Automated warehouse

Abstract

To provide an automated warehouse including a first cart for transporting articles and a second cart on which the first cart can be mounted, capable of reducing the occurrence rate of malfunctions in the first cart and suppressing a decrease in the availability rate of equipment even when the first cart travels in a specific thermal environment.SOLUTION: An automated warehouse comprises a storage facility, a first cart 5 and a second cart, wherein the first cart 5 comprises a power storage device 51, a travel driving device 53 and a control device 7 that controls the travel driving device, the control device 7 comprises a control unit 10, a heat generating device 8 that generates heat and an insulation case 9, and the control unit 10 and the heat generating device 8 are housed inside the insulation case 9.SELECTED DRAWING: Figure 4

Description

Technical Field

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

Background Art

[0002] For example, Japanese Patent Application Laid-Open No. 2019-108204 (Patent Document 1) discloses a technology related to an automated warehouse. Hereinafter, the reference numerals shown in parentheses in the description of the background art are those of Patent Document 1.

[0003] The automated warehouse of Patent Document 1 includes a carrier truck (12) for transporting an article (W) and a plurality of storage and conveyance units (6) arranged side by side in the vertical direction. Each of the plurality of storage and conveyance units (6) includes a travel path (R) on which the carrier truck (12) travels and a storage unit (storage shelf 11) for storing the article (W). The travel path (R) includes a first travel path (R1) arranged along a first direction and a second travel path (R2) arranged along a second direction (Y) that is orthogonal to the first direction (X) in a top-down view. The second travel path (R2) is connected to the first travel path (R1) and a plurality of them are arranged side by side in the first direction (X). Further, a plurality of storage units are provided along each of the second travel paths (R2). The carrier truck (12) includes a first truck (sub-truck 19) on which the article (W) can be placed and traveled, and a second truck (parent truck 18) on which the first truck (19) can be mounted. When transporting the article (W) to the storage unit, the second truck (18) travels on the first travel path (R1) with the first truck (19) mounted thereon. The first truck (19) transfers from the second truck (18) to an arbitrary second travel path (R2) and transports the article (W) to the storage unit at the storage destination.

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0005] Incidentally, in automated warehouses like the one described above, the storage area may be kept at a low temperature for purposes such as storing fresh or frozen foods. Also, depending on the temperature set in the storage area, there may be a large temperature difference between the storage area and other areas of the automated warehouse. In such specific temperature environments, if the first trolley that enters and exits the storage area uses equipment or parts that are sensitive to low temperatures or temperature changes, the first trolley may malfunction, potentially reducing the operating rate of the equipment.

[0006] Therefore, in an automated warehouse equipped with a first trolley for transporting goods and a second trolley capable of carrying the first trolley, it is desirable to realize an automated warehouse that can reduce the rate of malfunctions in the first trolley and suppress a decrease in the operating rate of the equipment, even when the first trolley is operating in a specific temperature environment. [Means for solving the problem]

[0007] The automated warehouse according to this disclosure comprises: a storage facility in which a plurality of storage sections capable of storing articles arranged in a first direction, which is a specific direction along a horizontal plane, are provided in a second direction, which is a direction intersecting the first direction when viewed from above; a first trolley that travels along the first direction and transports the articles in the storage section; and a second trolley on which the first trolley can be mounted and which travels along the second direction outside the storage section, The second bogie is equipped with a power supply unit that supplies power to the first bogie, The first bogie comprises a power storage device, a traction device that uses the power stored in the power storage device to propel the first bogie, and a control device that controls the traction device. The control device comprises a control unit that generates a control signal for the drive unit, and a unit that generates heat using at least one of the power supplied from the power supply unit and the power stored in the energy storage device. 1 Heating device and second heating device And, formed using insulating material 1 Insulated case and second insulated case And, equipped with, The control unit and 1 The heating device is the aforementioned 1 Housed inside an insulated case Occasionally, The travel motor and the second heating device included in the travel drive system are housed inside the second heat-insulating case. .

[0008] With this configuration, even if the control unit of the first bogie contains components that are sensitive to low temperatures or temperature changes, the heat generated by the heating device warms the control unit, making it easier to keep the control unit within an acceptable temperature range. Therefore, even when the first bogie is running in specific temperature environments, such as low-temperature environments or environments with large temperature differences, the rate of control unit malfunctions can be reduced. Furthermore, with this configuration, since the control unit and the heating device are housed inside an insulated case, the heat generated by the heating device is easily retained inside the insulated case, making it easier to keep the power consumed by the heating device low. Consequently, it is easier to miniaturize the energy storage device equipped in the first bogie. Thus, with this configuration, in an automated warehouse equipped with a first trolley for transporting goods and a second trolley on which the first trolley can be mounted, even when the first trolley is operating in a specific temperature environment, the rate of malfunctions in the first trolley can be reduced and the decrease in the operating rate of the equipment can be suppressed.

[0009] Another automated warehouse according to the present disclosure is an automated warehouse comprising: a storage facility having a plurality of rows of storage sections in a second direction which intersects the first direction in a vertical view, each storage section capable of storing articles arranged in a first direction which is a specific direction along a horizontal plane; a first trolley that travels along the first direction and transports the articles in the storage section; and a second trolley on which the first trolley can be mounted and which travels along the second direction outside the storage section, The second bogie is equipped with a power supply unit that supplies power to the first bogie, The first bogie comprises a power storage device, a traction device that uses the power stored in the power storage device to propel the first bogie, and a control device that controls the traction device. The control device includes a control unit that generates a control signal for the traveling drive device, a heating device that generates heat using at least one of the power supplied from the power feeding unit and the power stored in the power storage device, and a heat insulation case formed using a heat insulating material. The control unit and the heating device are housed inside the heat insulation case Occasionally, The insulated case is further equipped with a temperature sensor for detecting the temperature inside the case, If the temperature detected by the temperature sensor is lower than the first threshold, the control unit will cause the first trolley to remain mounted on the second trolley until the temperature detected by the temperature sensor reaches a second threshold, which is set to be equal to or higher than the first threshold. 。

[0010] Further features and advantages of the automated warehouse will become clear from the following description of exemplary and non-limiting embodiments described with reference to the drawings.

