JPH01197207A - Operating system for determining receiving/shipping shelf - Google Patents

Abstract

(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.

Description

[Detailed description of the invention]

[Industrial Application Field] The present invention relates to an operational system for determining loading and unloading shelves for cranes in automated warehouses, and particularly relates to (1) when one crane has two forks, and (2) when two cranes move on the same track. The present invention relates to a storage/output shelf determination operation system that is suitable for cases where (3) cranes are traveling, and (3) there are large fluctuations in the amount of shipments. [Conventional technology] In the storage/output shelf determination operation system, the items requested to be received (
Determines the receiving shelf for items (mounted on pallets) and the issuing shelf for items requested for shipping. In (1), (1) In the conventional technique (1) in which one crane has two forks, the following two points are taken into consideration for the purpose of reducing the travel time of the crane. The first point is to locate the receiving shelf or the receiving shelf close to the receiving/outputting entrance, and the second point is to create a combined cycle in which the receiving work is performed on the way back from the receiving work, and the receiving shelf is located near the receiving shelf. It is to decide. For details, see the document “Automated Warehouse – Utilization of Computers” by Shoji Ura and Kazo Kubo, bi
t, vol, 8. Na 10. p, 33-35.19
76/10) ”. (2) Before explaining the conventional technology (2) where two cranes run on the same track, let us explain the case where two cranes run on the same track. The automated warehouse system in which the objects run will be explained with reference to the plan view in Fig. 8.In order to clarify the point of the present invention, the target automated warehouse has one track as shown in the figure. are placed in a box with a uniform shape called a pallet 801, and transported and stored.In the warehousing related to the present invention, first, the warehousing request setting device 802a or 802
The product name and quantity of the items stored in the pallet 801 to be stocked are input from b, and the corresponding pallet 801 is placed on the stocking table 803a or 803b. The crane 804a or 804b loads the pallet 801 on the storage platform 803a or 803b, and loads the pallet 801 onto the rack 805.
It travels to an empty shelf 806 inside and stores it there. Cranes 804a and 804b run on the same track, and corresponding storage request setting devices 802a and 802b and storage tables 803a and 803b are installed, respectively. The determination of empty shelves 806 to be stocked is carried out by the crane group control computer 807, and an instruction is given to the crane 804a or 804b. Next, a conventional storage shelf determination operation system according to the present invention will be explained. Conventional technology (2) is the automatic storage of documents - Utilization of computers (Shoji Ura, Kazo Kubo, bit, vol. 8. & 1)
An empty shelf 1° wide was determined to be the stocking stand. (3) Before explaining the conventional technique (3) when there is a large fluctuation in the amount of human shipments, the target automated warehouse system will be explained with reference to FIG. 15. In order to clarify the points of the present invention, the target automated warehouse system is assumed to have one stacker crane as shown in the figure. Objects are transported and stored in boxes with a uniform shape called pallets 1501. For warehousing, first, the name of the item stored in the pallet 1501 to be warehousing is input from the warehousing request setting device 1502, and the corresponding pallet 1501 is placed on the warehousing table 1503.
It's being wrapped around. The stacker crane 1504 loads the pallets 1501 on the storage platform 1503 and
The vehicle travels to an empty shelf 1506 in 5 and stores there. The determination of empty shelves 1506 to be stocked is carried out by the crane control computer 1507. On the other hand, regarding warehousing, when the warehousing item and the number of pallets to be warehousing are given to the warehousing/retrieval request setting device 1502 as a warehousing request, the stacker crane 1504 transfers the requested number of pallets from the actual shelf 1508 where the warehousing items are stored. 1501 is loaded and delivered to the delivery stand 1509. Determination of the shelf 1508 to be delivered is also performed by the crane control computer. Next, a conventional storage/output shelf determination operation system according to the present invention will be described. Conventional technology (3) is based on the document "Automated warehouse - Utilization of computers" by Shoji Ura and Kazo Kubo, bit, vol, 8.N.
stacker crane 15, as noted in
A storage stand 150 is installed so that 04 can enter and exit the warehouse in the minimum time.
