JP2016055963A - Arrival and shipment support system, unmanned vehicle and arrival and shipment support method - Google Patents

Abstract

PROBLEM TO BE SOLVED: To efficiently perform a work, even when plural articles are shipped as sets.SOLUTION: When articles 13 forming article groups 13 formed of plural articles 12 are transported by an unmanned vehicle 2, the unmanned vehicle moves to a preset standby area A1, and waits until the articles 12 forming the article groups 13 in the standby area A1 are arranged, and when the articles 12 forming the article groups 13 are arranged, a picking worker H1 moves to a picking area A10 where picking of the articles 12 is performed.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a technology of a receipt / shipment support system, an automated guided vehicle, and a receipt / shipment support method for supporting receipt / shipment of articles in a warehouse.

  In distribution centers such as mail-order stores, articles that are articles are stored in shelves. When the article is shipped, the automated guided vehicle transports the shelf in which the article to be shipped is stored to the picking area where the worker picks the entire shelf. When the shelf transported to the automatic guided vehicle arrives at the picking area, the picking worker picks the article to be shipped from the arrived shelf and places it on the conveyor. The articles placed on the conveyor are conveyed to the packing area by the conveyor. The articles that have arrived at the packing area are packed and shipped by a packing worker.

As described above, in such a distribution center, an automatic guided vehicle is used to convey a shelf in which articles are stored to a picking area.
As such an automatic guided vehicle, for example, techniques disclosed in Patent Document 1 and Patent Document 2 are disclosed.

  In Patent Document 1, for each of the cells installed in the work space, the mobile drive unit (automated guided vehicle) calculates the travel cost, and the inventory for traveling the mobile drive unit along the route with the lowest travel cost is transferred. Systems and methods are disclosed.

  In Patent Document 2, a retroreflector installed so as to be measurable from a gap formed between leg portions of a basket (shelf) is measured by a two-dimensional laser distance meter to identify its own position. An automated guided vehicle is disclosed.

  Further, Patent Document 3 discloses a method and apparatus for nonlinear unit level sorting in an order processing process. In this technology, as a sorting method in the distribution center, an identifier (transport container identifier) is given to a transport container stored when a unit (article) is transported, and when the transport container arrives at the order processing station, the transport is performed. The container identifier is read by the reader, and based on the read transfer container identifier, an indicator or the like of the place where the unit is stored is activated to indicate to the operator (worker) where the unit is stored.

JP 2012-197184 A JP 2013-2322078 A Special table 2010-531796 gazette

Depending on the article, a plurality of articles may be shipped in pairs. For example, when the same orderer orders a plurality of different items, the ordered items need to be packed as a set. Hereinafter, a collection of articles shipped as a set in this way is referred to as an article group.
Therefore, when goods are shipped as an article group in this way, it is desirable that articles constituting the article group are sent as a set to the packing area. However, since it is unlikely that the articles constituting the article group are stored in the same shelf, a temporary storage shelf is installed in the picking area, and the picking worker temporarily places the articles shipped as the article group. Temporarily placed on a shelf and when the articles on the temporary shelf are ready, the articles are placed in a container or the like and placed on a conveyor.

As described above, in the technique using the temporary storage shelf, the picking worker must always check whether the article to be picked constitutes an article group. For this reason, work efficiency falls and it becomes the origin of an error.
Even in the techniques described in Patent Documents 1 to 3, no consideration is given to the case where shipped articles constitute an article group.

  The present invention has been made in view of such a background, and it is an object of the present invention to be able to work efficiently even when a plurality of articles are shipped as a set.

In order to solve the above-described problem, the present invention moves to a standby area that is set in advance when the automatic guided vehicle is transporting an article that constitutes an article group including a plurality of articles, and It waits until the articles which comprise an article group are gathered, and when the articles which comprise an article group are gathered, it moves to the picking area | region where picking of an article is performed by a picking worker, It is characterized by the above-mentioned.
Other solutions will be described in the embodiments.

  According to the present invention, even when a plurality of articles are shipped as a set, work can be performed efficiently.

It is a figure which shows the structure of the receipt / shipment support system in 1st Embodiment. It is a figure which shows the external appearance of the automatic guided vehicle which concerns on 1st Embodiment. It is a figure which shows the example of the driving | running | working area | region which concerns on 1st Embodiment. 1 is a system block diagram of a receipt / shipment support system according to a first embodiment. It is a functional block diagram of a control device concerning a 1st embodiment. It is a functional block diagram of the automatic guided vehicle concerning a 1st embodiment. It is a flowchart which shows the outline | summary of the process sequence which concerns on 1st Embodiment. It is a figure which shows the example of the collection plan information which concerns on 1st Embodiment. It is a flowchart (the 1) which shows the detail of the process sequence of the unmanned receipt / shipment support system which concerns on 1st Embodiment. It is a flowchart (the 2) which shows the detail of the process sequence of the unmanned receipt / shipment support system which concerns on 1st Embodiment. It is a figure which shows the structure of the receipt / shipment support system in 2nd Embodiment. It is a figure which shows the structure of the receipt / shipment support system in 3rd Embodiment.

  Next, modes for carrying out the present invention (referred to as “embodiments”) will be described in detail with reference to the drawings as appropriate.

[First Embodiment]
(System configuration)
FIG. 1 is a diagram showing a configuration of a receipt / shipment support system in the first embodiment.
The receipt / shipment support system Z is divided into a travel area R and a work area A.
As shown in FIG. 1, a shelf 11 storing articles 12 is placed in a predetermined area in the traveling area R. The automatic guided vehicle 2 travels in the travel region R and transports the shelf 11.
The traveling area R includes a standby area A1 where the automatic guided vehicle 2 carrying the shelf 11 stands by, and a picking stop area A2 where the automatic guided vehicle 2 stops when picking. The standby area A1 and picking stop area A2 will be described later. The traveling region R is trackless.

