Warehouse control method, warehouse control system, and program

Abstract

[Problem] To provide a warehouse control method, a warehouse control system, and a program with which, in a system that integrally manages a plurality of material handling devices and vertical conveyance machines, it is possible to safely and immediately stop the material handling devices and the vertical conveyance machines when a disaster occurs in a warehouse. [Solution] A warehouse control method executed by a computer that controls a plurality of material handling devices and vertical conveyance machines, the method characterized by comprising: a step for receiving an input of an emergency signal; a step for determining whether the received emergency signal is due to a disaster; a step for outputting a control instruction for steady operation to each of the plurality of material handling devices and vertical conveyance machines when the emergency signal is not due to a disaster; and a step for outputting an emergency operation plan signal corresponding to each of the plurality of material handling devices when the emergency signal is due to a disaster.

Description

Technical Field

[0001] The present invention relates to a technology effective for reducing damage when a disaster occurs in a warehouse.

Background Art

[0002] In warehouses such as distribution centers and production factories, when a disaster such as an earthquake or fire occurs, it is necessary to safely stop automation equipment, material handling equipment and the like in order to minimize damage caused by the disaster in the warehouse. For example, Patent Document 1 discloses a technology related to a method for stopping material handling equipment in a warehouse, and discloses a technology in which an AGV (Automatic Guided Vehicle) stops while avoiding a stop-prohibited section. Specifically, a disaster prevention panel that generates a signal in an emergency such as a fire and an emergency broadcasting device that broadcasts in an emergency are installed in the warehouse. In an emergency such as a fire, the disaster prevention panel generates a fire signal, and this fire signal is input to a control device for a fire shutter, an operation control device for an automatic guided vehicle, and an emergency broadcasting device. The automatic guided vehicle executes an emergency stop measure based on the notification information from the emergency broadcasting device. In recent years, a wide variety of automation equipment has been introduced in warehouses for the purpose of promoting labor saving. For example, Patent Document 2 describes a technology for integrated management of two or more different material handling equipments by a single instruction control system. Even in such a case, when a disaster such as a fire occurs, it is necessary to take measures to safely emergency stop all material handling equipment.

Prior Art Literature

Patent Literature

[0003]

Patent Document 1

Summary of the Invention

Problem to be Solved by the Invention

[0004] However, the technologies described in Patent Documents 1 and 2 do not consider stopping two or more different material handling devices, let alone a wide variety of material handling devices or vertical conveyors, in the event of a disaster.

[0005] The present invention aims to provide a warehouse control method, warehouse control system, and program that enable safe and immediate response to the shutdown of multiple material handling equipment and vertical conveyors in a system that centrally manages multiple material handling equipment and vertical conveyors when a disaster occurs in the warehouse. [Means for solving the problem]

[0006] The present invention relates to a warehouse control method performed by a computer that controls multiple material handling devices and vertical conveyors, Steps include receiving emergency signal inputs, A step of determining whether the received emergency signal is due to a disaster, If the cause is not due to a disaster, the steps include outputting a control instruction for steady-state operation to each of the multiple material handling devices and vertical conveyors, If the cause is due to a disaster, the steps include outputting an emergency operation plan signal corresponding to each of the multiple material handling devices, A warehouse control method is provided that includes the following features.

[0007] According to the present invention, when a disaster occurs in a warehouse, material handling equipment and vertical conveyors can be stopped safely and immediately, and appropriate stopping actions can be performed for each of the material handling equipment and vertical conveyors without requiring human judgment.