The empty shelf 1506 closest to number 3 was determined to be the receiving shelf, and the empty shelf close to the shipping table 1509 was determined to be the shipping shelf. [Problems to be Solved by the Invention] (1) The above prior art (1) is based on a crane having one fork. Recently, two-fork cranes have begun to appear, but since the operating system for determining the loading/unloading rack remains the same as before, the following problems occur. The problem will be explained using the layout of an automated warehouse (top view) using a crane with two forks as shown in FIG. Consider a case in which the crane 201 of Nα1 loads two pallets at the loading/unloading port 202 and stores the empty shelves a203 and b204. In this case, since the storage shelves are adjacent to each other and the fork A 205 and the fork B 206 are movable independently, two pallets can be stored on the shelf at the same time. However, if there are no storage shelves on shelf a203 and shelf a2'07L, crane 20.1 of Nn 1 will move to shelf a203.
One pallet is stocked at , and then moved to shelf c207, where the remaining one pallet is stocked. Therefore, compared to the case of warehousing two pallets at the same time, the fork time increases by one time for warehousing two pallets. In addition, wasted travel time between transoms increases. In order to increase the simultaneous receipt of two pallets, it is necessary to determine the receiving shelf so that adjacent shelves are empty, but the conventional system does not take this point into consideration, and the crane makes unnecessary movements. are doing. On the other hand, when it comes to unloading, it is efficient if two pallets can be unloaded from the shelves at the same time. Generally, in a shipping request, multiple pallets of the same item are often requested, so in order to increase the simultaneous shipping of two pallets, it is necessary to determine the receiving shelf so that the same item is stocked on adjacent shelves. . Furthermore, in determining the shipping shelf, it is necessary to determine a shelf that can ship two pallets at the same time as the shipping shelf. Conventional methods do not take these points into account. The first object of the present invention is to provide a storage/output shelf determination operation system that maximizes simultaneous warehousing of 1.2 pallets and simultaneous warehousing of 2 pallets. (2) Two on the same orbit using the above conventional technology (2)
In automated warehouses where multiple cranes run, interference between the cranes often occurs, significantly reducing crane throughput. This will be explained below. The interference is caused by the positions of both cranes and the positions of the destination shelves, such as in FIG. 8, the crane 204a is directed to the shelf 808a, and the crane 804b is directed to the shelf 808b. Occurs when they intersect. In this case, the other crane will retreat to a position out of the way and wait until one crane completes its work. Such interference occurs more often during unloading operations than during warehousing operations. This is because, although there are many empty shelves that are candidates for receiving shelves, the number of shelves that are candidates for issuing shelves is the shelf that stores the item requested for delivery, and the number of such shelves is extremely small compared to the number of empty shelves. In order to reduce the occurrence of interference during delivery, a shelf that does not cause interference may be selected from among the candidates for delivery shelves. However, if the inventory is such that all of these candidate shelves are in positions where they interfere, the occurrence of interference is unavoidable. Therefore, in order to reduce the occurrence of interference at the time of stock removal, the key is to create a stock condition that prevents such interference as much as possible, that is, a method for determining and operating storage shelves. Therefore, since it is not known in advance which crane will receive a retrieval request, in order to reduce interference, items with a small number of retrieval shelf candidates (i.e., number of inventory pallets) should be placed on the rack so that they are not pushed to one side of the rack. It is necessary to give priority to the central part of the warehouse. On the other hand, for items with a large number of inventory pallets, there is a high degree of freedom in selecting the outgoing shelf, so the receiving shelf of the rack is used. As the stocking shelves were given priority to the empty shelves near the receiving tables, the above-mentioned inventory condition could not be achieved, and there was a problem that interference often occurred between cranes and the crane throughput decreased to a large IJ. Ta. A second object of the present invention is to provide a storage shelf determination operation system that reduces interference between cranes and improves crane throughput. (3) The problems with the above prior art (3) are as follows. In an automated warehouse system, it is important to know how to handle the peak load of receiving and shipping. To this end, when determining the storage/output shelf, it is necessary to determine the shelf near the loading/unloading table as the storage/output shelf during times of high load. On the other hand, during times when the load is low, in order to cope with high load situations, priority is given to empty shelves and actual machines that are far from the loading/unloading table, while leaving empty shelves and actual machines near the loading/unloading table. It is necessary to determine whether it is the receiving shelf or the issuing shelf. (1■) However, in conventional technology (3), during times when the load is low, an empty shelf close to the warehousing table is determined as the warehousing shelf.