The work area A includes a picking work area A3 in which the picking worker H1 performs picking work, and a packing area A4 in which the packing worker H2 packs the article 12.
The travel area R and the work area A are separated by a safety fence or a step that the automatic guided vehicle 2 cannot get over. When the travel area R and the work area A are separated by a step, the height of the step is preferably about 10 mm or more.
The picking stop area A2 and the picking work area A3 may be collectively referred to as a picking area A10.

First, the automatic guided vehicle 2 is instructed to convey the shelf 11 via the control device 1 (FIG. 4). The instructed automatic guided vehicle 2 travels to the designated shelf 11. The automatic guided vehicle 2 arriving at the designated shelf 11 sinks under the shelf 11 as indicated by reference numeral 401 in FIG. Thereafter, the automated guided vehicle 2 lifts the shelf 11 by raising the loading device 202 (FIG. 2). Thereafter, the automatic guided vehicle 2 travels with the shelf 11 lifted, and transports the shelf 11. In FIG. 1, the automatic guided vehicle 2 which is conveying the shelf 11 is shown with the code | symbol 2a.
The floor surface of the travel region R is divided by a grid (not shown), and a marker (not shown) such as a bar code is installed on each grid.

Some articles 12 constitute an article group 13. For example, in FIG. 1, articles 12 a (12) to 12 c (12) constitute an article group 13.
The control device 1 manages information regarding whether the item 12 to be picked is a single shipment (single item) or constitutes an item group 13.
If the article 12 to be picked is shipped as a single item, the control device 1 instructs the automatic guided vehicle 2 to transport the shelf 11 to the picking stop area A2.
If the article 12 to be picked constitutes the article group 13, the automatic guided vehicle 2 transporting the shelf 11 travels toward the standby area A1, stops when it reaches the standby area A1, and waits. . The standby area A1 is an area set in advance by the administrator.

The control device 1 manages which shelf 11 storing which articles 12 are being conveyed by which automatic guided vehicle 2. Therefore, the control device 1 determines whether or not all the shelves 11 that store the articles 12 constituting the article group 13 are aligned in the standby area A1.
When all the shelves 11 in which the articles 12 constituting the article group 13 are accommodated are aligned in the standby area A1, the control device 1 is transporting the shelves 11 in which the articles 12 constituting the article group 13 are accommodated. One of the automatic guided vehicles 2 is instructed to move to the picking stop area A2. The automatic guided vehicle 2 that has received the instruction moves to the picking stop area A2.

  The control device 1 confirming that the automatic guided vehicle 2 has moved to the picking stop area A2 notifies the work terminal 3 that the automatic guided vehicle 2 has arrived at the picking stop area A2. Then, the work terminal 3 installed in the vicinity of the picking worker H1 obtains a series of information (picking information) necessary for the picking work such as the type of the article 12, the number to be picked, the storage location of the article 12 in the shelf 11, etc. This is displayed on the display device 31 (FIG. 4).

  When picking the article 12 to be picked from the shelf 11, the picking worker H <b> 1 passes the picked article 12, case, oricon (foldable container) so that the picked article 12 is not dispersed on the conveyor 4, It is stored in a tray and placed on the conveyor 4. At this time, a picking completion notification is transmitted from the work terminal 3 to the control device 1. For example, when the picking worker H1 holds a barcode attached to the article 12 against the barcode reader 32 (FIG. 4) connected to the work terminal 3, the work terminal 3 reads the barcode. A notification of picking completion is sent to the control device 1 together with the barcode information. For example, when the picking worker H1 presses a picked button installed in the picking stop area A2, the control device 1 may be notified that the picking is completed.

  The control device 1 that has received the notification of the completion of picking instructs the automatic guided vehicle 2 stopped in the picking stop area A2 to return the shelf 11 to the original position. The automatic guided vehicle 2 that has received this instruction travels to the position where the shelf 11 was originally located. The automatic guided vehicle 2 that has reached the original position of the shelf 11 lowers the shelf 11 by lowering the loading device 202.

On the other hand, after the automatic guided vehicle 2 has run away from the picking stop area A2, the control device 1 determines whether or not the automatic guided vehicle 2 carrying the shelf 11 constituting the corresponding article group 13 remains in the standby area A1. Determine whether.
When the automated guided vehicle 2 that transports the shelf 11 related to the corresponding article group 13 remains in the standby area A1, among the automated guided vehicles 2 that transport the shelf 11 that stores the corresponding article group 13 Is instructed to move to the picking stop area A2. Thereafter, the same shelf conveyance process is performed until the automatic guided vehicle 2 disappears from the standby area A1 (until all the articles 12 constituting the article group 13 are picked).

In the picking work area A3, the picking worker H1 stores the article 12 picked as described above in the same box, case, oricon, tray, or the like. Thereafter, the article 12 is sent to the packing area A4 by the conveyor 4 and the chute 51. The conveyor 4 sorts the articles 12 into the first conveyor 41 on which the articles 12 placed by the picking worker H1 are conveyed, the second conveyor 42 that conveys the articles 12 conveyed from the first conveyor 41, and the packing area A4. It has the 3rd conveyor 43 to which the chute | shoot 51 is connected. The third conveyor 43 is preferably a branching conveyor, a tilt type sorting conveyor, a pusher type sorting conveyor, a diverter type sorting conveyor, or the like.
The article 12 picked by the picking worker H1 is sent to the third conveyor 43 via the first conveyor 41 and the second conveyor 42. Thereafter, the article 12 is discharged from the third conveyor 43 to the plurality of chutes 51 and reaches the packing area A4 where the packing worker H2 performs the packing operation.