Brief Description of the Drawings

[0011] [Figure 1] Plan view of the storage facility [Figure 2] Vertical front view of a part of the storage facility [Figure 3] Perspective view of a part of the storage facility [Figure 4] Plan view schematically showing the internal structure of the first cart [Figure 5] Control block diagram [Figure 6] Plan view schematically showing the traveling routes of the first cart and the second cart [Figure 7] Control flow diagram [Figure 8] Control flow diagram

Modes for Carrying Out the Invention

[0012] An embodiment of the automated warehouse will be described with reference to the drawings. As shown in FIGS. 1 and 2, the automated warehouse 1 includes a storage facility 3 for storing an article W, a first cart 5 for transporting the article W, and a second cart 6 on which the first cart 5 can be mounted. Further, as shown in FIG. 1, the automated warehouse 1 includes a loading unit 90 for loading the article W into the storage facility 3 and an unloading unit 91 for unloading the article W from the storage facility 3.

[0013] As shown in Figures 1 and 2, let the first direction X be a specific direction along the horizontal plane, and let the second direction Y be the direction that intersects the first direction X in a vertical view (plan view). Here, the second direction Y is a horizontal direction perpendicular to the first direction X in a vertical view. In other words, the first direction X and the second direction Y are two horizontal directions that are perpendicular to each other.

[0014] One side of the first direction X is designated as the first side X1 of the first direction, and the other side of the first direction X is designated as the second side X2 of the first direction. Similarly, one side of the second direction Y is designated as the first side Y1 of the second direction, and the other side of the second direction Y is designated as the second side Y2 of the second direction. Here, the side in the first direction X that approaches the travel path of the second trolley 6 (second travel path R2) is designated as the first side X1 of the first direction, and the opposite side is designated as the second side X2 of the first direction. Therefore, with respect to the travel path of the second trolley 6, the orientation of the first side X1 of the first direction is opposite to that of the regions on both sides of the first direction X. Also, here, the side in the second direction Y that approaches the loading unit 90 and the unloading unit 91 is designated as the first side Y1 of the second direction, and the opposite side is designated as the second side Y2 of the second direction.

[0015] As shown in Figure 1, the storage facility 3 has multiple storage sections 4 arranged in a second direction Y, each capable of storing articles W in a first direction X. The number of articles W that can be stored in a single storage section 4 in the first direction X may vary depending on the dimensions of the articles W in the first direction X. In the example shown in Figure 1, it is possible to store up to eight articles W in a single storage section 4 in the first direction X.

[0016] As shown in Figures 1 and 2, the storage facility 3 is equipped with multiple storage layers 32 arranged vertically, and each of the multiple storage layers 32 is provided with multiple rows of storage sections 4. Figure 2 illustrates a storage facility 3 with three storage layers 32 arranged vertically. In Figure 2, the three layers L are designated as the first layer L1, the second layer L2, and the third layer L3, in order from the bottom in the vertical direction. In Figure 1, in one storage layer 32, multiple rows (in this case, nine rows) of storage sections 4 are arranged in the second direction Y. The multiple rows of storage sections 4 are also provided on both sides of the travel path (second travel path R2) of the second trolley 6 in the first direction X. The number of layers in the storage layer 32 and the number of storage sections 4 provided per storage layer 32 can be appropriately changed according to the scale of the storage facility 3.

[0017] As shown in Figures 1, 2, and 6, the first trolley 5 travels along a first direction X to transport articles W in the storage section 4. The first trolley 5 is configured to be able to carry articles W. The first trolley 5 is located in each of the multiple storage layers 32. In this example, one first trolley 5 is located in each storage layer 32. Also, as shown in Figures 1, 2, and 6, the second trolley 6 is capable of carrying the first trolley 5 and travels along a second direction Y outside the storage section 4. The second trolley 6 is located in each of the multiple storage layers 32. In this example, one second trolley 6 is located in each storage layer 32. Thus, in the storage facility 3 of this example, one first trolley 5 and one second trolley 6 are located in each of the multiple storage layers 32. On the other hand, multiple first trolleys 5 and multiple second trolleys 6 may be located in each of the multiple storage layers 32.

[0018] As shown in Figures 1, 2, and 6, the first trolley 5 is configured to travel along a path (first travel path R1) provided in each storage layer 32 that aligns with the first direction X. The second trolley 6 is configured to travel along a path (second travel path R2) provided in each storage layer 32 that aligns with the second direction Y. Multiple first travel paths R1 are provided in one storage layer 32. The number of first travel paths R1 provided in each storage layer 32 is equal to the number of storage units 4 provided in each storage layer 32. Also, as shown in Figure 1, each first travel path R1 is arranged to overlap with the corresponding storage unit 4 in a vertical view. In Figure 1, nine rows of first travel paths R1 are arranged on each side of the second travel path R2, corresponding to each storage unit 4. One second travel path R2 is arranged along the second direction Y, traversing the central part of the first direction X of the storage layer 32 in a vertical view. In this example, each of the multiple storage layers 32 has the same configuration, but they can also have different configurations. For example, it is possible to have different numbers of storage units 4, first travel path R1, second travel path R2, first trolley 5, and second trolley 6 in some of the multiple storage layers 32, or in each of the storage layers 32.

