 8a, the process proceeds to step S2. 【0053】 In step S2, the earthquake detection signal input from the auxiliary earthquake detection device 10b is converted by the detection signal conversion unit 8b of the controller 8. That is, the auxiliary earthquake detection device 10b is installed at the upper end of the rack 4, and even for the same earthquake, a larger degree of shaking is detected. For this reason, the detection signal conversion unit 8b converts the intensity of the earthquake detected by the auxiliary earthquake detection device 10b to a weaker intensity, and the earthquake intensity judgment unit 8c evaluates the converted earthquake intensity. In this embodiment, if all of the strong seismic sensor 28a, medium seismic sensor 28b, and weak seismic sensor 28c built into the auxiliary earthquake detection device 10b are outputting earthquake detection signals, the detected earthquake is converted to a medium earthquake. Furthermore, if both the medium seismic sensor 28b and the weak seismic sensor 28c are outputting earthquake detection signals, the detected earthquake is converted to a weak earthquake, and if only the weak seismic sensor 28c is outputting earthquake detection signals, the detected earthquake is converted to a very weak earthquake, which is even weaker than a weak earthquake. 【0054】 Next, in step S3, the earthquake intensity determination unit 8c of the controller 8 determines whether the earthquake detected by the main earthquake detection device 10a and the auxiliary earthquake detection device 10b is a strong earthquake. Specifically, the stronger of the earthquake intensity detected by the main earthquake detection device 10a and the earthquake intensity detected by the auxiliary earthquake detection device 10b and converted by the detection signal conversion unit 8b is adopted, and it is determined whether the adopted earthquake intensity is a strong earthquake. In step S3, if the detected earthquake intensity is stronger than the first threshold and it is determined that a strong earthquake has occurred, the process proceeds to step S4; otherwise, it proceeds to step S5. 【0055】 Next, in step S4, the controller 8 executes emergency stop control for the stacker crane 6, completing one process in the flowchart shown in Figure 5. Specifically, the command signal output unit 8d of the controller 8 sends a command signal to the power supply unit 9, and the power supply from the power supply unit 9 to the stacker crane 6 is immediately cut off. That is, the command signal from the command signal output unit 8d stops the power supply from the power supply unit 9 to the contact wire 26a (Figure 3). By stopping the power supply to the contact wire 26a, the travel motor 20c and lifting motor 24a of the stacker crane 6 stop. In other words, the controller 8 stops the stacker crane 6 by stopping the power supply to the contact wire 26a without substantially performing any control to stop the stacker crane 6. Furthermore, even when the power supply is stopped, an inertial force acts on the stacker crane 6 while it is in motion, but in this embodiment, along with the stopping of the power supply, a mechanical automatic brake (not shown) provided on the stacker crane 6 is activated, causing it to stop at a deceleration greater than the normal deceleration. 【0056】 In this specification, "without substantially performing control" means that the stacker crane 6 is stopped without the control by the controller 8 functioning effectively. For example, if the power supply is cut off during the stop control by the controller 8, the controller 8 is not substantially performing control. 【0057】 In this way, by executing the emergency stop control, the power supply to the contact wire 26a is stopped, so even if the contact between the current collector 26b (Figure 3) of the stacker crane 6 and the contact wire 26a becomes unstable due to the shaking of an earthquake, the risk of sparks being generated between the contact wire 26a and the current collector 26b and causing a fire can be avoided. However, if the stacker crane 6 is stopped by immediately cutting off the power supply, there is a risk that the load W loaded on the lifting platform 24 may fall or collapse. However, when a strong earthquake is detected, the load W loaded on the platform often falls or collapses due to the shaking of the earthquake. For this reason, in the case of a strong earthquake, it is a priority to avoid the risk of the stacker crane 6 derailing due to the shaking of the earthquake while it is in motion, and the risk of fire occurring due to the continuation of power supply to the stacker crane 6. 【0058】 Furthermore, in the event that a strong earthquake is detected, the present invention can be configured to perform an emergency stop by controlling the moving stacker crane 6 to decelerate at its maximum speed, and then stopping the power supply to the contact wire 26a after the stop. In other words, depending on the configuration of the automated warehouse system to which the present invention is applied, such as when the power supply to the stacker crane 6 is not trolley-powered, the risk of fire occurring is small even if the power is not immediately cut off after an earthquake, and in such cases the stacker crane 6 may be stopped by control. Also, in this specification, "emergency stop" means a stop that is performed with safety as the priority, even if it incurs significant costs to restore the automated warehouse system afterward. 