(Appearance of automated guided vehicle)
FIG. 2 is a diagram illustrating an appearance of the automatic guided vehicle according to the first embodiment.
As shown in FIG. 2, the automatic guided vehicle 2 includes a main body device 201 and a loading device 202. Drive wheels 250 (FIG. 6) are provided in the lower part of the main body device 201, and the automatic guided vehicle 2 can change the traveling direction while traveling. Further, a camera 230 b (FIG. 6) is provided on the bottom surface of the main body device 201. As described above, the floor surface of the travel region R (FIG. 1) is partitioned in a lattice shape, and a marker (not shown) storing lattice position information is installed at the center of each lattice. The automatic guided vehicle 2 acquires information on its current position by reading a marker installed on the floor surface with the camera 230b on the bottom surface of the main body device 201. In this way, the automatic guided vehicle 2 specifies its own position.
The automatic guided vehicle 2 can basically rotate at + 90 °, ± 180 °, and −90 °, but may rotate at other angles. Incidentally, here, when the automatic guided vehicle 2 is viewed from above, the clockwise direction is “+” and the counterclockwise direction is “−”.

The loading device 202 is a device for loading the shelf 11 (FIG. 1). The main body apparatus 201 can change the direction independently of the stacking apparatus 202 (reference numeral D11). By doing in this way, only the main body apparatus 201 can change the traveling direction while keeping the direction of the stacking apparatus 202 as it is.
A camera 230 a is installed in the center of the loading device 202. The camera 230a reads a marker such as a barcode attached to the bottom center of the shelf 11, for example. By determining whether or not the marker attached to the center of the bottom surface of the shelf 11 has been read by the camera 230a, it is determined whether or not the shelf 11 has arrived directly above the automatic guided vehicle 2.

  The loading device 202 can be raised and lowered. The automatic guided vehicle 2 that reaches the shelf 11 sinks under the shelf 11 as indicated by reference numeral 401 in FIG. The automatic guided vehicle 2 that has entered under the shelf 11 is lifted together with the shelf 11 by raising the loading device 202.

(Driving area)
FIG. 3 is a diagram illustrating an example of a travel area according to the first embodiment.
A shelf 11 is placed in a predetermined area in the traveling area R.
Further, the floor surface of the traveling region R is divided into grids (not shown) as described above, and markers (not shown) are installed on each grid.
The automatic guided vehicle 2 reads a marker installed on the floor surface by a camera 230b (FIG. 6) installed in the center of the bottom surface of the automatic guided vehicle 2, and acquires information on its current position from the read information. .
When the automatic guided vehicle 2 is instructed to move the shelf 11 from the control device 1, the automatic guided vehicle 2 travels to the instructed shelf 11. As described above, the automatic guided vehicle 2 that has reached the designated shelf 11 sinks under the shelf 11 (reference numeral 401). The automatic guided vehicle 2 that has entered under the shelf 11 lifts the shelf 11 by raising the loading device 202 (FIG. 2).

The automatic guided vehicle 2 that has lifted the shelf 11 moves to the standby area A1 (FIG. 1) or the picking stop area A2 (FIG. 1) in that state. That is, when the goods 12 to be shipped do not constitute the goods group 13 (single product), the automatic guided vehicle 2 moves to the picking stop area A2, and the goods 12 to be shipped constitutes the goods group 13. In this case, the automatic guided vehicle 2 moves to the standby area A1.
Also in FIG. 3, the automatic guided vehicle 2 that is transporting the shelf 11 is denoted by reference numeral 2a, as in FIG.

(System block diagram)
FIG. 4 is a system block diagram of the receipt / shipment support system according to the first embodiment.
The receipt / shipment support system Z includes a control device 1, a conveyor controller 8, a conveyor 4, a station controller 7, a plurality of work terminals 3, an automatic guided vehicle controller 6, a plurality of automatic guided vehicles 2, and the like.
The control device 1 controls the conveyor 4, the work terminal 3, and the automatic guided vehicle 2 via the conveyor controller 8, the station controller 7, and the automatic guided vehicle controller 6. Further, a client terminal 5 is connected to the control device 1, and information related to receipt / shipment of the article 12 (FIG. 1) is input to the control device 1 via the client terminal 5.

The conveyor 4 conveys the articles 12 picked in the picking stop area A2 (FIG. 1) to the packing area A4 (FIG. 1). As shown in FIG. 1, the conveyor 4 includes a first conveyor 41, a second conveyor 42, and a third conveyor 43.
Each work terminal 3 is provided in the picking work area A3 (FIG. 1), and includes a display device 31, a barcode reader 32, and the like. When receiving the picking information from the control device 1 via the station controller 7, the work terminal 3 displays the received picking information on the display device 31. Further, the picking worker H1 causes the barcode reader 32 provided in the work terminal 3 to read the barcode attached to the article 12 picked from the shelf 11. Information on the article 12 read by the barcode reader 32 is transmitted to the control device 1 via the station controller 7.

  The automatic guided vehicle 2 receives route information and the like from the control device 1 via the automatic guided vehicle controller 6, and self-travels to the destination based on the received route information. The automatic guided vehicle 2 transmits information indicating whether or not the vehicle has arrived at the destination to the control device 1 via the automatic guided vehicle controller 6.

The automatic guided vehicle controller 6 and the automatic guided vehicle 2 perform wireless communication. Communication between the control device 1 and the conveyor controller 8, between the conveyor controller 8 and the conveyor 4, between the control device 1 and the station controller 7, and between the station controller 7 and the work terminal 3 is wired. Communication or wireless communication may be used.
In addition, at least one of the conveyor controller 8, the station controller 7, and the automatic guided vehicle controller 6 can be omitted. In this case, the control device 1, the conveyor 4, the automatic guided vehicle 2, and the work terminal 3 perform direct communication.