If the inventory is placed on an empty shelf that is actually close to the warehousing table during this time period, a situation will occur in which the only remaining empty shelves during the high-load period are those that are far from the warehousing table. Therefore, even if the empty shelf closest to the receiving table is used as the receiving shelf, the shelf is actually far from the receiving table, and it takes time for the stacker crane to run. Capacity decreases. With regard to unloading, the same problem as with unloading occurs if the unloading is done from an empty shelf near the unloading stand during times when the load is low. A third object of the present invention is to provide a storage/output shelf determination operation system that increases the throughput of a crane during times when the loading/unloading load is high. [Means for Solving the Problems] The first purpose is to use a means for searching for an empty shelf that can accommodate two pallets at the same time (empty shelf search means 1), as an empty shelf search means for determining a storage shelf, By providing a means for searching for an empty shelf storing the requested item on the shelf (empty shelf search means 2) and a means for simply searching for empty shelves one by one (empty shelf search means 3), As an outgoing shelf search means for determining an outgoing shelf, there is a means to search for an outgoing shelf that can issue two pallets at the same time (outgoing shelf search means 1), a means to search for an outgoing shelf where the adjacent shelf is empty (outgoing shelf) Shelf search method 2)
This can be achieved by providing a means (output shelf search means 3) for simply searching the releasable shelves one by one. The second purpose is to use the current status data of the number of pallets in stock and constant data for determining whether the number of pallets in stock is large or small.
As a means for determining the inventory status of the item requested for warehousing, a means for selecting and calling a warehousing shelf determination algorithm according to the size of inventory, and a shelf determining means based on the warehousing shelf determination algorithm,
Shelving determining means A based on a stocking shelf determination algorithm that prioritizes empty shelves near the stocking stand, which is applied when the inventory amount is large, and stocking shelf determination that prioritizes empty shelves in the center of the rack, which is applied when the inventory amount is small. This is achieved by providing a shelf determining means B based on an algorithm. The third purpose described above is to provide a means for determining the loading/unloading load status from input/output time record data and constant data for determining loading/unloading load status, and to use a shelf near the loading/unloading table as the loading/unloading shelf during times of high load. This can be achieved by providing a means for determining the shelf farthest from the loading/unloading table as the busy shelf during times when the load is low. [Function] (1) Regarding the means to achieve the first objective: Request for warehousing because the crane has two forks. A shipping request can be considered to be in units of two pallets.゛ First, let's talk about determining storage shelves. The empty shelf search means 1 searches for an empty shelf that can accommodate two pallets at the same time. If there is a corresponding shelf, it is set as the receiving shelf. If not, each pallet requested for warehousing will be stored in separate shelves, but in order to increase the possibility of simultaneous delivery of two pallets, the empty shelf search means 2 will search for vacancies in the storage of the requested item on the adjacent shelf. Search shelves. If there is a corresponding shelf, it is set as the receiving shelf. If the storage shelf cannot be determined through the above processing, the empty shelf search means 3 searches for an empty shelf near the warehouse entrance and sets it as the storage shelf, as in the conventional system. Next, the determination of shipping shelves will be described. In the case of a request for shipping two pallets of the same item, the shipping shelf search means 1 searches for a shipping shelf from which two pallets can be shipped simultaneously. If the relevant shelf is open, it is set as the shipping shelf. If not, the pallet will be taken out from a separate shelf, but in order to increase the possibility that two pallets will be stocked at the same time, the outgoing shelf search means 2 searches for a shelf that can be taken out and whose adjacent shelf is empty. If there is a corresponding shelf,
This will be used as the shipping shelf. If the outgoing shelf cannot be determined through the above processing, the outgoing shelf searching means 3