[0008] Although this invention falls under the category of methods, systems and programs can also achieve similar actions and effects specific to their respective categories. [Effects of the Invention]

[0009] According to the present invention, in the event of a disaster in a warehouse, material handling equipment and vertical conveyors can be safely and immediately shut down. [Brief explanation of the drawing]

[0010] [Figure 1] This diagram illustrates the overview of warehouse control system 1, with (1a) being an overview of the entire system and (1b) being a diagram showing the computer component. [Figure 2] This diagram shows the instruction configuration of warehouse control system 1. [Figure 3] This diagram shows a flowchart of the warehouse control process performed by a computer. [Figure 4] These diagrams show flowcharts of the operation processes performed by each device: (a) is the flowchart of the operation process performed by the vertical conveyor, (b) is the flowchart of the operation process performed by the AGV, and (c) is the flowchart of the operation process performed by the robotic arm. [Figure 5] This figure shows an example of the operation of a vertical conveyor. [Figure 6] This figure shows an example of the AGV's operating status. [Figure 7] This figure shows an example of the operation of a robotic arm. [Modes for carrying out the invention]

[0011] Hereinafter, embodiments for carrying out the present invention will be described in detail with reference to the attached drawings. In the following drawings, the same elements are denoted by the same numbers or reference numerals throughout the description of the embodiments.

[0012] [Overview of Warehouse Control System 1] Figure 1a is a block diagram illustrating the overview of the warehouse control system 1, and Figure 1b is a diagram illustrating the computer 10. Figure 2 is a diagram illustrating the overview of the warehouse control system 1. Referring to Figures 1 and 2, the components of the warehouse control system 1 will be described. A warehouse control system 1 is a system that controls a plurality of material handling equipment 2 and a vertical conveyor 3, and includes a computer 10. This computer 10 includes, for example, a processor, a receiving unit that receives an input of an emergency signal, a determination unit that determines whether the received emergency signal is due to a disaster (such as a fire), and when the emergency signal is not caused by a disaster, an output unit that outputs a normal operation control instruction to each of the plurality of material handling equipment 2 and vertical conveyor 3, and when the emergency signal is caused by a disaster, outputs an emergency operation plan signal corresponding to each of the plurality of material handling equipment 2, and a recording unit that holds an emergency operation plan master. Further, the warehouse control system 1 may be implemented by a single computer, or may be implemented by a plurality of computers like a cloud computer. Note that the cloud computer in the present specification may be either one that uses any computer scalably when performing a specific function, or one that includes a plurality of functional modules for realizing a certain system and uses these functions in any combination.

[0013] This computer 10 executes each process performed by the warehouse control system 1. The computer 10 includes, as a recording unit, a data storage unit such as a hard disk, a semiconductor memory, a recording medium, or a memory card. The computer 10 includes, as a processor, various devices that execute various processes. The computer 10 is connected to the plurality of material handling equipment 2, the vertical conveyor 3, an alarm 6, and a WMS (Warehouse Management System) (not shown) via a network such as a public line network or an intranet.

[0014] WMS is a system having functions such as general warehouse entry / exit management and inventory management.

[0015] The material handling equipment 2 includes an AGV (Automatic Guided Vehicle) 4, an arm robot 5, and other facilities. The other facilities are, for example, loading facilities such as a vanning / de-vanning system, sorting facilities such as a conveyor or a sorter, storage facilities such as an automated warehouse, and shipping facilities such as a digital picking system and an automatic box making machine. In the present embodiment, the warehouse control system 1 specifically controls the AGV 4 and the arm robot 5. Further, the AGV 4 is connected to the alarm 6 via a network.

[0016] The vertical conveyor 3 is conveying equipment having a conveying path in the vertical direction. The vertical conveyor 3 is, for example, conveying equipment that conveys goods to upper and lower floors. In the present embodiment, the warehouse control system 1 controls the vertical conveyor 3. Further, the vertical conveyor 3 is connected to the alarm 6 via a network.

[0017] The AGV 4 is an automated guided vehicle that conveys goods. The AGV 4 is, for example, an automated guided vehicle that conveys goods taken out from a storage shelf to a predetermined location.

[0018] The arm robot 5 is sorting equipment that sorts goods. The arm robot 5 is, for example, sorting equipment that performs palletizing / de-palletizing of goods.

[0019] There may be a plurality of vertical conveyors 3, AGVs 4 and arm robots 5, respectively, and there is no limit to the number thereof.