(Function block diagram of control device)
FIG. 5 is a functional block diagram of the control device according to the first embodiment. Reference is made to FIG. 4 as appropriate.
The control device 1 is, for example, a PC (Personal Computer) or the like, and includes a memory 110 such as a RAM (Random Access Memory), a CPU (Central Processing Unit) 120, a storage device 130 such as an HD (Hard Disk), and a transmission / reception device 140. doing.
The transmission / reception device 140 transmits / receives information to / from the automatic guided vehicle 2 via the automatic guided vehicle controller 6. The transmission / reception device 140 transmits / receives information to / from the conveyor 4 via the conveyor controller 8. Further, the transmission / reception device 140 transmits / receives information to / from the work terminal 3 via the station controller 7. In addition, the transmission / reception device 140 receives information input from the client terminal 5.
Then, the program stored in the storage device 130 is expanded in the memory 110 and executed by the CPU 120, whereby the processing unit 111, the transport planning unit 112, the movement control unit 113, and the article management unit that configure the processing unit 111 are performed. 114, the work terminal control unit 115 is embodied.
Further, the storage device 130 stores collection plan information 131 in which information related to shipment of the article 12 (FIG. 1) to be transported is stored. The collection plan information 131 will be described later.

The conveyance planning unit 112 generates collection plan information 131.
The movement control unit 113 generates route information that is information on a route along which the automatic guided vehicle 2 moves, and transmits the route information to the automatic guided vehicle 2 via the automatic guided vehicle controller 6.
The article management unit 114 determines whether or not the articles 12 constituting the article group 13 have been prepared. In addition, the article management unit 114 performs processing such as assigning an article ID (Identification) to the article 12.
The work terminal control unit 115 causes the work terminal 3 to display work information.

(Function block diagram of automated guided vehicle)
FIG. 6 is a functional block diagram of the automatic guided vehicle according to the first embodiment.
The automated guided vehicle 2 includes a memory 210 such as a ROM (Read Only Memory), a CPU 220, a transmission / reception device 260, and the like.

The automatic guided vehicle 2 includes cameras 230a and 230b, a free wheel 240, a drive wheel 250, and a loading device 202.
As shown in FIG. 2, the camera 230 a is installed at the center of the stacking apparatus 102 and reads, for example, a marker attached to the center of the bottom surface of the shelf 11.

As described above, the camera 230b is provided at the center of the bottom surface of the main body device 201 (FIG. 2) of the automatic guided vehicle 2, and reads a marker installed on the floor surface of the traveling region R (FIG. 1).
The universal wheel 240 is a wheel for assisting the traveling of the automatic guided vehicle 2 and the turning of the direction, and is not controlled by the processing unit 211. For example, when the traveling direction of the automatic guided vehicle 2 is set to the front, there are four universal wheels 240, one pair at the front and one pair at the rear, or two at the front and rear. To do.

The drive wheel 250 is a wheel for causing the automatic guided vehicle 2 to move forward, reverse, or turn around. For example, a pair of drive wheels 250 are provided on the left and right of the automatic guided vehicle 2. The direction turning of the automatic guided vehicle 2 is performed by rotating one driving wheel 250 of the left and right driving wheels 250 in the opposite direction with respect to the other driving wheel 250.
Since the loading device 202 has already been described with reference to FIG. 2, description thereof is omitted here.

The transmission / reception device 260 transmits / receives information to / from the control device 1 via the automatic guided vehicle controller 6.
Then, the program stored in the memory 210 is executed by the CPU 220, so that the processing unit 211, the signal control unit 212, the travel control unit 213, and the loading device control unit 214 constituting the processing unit 211 are realized. Yes.

The signal control unit 212 transmits an arrival notification when arriving at the destination to the control device 1 via the automatic guided vehicle controller 6.
When the traveling control unit 213 reads a marker installed on the floor surface of the traveling region R with the camera 230b installed on the bottom surface of the automatic guided vehicle 2, the traveling control unit 213 acquires information on the current position of the marker from the read marker. Then, the traveling control unit 213 creates an instruction to travel to the destination based on the acquired information on the current position and the route information transmitted from the control device 1, and transmits the instruction to the driving wheel 250. In addition, the traveling control unit 213 determines whether the automatic guided vehicle 2 has arrived directly below the shelf 11 by determining whether the camera 230a has read the marker attached to the bottom center of the shelf 11. To do.
The loading device control unit 214 raises and lowers the loading device 202.

(flowchart)
FIG. 7 is a flowchart showing an outline of a processing procedure according to the first embodiment. Details of the processing procedure of this embodiment will be described later with reference to FIGS. Reference is made to FIGS. 1 and 4 as appropriate.
First, the control device 1 generates the collection plan information 131 (S101).

(Collection plan information)
FIG. 8 is a diagram illustrating an example of the collection plan information according to the first embodiment.
The collection plan information 131 stores information such as “article ID”, “article group ID”, “shelf ID”, “automated guided vehicle ID”, and “picking”.
The “article ID” is an ID assigned to the article 12 to be transported. The article ID is an ID assigned to the article group 13 as necessary by the article management unit 114 of the control device 1 when information about the article 12 is input via the client terminal 5.

  The “article group ID” is an ID indicating whether the target article 12 constitutes the article group 13 or, if so, which article group 13 belongs to. The article 12 to which the same article ID is assigned is, for example, an article 12 ordered from the same orderer and the article 12 that needs to be packed in the same manner. For example, the articles 12 having the article IDs “C1005”, “C1015”, and “C1016” have the same article group ID “G03”. That is, the articles 12 having the article IDs “C1005”, “C1015”, and “C1016” are the articles 12 ordered by the same orderer, and the articles 12 that need to be shipped in the same packaging.

Similarly, the articles 12 with the article IDs “C1023” and “C2005” are the articles 12 constituting the article group 13 with the article group ID “G01”.
Further, the “article group ID” is not allocated to the article 12 having the article ID “C0024”. This indicates that the orderer has not placed an order other than the item ID “C0024”. The same applies to the article 12 with the article IDs “C3001”, “C2032”, and “C3051”.

