JP2004001944A - Entry and exit control method and apparatus, and automatic warehouse having the entry and exit control apparatus - Google Patents

Abstract

An automatic warehouse provided with a stacker crane capable of simultaneously transferring a plurality of packages is hardly affected by disturbances in a distribution center, and realizes a highly efficient warehouse operation.
In an entry / exit control method used for an automatic warehouse having stacker cranes (13a, 13b) capable of simultaneously transferring a plurality of packages (W), the same type of configuration is prioritized, and a package (W) requested to be shipped is stored in a stacker. The method includes a step of making the number of sets equal to or less than the number that can be transferred by the cranes 13a and 13b at one time, and a step of determining a pickup position, which is a pickup position, for each set based on a storage state of the storage shelf 2 that stores the package W. Things.
[Selection diagram] Fig. 1

Description

[0001]
TECHNICAL FIELD OF THE INVENTION
The present invention relates to a method and an apparatus for controlling entry and exit in an automatic warehouse equipped with a stacker crane that can simultaneously transfer a plurality of loads, which is used in a distribution center or the like.
[0002]
[Prior art]
In recent years, with the diversification of goods and the frequent distribution of stores, distribution systems have been required to have more efficient storage and sorting, and store and sort luggage (packed products, etc.) in case (pallet) units. Automatic warehouses are used for this.
[0003]
Generally, an automatic warehouse has a multi-stage storage shelf arranged in a plurality of rows, a stacker crane provided between each row of the storage shelves, a receiving aisle conveyor for transferring goods between the stacker crane, and And a delivery aisle conveyor. In the case of storing luggage (hereinafter, luggage in pallet units is also simply referred to as luggage) in an automatic warehouse, the luggage conveyed by the incoming aisle conveyor is transferred to a stacker crane, and the stacker crane stores the luggage in a predetermined storage shelf. Do the work of storing in the department. Conversely, when taking out the luggage stored in the automatic warehouse, the luggage transferred from the corresponding storage unit is transported by the stacker crane and transferred to the unloading aisle conveyor (hereinafter, the storage where the luggage is stored). Section is called a storage shelf, and a storage section from which packages are taken out is called a storage shelf).
[0004]
Here, in the logistics industry, the need for reducing the cost of constructing a logistics center is increasing year by year. In particular, it is desired to reduce the number of stacker cranes having high equipment costs. In order to maintain a predetermined effect even when the number of stacker cranes decreases, it is necessary to improve the storage and retrieval efficiency of the stacker cranes.
[0005]
For this reason, a stacker crane provided with a device capable of simultaneously transferring and transporting a plurality of packages (hereinafter, referred to as a stacker crane capable of simultaneous transfer) is often used. In general, one cycle of the stacker crane is such that after luggage to be received from the receiving aisle conveyor is transferred, the luggage is stored (entered) in an empty storage shelf, and the luggage to be taken out (exited) is transferred from the output shelf. While traveling around a plurality of storage units, the luggage to be finally delivered is transferred to a delivery aisle conveyor and carried out of an automatic warehouse.
[0006]
The stacker crane capable of simultaneously transferring a plurality of packages as described above has been developed for the purpose of greatly shortening the transfer time occupying a large weight in the cycle time of the stacker crane. With the development of such a stacker crane, there have been various proposals regarding an operation method and the like for realizing a simultaneous transfer operation.
[0007]
For example, in an automatic warehouse provided with a stacker crane capable of simultaneously transferring a plurality of packages disclosed in Japanese Patent Application Laid-Open No. 2002-68425 (hereinafter, referred to as a first related art), the same type of packages are stored in a plurality of adjacent storage units. A shelf management technique has been disclosed which shows a method of storing only the shelves. By such shelf management, the number of packages stored in the adjacent storage units increases, and it is possible to increase the probability that the packages to be taken out can be simultaneously transferred.
[0008]
Japanese Patent Laid-Open Publication No. 1-197207 (hereinafter referred to as a second prior art) discloses that in an automatic warehouse equipped with a stacker crane capable of simultaneously transferring two packages, two packages that meet a retrieval request are retrieved simultaneously. A retrieval shelf determination technique for searching for a retrieval shelf that can be executed is disclosed.
[0009]
[Problems to be solved by the invention]
However, in the first prior art, although the aim is to perform simultaneous shelves of the same kind of goods by carrying out shelf management in consideration of delivery, a concrete method of determining a delivery shelf is described. Is not mentioned. Further, in the second prior art, although a method of determining a delivery is described, the number of packages requested to be shipped is limited to two. Therefore, when a request for shipping three or more packages is made, 1 is set. It does not specify how to select the two packages to leave in the cycle.