[0020] The alarm 6 is alarm equipment that issues an emergency signal in an emergency such as when a disaster occurs. The alarm 6 is, for example, a fire alarm, and issues an emergency signal when a fire breaks out in a warehouse. There may be a plurality of alarms 6, and there is no limit to the number or type thereof.

[0021] [Device Configuration] As shown in Figure 1, the warehouse control system 1 is a system that controls multiple material handling devices 2 and vertical conveyors 3, and is connected to at least multiple material handling devices (AGVs 4, robotic arms 5 and other equipment) 2, vertical conveyors 3, alarms 6, and WMS via a network such as a public telephone network or intranet, enabling data communication. It should be noted that the components of warehouse control system 1 are merely an example, and the number, type, and function of terminals, devices, and other equipment not shown in the diagram can be changed as appropriate.

[0022] Computer 10 includes a processor consisting of a CPU (Central Processing Unit), a GPU (Graphics Processing Unit), RAM (Random Access Memory), ROM (Read Only Memory), etc., and a communication unit consisting of a device for communicating with other terminals and devices, a receiving unit for receiving emergency signals, and an output unit that outputs control instructions for steady operation to each of the multiple material handling equipment 2 and the vertical conveyor 3, or outputs an emergency operation plan signal corresponding to each of the multiple material handling equipment 2. Furthermore, computer 10 includes a processing unit consisting of a device for executing various processes, a determination unit for determining whether the received emergency signal is caused by a disaster, etc.

[0023] The general processing steps involved in the control of multiple material handling devices 2 and vertical conveyors 3 by the warehouse control system 1 will be explained with reference to Figure 2. It should be noted that the multiple material handling devices 2 and vertical conveyors 3 are, as a prerequisite, in a state where they are transporting goods based on transport instructions from the computer 10. The computer 10 receives the emergency signal output by the alarm 6, and the vertical conveyor 3 and AGV 4 directly receive the emergency signal output by the alarm 6 (step S1). An emergency signal is a signal that indicates the alarm 6 has detected an emergency, such as a fire signal. When an emergency occurs, the alarm device 6 detects the emergency and outputs an emergency signal to the computer 10, the vertical conveyor 3, and the AGV 4. Computer 10 acquires the emergency signal output by alarm 6. The vertical conveyor 3 and AGV 4 do not acquire the emergency signal output by alarm 6 via computer 10, but rather acquire the emergency signal output by alarm 6 directly. In other words, in the event of an emergency, each of the vertical conveyor 3 and AGV 4 receives the emergency signal directly without going through computer 10.

[0024] Computer 10 determines whether the received emergency signal is due to a disaster (step S2). Computer 10 determines whether the type of emergency signal it received is one that was output as a result of detecting a disaster such as a fire. Computer 10 makes this determination based on whether the received emergency signal is a fire signal or the like.

[0025] If the received emergency signal is not due to a disaster, the computer 10 outputs a control instruction for steady operation to each of the material handling equipment 2 and the vertical conveyor 3, and the vertical conveyor 3, AGV 4, robotic arm 5 and other equipment perform steady operation based on the control instruction (step S3). A steady-state operation is the operation of transporting goods continuously or intermittently. For example, the steady-state operation of the vertical conveyor 3, AGV 4, and arm robot 5 is the operation of moving goods to storage shelves or the next process according to a predetermined program. In this case, the computer 10 outputs control instructions for steady-state operation to each of the vertical conveyor 3, AGV 4, robotic arm 5, and other equipment. The vertical conveyor 3, AGV 4, robotic arm 5, and other equipment maintain their operational status prior to receiving the emergency signal, based on this control instruction. For example, the vertical conveyor 3, AGV 4, and robotic arm 5 maintain their operational status for product transport operations prior to receiving the emergency signal and continue transporting the products.

