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

Warehouse control method, warehouse control system, and program

[0001] The present invention relates to a technique that is effective in reducing damage in the event of a disaster in a warehouse.

[0002] In warehouses such as logistics centers and production factories, when disasters such as earthquakes and fires occur, automated equipment, material handling equipment, etc. must be safely shut down to minimize damage caused by the disaster within the warehouse. For example, Patent Document 1 discloses a technology for shutting down material handling equipment in a warehouse, in which an automatic guided vehicle (AGV) avoids stopping in no-stop zones. Specifically, a disaster prevention panel that issues a signal in the event of an emergency such as a fire and an emergency broadcast device that broadcasts in the event of an emergency are installed within the warehouse. In the event of an emergency such as a fire, the disaster prevention panel issues a fire signal, which is input to a fire shutter control device, an automated guided vehicle operation control device, and the emergency broadcast device. The automated guided vehicle then executes emergency shutdown measures based on the notification information from the emergency broadcast device. Recently, a wide variety of automated equipment has been introduced into warehouses to promote labor savings. For example, Patent Document 2 describes a technology for managing two or more different material handling equipment using a single command and control system. Even in such cases, measures are needed to safely shut down all material handling equipment in the event of a disaster such as a fire.

[0003] Japanese Patent Application Publication No. 10-161744

[0004] However, the techniques described in Patent Documents 1 and 2 do not consider issuing instructions to stop two or more different material handling devices, much less a wide variety of material handling devices and 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 can safely and immediately stop material handling equipment and vertical conveyors in a system that manages multiple material handling equipment and vertical conveyors when a disaster occurs in a warehouse.

[0006] The present invention provides a warehouse control method executed by a computer that controls a plurality of material handling devices and a vertical conveyor, the warehouse control method comprising the steps of: receiving an input of an emergency signal; determining whether the received emergency signal is due to a disaster; outputting a control instruction for normal operation to each of the plurality of material handling devices and the vertical conveyor if the emergency signal is due to a disaster; and outputting an emergency operation plan signal corresponding to each of the plurality of material handling devices if the emergency signal is due to a disaster.

[0007] According to the present invention, when a disaster occurs in a warehouse, each of the material handling equipment and vertical conveying machines can be stopped safely and immediately, and appropriate stopping operations can be carried out without the need for human judgment to determine the stopping measures for each of the material handling equipment and vertical conveying machines.

[0008] Although the present invention is in the category of a method, the same functions and effects specific to the category can be achieved even when it is applied to a system or a program.

[0009] According to the present invention, when a disaster occurs in a warehouse, it is possible to safely and immediately stop material handling equipment and vertical conveyors.

[0010] 1A and 1B are diagrams for explaining an overview of a warehouse control system 1, where (1a) is a schematic diagram of the entire system and (1b) is a diagram showing the computer in isolation. FIG. 1B is a diagram showing the instruction configuration of the warehouse control system 1. FIG. 1C is a diagram showing a flowchart of a warehouse control process executed by a computer. FIG. 1D is a diagram showing flowcharts of operation processes executed by each device, where (a) is a flowchart of operation processes executed by a vertical conveyor, (b) is a flowchart of operation processes executed by an AGV, and (c) is a flowchart of operation processes executed by an arm robot. FIG. 1D is a diagram showing an example of the operation status of a vertical conveyor. FIG. 1E is a diagram showing an example of the operation status of an AGV. FIG. 1F is a diagram showing an example of the operation status of an arm robot.

[0011] DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings. In the following drawings, the same elements are designated by the same numbers or symbols throughout the description of the embodiments.

[0012] [Overview of Warehouse Control System 1] FIG. 1a is a block diagram illustrating an overview of the warehouse control system 1, and FIG. 1b is a diagram illustrating a computer 10. FIG. 2 is a diagram illustrating an overview of the warehouse control system 1. The components of the warehouse control system 1 will be described with reference to FIGS. 1 and 2. The warehouse control system 1 is a system that controls multiple material handling devices 2 and vertical conveyors 3 and includes a computer 10. The computer 10 includes, for example, a processor, a reception unit that receives an emergency signal, a determination unit that determines whether the received emergency signal is due to a disaster (fire, etc.), an output unit that outputs normal operation control instructions to each of the multiple material handling devices 2 and the vertical conveyor 3 if the emergency signal is not due to a disaster, and an output unit that outputs an emergency operation plan signal corresponding to each of the multiple material handling devices 2 if the emergency signal is due to a disaster, and a recording unit that stores an emergency operation plan master. The warehouse control system 1 may be implemented using a single computer or multiple computers, such as a cloud computer. In this specification, a cloud computer may refer to either a computer that uses any computer in a scalable manner to perform a specific function, or a computer that includes multiple functional modules to realize a system and uses the functions in any combination.