[0010]
In general, a plurality of shipping requests are often made to the distribution center at once, and therefore, it is necessary to perform a process of determining a combination of luggage that the stacker crane leaves at one time in the shipping requests.
[0011]
By the way, a stacker crane capable of transferring a plurality of packages at the same time repeatedly moves between a plurality of loading and unloading shelves and transfers the packages in one cycle of operation. For this reason, it is more efficient to determine the positions of the storage and retrieval shelves in one cycle at a time than to determine the positions of the storage and retrieval shelves separately. The cycle time of the stacker crane can be reduced.
[0012]
For this reason, a method has been considered in which a schedule is set in advance based on a plurality of shipment requests and information on packages scheduled to enter the warehouse, and a long-term entrance / exit plan is created. However, in distribution centers, it is difficult to accurately estimate the arrival time of incoming luggage, and depending on the situation inside the center, incoming and outgoing luggage cannot be transported as planned, or one of the loading and unloading operations must be suspended. There are many disturbances, such as the need to be in a state where it must be made, and it is highly probable that the created long-term entrance / exit plan is not efficient in actual operation. It is ideal if the position of the storage shelf can be determined in consideration of the position of the storage shelf, while being hardly affected by disturbance in the distribution center.
[0013]
Therefore, an object of the present invention is to realize an operation with high storage efficiency in an automatic warehouse provided with a stacker crane capable of simultaneously transferring a plurality of loads, which is not easily affected by disturbance in a distribution center.
[0014]
[Means for Solving the Problems]
In order to solve the above-mentioned problem, an entry / exit control method according to the present invention, in an entry / exit control method used for an automatic warehouse equipped with a stacker crane capable of simultaneously transferring a plurality of loads, preferentially employs the same type of configuration. And determining the unloading position, which is a take-out position, for each group based on the process of grouping the packages requested to be shipped to a number equal to or less than the number that can be transferred at a time by the stacker crane, and the storage status of the storage shelf that stores the packages. And a process.
In the present invention, the packages requested to be shipped are grouped in a number equal to or less than the number that can be transferred at a time by the stacker crane. At that time, the same type of luggage is given priority to form a group. Then, for example, giving priority to the position where the stacker crane can take out the luggage at a time, the exit position is determined for each group.
[0015]
Further, in the case of having a plurality of stacker cranes, the storage and retrieval control method according to the present invention determines stacker cranes to be taken out for each set based on the storage status of storage shelves for storing luggage, and then sets the stacker cranes. This is to determine the delivery position for each.
In the present invention, after determining which of the plurality of stacker cranes is to be picked up by each stacker crane, the exit position is determined.
[0016]
Further, in the storage and retrieval control method according to the present invention, when there is a package whose storage position, which is the storage position of the package, is undetermined, the storage position of the package is also determined, and then the traveling order of the storage position and the storage position is determined. Is determined.
In the present invention, in order for the stacker crane to carry out the retrieval while taking in, the traveling order of the entry position and the exit position is determined in consideration of the entry position of the load.
[0017]
In addition, the entry and exit control device according to the present invention is an entry and exit control device used for an automatic warehouse equipped with a stacker crane capable of simultaneously transferring a plurality of packages, wherein the same type of configuration is prioritized, and Request dividing means for setting the number of sets to be smaller than or equal to the number that can be transferred at a time by the stacker crane, and the input / output shelves for determining the pick-up position for each set based on the storage status of the storage shelves for storing the packages. Determining means.
In the present invention, the shipment request dividing means sets the number of packages requested to be shipped to a number equal to or less than the number that can be transferred by the stacker crane at a time. At that time, the same type of luggage is given priority to form a group. Then, the entry / exit shelf determining means determines the exit position for each set, giving priority to, for example, a position where the stacker crane can take out the luggage at a time.
[0018]
Further, in the case where a plurality of stacker cranes are provided, the storage and retrieval control device according to the present invention determines a stacker crane to be taken out for each group based on the storage status of storage shelves for storing luggage, and sets a shipment request lane assignment. The loading / unloading shelf determination means determines the delivery position of the load for each stacker crane after the shipment request lane allocating means determines the stacker cranes for each set.
In the present invention, the shipment request lane allocating means determines which stacker crane is to be picked up among a plurality of stacker cranes for each group, and then determines the exit position for each stacker crane.