Search for a shelf that can be delivered near the loading/unloading entrance, and use it as the shipping shelf. If the two pallets requested for shipping are different items, the above-mentioned shipping shelf search means 2 is applied. Through the above processing, simultaneous warehousing of two pallets and simultaneous unloading of two pallets can be realized to the maximum, and the throughput of the crane is improved. (2) Regarding the means to achieve the second objective: Items with a small number of inventory pallets, which are likely to cause interference between cranes, are stored in the center of the rack where interference is less likely to occur. This reduces the frequency of interference and improves crane handling capacity. (3) Regarding the means for achieving the third objective.2 In the present invention, since the warehouse is loaded and unloaded from the shelf far from the loading/unloading entrance during times when the loading/unloading load is low, during times when the loading/unloading load is high,
The shelves near the loading/unloading port are targeted as loading/unloading shelves, and among those shelves, the shelf closest to the loading/unloading port is determined as the loading/unloading shelf. Therefore, the crane traveling time per pallet during peak loads is reduced and peak loads can be handled quickly. [Embodiment] Hereinafter, a first embodiment of the present invention will be described with a focus on the functional configuration diagram of the present invention shown in FIG. The processing contents for realizing the functions will be explained using drawings as needed. First, we will discuss the determination of storage shelves. The warehousing requested item and the number of pallets are set in the warehousing/receiving request setting unit 101. Note that since the warehousing shelf determination target is a crane with two forks, two pallets may be considered as a unit. The receiving shelf determining unit 102 refers to the shelf file 103 that stores the inventory status (inventory item name or empty space) in each column, and depending on the status, an empty shelf searching unit 104 that can receive two pallets at the same time. Empty shelf search part 1 for storing requested items on the adjacent shelf
05. Simple empty shelf search (search for empty shelves near the loading/unloading entrance) part 1
06 as appropriate to determine the storage shelf. The shelf file 103 and the storage shelf determination process will be explained below. Figure 3 shows the shelf group viewed from the side along the traveling direction of the crane, and each column has numbers assigned in the horizontal direction (row numbers) and numbers assigned in the vertical direction (stage numbers). ). As shown in FIG. 4, the shelf file 103 stores the inventory status of each column with the 11th row number and 2nd row number as the axis. FIG. 5 shows the processing flow for determining the storage shelf. First, referring to the shelf file 103, an empty shelf X* that can accommodate two pallets at the same time is searched (block 501). The crane can store two pallets at the same time on the same shelf if the adjacent shelf is empty, so it is possible to store two pallets simultaneously on the same shelf (row Q, stage m) and the shelf (row flj 1, stage m). m = 1.2 to the top row. The search is performed in the order of fi=1.3.5 to the last row -1, and the first both-empty shelf found is set in x. This search process is carried out by an empty shelf search unit that is capable of warehousing two pallets at the same time. If there is an empty shelf xll (block 502). Instruct the crane to use X* as the receiving shelf (block 50
3). If there is no empty shelf xl) (block 502), the shelf file 103 is referred to and the empty shelf x111 storing the requested item is searched for in the adjacent shelf (block 50
4). This search reveals that one of the shelves (Qth row, mth stage) and (μth 1001st row, mth row) stores the same item as the requested item, and the other shelf is empty. Search for a certain pair of shelves, and let the empty shelf be z*umbrella. This search process is performed by empty shelf search unit 1 that stores items requested to be stocked on the adjacent shelf
05 will be implemented. In the process of block 504, if an empty shelf x** corresponding to the warehousing request for two pallets is found (block 505). The crane is instructed to set x*I as the storage shelf (block 503). If there is a receiving requested pallet for which the receiving shelf has not yet been determined (block 505), the empty shelf near the receiving entrance is set as the receiving shelf for that pallet x *+
&11 (block 506). Then, instruct the crane to use z*umbrella as the storage shelf (
block 503). When the crane control unit 107 receives the warehousing shelf information from the warehousing shelf determining unit 102, it controls the warehousing work by the crane. When the crane completes warehousing, it sends a completion report to the shelf file update unit 108. The shelf file update unit 108 updates the shelf file 103. Next, the determination of the shipping shelf will be described. The item and number of pallets requested to be delivered are set in the delivery request setting unit 101 . As in the case of a warehousing request, consider two pallets as targets for determining the warehousing shelf. Based on the shelf file 103 and the content of the shipping request, the shipping shelf determining unit 109 selects a shipping shelf search unit 1 that is capable of shipping two pallets at the same time.