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

[0014] A WMS is a system that has functions such as inventory management and receiving management in a general warehouse.

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

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

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

[0018] The arm robot 5 is a sorting facility that sorts products. The arm robot 5 is, for example, a sorting facility that palletizes / depalletizes products.

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

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

[0021] 1, the warehouse control system 1 is a system for controlling a plurality of material handling devices 2 and a vertical conveyor 3, and is connected to at least the plurality of material handling devices (AGVs 4, arm robots 5, and other equipment) 2, the vertical conveyor 3, alarms 6, and the WMS via a network such as a public line network or an intranet so that data communication is possible. Note that the components of the warehouse control system 1 are merely examples, and the number, types, and functions of terminals, devices, and other equipment not shown can be changed as appropriate.

[0022] The computer 10 includes, as processors, a CPU (Central Processing Unit), a GPU (Graphics Processing Unit), a RAM (Random Access Memory), a ROM (Read Only Memory), etc., and includes, as communication units, devices for enabling communication with other terminals and devices, a reception unit for receiving emergency signals, and an output unit for outputting control instructions for normal operation to each of the plurality of material handling devices 2 and the vertical conveyor 3 or outputting emergency operation plan signals corresponding to each of the plurality of material handling devices 2. The computer 10 also includes, as processing units, devices for executing various processes, a determination unit for determining whether the received emergency signal is due to a disaster, etc.

[0023] An overview of the processing steps performed by the warehouse control system 1 to control the plurality of material handling devices 2 and the vertical conveyor 3 will be described with reference to FIG. 2 . The plurality of material handling devices 2 and the vertical conveyor 3 are, as a prerequisite, currently conveying goods based on conveyance instructions and the like from the computer 10. The computer 10 receives an input of an emergency signal output by the alarm device 6, and the vertical conveyor 3 and the AGV 4 directly receive an input of the emergency signal output by the alarm device 6 (step S1). The emergency signal is a signal indicating that the alarm device 6 has detected an emergency, such as a fire signal. When an emergency occurs, the alarm device 6 detects the emergency and outputs the emergency signal to the computer 10, the vertical conveyor 3, and the AGV 4. The computer 10 acquires the emergency signal output by the alarm device 6. The vertical conveyor 3 and the AGV 4 acquire the emergency signal directly, rather than via the computer 10. That is, in the event of an emergency, each of the vertical conveyor 3 and the AGV 4 receives an emergency signal directly, without going through the computer 10 .

[0024] The computer 10 determines whether the received emergency signal is due to a disaster (step S2). The computer 10 determines whether the type of the received emergency signal is one that has been output as a result of detecting a disaster such as a fire. The 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 normal operation to each of the material handling devices 2 and the vertical conveyor 3, and the vertical conveyor 3, the AGV 4, the arm robot 5, and other equipment executes normal operation based on the control instruction (step S3). The normal operation is an operation for transporting goods continuously or intermittently. For example, the normal operation of the vertical conveyor 3, the AGV 4, and the arm robot 5 is an operation for moving goods to a storage shelf or to the next process according to a predetermined program. In this case, the computer 10 outputs a control instruction for normal operation to each of the vertical conveyor 3, the AGV 4, the arm robot 5, and other equipment. Based on this control instruction, the vertical conveyor 3, the AGV 4, the arm robot 5, and other equipment maintain the operating status prior to receiving the emergency signal. For example, the vertical conveyor 3, the AGV 4, and the arm robot 5 maintain the operating status of the goods transport operation prior to receiving the emergency signal and continue the goods transport operation.