[0026] If the received emergency signal is due to a disaster, the computer 10 outputs an emergency action plan signal corresponding to each of the multiple material handling devices 2. The AGV 4 and the robotic arm 5 perform hazard avoidance actions and then perform an emergency stop. Other equipment also performs an emergency stop when it receives an emergency action plan signal (step S4). The emergency action plan signal is a signal to emergency stop the material handling equipment 2, and how each of the material handling equipment 2 is emergency stopped is based on the emergency action plan master held by the recording unit. In this case, the computer 10 outputs an emergency action plan signal to each of the AGV 4, the robotic arm 5, and the other equipment. Based on this emergency action plan signal, the AGV 4 performs a predetermined hazard avoidance action and then makes an emergency stop. The predetermined hazard avoidance action of the AGV 4 is, for example, to stop outside the range of the fire shutter descent. Based on this emergency action plan signal, the robotic arm 5 performs a hazard avoidance action and then makes an emergency stop. The hazard avoidance action of the robotic arm 5 is, for example, to transport the goods being transported to a predetermined position such as the previous or next process, that is, a position where the safety of the goods can be ensured. The other equipment makes an emergency stop based on this emergency action plan signal. In this case, the vertical conveyor 3 will autonomously perform an emergency stop. At this time, the vertical conveyor 3 will autonomously cease operation based on the emergency signal it has received. In this case, AGV4 performs a hazard avoidance operation. Here, AGV4 determines whether its current location is outside a predetermined range, for example, outside the fire shutter lowering range. If AGV4 is outside the predetermined range, it stops its operation at that location based on the emergency operation plan signal output by computer 10. If AGV4 is not outside the predetermined range, it travels to the location outside the range and then stops based on the emergency operation plan signal output by computer 10. In this case, the robotic arm 5 performs a hazard avoidance action. Here, the robotic arm 5 determines whether it is currently transporting a product, that is, whether it is holding a product. If the robotic arm 5 is transporting a product, it places the product it is currently transporting in a predetermined location such as the previous or next process, or on the ground, and then stops its operation. If the robotic arm 5 is not transporting a product, it stops its operation. When the alarm 6 stops outputting an emergency signal, the computer 10 outputs a steady-state operation signal to each of the material handling equipment 2 and the vertical conveyor 3 to perform normal operation. Based on this steady-state operation signal, the multiple material handling devices 2 and the vertical conveyor 3 resume transporting the goods.

[0027] The overview of the processing steps when the warehouse control system 1 controls the material handling equipment 2 and the vertical conveyor 3 in steps S1 to S4 will be explained with reference to Figures 3 and 4. Figure 3 is a flowchart showing the warehouse control process executed by the computer 10, and Figure 4 is a flowchart showing the operation process of each material handling equipment 2 (vertical conveyor 3, AGV 4, and arm robot 5).

[0028] Computer 10 receives the emergency signal (step S10), and the vertical conveyor 3 and AGV 4 receive the emergency signal directly (steps S20, S30). The computer 10, the vertical conveyor 3, and the AGV 4 receive the emergency signal output by the alarm 6 almost simultaneously. Computer 10 acquires the emergency signal output by alarm 6. Each of the vertical conveyor 3 and AGV 4 acquires the emergency signal output by alarm 6 directly, without going through computer 10.

[0029] Computer 10 determines whether or not it is caused by a disaster (step S11). Computer 10 determines, based on the type of emergency signal, whether or not the emergency signal is due to a disaster.

[0030] If the computer 10 determines that the received emergency signal is not caused by a disaster (step S11 NO), it outputs a control instruction for steady operation to each of the multiple material handling equipment 2 and the vertical conveyor 3 (step S12). Computer 10 outputs control instructions for steady operation to each of the vertical conveyor 3, AGV 4, robotic arm 5, and other equipment. Based on these control instructions, the vertical conveyor 3, AGV 4, robotic arm 5, and other equipment maintain the operational status of the goods transport operation prior to receiving this emergency signal and continue the goods transport operation.