10. A retrieval shelf search unit 111 in which the adjacent shelf is empty.
Simple shipping shelf search (search for shipping shelves near the shipping exit) part 11
2 as appropriate to determine the shipping shelf. The process will be explained below with reference to FIG. First, the case where two pallets of the same item are requested to be shipped (block 601) will be described. First, based on the item requested for shipping and the shelf file 103, a shipping shelf y umbrella that can ship two pallets at the same time is searched for (block 602). This search determines whether or not the requested item is in stock on both the shelf at (0th line, mth stage) and the (fl+1th line, mth stage) shelf.
Search in the order of m = 1.2 to top row, Ql, 3.5 to last row - 1, and when you find a shelf that meets the conditions, select it as y
Let ψ be. This search process is carried out by the shipping shelf search unit 1], which is capable of shipping two pallets at the same time. If there is a delivery shelf yII (block 603), the crane is instructed to set y* as the delivery shelf (block 604). If y* does not exist (block 603), the adjacent shelf is empty and a search is made for shelf y*I that stocks the item requested for delivery (block 605). This is the retrieval shelf search unit 111 where the adjacent shelf is empty.
Implemented by If yes for each of the two pallets of the outbound request (block 606) t'y
” to the crane as the delivery shelf (block 604
). For the issue request pallet for which the issue shelf has not been determined through the above process, a search is made for the issue shelf (shelf storing the applicable issue request item) yesψ near the outlet, as in the conventional method (block 607). . This search is performed by the simple issue shelf search unit 112. Then, the crane is instructed to use the medium umbrella y as the unloading shelf (block 604). If the two pallets requested to be delivered are different items (block 6'01'), processing starts from block 605. When the crane control unit 107 receives the unloading shelf from the unloading shelf determining unit 109, it controls the unloading work of the crane. When the crane completes unloading, it sends a completion report to the shelf file update unit 108. The shelf file update unit 108 updates the shelf file 1
Update 03. According to this embodiment, since simultaneous storage of two pallets and simultaneous removal of two pallets can be realized to the maximum, the crane throughput can be improved. As a modification example 1, in the above-mentioned embodiment, the shelf search was performed in two rows at a time, without overlapping, but in the first and second rows,
It is also possible to consider a search method that allows duplication, such as the second and third rows for row 9. Compared to the above-mentioned embodiment, this modification example has the following features:
Although it takes more time to search, it increases the degree to which two pallets can be received at the same time and two pallets can be discharged at the same time. As a second modification, a multi-story parking lot using racks and a crane with two forks is used.The incoming shelf determining unit of the present invention is used, and the outgoing shelf determination operation unit uniquely determines the outgoing shelf. Not applicable as it is However, by providing a function to change the car storage racks between the shelves so that the left and right adjacent shelves become empty, the degree to which two pallets can be stored at the same time is increased. This modification realizes a multi-story parking system with less waiting time. Although the present invention targets a crane with two forks, the operation method of the present invention can be easily extended to cranes with three or more forks, so this will be referred to as Modified Example 3. Next, a second embodiment of the present invention will be described below, centering on FIG. 7 and supplementing FIGS. 9 to 13. FIG. 7 shows functional blocks of the embodiment. The inventory status determination unit 701 uses the inventory request item name set from the inventory request setting device 802a or 802b as a key, and stores the inventory pallet number status table 702 (9th item) by item.
(see figure) to check the number of pallets in stock for the relevant item in the rack. Then, the number of pallets in stock is compared with the threshold value for the number of pallets in stock in the constant table 703 for stock status determination (see Figure 10) for determining whether the stock amount is large or small. Determine whether the inventory amount of the requested item is large or small. If it is determined that the inventory amount of the corresponding item requested for warehousing is large, the warehousing shelf determination algorithm selection/calling unit 704 calls the shelf determining unit A705 based on the warehousing shelf determination algorithm that prioritizes empty shelves near the warehousing table. On the other hand, if it is determined that the inventory amount of the corresponding item requested for warehousing is small, a shelf determining unit B706 is called based on a warehousing shelf determination algorithm that prioritizes empty shelves in the center of the rack. The shelf determination unit A705, which is based on the storage shelf determination algorithm that prioritizes empty shelves near the storage stand, can use the conventional method, and first, the row closest to the storage entrance (coordinates of the shelf in the crane traveling direction) is used.