  The “article group ID” is generated and allocated by the article management unit 114 of the control device 1 based on the order information input from the client terminal 5.

The “shelf ID” is an ID assigned to the shelf 11 in which the target article 12 is stored. The “shelf ID” is linked to the position information of the shelf 11 stored in the shelf management information (not shown).
The ID of the automatic guided vehicle 2 that conveys the article 12 is stored in the “automatic guided vehicle ID”.
“Picking” is a flag indicating whether or not the picking is completed, and is blank when the picking is not completed, and the flag is set when the picking is completed.

For example, the article 12 having the article ID “C1005” is conveyed by the automatic guided vehicle 2 having the automatic guided vehicle ID “AGV03”.
Incidentally, in the records of the article IDs “C2032” and “C3051”, the “automatic guided vehicle ID” column is blank, but it is indicated that the shipment of these articles 12 has not yet been made.
Further, since the flag is set in the “Picking” column of the product ID “C1023”, it is understood that the picking of the product 12 with the product ID “C1023” has been completed.
The transport planning unit 112 of the control device 1 generates the collection plan information 131 by evaluating congestion avoidance of the automatic guided vehicle 2, minimization of the moving distance of the automatic guided vehicle 2, and the like.

Returning to the description of FIG.
Next, the control device 1 instructs each automatic guided vehicle 2 to move the shelf 11 based on the collection plan information 131 (S102).
The automatic guided vehicle 2 that has received the movement instruction starts to move the shelf 11.
Since the processing for the article 12 (single article 12) that does not constitute the article group 13 is the same as that of the conventional receipt / shipment support system Z, description thereof is omitted here.
The control device 1 instructs the automatic guided vehicle 2 that is transporting the shelves 11 that store the articles 12 constituting the article group 13 to move to the standby area A1.
The automatic guided vehicle 2 that has received the movement instruction starts moving to the standby area A1.
The control device 1 determines for each article group 13 whether or not all of the shelves 11 storing the articles 12 constituting the article group 13 have arrived at the standby area A1 (S111).
As a result of step S111, when it has not arrived (S111-> No), control device 1 returns processing to step S111.
As a result of step S111, when the vehicle arrives (S111 → Yes), the control device 1 instructs the automatic guided vehicle 2 to move to the picking stop area A2 one by one (S112).

The control device 1 determines whether or not the automatic guided vehicle 2 instructed in step S112 has arrived at the picking stop area A2 (S113).
As a result of step S113, when it has not arrived (S113-> No), the control apparatus 1 returns a process to step S113.
As a result of step S113, when it has arrived (S113 → Yes), the work terminal 3 instructs the picking worker H1 to pick via the display device 31 (S114). Specifically, the work terminal 3 displays picking information (such as the type of the article 12, the number to be picked, the storage location of the article 12 in the shelf 11) on the display device 31. The picking information is acquired from article information or the like held in the storage device 130 of the control device 1. The work terminal 3 acquires picking information from the control device 1 via the station controller 7 and displays the acquired picking information on the display device 31. The article information is a format that is associated with the article ID in the collection plan information 131, and stores information such as the type of the article 12, the number of items to be picked, the storage location of the article 12 in the shelf 11, and the like. is there.

  The picking worker H1 picks the article 12 according to the picking information displayed on the display device 31 of the work terminal 3 (S115). When picking is completed, the automatic guided vehicle 2 returns the shelf 11 to the place where it was before the transportation.

The control device 1 determines whether or not the picking of all the articles 12 constituting the article group 13 has been completed (S116).
When the picking of all the articles 12 is not completed as a result of step S116 (S116 → No), the control device 1 returns the process to step S112 and moves to the picking place for the next automatic guided vehicle 2. Instruct.

  When the picking of all the articles 12 is completed as a result of step S116 (S116 → Yes), the control device 1 operates the conveyor 4 to collectively transfer the articles 12 constituting the article group 13 to the packing area A4. (S117).

  The receipt / shipment support system Z performs the same processing as steps S111 to S117 on each article group 13 (S131 to S137, S151 to S157).

9 and 10 are flowcharts showing details of the processing procedure of the unmanned receipt / shipment support system according to the first embodiment. 9 and 10, attention is paid to one automatic guided vehicle 2, but the same processing is performed in parallel for each automatic guided vehicle 2. Reference is made to FIGS.
First, the transport planning unit 112 of the control device 1 generates the collection plan information 131 based on the input collection information (S201 in FIG. 9). The process of step S201 is a process corresponding to step S101 of FIG.
In step S <b> 201, the transport planning unit 112 of the control device 1 searches for an unmanned guided vehicle 2, and stores the unmanned guided vehicle ID of the unmanned guided vehicle 2 corresponding to the search result in the collection plan information 131. To do.

  Next, the movement control unit 113 of the control device 1 generates route information to the shelf 11 on which the article 12 to be transported is placed based on the position of the corresponding automatic guided vehicle 2 (S202). At this time, the movement control unit 113 searches for the shelf ID in which the article 12 is stored based on the article ID in the collection plan information 131. And the movement control part 113 acquires the positional information on the shelf 11 from the shelf management information which is not illustrated based on shelf ID applicable as a result of search. Further, the control device 1 acquires the current position of the automatic guided vehicle 2 from the automatic guided vehicle 2 to be processed. And the movement control part 113 produces | generates the route information from the present position of the automatic guided vehicle 2 used as a process target to the shelf 11 in which the article 12 to be acquired is stored.