【0059】 On the other hand, in step S5, the earthquake intensity determination unit 8c of the controller 8 determines whether the detected earthquake is a moderate earthquake or not. Specifically, the stronger of the earthquake intensity detected by the main earthquake detection device 10a and the earthquake intensity detected by the auxiliary earthquake detection device 10b and converted by the detection signal conversion unit 8b is adopted, and it is determined whether the adopted earthquake intensity is a moderate earthquake or not. In step S5, if the detected earthquake intensity is less than or equal to the first threshold and stronger than the second threshold, and it is determined that a moderate earthquake has occurred, the process proceeds to step S6. If it is determined that the earthquake that occurred is not a moderate earthquake, the process proceeds to step S7. 【0060】 Next, in step S6, the controller 8 executes rapid stop control of the stacker crane 6, completing one process in the flowchart shown in Figure 5. Specifically, the command signal output unit 8d of the controller 8 sends a control signal to the stacker crane 6, causing the traveling stacker crane 6 to decelerate at the maximum deceleration rate and stop. That is, based on the command signal from the command signal output unit 8d, the travel motor 20c of the stacker crane 6 is controlled, and the travel motor 20c stops at the maximum controllable deceleration rate. Furthermore, after all the traveling stacker cranes 6 have stopped, the command signal output unit 8d sends a control signal to the power supply unit 9, stopping the supply of power to the contact wire 26a (Figure 3). 【0061】 In this way, by performing a rapid stop, the stacker crane 6, while in motion, is controlled to decelerate at the maximum deceleration rate and then stopped. Therefore, the load on the crane can be reduced compared to cutting off the power supply while it is in motion, and the risk of damage to the stacker crane 6 can be reduced. In addition, since the power supply to the contact wire 26a is stopped after the stacker crane 6 is rapidly stopped while in motion, the contact between the current collector 26b and the contact wire 26a becomes unstable, and the risk of sparks being generated between the contact wire 26a and the current collector 26b and causing a fire can be greatly reduced. It should be noted that if the stacker crane 6 is rapidly stopped, there is a risk that the load W loaded on the lifting platform 24 may fall or collapse, but in the case of a moderate earthquake, the risk of fire is relatively small, and by cutting off the power supply to the stacker crane 6 early, a balance is struck between suppressing load collapse and suppressing fire. Furthermore, as in this embodiment, when the stacker crane 6 is powered by a trolley, even when rapidly stopping the stacker crane 6, it is possible to stop the power supply to the contact wire 26a without substantially performing any control to decelerate the stacker crane 6. 【0062】 On the other hand, if the stacker crane 6 is a non-trolley power supply type such as a cable carrier (registered trademark) type, contactless power supply type, or battery type, there is no risk of sparks being generated even if the stacker crane 6 shakes due to an earthquake. Therefore, in such cases, as a modification, a rapid stop may be performed so that the stacker crane 6 loaded with cargo W is decelerated at a lower deceleration rate than a stacker crane 6 that is not loaded with cargo W when an earthquake occurs. Specifically, after it is determined that a moderate earthquake has occurred, the controller 8 determines whether or not there is cargo loaded. Then, if it is determined that there is no cargo loaded, the controller 8 controls the stacker crane 6 to decelerate at the maximum deceleration rate, and if it is determined that there is cargo loaded, it controls the deceleration to be lower than the maximum deceleration rate. This makes it possible to suppress the risk of cargo W loaded on the stacker crane 6 falling or collapsing even when a rapid stop is performed. The presence or absence of cargo W can be detected, for example, by a load sensor (not shown) attached to the lifting platform 24. 【0063】 Furthermore, in the event that a moderate earthquake is detected, the present invention can be configured to rapidly stop the stacker crane 6 in motion by controlling it to decelerate at the maximum or normal deceleration rate, while maintaining the supply of power to the contact wire 26a even after stopping. In other words, depending on the configuration of the automated warehouse system to which the present invention is applied, the risk of damage escalating even if power supply is continued after an earthquake is low, and in such cases, power supply may be continued. 【0064】 On the other hand, in step S7, the earthquake intensity determination unit 8c of the controller 8 determines whether the detected earthquake is a weak earthquake or not. Specifically, the stronger of the earthquake intensity detected by the main earthquake detection device 10a and the earthquake intensity detected by the auxiliary earthquake detection device 10b and converted by the detection signal conversion unit 8b is adopted, and it is determined whether the adopted earthquake intensity is a weak earthquake or not. In step S7, if the detected earthquake intensity is below the second threshold and it is determined that a weak earthquake has occurred, the process proceeds to step S8; if it is determined that the earthquake that occurred is not a weak earthquake, the process proceeds to step S9. 