[0031] If the computer 10 determines that the received emergency signal is due to a disaster (step S11 YES), it outputs an emergency action plan signal corresponding to each of the multiple material handling devices 2 (step S13). If the received emergency signal is due to a disaster, the computer 10 outputs an emergency action plan signal corresponding to each of the multiple material handling devices 2. Multiple material handling devices 2 will be shut down based on this emergency action plan signal. The processing based on the emergency action plan signals performed by each of the multiple material handling devices 2, specifically the AGV 4 and the robotic arm 5, will be described later.

[0032] When the vertical conveyor 3 directly receives an emergency signal, it autonomously performs an emergency stop (step S21). The vertical conveyor 3 autonomously stops its operation (see Figure 5).

[0033] Figure 5 schematically shows the state of the vertical conveyor 3 before and after receiving an emergency signal. Figure 5(a) shows the state of the vertical conveyor 3 before receiving an emergency signal, and Figure 5(b) shows the state of the vertical conveyor 3 after receiving an emergency signal. The vertical conveyor 3 is currently transporting product G in the direction indicated by arrow R. When the vertical conveyor 3 receives an emergency signal, it stops at the position of product G at the time the emergency signal was received and ceases transporting product G. The vertical conveyor 3 maintains this state until the emergency action plan signal is deactivated.

[0034] When AGV4 directly receives an emergency signal, it performs a hazard avoidance action (step S31). If AGV4 is not currently located outside a designated area (outside the range where the fire shutter will descend), it will take hazard avoidance action by moving to a location outside this area.

[0035] If AGV4 is outside a predetermined range (outside the fire shutter descent range), or after performing a hazard avoidance operation, it will make an emergency stop on the spot based on the emergency operation plan signal output by computer 10 (step S32). As a hazard avoidance maneuver, AGV4 moves outside a predetermined range, and once it is outside this range, it performs an emergency stop based on the emergency action plan signal (see Figure 6). AGV4 constantly waits to execute emergency stop procedures until it receives an emergency action plan signal, and then executes emergency stop procedures when it receives the emergency action plan signal.

[0036] Figure 6 schematically shows the state of AGV4 before and after receiving an emergency signal. Figure 6(a) shows the state of AGV4 before receiving an emergency signal, and Figure 6(b) shows the state of AGV4 after receiving an emergency signal. When AGV4 receives an emergency signal, it is currently located within the fire shutter descent range S. Therefore, as a hazard avoidance maneuver, it moves to a location outside the fire shutter descent range S. From its position at the time the emergency signal was received, AGV4 moves in the direction indicated by arrow R to outside the fire shutter descent range S. After completing its movement outside the fire shutter descent range S, AGV4 stops in place and ceases transporting product G based on the emergency action plan signal output by computer 10. AGV4 maintains this state until the emergency action plan signal is deactivated.

[0037] The robotic arm 5 receives an emergency action plan signal (step S40). The robotic arm 5 acquires the emergency action plan signal output by the computer 10.

[0038] The robotic arm 5 performs a hazard avoidance action (step S41). The robotic arm 5 performs a hazard avoidance action based on the received emergency action plan signal. If the robotic arm 5 is currently transporting (holding) an item, it places the item on the ground or elsewhere and performs the hazard avoidance action.

[0039] The robotic arm 5 performs an emergency stop after executing a hazard avoidance action, or if it is not currently transporting (holding) a product (step S42). As a safety maneuver, the robotic arm 5 places the product on the ground or other surface, and then makes an emergency stop once the product is placed on the ground or surface (see Figure 7). The robotic arm 5 constantly waits to execute emergency stop processing until it receives an emergency action plan signal, and then executes emergency stop processing when it receives the emergency action plan signal.

[0040] Figure 7 schematically shows the state of the arm robot 5 before and after receiving the emergency action plan signal. Figure 7(a) shows the state of the robotic arm 5 before it receives the emergency action plan signal, and Figure 7(b) shows the state of the robotic arm 5 after it has received the emergency signal and performed the hazard avoidance action. Figure 7(c) shows the state of the robotic arm 5 after it has performed the hazard avoidance action and has made an emergency stop. When the robotic arm 5 receives an emergency action plan signal, it performs a hazard avoidance action by placing the product G, which it is currently transporting, on the ground or elsewhere. After that, the robotic arm 5 stops and ceases transporting product G. The robotic arm 5 maintains this state until the emergency action plan signal is deactivated.