Next, the movement control part 113 of the control apparatus 1 transmits route information to the automatic guided vehicle 2 to be moved via the automatic guided vehicle controller 6 (S203). The processing in steps S202 and S203 is processing corresponding to step S102 in FIG.
The travel control unit 213 of the automatic guided vehicle 2 that has received the route information is information on the current position of the automatic guided vehicle 2 itself based on the received route information and a marker or the like installed on the floor surface of the travel region R. And move to the shelf 11 to be moved (S301).
Then, the traveling control unit 213 of the automatic guided vehicle 2 compares the current position read from the marker installed on the floor surface of the traveling region R with the route information, so that the destination (the shelf to be transported) 11) It is determined whether or not it has arrived (S302).

If the result of step S302 indicates that the vehicle has not arrived (S302 → No), the traveling control unit 213 returns the process to step S301.
If the result of step S302 is that the vehicle has arrived (S302 → Yes), the signal control unit 212 of the automatic guided vehicle 2 provides information indicating that the automatic guided vehicle 2 has arrived at the shelf 11 via the automatic guided vehicle controller 6 ( A shelf arrival notification) is transmitted to the control device 1 (S303).
Then, when the traveling control unit 213 of the automatic guided vehicle 2 causes the automatic guided vehicle 2 itself to go under the shelf 11 (S304), the loading device control unit 214 raises the loading device 202 (S305). 11 is lifted. Whether or not the automatic guided vehicle 2 has arrived just below the shelf 11 is determined by the camera 230a installed at the center of the loading device 202 reading the marker installed at the bottom center of the shelf 11 as described above. Judged by whether or not.

  On the other hand, the movement control unit 113 of the control device 1 that has received the shelf arrival notification from the automatic guided vehicle 2 refers to the collection plan information 131, and the article 12 to be processed is the article 12 constituting the article group 13. It is determined whether or not (S211).

  As a result of step S211, when the article 12 to be processed constitutes the article group 13 (S211 → Yes), the movement control unit 113 of the control device 1 starts the standby area from the shelf 11 to be processed. The route information up to A1 is generated (S212), and the generated route information is transmitted to the automatic guided vehicle 2 to be processed via the automatic guided vehicle controller 6 (S213).

  As a result of step S211, when the article 12 to be processed does not constitute the article group 13 (S211 → No), that is, when the article 12 is shipped as a single item, the control device 1 The movement control unit 113 generates and transmits route information from the position of the shelf 11 to be processed to the picking stop area A2 (S214), and proceeds to step S231 in FIG. Since the processing of the control device 1 and the automatic guided vehicle 2 when the article 12 is a single item is a known technique, the description thereof is omitted.

When the traveling control unit 213 of the automatic guided vehicle 2 receives the route information from the control device 1 to the standby area A1, the automatic control vehicle 1 relates to the current position of the automatic guided vehicle 2 based on the marker installed on the floor surface. The information is acquired and moved toward the standby area A1 (S311).
Then, the traveling control unit 213 of the automatic guided vehicle 2 arrives at the destination (standby area A1) by comparing the current position read from the marker installed on the floor surface of the traveling area R with the route information. It is determined whether or not (S312).

If the result of step S312 is that the vehicle has not arrived (S312 → No), the traveling control unit 213 returns the process to step S311.
If the result of step S312 is arrival (S312 → Yes), the signal control unit 212 of the automatic guided vehicle 2 receives information (standby area arrival notification) that the vehicle has reached the standby area A1 via the automatic guided vehicle controller 6. ) Is transmitted to the control device 1 (S313 in FIG. 10). The waiting area arrival notification that is transmitted includes the ID of the automatic guided vehicle 2 that has transmitted the waiting area arrival notification (automated guided vehicle ID).

  The traveling control unit 213 of the automatic guided vehicle 2 that has transmitted the standby area arrival notification waits until route information is transmitted from the control device 1 (S314).

Further, the article management unit 114 of the control device 1 compares the ID of the automatic guided vehicle 2 that has arrived at the standby area A1 (automated guided vehicle ID) included in the standby area arrival notification with the collection plan information 131. Thus, it is determined whether or not all the articles 12 constituting the article group 13 are prepared (S221). The process of step S221 is a process corresponding to steps S111, S131, and S151 of FIG.
As a result of step S221, when all the articles 12 are not prepared (S221 → No), the article management unit 114 returns the process to step S221.
When all the articles 12 are prepared as a result of step S221 (S221 → Yes), the movement control unit 113 is one of the automatic guided vehicles 2 on which the shelves 11 related to the arranged article group 13 are loaded in the standby area A1. Is selected (S222). Next, the movement control unit 113 of the control device 1 generates route information from the standby area A1 to the picking stop area A2 based on the position of the selected automatic guided vehicle 2 (S223).

The control apparatus 1 acquires the position of the selected automatic guided vehicle 2 in the following procedure, for example. First, when the movement control unit 113 selects the automatic guided vehicle 2, a request for position information is transmitted to the selected automatic guided vehicle 2.
The signal control unit 212 of the automatic guided vehicle 2 that has received the request for the positional information obtains the positional information of the automatic guided vehicle 2 by reading a marker installed on the floor surface. The positional information acquired together with the transport vehicle ID is transmitted to the control device 1.

  And the movement control part 113 of the control apparatus 1 transmits the route information produced | generated by step S223 to the automatic guided vehicle 2 selected by step S222 via the automatic guided vehicle controller 6 (S224). The process of step S224 is a process corresponding to steps S112, S132, and S152 of FIG.

The travel control unit 213 of the automatic guided vehicle 2 that has received the route information transmitted in step S224 moves to the picking stop area A2 (S321).
Then, the traveling control unit 213 of the automatic guided vehicle 2 arrives at the destination (picking stop area A2) by comparing the current position read from the marker installed on the floor surface of the traveling area R with the route information. It is determined whether or not (S322). The process of step S322 is a process corresponding to steps S113, S133, and S153 of FIG.