Then, it is checked whether the left and right shelves are empty from the first tier (a tier is the coordinate of the shelf in the crane lifting direction) to the top tier, and the first empty shelf found is set as the storage shelf. If an empty shelf is not found in the row closest to the storage entrance, the same process is performed sequentially for the shelves in the back row. The determination as to whether or not a shelf is empty is made with reference to the empty shelf file 707 shown in FIG. 11 (24). The shelf determination unit B706, which is based on an incoming shelf determination algorithm that prioritizes empty shelves at the center of the racks, will be described below using the auxiliary diagram of FIG. 12, which is a side view of the warehouse. Now, let us consider determining the storage shelf for the crane 804a. Assume that the destination shelf of the other crane 804b has already been specified (for information on the destination shelf, see the crane destination shelf storage table 708 in FIG. 13). The following argument holds true even in the opposite situation. In order to prioritize the empty shelf in the center of the rack as the storage shelf, the 12th
Search for empty shelves in the younger categories indicated by ■ in the diagram. However, interference will occur with the shelf corresponding to the row from the destination shelf of the crane (crane 804b in this example) to which the destination has already been given instructions to the storage platform of that crane. Searching for empty shelves is postponed. The warehousing shelf instruction unit 709 instructs the determined warehousing shelf to the corresponding crane 804a or 804b. The storage shelf information is also sent to the table file update unit 710. The table/file update unit 710 updates the crane destination shelf storage table 708 based on the above-mentioned warehousing shelf information, and the current status table 702 of the number of inventory pallets by item based on the completion report of the warehousing and unloading work from the cranes 804a and 804b.
．． The empty shelf file 707 is updated. According to this embodiment, items with low inventory that are likely to cause interference between cranes can be stored in empty shelves in the center of the rack where interference is less likely to occur, and can be stored without being skewed to one side of the rack. , the frequency of interference occurrences is reduced, resulting in increased crane throughput. In the above embodiment, the inventory status is divided into two statuses, large and small, but by subdividing these statuses, it is possible to further reduce the frequency of occurrence of interference. In addition to stock quantity, we also use
Including the number of days in stock for each item, (inventory amount) x (number of days in stock)
By separating the inventory status, the frequency of occurrence of interference can be further reduced. Furthermore, a third embodiment of the present invention will be described with reference to FIG. 14 and supplementary to the aforementioned FIGS. 11 and 15 to 23. FIG. 14 shows a functional block diagram of this embodiment. When the warehousing item (output item) set by the warehousing/output requesting device 15o2 is input, the warehousing/output shelf determining unit 1401 determines the warehousing shelf and the outgoing shelf based on the table and file information described below. . The tables and files necessary for this determination include a storage/unloading completion time storage table 1402 (Fig. 16) that stores the time when the loading/unloading process is completed, and a rounding constant that determines the level of the loading/unloading load. Constant table 1403 (Figure 17) for determining storage/output status, empty shelf table 1 for determining whether each column is an empty shelf or an actual machine.
404 (Figure 11 above), Shelf file 14o5 (Figure 18) that shows which shelf each item is stored on, Shelf that arranges the shelves in order of the closest entrance and exit, and specifies the search order for empty shelves on the actual machine. This is a search order table 1406 (FIG. 19). In addition, the rows in the above explanatory diagrams of tables and files (FIGS. 16 to 19) refer to the coordinates of the shelves in the running direction of the stacker crane 1504, and the row closest to the loading/unloading table 1503 is The tier refers to the coordinates of the shelf in the vertical direction of the stacker crane 1504, and the lowest tier is the starting point.
These are the two shelves that sandwich 504. Based on the above table and file, the processing of the storage shelf determination section will be explained using FIG. 20. First, with reference to the storage table 1402 (FIG. 16) for storage completion times of loading and unloading, the number of loadings and unloadings carried out from the current time up to a certain period of time (this is set as n) is calculated (block 2001). This calculation result n is compared with the information in the number table 1403 for determining the loading/unloading status, and it is determined whether the loading/unloading load is high or low (block 2002). In the example of FIG. 17, it is determined that the load is low when n is 50, and that the load is high when n>50. When the load is high, the shelf search order table 1406 (Figure 19) and the empty shelf table 1404 (Figure 11 above)
With reference to the [shelf file 1405 (FIG. 18)], the empty shelf 1506 [actual machine 1508 in which the item requested for delivery is stored] closest to the receiving/receiving table is searched and determined as the receiving shelf [the issuing shelf]. (Block 2003). Note that the shelf search order table 1406 includes the loading/unloading table and the shelf 1.