[0019] As shown in Figure 1, the loading unit 90 and the unloading unit 91 are provided along the second travel path R2. Specifically, the loading unit 90 and the unloading unit 91 are provided at one end of the second direction Y of the second travel path R2 (here, the end of the first side Y1 in the second direction). In this example, the loading unit 90 includes a storage section 92, a first lifting device 94, and a loading conveyor 97. The storage section 92 has multiple levels corresponding to each of the multiple storage layers 32. The unloading unit 91 includes an unloading section 93, a second lifting device 95, and an unloading conveyor 96. The unloading section 93 has multiple levels corresponding to each of the multiple storage layers 32. Below, the transport of goods W using the loading unit 90 will be explained by showing the process of transporting goods W from outside the automated warehouse 1 to the storage section 4. The goods W, placed on the input conveyor 97 from outside the automated warehouse 1, are transported to the first lifting device 94. The first lifting device 94 then transports the goods to the storage level 32 where they will be stored. After that, the goods W are transferred from the first lifting device 94 to the receiving section 92. From the receiving section 92, the goods W are handed over to the second trolley 6, which is carrying the first trolley 5 on the second travel path R2. The receiving section 92 is a conveyor.

[0020] As shown in Figures 1, 2, and 6, the second trolley 6 (the second trolley 6 with the first trolley 5 loaded on it), having received the goods W, travels along the second travel path R2 and stops at a position corresponding to the destination storage unit 4. Then, the first trolley 5, carrying the goods W, separates from the second trolley 6 and travels along the first travel path R1 corresponding to the destination storage unit 4. When the first trolley 5 reaches the storage location in the storage unit 4, it transfers the goods W to that storage location. The following describes the transport of goods W using the unloading unit 91, showing the process of transporting goods W stored in the storage unit 4 to the outside of the automated warehouse 1.

[0021] As shown in Figures 1, 2, and 6, when the first trolley 5 reaches the storage location of the item W to be shipped in the storage unit 4, it loads the item W and travels along the first travel path R1. Then, the first trolley 5 transfers from the first travel path R1 to the second trolley 6 on the second travel path R2. The second trolley 6, carrying the item W and the first trolley 5, travels along the second travel path R2 and delivers the item W to the shipping unit 93. The item W, transported from the shipping unit 93 to the second lifting device 95, is handed over to the shipping conveyor 96 and transported outside the automated warehouse 1. The shipping unit 93 is a conveyor, similar to the receiving unit 92. Figure 2 illustrates the case where the pallet Wa on which the load Wb is placed is the item W, but it is not limited to this.

[0022] As shown in Figures 2 and 3, the storage facility 3 is equipped with a plurality of support columns 14 that extend vertically. In the example in Figure 2, the support columns 14 are erected on the floor so as to extend upward in the vertical direction from the floor. The plurality of support columns 14 support a first rail 20 and a second rail 30. The first rail 20 is a rail that guides the first trolley 5 in a first direction X. The first rail 20 is supported by the plurality of support columns 14, which are arranged in the first direction X, by being connected to these columns 14. The second rail 30 is a rail that guides the second trolley 6 in a second direction Y. The second rail 30 is supported by the plurality of support columns 14, which are arranged in the second direction Y, by being connected to these columns 14. Here, a first travel path R1 is formed by providing a pair of first rails 20. A second travel path R2 is formed by providing a pair of second rails 30.

[0023] The storage section 4 is formed using a pair of first rails 20. Specifically, as shown in Figure 3, each of the pair of first rails 20 has a mounting surface 22 (in this case, a surface facing upward) located above the first running surface 21, in addition to the first running surface 21 described above. The mounting surface 22 is formed to extend continuously in the first direction X. By arranging multiple articles W in the first direction X and placing them on the mounting surface 22, multiple articles W are stored in the storage section 4 in the first direction X. Here, the articles W are stored in the storage section 4 with both sides in the second direction Y resting on one mounting surface 22 and the other mounting surface 22 of the pair of first rails 20. As shown in Figure 3, the mounting surface 22 is positioned on the outside of the second direction Y relative to the first running surface 21 formed on the same first rail 20 as the mounting surface 22, with respect to the second direction Y, with respect to the second running surface 21 formed on the same first rail 20. Therefore, the pair of first running surfaces 21 that form the first running path R1 in the storage section 4 are positioned between the pair of mounting surfaces 22 that form the storage section 4, with respect to the second direction Y.

[0024] Here, the storage facility 3 is configured to store articles W under a specific temperature environment. In this example, the storage facility 3 is configured to store articles W in a frozen state. Specifically, the inside of the storage facility 3 is kept at a low temperature by a refrigerator (not shown) installed inside or outside the automated warehouse 1, which allows for the storage of fresh foods, frozen foods, etc., in a frozen state. In this embodiment, the temperature of each of the multiple storage layers 32 is adjusted to be a low temperature environment. Therefore, the storage sections 4 installed on each layer are also naturally in a low temperature environment. Thus, the first travel path R1 on which the first trolley 5 travels is also in a low temperature environment. In this example, the second travel path R2 on which the second trolley 6 travels is also in a low temperature environment, similar to the storage section 4, although the second travel path R2 may be in a normal temperature environment. In this embodiment, "specific temperature environment" refers to an environment different from a normal temperature environment, such as a low temperature environment (here, a temperature environment on which articles W can be stored in a frozen state) or an environment with a large temperature difference between the storage section 4 and other locations (here, the second travel path R2). Furthermore, a "low-temperature environment" refers to an environment lower than room temperature, and includes an environment adjusted to a temperature range for storing article W in a refrigerated state and an environment adjusted to a temperature range for storing article W in a frozen state. Here, the temperature range for storing article W in a refrigerated state is a temperature range higher than the freezing temperature and lower than room temperature, for example, a temperature range of approximately -5°C to 10°C. The temperature range for storing article W in a frozen state is a temperature range below 0°C, for example, a temperature range of approximately -15°C or lower.