[0026] If the received emergency signal is due to a disaster, the computer 10 outputs an emergency operation plan signal corresponding to each of the multiple material handling devices 2, and the AGV 4 and the arm robot 5 perform a danger avoidance operation and then make an emergency stop. Other equipment also makes an emergency stop when it receives the emergency operation plan signal (step S4). The emergency operation plan signal is a signal for emergency stopping the material handling devices 2, and the manner in which each material handling device 2 makes an emergency stop is based on the emergency operation plan master stored in the recording unit. In this case, the computer 10 outputs an emergency operation plan signal to each of the AGV 4, the arm robot 5, and other equipment. Based on this emergency operation plan signal, the AGV 4 performs a predetermined danger avoidance operation and then makes an emergency stop. The predetermined danger avoidance operation of the AGV 4 is, for example, stopping outside the range of the fire shutter descent. Based on this emergency operation plan signal, the arm robot 5 performs a danger avoidance operation and then makes an emergency stop. The danger avoidance operation of the arm robot 5 may, for example, transport the product being transported to a predetermined position, such as the previous or next process, i.e., a position where the safety of the product can be ensured. Other equipment makes an emergency stop based on this emergency operation plan signal. In this case, the vertical conveyor 3 makes an autonomous emergency stop. At this time, the vertical conveyor 3 autonomously stops its operation based on the received emergency signal. In this case, the AGV 4 executes a danger avoidance operation. Here, the AGV 4 determines whether the location where it is currently traveling is outside a predetermined range, for example, outside the range where a fire shutter is lowered. If the AGV 4 is outside the predetermined range, it stops its operation on the spot based on the emergency operation plan signal output by the computer 10. Furthermore, if the AGV 4 is not outside the predetermined range, it travels to a location outside this range and then stops based on the emergency operation plan signal output by the computer 10. In this case, the arm robot 5 executes a danger avoidance operation. Here, the arm robot 5 determines whether it is currently transporting a product, i.e., whether it is holding a product. When the arm robot 5 is currently transporting a product, it places the product it is currently transporting at a predetermined position in the previous or next process or on the ground, and then stops operating.Furthermore, the arm robot 5 stops operating when no goods are being transported. When the alarm 6 stops outputting the emergency signal, the computer 10 outputs a steady operation signal to each of the material handling devices 2 and the vertical conveyor 3 to execute a steady operation. Based on this steady operation signal, the material handling devices 2 and the vertical conveyor 3 resume transporting goods.

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

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

[0029] The computer 10 determines whether the emergency signal is caused by a disaster (step S11). The computer 10 determines whether the emergency signal is caused by a disaster based on the type of the emergency signal.

[0030] If the computer 10 determines that the received emergency signal is not due to a disaster (step S11: NO), it outputs a control instruction for normal operation to each of the material handling devices 2 and the vertical conveyor 3 (step S12). The computer 10 outputs a control instruction for normal operation to each of the vertical conveyor 3, the AGV 4, the arm robot 5, and other equipment. Based on this control instruction, the vertical conveyor 3, the AGV 4, the arm robot 5, and other equipment maintain the operating status of the product transport operation before receiving the emergency signal, and continue the product 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 operation 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 operation plan signal corresponding to each of the multiple material handling devices 2. The multiple material handling devices 2 make an emergency stop based on this emergency operation plan signal. The processing based on the emergency operation plan signal that each of the multiple material handling devices 2, the AGV 4 and the arm robot 5, executes will be described later.

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

[0033] 5A and 5B are diagrams schematically showing the state of the vertical conveyor 3 before and after receiving an emergency signal. Fig. 5A shows the state of the vertical conveyor 3 before receiving the emergency signal, and Fig. 5B shows the state of the vertical conveyor 3 after receiving the emergency signal. The vertical conveyor 3 is currently conveying a product G in the direction indicated by arrow R. When the vertical conveyor 3 receives the emergency signal, it stops at the conveying position of the product G at the time the emergency signal was received, and ceases conveying the product G. The vertical conveyor 3 maintains this state until the emergency operation plan signal is released.

[0034] When the AGV 4 directly receives the emergency signal, the AGV 4 executes a danger avoidance operation (step S31). If the location where the AGV 4 is currently traveling is not outside a predetermined range (outside the fire shutter lowering range), the AGV 4 performs a danger avoidance operation by traveling to a location outside this range.

[0035] If the AGV 4 is outside the predetermined range (outside the fire shutter lowering range) or after performing a danger avoidance operation, the AGV 4 makes an emergency stop on the spot based on the emergency operation plan signal output by the computer 10 (step S32). As a danger avoidance operation, the AGV 4 travels outside the predetermined range, and when it is located outside this range, it makes an emergency stop based on the emergency operation plan signal (see FIG. 6). The AGV 4 always waits to execute processing related to an emergency stop until it receives the emergency operation plan signal, and executes processing related to an emergency stop when it receives the emergency operation plan signal.