【0065】 Next, in step S8, the controller 8 performs a temporary stop control of the stacker crane 6, and one process in the flowchart shown in Figure 5 is completed. Specifically, in the temporary stop control, the command signal output unit 8d of the controller 8 sends a control signal to the stacker crane 6, and the stacker crane 6, which is in motion, is temporarily stopped, and the power supply to the stacker crane 6 is maintained thereafter. In this embodiment, when temporary stop control is performed, the stacker crane 6 is decelerated at a normal deceleration rate and then temporarily stopped. That is, based on the command signal from the command signal output unit 8d, the travel motor 20c of the stacker crane 6 is controlled, and the travel motor 20c is stopped at a normal deceleration rate. Note that normal deceleration refers to the deceleration rate applied when stopping the stacker crane 6 during the normal operation of the automated warehouse system 1. 【0066】 Thus, if the detected earthquake intensity is weak, the stacker crane 6 is temporarily stopped, and power to the stacker crane 6 is maintained thereafter. In other words, by continuing to supply power to the stacker crane 6, it is not necessary to re-initialize the stacker crane 6, etc., when returning the automated warehouse system 1 to normal operation, and the automated warehouse system 1 can be returned to normal operation quickly after an earthquake. Furthermore, in the case of a weak earthquake, even if the stacker crane 6 shakes due to the earthquake, sparks are unlikely to occur between the contact wire 26a and the current collector 26b, and there is no risk of fire. In addition, during the temporary stop, the stacker crane 6 is decelerated at the normal deceleration rate, so even if the movement of the stacker crane 6 is stopped while it is transporting cargo W, the cargo W will not fall from the lifting platform 24 or collapse as a result of the movement being stopped. 【0067】 As a variation, the present invention can also be configured such that, even when temporary stop control is performed, the loading / unloading transport device, such as the stacker crane 6, is decelerated to the maximum controllable deceleration, and power supply to the loading / unloading transport device is maintained even after stopping. Such temporary stop control is suitable when the loading / unloading transport device being used is of a type that prevents the transported cargo W from falling or collapsing even when it is stopped rapidly. 【0068】 Furthermore, as another modification, the present invention can be configured such that, when a pause control is executed, the loading / unloading transport device, such as the stacker crane 6 that is transporting cargo W, stops only after the cargo W has been transported to its destination. That is, the stacker crane 6 that is transporting cargo W to a rack 4 stops after the cargo has been transferred to the rack 4, and the stacker crane 6 that is transporting cargo W to the loading / unloading station 12 stops after the cargo has been transferred to the loading / unloading station 12. This prevents the stacker crane 6 from being stopped in the middle of a task, allowing the automated warehouse system 1 to return to normal operation more smoothly. 【0069】 On the other hand, if in step S7 the intensity of the detected earthquake is below the third threshold and it is determined that the earthquake that occurred is a weak earthquake, the process proceeds to step S9. That is, in this embodiment, if only the weak seismic sensor 28c built into the auxiliary earthquake detection device 10b detects an earthquake, and none of the seismic sensors built into the main earthquake detection device 10a detect an earthquake, the intensity of the earthquake is evaluated as being below the third threshold, which is weaker than the second threshold, and it is determined that a weak earthquake has occurred. 【0070】 In step S9, the controller 8 performs speed reduction control on the stacker crane 6, completing one process in the flowchart shown in Figure 5. Specifically, in the speed reduction control, the command signal output unit 8d of the controller 8 sends a control signal to the stacker crane 6, reducing the travel speed of the stacker crane 6 below its normal travel speed, after which the travel of the stacker crane 6 and the transport of the cargo W continue. The normal travel speed refers to the speed at which the stacker crane 6 travels during normal operation of the automated warehouse system 1. 【0071】 In this way, when a weak earthquake is detected, speed reduction control is executed, and the travel speed of the stacker crane 6 is reduced. This allows the stacker crane 6 to be stopped safely and easily even if the earthquake shaking intensifies afterward. Furthermore, since the travel of the stacker crane 6 and the transport of the cargo W continue even after the travel speed of the stacker crane 6 has been reduced, the automated warehouse system 1 can be returned to normal operation more smoothly after the earthquake. 【0072】 According to the automated warehouse system 1 of the embodiment of the present invention, the controller 8 performs an emergency stop (step S4 in Figure 5), a rapid stop (step S6), or a temporary stop (step S8) depending on the intensity of the earthquake detected by the main earthquake detection device 10a and the auxiliary earthquake detection device 10b, so that damage can be effectively mitigated from earthquakes of various intensities. 