[0025] As shown in Figures 2 to 5, the second trolley 6 includes a conveyor 6b that supports the article W and transports the article W in the second direction Y, a third rail 6c, a second running drive unit 66 (Figure 5), and a power supply unit 61. The second running drive unit 66 includes a second running wheel 6a that rolls on the second running surface 31, which is the running surface (in this case, the surface facing upward) of the second rail 30, an electric motor that drives the second running wheel 6a, and a transmission mechanism that transmits the driving force of the electric motor to the second running wheel 6a. When the second trolley 6 is in a position corresponding to the pair of first rails 20, the third rail 6c is connected to the pair of first rails 20. Specifically, the positional relationship between the third rail 6c and the pair of first rails 20 becomes a straight line. As a result, the first trolley 5 can move between the third rail 6c and the pair of first rails 20. The conveyor belt 6b transports the goods W between the second trolley 6 and the receiving section 92 or the shipping section 93. In the example shown in Figure 3, the third rail 6c is formed in a groove shape below the conveyor belt 6b that supports the goods W. The second trolley 6 may be a stacker crane, and the first trolley 5 may be configured to be separable from the stacker crane. In such cases, the second rail 30 is not provided on each of the multiple levels, but is laid on the floor surface of the storage facility 3.

[0026] As shown in Figures 3 and 5, the power supply unit 61 supplies power to the first bogie 5. In this embodiment, the power supply unit 61 receives power from an external source and supplies power to the first bogie 5. Here, a power supply line (not shown) is provided along the second travel path R2. The second bogie 6 receives power from this power supply line and travels along the second travel path R2. This power supply line may supply power by making contact with the second bogie 6, or it may supply power to the second bogie 6 without contact. Alternatively, instead of providing a power supply line, a charging station that supplies power to the first bogie 5 can be provided. In this embodiment, the power supply unit 61 supplies power to the first bogie 5 when the second bogie 6 is mounted on the first bogie 5. As shown in Figure 3, the power supply unit 61 is provided on the third rail 6c of the second bogie 6, and is positioned to contact the power receiving unit 62 of the first bogie 5 when the first bogie 5 is supported by the second bogie 6 (specifically the third rail 6c). That is, the power supply unit 61 supplies power while in contact with the power receiving unit 62. The power supply unit 61 may also be configured to supply power to the first bogie 5 without contact. The second bogie 6 is also equipped with a second control device 64. The second control device 64 has a second control unit 65. When the second control unit 65 receives command information from the higher-level controller C that controls the entire automated warehouse 1, it controls the second travel drive device 66 based on the command information. Furthermore, when the first bogie 5 is mounted on the second bogie 6, the second control unit 65 controls the power supply unit 61 to supply power to the second bogie 6. Furthermore, the second control unit 65 controls the transport conveyor 6b to transfer the goods W between the receiving section 92 and the shipping section 93.

[0027] As shown in Figures 2 to 5, the first trolley 5 includes a power storage device 51, a first trolley drive device 53, a support base 52 that supports the item W from below, a running body 54, a lifting unit 55 (Figure 5) that raises and lowers the support base 52 relative to the running body 54, a power receiving unit 62 that receives power from the power supply unit 61 of the second trolley 6, and a first control device 7. The first trolley drive device 53 uses the power stored in the power storage device 51 to drive the first trolley 5. The first trolley drive device 53 includes first running wheels 5a that roll on the first running surface 21 of the first rail 20 and the third rail 6c, a running motor M1 (here, an electric motor) that drives the first running wheels 5a, and a transmission mechanism that transmits the driving force of the running motor M1 to the first running wheels 5a. The driving motor M1 then uses the power stored in the energy storage device 51 to rotate the first driving wheel 5a. In this case, the first driving drive device 53 corresponds to the "driving drive device".

[0028] As shown in Figure 3, the support base 52 has a support surface 5b for supporting the item W. Here, the surface of the support base 52 facing upwards is defined as the support surface 5b. When the first trolley 5 travels along the first travel path R1 with the item W supported, it raises the support base 52 so that the support surface 5b is above the mounting surface 22. When the first trolley 5 transfers the item W to the mounting surface 22, it lowers the support base 52 so that the support surface 5b is below the mounting surface 22. As a result, the item W is placed on the mounting surface 22. Similarly, when the first trolley 5, which is supporting the item W, is loaded onto the second trolley 6, the first trolley 5 lowers the support base 52 on the third rail 6c so that the support surface 5b is below the conveying surface of the conveyor 6b. As a result, the item W is placed on the conveyor 6b. The raising and lowering of this support base 52 is performed by driving the lifting unit 55 (Figure 5).

[0029] As shown in Figure 4, the energy storage device 51 stores the power supplied from the power supply unit 61 of the second bogie 6 to the power receiving unit 62 of the first bogie 5. In this embodiment, the energy storage device 51 stores the power supplied while the first bogie 5 is mounted on the second bogie 6. Here, the energy storage device 51 is a capacitor, but it may also be a battery.