[0036] FIG. 6 is a diagram schematically illustrating the state of the AGV 4 before and after receiving an emergency signal. FIG. 6( a) illustrates the state of the AGV 4 before receiving the emergency signal, and FIG. 6( b) illustrates the state of the AGV 4 after receiving the emergency signal. When the AGV 4 receives the emergency signal, it is currently located within the fire shutter descent range S, and therefore travels to a location outside this fire shutter descent range S as a danger avoidance action. The AGV 4 travels from its position at the time of receiving the emergency signal to a location outside the fire shutter descent range S in the direction indicated by arrow R. After the AGV 4 has completely moved outside the fire shutter descent range S, it stops on the spot and ceases transporting the products G based on the emergency operation plan signal output by the computer 10. The AGV 4 maintains this state until the emergency operation plan signal is released.

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

[0038] The arm robot 5 executes a danger avoidance operation (step S41). The arm robot 5 executes the danger avoidance operation based on the received emergency operation plan signal. If the arm robot 5 is currently transporting a product (holding a product), it places the product on the ground or the like and executes the danger avoidance operation.

[0039] After performing the danger avoidance operation, or if the arm robot 5 is not currently transporting a product (holding a product), it makes an emergency stop (step S42). As a danger avoidance operation, the arm robot 5 places the product on the ground or the like, and makes an emergency stop at the point when the product is placed on the ground or the like (see FIG. 7). The arm robot 5 always waits to execute processing related to an emergency stop until it receives an emergency operation plan signal, and executes processing related to an emergency stop when it receives the emergency operation plan signal.

[0040] 7A and 7B are diagrams schematically showing the states of the arm robot 5 before and after receiving an emergency operation plan signal. FIG. 7A shows the state of the arm robot 5 before receiving the emergency operation plan signal, and FIG. 7B shows the state of the arm robot 5 after receiving the emergency signal and performing a danger avoidance operation. FIG. 7C shows the state of the arm robot 5 after performing the danger avoidance operation and making an emergency stop. When the arm robot 5 receives the emergency operation plan signal, it places the product G currently being transported on the ground or the like as a danger avoidance operation. Thereafter, the arm robot 5 stops and discontinues transporting the product G. The arm robot 5 maintains this state until the emergency operation plan signal is released.

[0041] The computer 10 determines whether the emergency operation plan signal has been canceled (step S14). The computer 10 makes this determination based on the alarm 6's halting of the emergency signal output, the status check results for each material handling device 2 and vertical conveyor 3, and the results of the recovery work for each material handling device 2 and vertical conveyor 3. The emergency signal is stopped based on whether the alarm 6 has finished receiving the emergency signal. The status check for each material handling device 2 and vertical conveyor 3 is performed by the manager checking the status of the work relay between each material handling device 2 and vertical conveyor 3, whether there are any discrepancies, etc., and then recovery work is performed. If the computer 10 determines that the emergency operation plan signal has not been canceled (step S14: NO), the material handling device 2 and vertical conveyor 3 remain in the emergency stop state.

[0042] When 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 material handling devices 2 and the vertical conveyor 3 to execute steady-state operations (step S15). The computer 10 outputs a predetermined command to each material handling device 2 and the vertical conveyor 3. Based on this command, each material handling device 2 resumes operation from the emergency stop state. After outputting this command, the computer 10 outputs a steady-state operation signal to each material handling device 2 and the vertical conveyor 3. Based on this steady-state operation signal, the vertical conveyor 3 resumes transporting goods. Based on this steady-state operation signal, the AGV 4 travels to a predetermined position and resumes transporting goods. Based on this steady-state operation signal, the arm robot 5 returns to a predetermined position and resumes transporting goods. Based on this steady-state operation signal, the other equipment resumes transporting goods.

[0043] The above is an overview of the warehouse control system 1. According to this warehouse control system 1, when a disaster occurs in a warehouse, each of the material handling equipment 2 and the vertical conveyor 3 can be stopped safely and immediately, and appropriate stopping operations can be performed without requiring human judgment on stopping measures for each of the material handling equipment 2 and the vertical conveyor 3. Furthermore, when the material handling equipment 2 and the vertical conveyor 3 are to be restarted after the disaster condition is resolved, the return operations from their respective stopped states can be performed in a relatively simple manner.

[0044] The above-described means and functions are realized by a computer (including a CPU, an information processing device, and various terminals) reading and executing a predetermined program. The program may be provided, for example, from a computer via a network (Software as a Service (SaaS)) or as a cloud service. The program may also 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. The program may also be pre-recorded on a recording device (recording medium) and provided to the computer from the recording device via a communication line.