[0019]
Further, in the storage and retrieval control device according to the present invention, when there is a package whose storage position, which is the storage position of the package, is undetermined, the storage and shelves determination means also determines the storage position of the package and sets the storage position. And the order of patrol of the retrieval positions.
In the present invention, in order for the stacker crane to carry out the taking-out while taking out the goods, the incoming / outgoing shelves determining means determines the traversing order of the receiving position and the taking-out position in consideration of the incoming position of the load.
[0020]
Further, an automatic warehouse according to the present invention has the above-mentioned entry / exit control device.
According to the present invention, it is possible to perform efficient entry / exit control in an automatic warehouse.
[0021]
BEST MODE FOR CARRYING OUT THE INVENTION
Embodiment 1 FIG.
FIG. 1 is a block diagram showing a configuration of an automatic warehouse system centered on an entry / exit control device according to an embodiment of the present invention. In FIG. 1, reference numeral 100 denotes an automatic warehouse entry / exit control device, which is composed of a shipment request dividing unit 101, a next incoming luggage information storage unit 102, a shipment request lane allocating unit 103, and an entry / exit shelf determination unit 104. As will be described later, the shipment request dividing means 101 performs processing for configuring a set of packages to be taken out based on shipment request information data obtained by digitizing a shipment request as information. In the next incoming luggage information storage means 102, the type of the next luggage to be stored (entered) for each lane described later is stored as incoming luggage information data. This baggage information data is recognized based on, for example, a barcode written on the received baggage. The shipment request lane allocating means 103 determines the inventory of each type of package stored in each lane based on the data indicating the status of each storage unit stored in the shelf management database 106, and Is assigned to the lanes for each group.
[0022]
The entry / exit shelf determination means 104 is performed for each lane. The storage and retrieval shelf determination means 104 operates periodically and checks with the crane control unit 105 whether the stacker crane is working. If it is determined that the work is not being performed, it is determined whether data is stored in the shipment request lane allocating unit 103 or the next incoming luggage information storage unit 102. If it is determined that the data is stored, based on the data stored in the shipment request lane allocating means 103 or the next incoming luggage information storage means 102 and the data of the inventory information stored in the shelf management database 106, the storage shelves in the lanes are stored. And the patrol order (route) of the shelf and the stacker crane.
[0023]
Reference numeral 105 denotes a crane control unit. Based on the determination by the storage and retrieval shelf determination means 104, an instruction signal is transmitted to a stacker crane provided in each lane, which will be described later, to perform control. The shelf management database 106 stores data for managing storage shelves of the automatic warehouse, such as the status of all storage units in the automatic warehouse (presence or absence of luggage, type of luggage, etc.).
[0024]
FIG. 2 is a plan view schematically showing a relationship between a stacker crane to be controlled by the automatic warehouse entrance / exit control device, a storage shelf of the automatic warehouse, and a conveyor. The automatic warehouse according to the present embodiment stores (enters) a package such as a product manufactured in a factory or a product transported from another distribution center, takes out a target package based on a delivery request, and (takes out). Then, it is carried out to another distribution center or retail store, and at this time, a series of operations are automated as much as possible.
[0025]
In FIG. 2, W is a load. Reference numeral 2 denotes a storage shelf. The storage shelves 2 each include a plurality of storage units 1. In this embodiment, it is assumed that two storage shelves 2 are one and two storage shelves 2 are provided as shown in 10a and 10b. A plurality of storage units 1 that can be storage shelves or storage shelves are provided for storing luggage W, and are configured in a plurality of storage shelves 2, for example, in a matrix (in a row direction or a continuous direction). Stacker cranes 13a, 13b are provided between the storage shelves 2 constituting each base, and the transfer mechanisms 11a, 12a, 11b, and 12b (transferred luggage W) can be respectively moved in a continuous direction. . The stacker cranes are in charge of loading and unloading of one package (two storage shelves). Usually, this work area is called a lane, and is numbered 1, 2, ... from the left.
[0026]
The stacker cranes 13a and 13b have transfer mechanisms 11a and 12a, 11b and 12b, respectively. The transfer mechanisms 11a, 12a, 11b, and 12b are portions in which the load W to be conveyed is stored, and can move in a stepwise direction (up and down). The transfer mechanisms 11a and 12a are moved in a continuous direction by the stacker crane 13a. Similarly, the transfer mechanisms 11b and 12b are moved in a continuous direction by the stacker crane 13b.