[0030] The first control device 7 is configured to control the first traction drive unit 53. In this embodiment, as shown in Figures 4 and 5, the first control device 7 includes a first control unit 10 that generates control signals for the first traction drive unit 53, a heat generating device 8 that generates heat using at least one of the power supplied from the power supply unit 61 and the power stored in the power storage device 51, and a first heat insulating case 9 formed using heat insulating material. Here, the first control device 7 corresponds to the "control device", the first control unit 10 corresponds to the "control unit", and the first heat insulating case 9 corresponds to the "heat insulating case". In this embodiment, the heat generating device 8 is a heater that generates heat when power is applied. In this embodiment, the heat generating device 8 generates heat using the power stored in the power storage device 51. As shown in Figure 4, a plurality of heat generating devices 8 are arranged in the traction body 54. In addition to the first heat insulating case 9, the first control device 7 also includes a second heat insulating case 13. The second heat insulating case 13 is also formed using heat insulating material, similar to the first heat insulating case 9. In this example, as shown in Figure 4, the first control device 7 (first control unit 10, heat generating device 8, and first insulated case 9) is housed in the internal space Q of the running body 54. The internal space Q further houses the energy storage device 51, the running motor M1 and transmission mechanism (not shown) of the first running drive device 53, the power receiving unit 62, the first insulated case 9, and the second insulated case 13. In addition, the running body 54 is fitted with a plurality of first running wheels 5a as the first running drive device 53 and a lifting unit 55 (not shown).

[0031] As shown in Figure 5, the first control unit 10 receives command information from the higher-level controller C, which controls the entire automated warehouse 1, and controls the first travel drive unit 53 based on that command information. The first control unit 10 also controls the lifting unit 55 to adjust the height of the support surface 5b when moving along the first travel path R1 and the second travel path R2. Furthermore, the first control unit 10 controls the power receiving unit 62 to receive power supplied from the power supply unit 61 of the second trolley 6. In this embodiment, the first control unit 10, the second control unit 65, and the higher-level controller C are configured to communicate with each other. Each of these control units and the higher-level controller C is equipped with a processor such as a microcomputer and peripheral circuits such as memory, and each function is realized through the cooperation of this hardware and the program executed on the processor and other hardware. In Figure 5, a configuration is shown in which the first control unit 10 and the second control unit 65 each communicate directly with the higher-level controller C. However, a configuration in which one of the first control unit 10 and the second control unit 65 communicates with the higher-level controller C via the other is also possible.

[0032] As described above, the first trolley 5 travels in a low-temperature environment where goods W can be stored in a frozen state. If the first trolley 5 uses equipment or parts that are sensitive to low temperatures, malfunctions are more likely to occur in the first trolley 5, which may reduce the operating rate of the equipment. Therefore, by protecting equipment and parts that are sensitive to low temperatures, malfunctions can be made less likely to occur in the first trolley 5 that travels in a low-temperature environment. In this embodiment, the first control unit 10 is protected from low temperatures by being warmed by the heat generated by the heating device 8. Here, the first control unit 10 includes a control board that constitutes the control circuit. In this embodiment, since the first control unit 10 is protected from low temperatures by utilizing the heat generated by the heating device 8, for example, it is not necessary to make the control board or parts of the first control unit 10 low-temperature specifications, making it easier to reduce costs.

[0033] As shown in Figure 4, the first control unit 10 and the heating device 8 are housed inside the first insulated case 9. The travel motor M1 and the heating device 8 included in the first travel drive unit 53 are housed in the second insulated case 13. In this embodiment, as shown in Figure 4, the automated warehouse 1 is further equipped with a temperature sensor 11 for detecting the temperature inside the first insulated case 9. In this example, the temperature sensor 11 is provided inside the first insulated case 9. That is, in addition to the first control unit 10 and the heating device 8, the temperature sensor 11 is also housed inside the first insulated case 9. On the other hand, the temperature sensor 11 is not provided inside the second insulated case 13.

[0034] In Figure 4, multiple second insulated cases 13 and a first insulated case 9 are arranged in the internal space Q of the running body 54. The second insulated cases 13 are provided in pairs, spaced apart in the first direction X. A running motor M1 and a heating device 8 are housed in each second insulated case 13. The running motor M1 is protected from low temperatures by the heat generated by the heating device 8. It is known that some magnets used in electric motors and the like demagnetize when they are cooled from room temperature, and their magnetic force does not return to normal even when they are returned to room temperature. One example of the purpose of warming the running motor M1 to protect it from low temperatures is to use the heat generated by the heating device 8 to suppress low-temperature demagnetization of the magnets used in the motor. In addition, if there are control boards or components that are sensitive to low temperatures attached to the running motor M1, the control boards and components that are sensitive to low temperatures can also be protected from low temperatures by using the heat generated by the heating device 8.

[0035] In the example shown in Figure 4, the components are arranged in the following order from the first direction and first side X1 in the internal space Q of the driving unit 54: second insulation case 13, energy storage device 51, first insulation case 9, and second insulation case 13. However, this arrangement can be changed as appropriate. Furthermore, the first control unit 10, the driving motor M1, and the heating device 8 can be housed in the first insulation case 9 without separately providing a second insulation case 13 different from the first insulation case 9 in the internal space Q. Also, depending on the type of driving motor M1, it is not always necessary to house the driving motor M1 in an insulation case (first insulation case 9 or second insulation case 13). The energy storage device 51 may also be housed in an insulation case. In particular, if the energy storage device 51 is a battery, it is preferable to house it in an insulation case. On the other hand, insulation material may be attached to the driving unit 54 so as to cover the internal space Q. In that case, the driving unit 54 itself will function as an insulation case. Furthermore, the second bogie 6 may also be configured such that the second control device 64 includes a heating device 8 and an insulating case, with the heating device 8 and the second control unit 65 housed in the insulating case.