As a result of step S322, when it has not arrived (S322 → No), the traveling control unit 213 returns the process to step S321.
If the result of step S322 is that the vehicle has arrived (S322 → Yes), the signal control unit 212 of the automatic guided vehicle 2 receives information (picking region arrival) that the vehicle has reached the picking stop area A2 via the automatic guided vehicle controller 6. Notification) is transmitted to the control device 1 (S323). The picking area arrival notification to be transmitted includes the ID of the automatic guided vehicle 2 (automated guided vehicle ID) that has transmitted the picking area arrival notification.

  The work terminal control unit 115 of the control device 1 that has received the picking area arrival notification transmits the picking information to the work terminal 3 via the station controller 7 (S231). The picking information is obtained by the work terminal control unit 115 from the article information using the article ID of the article 12 to be processed as a key, the type of the article 12, the number to be picked, the storage location of the article 12 in the shelf 11, and the like. Information.

The work terminal 3 that has acquired the picking information displays the picking information on the display device 31 (S401). The process in step S401 is a process corresponding to steps S114, S134, and S154 in FIG.
Subsequently, the picking worker H1 picks the article 12 from the shelf 11 conveyed by the automatic guided vehicle 2 (S403). The process of step S403 is a process corresponding to steps S115, S135, and S155 of FIG.
When picking the article 12, the picking worker H <b> 1 causes the barcode reader 32 connected to the work terminal 3 to read the barcode information attached to the picked article 12. The read barcode information is transmitted to the control device 1 via the station controller 7 as a picking completion notification (S404).

  The article management unit 114 of the control device 1 that has received the picking completion notification sets a flag (picking completion flag) in the “picking” column in the corresponding record of the collection plan information 131 (S241).

  Thereafter, the movement control unit 113 of the control device 1 generates route information for returning the shelf 11 being transported by the automatic guided vehicle 2 to be processed to the original position based on the collection plan information 131. (S242). And the produced | generated route information is transmitted to the automatic guided vehicle 2 via the automatic guided vehicle controller 6 (S243).

  The travel control unit 213 of the automatic guided vehicle 2 that has received the route information acquires information on the current position of the automatic guided vehicle 2 based on the marker installed on the floor, and based on the acquired information on the current position. Then, when it moves to the position of the shelf 11 that it is carrying and arrives at the position of the shelf 11, a shelf return process is performed in which the stacking device 202 is lowered and the shelf 11 is lowered (S 331).

On the other hand, after step S243, the article management unit 114 of the control device 1 determines whether or not picking has been completed for all the articles 12 in the article group 13 (S251). The process of step S251 is a process corresponding to steps S116, S136, and S156 of FIG.
As a result of step S251, when picking has not been completed for all the articles 12 in the article group 13 (S251 → No), the processing unit 111 of the control device 1 returns the process to step S222 in FIG.
As a result of step S251, when the picking has been completed for all the articles 12 in the article group 13 (S251 → Yes), the process for the article group 13 to be processed is terminated.

  According to the receipt / shipment support system Z according to the first embodiment, when the picking worker H1 picks the article 12 from the shelf 11 that has arrived, whether the article 12 to be picked constitutes the article group 13 or not. If the article group 13 is configured, the arrived article 12 can be picked without considering which article group 13 is configured. This not only improves picking efficiency, but also prevents errors during picking.

  Furthermore, since the arrived article 12 can be picked without considering which article group 13 is configured, the picking worker H1 does not have to be proficient. Therefore, the picking worker H1 can pick a part with a low level of proficiency, a part-time job, or the like. In addition, since training for the picking worker H1 is not required, the company can reduce costs.

  Further, as shown in FIG. 1, the standby area A1 is set relatively close to the picking stop area A2. By doing in this way, the picking space | interval in each article | item 12 can be shortened, and the improvement of work efficiency can be aimed at. Note that the standby area A1 may not be set relatively close to the picking stop area A2.

  Furthermore, in 1st Embodiment, although the automatic guided vehicle 2 waits in the stop state in standby area | region A1, the power consumption of the automatic guided vehicle 2 can be suppressed by doing in this way.

  Note that there is a gap of at least 21 automated guided vehicles (one shelf 11) between the picking stop area A2 and the standby area A1. By doing in this way, the automatic guided vehicle 2 which finished picking can pass through picking stop area | region A2, after back | baging back once.

  In the first embodiment, it is assumed that the automated guided vehicle 2 that has finished picking passes through the picking stop area A2 in order, but the present invention is not limited to this. For example, after the picking of the shelves 11 transported by all the automatic guided vehicles 2 stopped in the picking stop area A2 is completed, the automatic guided vehicles 2 stopped in the picking stop area A2 are picked up all at once. You may make it escape from A2. That is, according to the example of FIG. 1, the four automatic guided vehicles 2 that are stopped in the picking stop area A2 may pass through the picking stop area A2 all at once.

  By doing in this way, it is not necessary to back when the automatic guided vehicle 2 passes through the picking area A2, so that a gap between the picking stop area A2 and the standby area A1 can be eliminated. As a result, the number of automatic guided vehicles 2 (the number of shelves 11) that can stand by in the standby area A1 can be increased.

[Second Embodiment]
FIG. 11 is a diagram showing a configuration of a receipt / shipment support system in the second embodiment.
In the receipt / shipment support system Z of the first embodiment shown in FIG. 1, the automatic guided vehicle 2 stands by in a stopped state, whereas in the receipt / shipment support system Za of the second embodiment shown in FIG. In the area A1a, the automatic guided vehicle 2 stands by while traveling.
Since other configurations are the same as those in FIG. 1, the same reference numerals as those in FIG.

  As shown in FIG. 11, waiting for the automated guided vehicle 2 to travel causes an effect that congestion of the automated guided vehicle 2 is less likely to occur.