Since the coordinates of the shelves are stored in descending order of travel time of the stacker crane 1504 between the stacker cranes 1505 and 505, the above search can be performed starting from the first shelf in the shelf search order table 1406. The difference between when the load is low and when the load is high is:
The shelf farthest from the loading/unloading entrance is determined to be the receiving shelf or the receiving shelf, and in this case, the shelves are searched in order from the last shelf in the shelf search table 1406 (block 2004). Empty shelf table shelf file update unit 1408 receives the completion report of warehousing (output) from stacker crane 1504, and updates empty shelf table 140 corresponding to the coordinates of the shelves that have been warehousing (output).
4 flag (if pallet 1501 exists, the flag will be 1, otherwise it will be O) to 1

[0] and
In addition, the shelf file 1405 records the items and their coordinates that have been placed in stock [the coordinates of the items that have been sent out are deleted]. The loading/unloading load recording unit 1409 records the loading/unloading load of the stacker crane 150.
4, the time indicated by the timer 1410 is recorded in the storage table 1402 for completion time of warehousing and unloading. According to this embodiment, by reducing the amount of movement of the stacker crane 1504 during periods of high load, it is possible to improve the processing efficiency of warehousing and unloading. In determining the loading/unloading load, in the above-mentioned embodiment, the judgment is based on the number of loading/unloadings in a certain period of time, but the least squares method is used based on time series data of the number of loading/unloadings per unit time. It is also possible to predict the load at the start of the operation of the stacker crane 1504, and compare this result with a constant table for determining loading/unloading load conditions to determine whether the load is high or low. This improves the accuracy of load prediction and allows for appropriate response to load fluctuations. Further, when setting the loading/unloading request, the operator can judge the level of load and set the effect of the judgment through the loading/unloading request setting device 1502. As a result, human judgment regarding load fluctuations can be easily incorporated into this method.
It becomes easier to respond to sudden load fluctuations. It is also conceivable to store a pattern of load fluctuations in advance and determine the level of load based on that pattern. According to this method, there is no need for the process of collecting the loading/unloading loads that imposes a burden on the computer as in the above-described embodiment, and it can be applied to objects where, for example, load fluctuations can be patterned for each day of the week. In the third embodiment described above, the load state is divided into two and the two operation determination methods are switched, but there may be cases where it is better to divide the load state into two and switch the operation determination method finely. For example, it is also possible to classify the load states into nine types using a constant table for determining the loading/unloading status as shown in FIG. 21, and to correspond to each different operation method. In this case, the number of last blocks (2003 and 2004) in the processing flow of the storage/output shelf determination section shown in FIG. 20 increases to the number of load state classifications (9 in the case of FIG. 21). This enables more detailed operations and improves the efficiency of warehouse operations. Furthermore, instead of making the load state discrete, it is also possible to grasp it continuously using a fuzzy function. Second
Figure 2 shows an example of defining membership functions for load conditions. Further, FIG. 23 shows an example of definition of membership functions regarding distance from the entrance/exit. In this case, the operation of the warehousing and retrieval shelf determining unit 1401 is to calculate the number of warehousing and retrieval times n (block 2
001), then find the membership value μz(n) that defines "large load" corresponding to that n from the definition in Figure 22, and calculate the distance from the entrance/exit that has a membership function value equal to that value. seek. In this example, since the distances to the membership values O and 1 are not uniquely determined, the representative value k is determined appropriately. Next, the shelf closest to the determined distance (an empty shelf in the case of a stocking, a shelf containing the relevant item in the case of a stocking) is set as the stocking/discharging shelf. By doing so, efficient operation can be easily realized without creating different shelf determination methods corresponding to many load conditions. Furthermore, in the case where there are two or more warehouse entry/exit ports, it can be handled by defining load state classifications by combining the number of warehouse entry/exit requests for each warehouse entry/exit port. [Effects of the Invention] According to the present invention, the following effects can be obtained. (1) Since two pallets can be put in and taken out simultaneously, crane travel time and unloading time (fork time) can be reduced, and throughput per unit time can be improved. (2) Focusing on the number of pallets in stock for the items requested for warehousing, cranes It is possible to reduce the frequency of occurrence of interference between the cranes, thereby improving the crane throughput. (3) When the loading/unloading load is high, the shelf near the loading/unloading entrance is determined as the loading/unloading shelf, and when the loading/unloading load is low, the shelf far from the loading/unloading gate is determined as the loading/unloading shelf. Therefore, the crane travel time per pallet during peak loads can be reduced.