[0036] In this embodiment, as shown in Figures 6 and 7, the first control unit 10 performs stop control. Specifically, the first control unit 10 activates the heating device 8 when the first trolley 5 is mounted on the second trolley 6, and stops the heating device 8 when the first trolley 5 is away from the second trolley 6 and in the storage unit 4. In this example, if the storage unit 4 to which the first trolley 5 travels is designated as the target storage unit 4A, the higher-level controller C designates the target storage unit 4A to the first control device 7 and the second control device 64, and transmits command information to travel to the target storage unit 4A. This command information includes cases where an instruction is given to transport the goods W to the target storage unit 4A, and cases where goods W is transported from the target storage unit 4A. Then, when the first trolley 5 is mounted on the second trolley 6, that is, when the first trolley 5 is on the second travel path R2, the first control unit 10 activates the heating device 8 in both cases of transporting goods W to the target storage unit 4A and transporting goods W from the target storage unit 4A (S01). In this example, all of the multiple heating devices 8 are activated when the first trolley 5 is mounted on the second trolley 6.

[0037] Furthermore, the first control unit 10 stops the operation of the heating devices 8 when the first bogie 5 separates from the second bogie 6 (S02: Yes) (S03). Specifically, when the first bogie 5 leaves the second bogie 6 and moves onto the first travel path R1 of the storage unit 4, the first control unit 10 stops the operation of all of the heating devices 8. In this way, when the first bogie 5 is in the storage unit 4, the power supply to the heating devices 8 by the energy storage device 51 is also cut off, thus reducing the power consumption of the energy storage device 51 caused by the operation of the heating devices 8. Therefore, it is easier to miniaturize the energy storage device 51 compared to when the heating devices 8 are operated regardless of the state of the first bogie 5. On the other hand, since each of the multiple (in this case, three) heating devices 8 is housed in an insulated case (first insulated case 9 or second insulated case 13), the temperature inside the insulated case is easily maintained even when the heating devices 8 are not operating. Therefore, even if the first trolley 5 repeatedly travels through the storage section 4 in a low-temperature environment, malfunctions are less likely to occur in the first control unit 10, the travel motor M1, etc. In this example, even if the heating device 8 is stopped because the first trolley 5 is in the storage section 4 away from the second trolley 6, the first control unit 10 may restart the operation of the heating device 8 under certain conditions. For example, if the internal temperature of at least one of the first insulated case 9 and the second insulated case 13 falls below a specified temperature, the first control unit 10 may switch all or some of the multiple heating devices 8 from a stopped state to an operating state, even if the first trolley 5 is in the storage section 4.

[0038] In this example, as described above, the temperature sensor 11 is located inside the first insulated case 9. As shown in Figure 6, for example, if the storage unit 4A that first transports the item W and the storage unit 4A that next transports the item W are far apart in the second direction Y, the second trolley 6 travels a relatively long distance with the first trolley 5 loaded on it. When this situation of the second trolley 6 traveling a relatively long distance is repeated, the period during which the first trolley 5 is loaded on the second trolley 6 also increases, and the period during which the heating device 8 operates also increases, making it easier to maintain the temperature inside the first insulated case 9 within an appropriate temperature range. On the other hand, if the storage unit 4A that first transports the item W and the storage unit 4A that next transports the item W are close together in the second direction Y, the second trolley 6 travels a relatively short distance with the first trolley 5 loaded on it. Furthermore, if the storage unit 4A to which the item W is transported first and the storage unit 4A to which the item W is transported next are adjacent to each other across the second travel path R2, the second trolley 6 will remain stationary while the first trolley 5 moves to the adjacent storage unit 4A via the second trolley 6. If such transport control is repeated, the period during which the first trolley 5 is mounted on the second trolley 6 will be shorter, and the period during which the heating device 8 operates will also be shorter. In short, the period during which the first trolley 5 travels along the storage unit 4 (in this case, the first travel path R1) will be longer than the period during which the first trolley 5 is mounted on the second trolley 6, resulting in insufficient operating time for the heating device 8 and making it difficult to maintain the temperature inside the first insulated case 9 within an appropriate range. Therefore, the first control unit 10 performs temperature control to make it easier to maintain the temperature inside the first insulated case 9 within an appropriate range regardless of the transport command. The temperature control will be explained in detail below.

[0039] As shown in Figure 8, if the temperature S detected by the temperature sensor 11 is lower than the first threshold T1 while the first trolley 5 is mounted on the second trolley 6, the first control unit 10 keeps the first trolley 5 on standby while it is mounted on the second trolley 6 until the temperature S detected by the temperature sensor 11 reaches a second threshold T2 which is set to be higher than or equal to the first threshold T1. In this example, when the first trolley 5 is transferred from the storage unit 4 to the second trolley 6, if the temperature S detected by the temperature sensor 11 is lower than the first threshold T1 (S10: Yes), the first control unit 10 keeps the first trolley 5 on standby while it is mounted on the second trolley 6, regardless of whether or not there is a subsequent transport command (S11). As a result, the operation of the heating device 8 continues, and the temperature inside the first insulated case 9 rises. Then, if the temperature S detected by the temperature sensor 11 is equal to or greater than the second threshold T2 (S12: Yes), the first control unit 10 determines that the first trolley 5 is in a state where it can be separated from the second trolley 6 (S13). Then, if it is necessary to move the first trolley 5 to the target storage unit 4A in accordance with the transport command received from the upper controller C, the first trolley 5 is moved onto the target storage unit 4A from its position on the second travel path R2 corresponding to the target storage unit 4A. In this embodiment, the second threshold T2 is set to the same value as the first threshold. Note that a temperature sensor 11 may also be provided inside the second insulated case 13. Furthermore, if the temperature S detected by at least some of the temperature sensors 11 is lower than the first threshold T1 while the first trolley 5 is mounted on the second trolley 6, the first trolley 5 may be kept on standby while mounted on the second trolley 6 until the temperature S detected by all of the temperature sensors 11 reaches the second threshold T2, which is set to be equal to or greater than the first threshold. In this case, the first threshold T1 and the second threshold T2 may not be common values ​​for all temperature sensors 11, but may be set to different values ​​for each temperature sensor 11.