[0027]
The load carried in from the outside is transported by the receiving conveyors 7a and 7b, and further transported to the storage shelf 2 by the looped loading / unloading conveyor 14. Here, a barcode reader 15 exists during the transportation, and the barcode written on the package W is recognized. Thereby, the luggage W is managed in the automatic warehouse based on the data represented by the barcode. The luggage carried by the loading / unloading conveyor 14 is sorted, and the storage destination is determined based on whether it is placed on the receiving conveyor 3a or the loading conveyor 3b. The places (transfer positions) where the goods W carried by the receiving conveyors 3a and 3b are transferred to the stacker cranes 13a and 13b are the receiving stations 5a and 5b. Here, the storage stations 5a and 5b are also provided with barcode readers 9a and 9b for determining the luggage W to be stored, respectively.
[0028]
On the other hand, at the time of unloading, the luggage W transported to the stacker cranes 13a and 13b is transferred at the unloading stations 6a and 6b which are transfer positions at the time of unloading. The transferred luggage W is conveyed by the outgoing conveyors 4a and 4b to the incoming and outgoing conveyor 14 and the outgoing conveyors 8a and 8b, and is carried out.
[0029]
FIG. 3 is a side view mainly showing a storage shelf and a stacker crane as viewed from a direction perpendicular to the row direction. Here, the storage shelf 2a and the stacker crane 13a are shown. The stacker crane 13a can move in a continuous direction, and the transfer mechanisms 11a and 12a can move in a step direction (up and down). Thereby, the transfer mechanisms 11a and 12a can be moved with respect to all the storage units 1. Here, the transfer devices 11a and 12a can operate separately, and can transfer a maximum of two packages W at the same time.
[0030]
The present embodiment takes advantage of the fact that the same kind of luggage is frequently delivered when the luggage is delivered in response to a shipment request, and uses the same type of storage in two adjacent storage units 1 so that efficient delivery can be performed. The luggage W is stored as much as possible. In addition, a method for determining an outgoing luggage W in the automatic warehouse entry / exit control device is specifically shown. Therefore, first, the shipment request dividing means 101 of the automatic warehouse entry / exit control device 100 preferentially sets a plurality of shipment requests that request shipment of the same type of package. The shipment request lane allocating means 103 selects an appropriate lane for the set. Then, the storage and retrieval shelf determining means 104 determines an optimal storage shelf and a route based on the determined retrieval shelf.
[0031]
FIG. 4 is a diagram showing a flow of processing of the automatic warehouse entry / exit control device centering on the shipment request dividing means 101 and the shipment request lane allocating means 103. The processing of the automatic warehouse entry / exit control device 100 according to the present embodiment will be described with reference to FIG. First, exit request information data is input to the automatic warehouse entry / exit controller 100 (S11). Then, the shipment request dividing means 101 of the automatic warehouse entry / exit control device 100 determines, based on the exit request information data, whether there is at least one more package of the same type for the selected package W of a certain type. (S12). If it is determined that there is another one, those luggage W are set as one set (S13). Here, in this embodiment, since only two loads W can be loaded on each stacker crane, it is determined in S12 whether at least one load is present. However, for example, when three or more packages W can be placed on the stacker crane, it may be determined whether the same type of package W can be loaded.
[0032]
Similarly, a group is formed from the remaining packages W based on S12 and S13. This is repeated until it is determined that there is nothing that can be combined (S14). If there are packages W that are not paired at this stage, they are all different types of packages.
[0033]
If there is any unpackaged luggage W, any two luggage W among these different types of luggage W are grouped (S15). Here, if the number of packages requested to leave the warehouse is an odd number, one unpackaged package W will remain, but in this case, it is assumed that the package is a single package. In this way, the process is repeated until it is determined that a set has been formed for all of the luggage requests W of the retrieval (S16).
[0034]
The shipment request lane allocating means 103 selects a certain group which has not been subjected to the allocation process from the sets created by the shipment request dividing means 101 (S17). Further, a certain lane is selected (S18). Then, for the selected lane, it is determined whether or not there is enough inventory to release the set of packages based on the inventory information data stored in the shelf management database 106 (S19). If it is determined that simultaneous leaving cannot be performed, another lane is selected and the determination is made again. If it is determined that the lanes have been allocated to all the sets (S20), the result of the allocated processing is stored as data, and the processing ends.