【0073】 Furthermore, according to the automated warehouse system 1 of this embodiment, when the stacker crane 6, which is an inbound / outbound transport device, is temporarily stopped (step S8 in Figure 5), the stacker crane 6 is stopped at a normal deceleration rate. This allows the deceleration rate required to stop the system to be kept low, preventing the transported goods W from falling from the stacker crane 6 or from shifting from their predetermined positions. 【0074】 Furthermore, according to the automated warehouse system 1 of this embodiment, when the stacker crane 6 is brought to an emergency stop (step S4 in Figure 5), the controller 8 stops the power supply without performing deceleration control of the stacker crane 6, thereby minimizing the generation of sparks between the contact wire 26a and the current collector 26b (Figure 3) due to earthquake shaking. This effectively suppresses the risk of fire caused by the generated sparks. 【0075】 Furthermore, according to the automated warehouse system 1 of this embodiment, the intensity of the earthquake detected by the auxiliary earthquake detection device 10b (Figure 1), which is installed in a location where the degree of shaking is high, is converted to a weaker intensity (step S2 in Figure 5), making it possible to install earthquake detection devices even in locations prone to shaking. In addition, by converting the detected earthquake intensity to a weaker intensity, the detection results from the auxiliary earthquake detection device 10b installed in a location where the shaking is high can be properly evaluated. 【0076】 Furthermore, according to the automated warehouse system 1 of this embodiment, if the earthquake intensity is below the third threshold, the travel speed of the stacker crane 6, which is a transport device for loading and unloading goods, is reduced, and the movement of the stacker crane 6 is continued (step S9 in Figure 5). This ensures the safe movement of the stacker crane 6 while suppressing the decrease in transport efficiency caused by stopping the stacker crane 6. 【0077】 While embodiments of the present invention have been described above, various modifications can be made to the embodiments described above. In particular, in the embodiments of the present invention described above, a stacker crane for pallets was used as the loading and unloading device. In contrast, the present invention can be applied to an automated warehouse system that uses any loading and unloading device for loading and unloading goods stored in racks, such as a stacker crane for cases or a shuttle trolley. 【0078】 Furthermore, in the above-described embodiment, the automated warehouse system was installed in a single-story building, but the automated warehouse system can also be installed in a multi-story building. In this case, the part of the automated warehouse system installed on the first floor and the part installed on the second floor will experience different degrees of shaking in the same earthquake. In such cases, a first earthquake detection device can be installed on the first floor of the building, and a second earthquake detection device can be installed on the second floor. Moreover, the present invention can be configured such that the controller controls the loading and unloading transport equipment, such as a stacker crane, installed on the first floor based on the earthquake intensity detected by the first earthquake detection device, and controls the loading and unloading transport equipment installed on the second floor based on the second earthquake detection device. 【0079】 In other words, in cases where the intensity of earthquakes affecting each inbound / outbound transport device in an automated warehouse system differs, the present invention can also be configured such that the inbound / outbound transport device associated with the first earthquake detection device is controlled based on the intensity of the earthquake detected by the first earthquake detection device, and the inbound / outbound transport device associated with the second earthquake detection device is controlled based on the intensity of the earthquake detected by the second earthquake detection device. [Explanation of symbols] 【0080】 1. Automated warehouse system 2 buildings 4 racks 6. Stacker crane (warehouse loading / unloading transport device) 8 controllers 8a Detection signal input section 8b Detection signal conversion unit 8c Earthquake intensity determination section 8d Command signal output section 9 Power supply 10a Main earthquake detection device (earthquake detection device) 10b Auxiliary earthquake detection device (earthquake detection device) 12 Inbound / Outbound Stations 14 orbit 16 Tracked trolley 18 Long-distance conveyor 20 Bogies 20a Lower running rail 20b Upper running rail 20c drive motor 22 Mast 22a Horizontal member 24 Elevating platform 24a Lifting motor 24b Slide Fork 26a contact wire 26b Electron collector 28a Strong seismic sensor 28b Medium seismic sensor 28c weak seismic sensor W luggage

Claims