[0041] Computer 10 determines whether or not to cancel the emergency action plan signal (step S14). The computer 10 makes this decision based on the cessation of the alarm 6's emergency signal output, the results of the status checks for each material handling device 2 and the vertical conveyor 3, and the results of the recovery work for each material handling device 2 and the vertical conveyor 3. The emergency signal is stopped based on whether or not the alarm 6 has finished receiving the emergency signal. The status of each material handling device 2 and vertical conveyor 3 is checked by the manager to see what the status of the work relays between each material handling device 2 and vertical conveyor 3 is, whether there are any discrepancies, etc., and then the restoration work is carried out. If the computer 10 determines that the emergency action plan signal has not been canceled (step S14 NO), it maintains the emergency stop state of each material handling device 2 and the vertical conveyor 3.

[0042] If the computer 10 determines that the emergency operation plan signal has been canceled (step S14 YES), it outputs a steady-state operation signal to the multiple material handling equipment 2 and the vertical conveyor 3 to perform steady-state operations (step S15). The computer 10 outputs predetermined commands to each material handling device 2 and the vertical conveyor 3. Based on these commands, each material handling device 2 restarts from its emergency stop state. After outputting these commands, the computer 10 outputs steady-state operation signals to each material handling device 2 and the vertical conveyor 3. Based on this steady-state operation signal, the vertical conveyor 3 resumes transporting the goods. Based on this steady-state operation signal, AGV4 moves to its designated position and resumes transporting the goods. Based on this steady-state operation signal, the robotic arm 5 returns to its designated position and resumes transporting the goods. Other equipment will resume transporting goods based on this steady-state operation signal.

[0043] The above is an overview of warehouse control system 1. According to this warehouse control system 1, in the event of a disaster in the warehouse, the material handling equipment 2 and the vertical conveyor 3 can be safely and immediately stopped, and the stopping measures for the material handling equipment 2 and the vertical conveyor 3 can be performed appropriately without requiring human judgment. Furthermore, after the disaster situation has been resolved, when restarting each material handling device 2 and vertical conveyor 3, the recovery operation from their respective stopped states can be performed in a relatively simple manner.

[0044] The means and functions described above are realized by a computer (including the CPU, information processing unit, and various terminals) reading and executing a predetermined program. The program may be provided, for example, via a network from the computer (SaaS: Software as a Service) or as a cloud service. Alternatively, the program may be provided in a form recorded on a computer-readable recording medium. In this case, the computer reads the program from the recording medium, transfers it to an internal or external recording device, records it, and executes it. Alternatively, the program may be pre-recorded on a recording device (recording medium) and provided to the computer from that recording device via a communication line.

[0045] Although embodiments of the present invention have been described above, the present invention is not limited to the embodiments described above. Furthermore, the effects described in the embodiments of the present invention are merely a list of the most preferred effects arising from the present invention, and the effects of the present invention are not limited to those described in the embodiments of the present invention.

[0046] According to the present invention, when a disaster occurs in a warehouse, each material handling device can be safely and immediately stopped, and the stopping measures for each material handling device can be performed appropriately without requiring human judgment. Furthermore, once the disaster situation has been resolved, restarting each material handling device will be possible using a relatively simple method to restore them from their respective stopped states.

[0047] A first aspect disclosed in this embodiment is a warehouse control method performed by a computer that controls a plurality of material handling devices and a vertical conveyor, Steps include receiving emergency signal inputs, A step of determining whether the received emergency signal is due to a disaster, If the cause is not due to a disaster, the steps include outputting a control instruction for steady-state operation to each of the multiple material handling devices and vertical conveyors, If the cause is due to a disaster, the steps include outputting an emergency operation plan signal corresponding to each of the multiple material handling devices, A warehouse control method is provided that includes the following features.