[0035]
Here, in S20, if there is no lane that can be assigned to the configured set, the shipping request dividing means 101 reconfigures the set based on the shipping request of the unassigned set, or Or a single shipping request. When the shipment request lane allocating means 103 determines that the baggage of the type corresponding to the shipment request is not stored, the shipment request lane allocating means 103 performs a stockout processing.
[0036]
FIG. 5 is a diagram showing the processing of the storage and retrieval shelf determination means 104. As described above, this process is executed immediately before performing a loading / unloading operation on a lane that is not being worked to perform a loading / unloading operation based on the latest situation as possible. Here, a certain lane will be described as an example. First, with respect to the package W carried into the storage station 5a, data relating to a package whose storage shelf has not been determined is acquired from the next stored package information storage means 102 (S31). Similarly, data relating to the luggage to be taken out in the next operation is acquired from the shipment request lane allocating means 103 (S32). Based on the data of the inventory information stored in the shelf management database 106, a retrieval shelf candidate and a retrieval shelf candidate are searched for the storage luggage and the retrieval request of the lane (S33). Here, regarding the storage shelf candidate determination, for example, it is determined whether or not the storage unit 1 next to the storage unit 1 in which the same type of luggage as the type of luggage to be stored is stored is vacant. , The adjacent storage unit 1 is set as a storage shelf candidate. As a result, the same type of luggage is often stored in two adjacent storage units 1, which leads to an increase in the number of simultaneous exits at the time of exit.
[0037]
If there is a set of luggage W, it is determined whether there is a retrieval shelf candidate that can be retrieved simultaneously at the same time (S34). If it exists, the retrieval shelf is changed to a retrieval shelf candidate (S35). Here, it may be determined not only whether or not the packages W are adjacent to each other, but also whether or not it is possible to simultaneously leave the warehouse without moving the stacker crane. Here, the case where the shelves can be simultaneously unloaded without moving the stacker crane means that two shelves storing a set of luggage W are adjacent or one of the two shelves is the other adjacent shelf. This is the case when they are facing each other. In the case of a stacker crane having a transfer mechanism that can be individually moved up and down, not only the above case, but also a case where two shelves storing a set of luggage W are in an adjacent row (ie, It may be in different stages) or the two shelves are facing one adjacent run (which may also be in different stages). If there is no retrieval shelf candidate that can be retrieved at the same time, the retrieval shelf candidate obtained in S33 remains.
[0038]
Finally, among the traversing order (route) in which the stacker crane traverses the storage shelf candidate and the storage shelf candidate, the one that is executable and has the shortest movement time is selected, and the result is transmitted to the crane control unit 105 as data. The process ends (S36). When the loading / unloading operation is completed, the data stored in the next incoming luggage information storage means 102 and the shipment request lane allocating means 103 are deleted.
[0039]
FIG. 6 is a diagram showing a leaving reservation situation. FIG. 6 is a diagram that can occur when the shipment request lane allocating means 103 allocates an odd number of outgoing requests separately. However, in some cases, it is conceivable that the shipping request dividing means 101 configures the next set of outgoing requests, including the outgoing requests that have been grouped alone because the previous outgoing requests were odd. Outgoings are processed in order from the top. For example, in the first lane, two luggage W of the product type 1021 are unloaded at the next loading and unloading operation.
[0040]
As described above, according to the present embodiment, the shipment request dividing means 101 of the automatic warehouse entry / exit control device 100 combines the shipment requested luggage W while giving priority to the same kind of luggage, and forms a shipment request lane. The allocating means 103 sets a lane (stacker crane) for taking out the luggage W for each group, and the storage / reception shelves determining means 104 stores the data stored in the shipment request lane allocating means 103 or the next incoming luggage information storage means 102. In addition, the storage shelves and storage shelves in the lanes and the routes of the stacker cranes are determined based on the data of the inventory information stored in the shelf management database 106, so that the routes are not affected by various disturbances. Efficient entry and exit work can be realized. In addition, the shortest route can be determined in consideration of the luggage storage position, and efficient luggage storage and retrieval can be performed.
[0041]
【The invention's effect】
As described above, according to the present invention, the same type of luggage is prioritized, the luggage requested to be shipped is grouped, and the exit position is determined based on the group. It is possible to realize a highly efficient loading / unloading operation without being affected.
[0042]
Further, according to the present invention, among the plurality of stacker cranes, the stacker cranes to be taken out are determined for each group, and then the exit position for each stacker crane is determined. Can also be accommodated.
[0043]
Further, according to the present invention, the order of patrol of the entry position and the exit position is determined in consideration of the entry position of the luggage, so that the shortest route is determined, and the efficient entry / exit operation of the luggage is performed. be able to.