[Claim 1] An automated warehouse system that automatically receives and dispatches goods, Racks for storing luggage, A loading / unloading conveying device, which is a non-trolley-powered stacker crane, is used for loading goods into and unloading goods from the rack. This controller controls the movement of the loading and unloading transport device, An earthquake detection device capable of detecting the intensity of an earthquake in multiple stages, It has, The above controller is If the earthquake intensity detected by the above earthquake detection device is stronger than the first threshold, the above-mentioned loading / unloading transport device will be stopped in an emergency. If the earthquake intensity detected by the earthquake detection device is less than or equal to the first threshold and stronger than the second threshold, the loading / unloading transport device will be stopped immediately. If the earthquake intensity detected by the earthquake detection device is below the second threshold, the loading / unloading transport device will be temporarily stopped. An automated warehouse system characterized in that, when the above-mentioned loading and unloading transport device is brought to a rapid stop, if there is cargo loaded on the stacker crane, the stacker crane, which is traveling at a lower deceleration than when there is no cargo loaded, is stopped. [Claim 2] An automated warehouse system that automatically receives and dispatches goods, Racks for storing luggage, Multiple loading and unloading transport devices for loading goods into and unloading goods from the racks, This controller controls the movement of the loading and unloading transport device, Multiple earthquake detection devices capable of detecting the intensity of an earthquake in multiple stages, It has, The above controller is If the earthquake intensity detected by the above earthquake detection device is stronger than the first threshold, the above-mentioned loading / unloading transport device will be stopped in an emergency. If the earthquake intensity detected by the earthquake detection device is less than or equal to the first threshold and stronger than the second threshold, the loading / unloading transport device will be stopped immediately. If the earthquake intensity detected by the earthquake detection device is below the second threshold, the loading / unloading transport device will be temporarily stopped. The above-described controller controls the inbound / outbound transport device associated with the first earthquake detection device based on the intensity of the earthquake detected by the first earthquake detection device among the plurality of earthquake detection devices, and controls the inbound / outbound transport device associated with the second earthquake detection device based on the intensity of the earthquake detected by the second earthquake detection device among the plurality of earthquake detection devices, making it an automated warehouse system. [Claim 3] An automated warehouse system that automatically receives and dispatches goods, Racks for storing luggage, A loading and unloading transport device for loading goods into and out of this rack, This controller controls the movement of the loading and unloading transport device, An earthquake detection device capable of detecting the intensity of an earthquake in multiple stages, It has, The above-mentioned earthquake detection devices are provided in multiple locations, and are installed in multiple places where the degree of shaking differs in response to the same earthquake. The above controller is If the earthquake intensity detected by the above earthquake detection device is stronger than the first threshold, the above-mentioned loading / unloading transport device will be stopped in an emergency. If the earthquake intensity detected by the earthquake detection device is less than or equal to the first threshold and stronger than the second threshold, the loading / unloading transport device will be stopped immediately. If the earthquake intensity detected by the earthquake detection device is below the second threshold, the loading / unloading transport device will be temporarily stopped. The above controller is an automated warehouse system characterized by evaluating the earthquake intensity after converting the earthquake intensity detected by the earthquake detection device installed in the area where the degree of shaking is high to a weaker intensity. [Claim 4] The automated warehouse system according to any one of claims 1 to 3, wherein the controller stops the inbound / outbound transport device at a normal deceleration rate when it is to temporarily stop the inbound / outbound transport device, and stops the inbound / outbound transport device at a deceleration rate greater than the normal deceleration rate when it is to make an emergency stop or a rapid stop of the inbound / outbound transport device. [Claim 5] The above-mentioned loading and unloading transport device is a trolley-powered stacker crane that is powered by a contact wire and a current collector that slides along the contact wire, and when the stacker crane is brought to an emergency stop or rapid stop, the controller stops the power supply to the contact wire without substantially performing any control to decelerate the stacker crane while it is moving, as described in claim 2 or 3 of the automated warehouse system. [Claim 6] The automated warehouse system according to any one of claims 1 to 5, wherein the controller reduces the travel speed of the transporter device while it is in motion and continues to travel when the intensity of the earthquake detected by the earthquake detection device is less than or equal to a third threshold which is weaker than the second threshold.

Images