[0040] Furthermore, if the first trolley 5 is waiting in a specific storage layer 32 with the first trolley 5 loaded onto the second trolley 6, and a new transport command is received from the higher-level controller C, the first trolley 5 or the second trolley 6 may transmit information that the first trolley 5 is waiting to the higher-level controller C. In such a case, the higher-level controller C can reset the target storage unit 4A related to the new transport command to a different storage layer 32. This makes it possible to perform transport control of the item in a different storage layer 32 while the first trolley 5 remains waiting in the specific storage layer 32. Therefore, even if the first trolley 5 is waiting in the specific storage layer 32 due to temperature control, a decrease in the transport efficiency of the item W throughout the entire facility can be suppressed.

[0041] [Other Embodiments] (1) In the above embodiment, the heating device 8 was described as having a configuration that generates heat using electricity stored in the energy storage device 51, but it is not limited to this. For example, the heating device 8 may generate heat using electricity supplied from the power supply unit 61. Specifically, the heating device 8 may be configured to generate heat using electricity supplied directly from the power supply unit 61 of the second bogie 6, without going through the energy storage device 51.

[0042] (2) In the above embodiment, the first control unit 10 was described as operating the heating device 8 when the first trolley 5 is mounted on the second trolley 6, and stopping the heating device 8 when the first trolley 5 is separated from the second trolley 6 and in the storage section 4, but it is not limited to this. The first control unit 10 may continue to operate the heating device 8 regardless of whether the first trolley 5 is mounted on the second trolley 6 or not. For example, the first control unit 10 may continue to operate all or part of the heating device 8 even when the first trolley 5 is separated from the second trolley 6 and traveling in the storage section 4 (in this case, the first travel path R1). Furthermore, the first control unit 10 may selectively perform both stop control, which activates the heating device 8 when the first bogie 5 is mounted on the second bogie 6 and stops the heating device 8 when the first bogie 5 is in the storage unit 4, and continue control, which continues the operation of the heating device 8 even when the first bogie 5 is in the storage unit 4. In that case, for example, either stop control or continue control may be performed depending on the period during which the first bogie 5 is mounted on the second bogie 6 or the period during which the first bogie 5 is on the second travel path R2 (the time the first bogie 5 is mounted on the second bogie 6).

[0043] (3) In the above embodiment, the first control unit 10 was described as having a configuration in which, when the first trolley 5 is mounted on the second trolley 6 and the temperature S detected by the temperature sensor 11 is lower than the first threshold T1, the first trolley 5 remains on the second trolley 6 and waits until the temperature S detected by the temperature sensor 11 reaches a second threshold T2 which is set to the same value as the first threshold T1. However, the configuration is not limited to this, and the first control unit 10 may also be configured to have the first trolley 5 remain on the second trolley 6 and wait until the temperature S detected by the temperature sensor 11 reaches a second threshold T2 which is greater than the first threshold T1, when the first trolley 5 is mounted on the second trolley 6 and the temperature S detected by the temperature sensor 11 is lower than the first threshold T1.

[0044] (4) In the above embodiment, the storage facility 3 was described as having a configuration in which a plurality of storage layers 32 arranged in the vertical direction are provided, with a plurality of rows of storage sections 4 in each of the plurality of storage layers 32, and the second trolley 6 is located in each of the plurality of storage layers 32, but the facility is not limited to this configuration. The storage facility 3 may, for example, have only a single storage layer 32, with a plurality of rows of storage sections 4 provided in the storage layer 32. Alternatively, the second trolley 6 may not be located in each of the plurality of storage layers 32, but rather one second trolley 6 may be located in each of a predetermined number of layers.

[0045] (5) In the above embodiment, a configuration in which the travel motor M1 is housed in an insulated case (in the example of the above embodiment, the second insulated case 13) was described as an example. However, the configuration is not limited to this, and a motor other than the travel motor M1 provided on the first bogie 5 (for example, an electric motor that drives the lifting section 55) may be housed in an insulated case instead of the travel motor M1. Alternatively, both the travel motor M1 and the motors other than the travel motor M1 may be housed in a common or separate insulated case.

[0046] (6) The configurations disclosed in each of the embodiments described above can be applied in combination with configurations disclosed in other embodiments (including combinations of embodiments described as other embodiments), as long as no inconsistencies arise. With regard to other configurations, the embodiments disclosed herein are merely illustrative in all respects. Therefore, various modifications can be made as appropriate without departing from the spirit of this disclosure.

[0047] [Summary of the above embodiments] The following is a summary of the embodiments of the automated warehouse described above.

[0048] The automated warehouse according to this disclosure comprises: a storage facility in which a plurality of storage sections capable of storing articles arranged in a first direction, which is a specific direction along a horizontal plane, are provided in a second direction, which is a direction intersecting the first direction when viewed from above; a first trolley that travels along the first direction and transports the articles in the storage section; and a second trolley on which the first trolley can be mounted and which travels along the second direction outside the storage section, The second bogie is equipped with a power supply unit that supplies power to the first bogie, The first bogie comprises a power storage device, a traction device that uses the power stored in the power storage device to propel the first bogie, and a control device that controls the traction device. The control device comprises a control unit that generates a control signal for the drive unit, a heating device that generates heat using at least one of the power supplied from the power supply unit and the power stored in the power storage device, and a heat-insulating case formed using a heat-insulating material. The control unit and the heating device are housed inside the insulated case.