[0044]
Further, according to the present invention, the shipment request dividing unit sets the packages requested to be shipped with priority given to the same type of packages, and the storage / unloading shelf determination unit determines the delivery position based on the group. Therefore, a highly efficient loading / unloading operation can be realized without being affected by various disturbances.
[0045]
Further, according to the present invention, after the shipment request lane allocating means determines the stacker cranes to be taken out for each set, the storage and retrieval shelf determination means determines the exit position for each stacker crane. It can also respond to automatic warehouses equipped with a plurality.
[0046]
Further, according to the present invention, the storage and retrieval shelf determination means determines the traversal order of the storage position and the storage position in consideration of the storage position of the luggage, so that the shortest route is determined and efficient. Carrying in and out of luggage can be performed.
[0047]
Further, according to the present invention, since the work in the automatic warehouse is operated by the above-mentioned warehouse control device, it is possible to obtain an automatic warehouse capable of improving work efficiency.
[Brief description of the drawings]
FIG. 1 is a block diagram showing a configuration of an automatic warehouse system centered on an automatic warehouse entrance / exit control device according to an embodiment of the present invention.
FIG. 2 is a plan view schematically showing a relationship between a stacker crane to be controlled by an automatic warehouse entrance / exit control device, storage shelves of an automatic warehouse, and a conveyor.
FIG. 3 is a side view mainly showing a storage shelf and a stacker crane as viewed from a direction perpendicular to a row direction.
FIG. 4 is a diagram showing a flow of processing of an automatic warehouse entry / exit control device centered on a shipment request dividing unit 101 and a shipment request lane allocating unit 103;
FIG. 5 is a diagram illustrating processing of a storage and retrieval shelf determination unit 104;
FIG. 6 is a diagram showing a leaving reservation status.
[Explanation of symbols]
1 storage
2 Storage shelves
3a, 3b Receiving conveyor
4a, 4b Outbound conveyor
5a, 5b warehousing station
6a, 6b Outgoing station
7a, 7b Receiving conveyor
8a, 8b shipping conveyor
9a, 9b barcode reader
10a 10b groups
11a, 12a, 11b and 12b transfer mechanism
13a, 13b stacker crane
14 In / out conveyor
15 Barcode reader
100 Automatic warehouse entry / exit controller
101 Shipping request division means
102 Next storage baggage information storage means
103 Shipping request lane allocation means
104 Entry / exit shelf determination means
105 Crane control unit
106 Shelf management database

Claims (7)

In an entry / exit control method used for an automatic warehouse having a stacker crane capable of simultaneously transferring a plurality of packages,
Prioritizing the configuration of the same type, the step of making the shipment requested luggage a set of less than the number that can be transferred by the stacker crane at a time,
Determining a retrieval position, which is a take-out position, for each of the sets based on a storage state of a storage shelf for storing the luggage. When a plurality of the stacker cranes are provided,
The stacking crane to be taken out is determined for each set based on the storage status of a storage shelf for storing the luggage, and then the exit position for each stacker crane is determined. Entry and exit control method. When there is a baggage whose storage position, which is the storage position of the baggage, has not been determined, the order of traversing the storage position and the storage position is determined after determining the storage position of the package. Item 1 or 2, the storage and retrieval control method. In an entry and exit control device used in an automatic warehouse equipped with a stacker crane capable of simultaneously transferring a plurality of packages,
Shipping request dividing means for giving priority to the configuration of the same type, and setting the number of packages requested to be shipped to be equal to or less than the number that can be transferred at a time by the stacker crane;
An entry / exit control device, comprising: an entry / exit shelf determining means for determining an exit position, which is a take-out position, for each set based on a storage state of a storage shelf for storing the package. When a plurality of the stacker cranes are provided,
A shipping request lane allocating unit that determines the stacker crane to be taken out for each set based on a storage state of a storage shelf that stores the luggage,
5. The loading / unloading shelf determination means, after the shipment request lane allocating means determines the stacker cranes for each of the sets, determines the delivery position of the package for each of the stacker cranes. 6. Access control device. When there is a baggage whose storage position, which is the storage position of the baggage, is undetermined, the storage / shelf shelf determination means also determines the storage position of the baggage, and then determines the circulation order of the storage position and the storage position. The entry / exit control device according to claim 4 or 5, wherein: An automatic warehouse having the entry / exit controller according to any one of claims 4 to 6.

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