[0048] A second aspect disclosed in this embodiment is that, among the plurality of material handling devices, at least one material handling device is The step of receiving the aforementioned emergency signal input, Upon receiving the aforementioned emergency signal, the vehicle performs a hazard avoidance maneuver, followed by an emergency stop. The present invention provides a warehouse control method according to a first embodiment, comprising the above.

[0049] A third aspect disclosed in this embodiment is that, among the plurality of material handling devices, at least one material handling device is The steps include receiving the outputted emergency action plan signal, Upon receiving the aforementioned emergency action plan signal, the vehicle performs a hazard avoidance action, and then performs an emergency stop. The present invention provides a warehouse control method according to a first embodiment, comprising the above.

[0050] A fourth aspect disclosed in this embodiment is a step of outputting a steady-state operation signal to the material handling equipment to perform a steady-state operation after the material handling equipment has been stopped in an emergency and has resumed operation, The present invention provides a warehouse control method according to a second or third embodiment, comprising the following:

[0051] A fifth aspect disclosed in this embodiment is that the vertical conveyor is, The step of receiving the aforementioned emergency signal input, The steps include: 1. Receiving the aforementioned emergency signal, and autonomously performing an emergency stop; The present invention provides a warehouse control method according to a first embodiment, comprising the above. [Explanation of Symbols]

[0052] 1. Warehouse control system 2. Material handling equipment 3. Vertical conveyor 4 AGV 5 Arm Robot 6 alarm 10 Computers R arrow S Fire shutter descent range G product

Claims

1. A warehouse control method performed by a computer that controls multiple material handling devices and vertical conveyors, Steps include receiving emergency signal inputs, A step of determining whether the received emergency signal is due to a disaster, If the cause is not due to a disaster, the steps include outputting a control instruction for steady-state operation to each of the multiple material handling devices and vertical conveyors, If the cause is due to a disaster, the steps include outputting an emergency operation plan signal corresponding to each of the multiple material handling devices, A warehouse control method comprising the following features.

2. Of the aforementioned material handling equipment, at least one material handling equipment, The step of receiving the aforementioned emergency signal input, Upon receiving the aforementioned emergency signal, the vehicle performs a hazard avoidance maneuver, followed by an emergency stop. The warehouse control method according to claim 1, comprising:

3. Of the aforementioned material handling equipment, at least one material handling equipment, The steps include receiving the outputted emergency action plan signal, Upon receiving the aforementioned emergency action plan signal, the vehicle performs a hazard avoidance action, and then performs an emergency stop. The warehouse control method according to claim 1, comprising:

4. After the material handling equipment that was stopped in an emergency has resumed operation, the material handling equipment is given a steady-state operation signal to perform a steady-state operation. The warehouse control method according to claim 2 or 3, comprising:

5. The aforementioned vertical conveyor, The step of receiving the aforementioned emergency signal input, The steps include:

1. Receiving the aforementioned emergency signal, and autonomously performing an emergency stop; The warehouse control method according to claim 1, comprising:

6. A warehouse control system that controls multiple material handling devices and vertical conveyors, A reception area that receives emergency signal inputs, A determination unit that determines whether the received emergency signal is due to a disaster, If the emergency signal is not caused by a disaster, the output unit outputs a control instruction for steady operation to each of the multiple material handling devices and vertical conveyors, and if the emergency signal is caused by a disaster, the output unit outputs an emergency operation plan signal corresponding to each of the multiple material handling devices. A warehouse control system equipped with the following features.

7. A computer that controls multiple material handling devices and vertical conveyors, Steps to accept emergency signal input, A step of determining whether the received emergency signal is due to a disaster, If the issue is not caused by a disaster, the step is to output a control instruction for steady-state operation to each of the multiple material handling devices and vertical conveyors. If the cause is due to a disaster, the step of outputting an emergency operation plan signal corresponding to each of the multiple material handling devices, A computer-readable program for executing a command.

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