[0045] Although the embodiments of the present invention have been described above, the present invention is not limited to the above-described embodiments. Furthermore, the effects described in the embodiments of the present invention are merely a list of the most preferable effects resulting 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 of the material handling equipment can be stopped safely and immediately, and appropriate stopping operations can be performed without the need for human judgment as to the stopping measures for each of the material handling equipment. Furthermore, when the material handling equipment is to be restarted after the disaster state is resolved, the operation to restore each of the stopped state can be performed in a relatively simple manner.

[0047] A first aspect disclosed in this embodiment provides a warehouse control method executed by a computer that controls a plurality of material handling devices and a vertical conveyor, the warehouse control method comprising the steps of: receiving an input of an emergency signal; determining whether the received emergency signal is caused by a disaster; outputting a control instruction for normal operation to each of the plurality of material handling devices and the vertical conveyor if the emergency signal is caused by a disaster; and outputting an emergency operation plan signal corresponding to each of the plurality of material handling devices if the emergency signal is caused by a disaster.

[0048] A second aspect disclosed in this embodiment provides a warehouse control method according to the first aspect, comprising the steps of: receiving an input of the emergency signal by at least one of the plurality of material handling devices; and, upon receiving the emergency signal, performing a danger avoidance operation and then making an emergency stop.

[0049] A third aspect disclosed in this embodiment provides a warehouse control method according to the first aspect, comprising the steps of: receiving the emergency operation plan signal output by at least one of the plurality of material handling devices; and, upon receiving the emergency operation plan signal, executing a danger avoidance operation and then making an emergency stop.

[0050] A fourth aspect disclosed in this embodiment provides a warehouse control method according to the second or third aspect, comprising: a step of outputting a steady-state operation signal to the material handling equipment to execute steady-state operation after the material handling equipment that has been emergency-stopped resumes operation.

[0051] A fifth aspect disclosed in this embodiment provides the warehouse control method according to the first aspect, wherein the vertical conveyor includes: a step of receiving an input of the emergency signal; and a step of autonomously making an emergency stop when the emergency signal is received.

[0052] 1 Warehouse control system 2 Material handling equipment 3 Vertical conveyor 4 AGV 5 Arm robot 6 Alarm 10 Computer R Arrow S Fire shutter lowering range G Product

Claims

1. A warehouse control method executed by a computer that controls a plurality of material handling equipment and a vertical conveyor, comprising the steps of: receiving an input of an emergency signal; determining whether the received emergency signal is due to a disaster; outputting a normal operation control instruction to each of the plurality of material handling equipment and the vertical conveyor if the emergency signal is not due to a disaster; and outputting an emergency operation plan signal corresponding to each of the plurality of material handling equipment if the emergency signal is due to a disaster.

2. A warehouse control method as described in claim 1, comprising the steps of: at least one of the plurality of material handling devices receiving the input of the emergency signal; and, upon receiving the emergency signal, executing a danger avoidance operation and then making an emergency stop.

3. A warehouse control method as described in claim 1, comprising the steps of: at least one of the plurality of material handling devices receiving the output emergency operation plan signal; and, upon receiving the emergency operation plan signal, executing a danger avoidance operation and then making an emergency stop.

4. A warehouse control method as described in claim 2 or 3, further comprising a step of outputting a steady-state operation signal to the material handling equipment to execute steady-state operation after the material handling equipment that has been emergency stopped resumes operation.

5. A warehouse control method as described in claim 1, comprising the steps of: receiving an input of the emergency signal; and autonomously making an emergency stop when the emergency signal is received by the vertical conveyor.

6. A warehouse control system that controls a plurality of material handling equipment and a vertical conveyor, comprising: a reception unit that receives an input of an emergency signal; a judgment unit that judges whether the received emergency signal is due to a disaster or not; and an output unit that outputs a control instruction for normal operation to each of the plurality of material handling equipment and the vertical conveyor if the emergency signal is not due to a disaster, and outputs an emergency operation plan signal corresponding to each of the plurality of material handling equipment if the emergency signal is due to a disaster.

7. A computer-readable program for causing a computer that controls multiple material handling equipment and a vertical conveyor to execute the following steps: receiving an emergency signal as input; determining whether the received emergency signal is due to a disaster; if the emergency signal is not due to a disaster, outputting a normal operation control instruction to each of the multiple material handling equipment and the vertical conveyor; and if the emergency signal is due to a disaster, outputting an emergency operation plan signal corresponding to each of the multiple material handling equipment.

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