Capable of handling peak loads quickly.

[Brief explanation of the drawing]

FIG. 1 is a functional block diagram of the first embodiment of the present invention;
The figure is a top view of an automated warehouse using a crane with two forks, Figure 3 is a side view of a group of shelves viewed along the crane travel path, Figure 4 is a shelf file, and Figure 5 is a storage shelf determination process. Flowchart, FIG. 6 is a flowchart of the shipping shelf determination process, FIG. 7 is a functional block diagram of the second embodiment of the present invention, and FIG. A plan view of a moving automated warehouse, Figure 9 is a table showing the current status of the number of inventory pallets by item, Figure 10 is a constant table for determining inventory status, Figure 11 is an empty shelf file, and Figure 12 is an explanation of the algorithm for determining the storage shelf. Auxiliary figure for, No. 13
The figure shows a crane destination shelf storage table, Fig. 14 is a functional block diagram of the third embodiment of the present invention, Fig. 15 is a plan view of an automated warehouse to which the present invention is applied, and Fig. 16 shows the state after loading and unloading is completed. Storage table, Fig. 17 is a constant table for determining stocking/receiving status, Fig. 18 is a shelf file, Fig. 19 is a shelf search order table, Fig. 20 is a stocking/receiving shelf determination algorithm, and Figure 21 is a different stocking/receiving status. The constant table for determination, FIG. 22 shows the membership function of the load state, and FIG. 23 shows the membership function of the near and far distances.

Claims (1)

[Scope of Claims] 1. In an automated warehouse using a stacker crane with two forks, a first empty shelf search means for searching for an empty shelf that can receive two pallets at the same time, and a first empty shelf search means for searching for an empty shelf that can receive two pallets at the same time; A second empty shelf search means searches for stored empty shelves, a third empty shelf search means searches for empty shelves near the warehouse entrance, and the empty shelf search means are selectively used based on the inventory status of the shelves. a means for determining a receiving shelf; a first receiving shelf search means for searching for a receiving shelf from which two pallets can be simultaneously delivered; and a second receiving shelf searching means for searching for a shelf that can be delivered from which an adjacent shelf is empty. The present invention is characterized by providing a third outgoing shelf search means for searching for an outgoing shelf near the outgoing exit, and a means for determining the outgoing shelf by selectively using the outgoing shelf searching means based on the inventory status of the shelf and the contents of the outgoing request. An operational system for determining stocking and issuing shelves. 2. In an automated warehouse where two cranes run on the same track, the system is characterized by having means for determining the inventory status of items requested to be stocked, and means for selecting and calling a stocking shelf determination algorithm depending on the size of the stock. An operational system for determining stocking and issuing shelves. 3. The means for selecting and calling the storage shelf determination algorithm is the storage shelf determination algorithm that prioritizes empty shelves near the storage rack of the rack, which is applied when the inventory amount is large, and the storage shelf determination algorithm that is applied when the inventory amount is small, which prioritizes empty shelves near the storage rack. Item 2. The storage/output shelf determination operation system according to item 2, comprising means for selecting and calling one of the storage shelf determination algorithms that prioritize empty shelves. 4. In an automated warehouse system, a means for collecting data regarding the actual loading and unloading load, a means for determining the loading and unloading load from the collected data, and a method for determining the shelves for loading and unloading based on the size of the determined load. 1. A storage/output shelf determination operation system comprising: means for changing. 5. The warehousing/outputting shelf determination operation system according to item 4, wherein the collecting means collects warehousing/outputting load data and warehousing/outputting load state determination data. 6. The changing means according to item 4, comprising a means for loading and unloading from a shelf near the loading/unloading port when the load is large, and performing loading/unloading from the shelf far from the loading/unloading port when the load is small. Input/output decision operation system.