[0049] With this configuration, even if the control unit of the first bogie contains components that are sensitive to low temperatures or temperature changes, the heat generated by the heating device warms the control unit, making it easier to keep the control unit within an acceptable temperature range. Therefore, even when the first bogie is running in specific temperature environments, such as low-temperature environments or environments with large temperature differences, the rate of control unit malfunctions can be reduced. Furthermore, with this configuration, since the control unit and the heating device are housed inside an insulated case, the heat generated by the heating device is easily retained inside the insulated case, making it easier to keep the power consumed by the heating device low. Consequently, it is easier to miniaturize the energy storage device equipped in the first bogie. Thus, with this configuration, in an automated warehouse equipped with a first trolley for transporting goods and a second trolley on which the first trolley can be mounted, even when the first trolley is operating in a specific temperature environment, the rate of malfunctions in the first trolley can be reduced and the decrease in the operating rate of the equipment can be suppressed.

[0050] In this case, it is preferable that the control unit activates the heating device when the first trolley is mounted on the second trolley, and deactivates the heating device when the first trolley is separated from the second trolley and in the storage section.

[0051] In this configuration, when the first bogie is in the storage area, away from the power supply unit of the second bogie, the heating device does not consume power. Therefore, during this time, there is no need to supply power to the heating device by the energy storage device, making it easier to miniaturize the energy storage device, and consequently, easier to miniaturize and reduce the cost of the first bogie.

[0052] Furthermore, in the configuration described above, where the heating device is stopped when the first trolley is separated from the second trolley and in the storage section, The insulated case is further equipped with a temperature sensor for detecting the temperature inside the case, If the control unit is in a state where the first trolley is mounted on the second trolley and the temperature detected by the temperature sensor is lower than the first threshold, it is preferable to keep the first trolley in a waiting state while it remains mounted on the second trolley until the temperature detected by the temperature sensor reaches a second threshold set to be equal to or higher than the first threshold.

[0053] In this configuration, if the temperature sensor reading is below a first threshold, the first trolley is kept stationary on the second trolley without being moved. Therefore, even in a configuration where the heating device is stopped when the first trolley is separated from the second trolley and in storage, it becomes easier to keep the control unit within an acceptable temperature range, and the rate of control unit malfunctions while the first trolley is moving can be reduced.

[0054] Furthermore, the storage facility comprises multiple storage layers arranged vertically, and each of the multiple storage layers is provided with multiple rows of the storage sections. Preferably, the second trolley is positioned in each of the multiple storage layers and is configured to travel along a path provided in each of the storage layers that is aligned in the second direction.

[0055] According to this configuration, the storage facility has multiple storage layers arranged vertically, thus providing a large number of storage areas where goods can be stored in a frozen state. Furthermore, since goods can be transported using the first and second trolleys in each of the multiple storage layers, it is easy to improve the efficiency of goods transport.

[0056] The automated warehouse relating to this disclosure only needs to achieve at least one of the effects described above. [Explanation of symbols]

[0057] 1: Automated warehouse 3:Storage equipment 4:Storage department 5: First bogie 6: Second bogie 7: First control device (control device) 8: Heating device 9: First insulated case (insulated case) 10: First control unit (control unit) 11: Temperature sensor 32: Storage layer 51: Energy storage device 53: First travel drive unit (travel drive unit) 61: Power supply unit R2: Second travel route (route along the second direction Y) S: Temperature detected by the temperature sensor T1: First threshold T2: Second threshold W:Goods X: 1st direction Y: Second direction

Claims

1. An automated warehouse comprising: a storage facility having multiple rows of storage sections arranged in a second direction which intersects the first direction in a vertical view, each capable of storing articles in a specific direction along a horizontal plane; a first trolley that travels along the first direction to transport the articles in the storage section; and a second trolley capable of carrying the first trolley and traveling along the second direction outside the storage section, The second bogie is equipped with a power supply unit that supplies power to the first bogie, The first bogie comprises a power storage device, a traction device that uses the power stored in the power storage device to propel the first bogie, and a control device that controls the traction device. The control device comprises a control unit that generates a control signal for the drive unit, a first heating device and a second heating device that generate heat using at least one of the power supplied from the power supply unit and the power stored in the power storage device, and a first insulating case and a second insulating case formed using an insulating material. The control unit and the first heating device are housed inside the first insulated case. An automated warehouse in which the travel motor included in the travel drive system and the second heat generating device are housed inside the second insulated case.

2. An automated warehouse comprising: a storage facility having multiple rows of storage sections arranged in a second direction which intersects the first direction in a vertical view, each capable of storing articles in a specific direction along a horizontal plane; a first trolley that travels along the first direction to transport the articles in the storage section; and a second trolley capable of carrying the first trolley and traveling along the second direction outside the storage section, The second bogie is equipped with a power supply unit that supplies power to the first bogie, The first bogie comprises a power storage device, a traction device that uses the power stored in the power storage device to propel the first bogie, and a control device that controls the traction device. The control device comprises a control unit that generates a control signal for the drive unit, a heating device that generates heat using at least one of the power supplied from the power supply unit and the power stored in the power storage device, and a heat-insulating case formed using a heat-insulating material. The control unit and the heating device are housed inside the heat-insulating case. The insulated case is further equipped with a temperature sensor for detecting the temperature inside the case, The control unit, when the temperature detected by the temperature sensor is lower than a first threshold, keeps the first trolley on the second trolley and waiting until the temperature detected by the temperature sensor reaches a second threshold set to be equal to or higher than the first threshold, in an automated warehouse.

3. The automated warehouse according to claim 1 or 2, wherein the control unit operates the heating device when the first trolley is mounted on the second trolley, and stops the heating device when the first trolley is separated from the second trolley and in the storage section.

4. The aforementioned storage facility comprises multiple storage layers arranged vertically, and each of the multiple storage layers is provided with multiple rows of the aforementioned storage sections. The automated warehouse according to claim 1 or 2, wherein the second trolley is arranged in each of the multiple storage layers and is configured to travel along a path provided in each of the storage layers that is aligned in the second direction.

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