  In FIG. 11, the automatic guided vehicle travels in an annular shape and waits. However, the present invention is not limited to this, and it may travel in an ellipse or a polygonal shape and wait.

[Third Embodiment]
FIG. 12 is a diagram showing a configuration of a receipt / shipment support system in the third embodiment.
The receipt / shipment support system Zb of the third embodiment shown in FIG. 12 has a standby area A1b separate from the standby area A1. The waiting area A1b is an area where the automatic guided vehicle 2 with the group of articles 13 is waiting. In other words, the automatic guided vehicle 2 that is transporting the articles 12 constituting the same article group 13 is waiting in the standby area A1b.
The automatic guided vehicle 2 that has transported the shelf 11 first heads for the standby area A1. When the article group 13 is aligned, all of the automatic guided vehicles 2 that are transporting the parts 12 constituting the article group 13 go to the standby area A1b. Then, the automatic guided vehicle 2 moves from the standby area A1b to the picking stop area A2 one by one.

  Thus, by providing the standby area A1b, the number of automatic guided vehicles 2 that can wait in the standby area A1 can be increased. Further, by setting the standby area A1b in the vicinity of the picking stop area A2, the time for the automatic guided vehicle 2 to enter the picking stop area A2 can be shortened, so that the picking interval can be shortened.

  Note that there is a gap of at least 21 automatic guided vehicles (one shelf 11) between the picking stop area A2 and the standby area A1b. By doing in this way, the automatic guided vehicle 2 which finished picking can pass through picking stop area | region A2, after back | baging back once.

  In the third embodiment, it is assumed that the automated guided vehicle 2 that has finished picking passes through the picking stop area A2 in order, but the present invention is not limited to this. For example, after the picking of the shelves 11 transported by all the automatic guided vehicles 2 stopped in the picking stop area A2 is completed, the automatic guided vehicles 2 stopped in the picking stop area A2 are picked up all at once. You may make it escape from A2. That is, according to the example of FIG. 12, the four automatic guided vehicles 2 stopped in the picking stop area A2 may pass through the picking stop area A2 all at once. In this case, when the automatic guided vehicles 2 stopped in the picking area A2 are all removed from the picking area A2, the automatic guided vehicles 2 stopped in the standby area A1b may be directed to the picking area A2 at the same time. . In this case, the automatic guided vehicle 2 may move all at once from the standby area A1 to the standby area A1b.

  By doing in this way, it is not necessary to back when the automatic guided vehicle 2 passes through the picking area A2, so that a gap between the picking stop area A2 and the standby area A1b can be eliminated. As a result, the number of automatic guided vehicles 2 (the number of shelves 11) that can stand by in the standby area A1 and the standby area A1b can be increased.

  In the example of FIG. 12, the number of the automatic guided vehicle 2 waiting in the standby area A1b is four corresponding to the automatic guided vehicle 2 stopped in the picking stop area A2, but in the picking stop area A2 The number may not be the number corresponding to the automatic guided vehicle 2 that is stopped. That is, in the example of FIG. 12, the number of automatic guided vehicles 2 waiting in the standby area A1b may be 1 to 3, or 5 or more.

  In the display device 31, when the articles 12 constituting the same article group 13 are picked, the background is displayed with the same color or the like, and when the articles 12 constituting the next article group 13 is picked, the background is displayed. The colors such as may be changed. Alternatively, the work terminal 3 may play a sound when the article group 13 changes. This can be realized by instructing the work terminal 3 by the work terminal control unit 115 of the control device 1 when “Yes” is selected in step S251 of FIG. By doing so, the picking operator H1 can easily recognize that the article group 13 has changed.

Furthermore, in this embodiment, although the automatic guided vehicle 2 lifts the shelf 11, the automatic guided vehicle 2 conveys the shelf 11, but it is not restricted to this. For example, casters are provided on the legs of the shelf 11, and the automated guided vehicle 2 may carry the shelf 11 by pulling the shelf 11.
In addition, although a bar code is installed on the floor surface of the traveling region R as a marker (not shown), the present invention is not limited to this, and a QR (Quick Response) code (registered trademark) or an RFID (Radio Frequency Identification) tag is used. May be used as a marker. When an RFID tag is used as a marker, an RFID tag reader is mounted on the automatic guided vehicle 2 instead of the camera 203b installed on the bottom surface of the main body device 201. By doing in this way, the control apparatus 1 can manage the position of the automatic guided vehicle 2 correctly.

  In this embodiment, a bar code (not shown) is attached to the bottom surface of the shelf 11, and the automatic guided vehicle 2 reads the bar code by the camera 203 a installed at the center of the loading device 202, so that It is determined whether or not the automatic guided vehicle 2 has arrived at this time, but is not limited thereto. For example, a QR code (registered trademark) may be used instead of the barcode. Alternatively, an RFID tag may be attached to the bottom surface of the shelf 11 instead of the barcode. In this case, an RFID tag reader is mounted instead of the camera 203a installed at the center of the stacking device 202. By doing in this way, since the control apparatus 1 can detect correctly that the automatic guided vehicle 2 came directly under the shelf 11, and can acquire the information of the shelf 11, the automatic guided vehicle 2 is The control device 1 can determine whether or not the correct shelf 11 is being conveyed.

  Further, the first embodiment and the second embodiment may be combined. For example, when the number of the automatic guided vehicles 2 transporting the shelves 11 is small (in the case of a predetermined number or less), as shown in the first embodiment, the automatic guided vehicles 2 stop and stand by to transport the shelves 11. When there are a large number of automated guided vehicles 2 (when there are more than a predetermined number), the automated guided vehicle 2 may wait while traveling as shown in the second embodiment.

Alternatively, the receipt / shipment support systems Z, Za, and Zb according to the present embodiment may be used during busy periods, and a method using a temporary storage shelf as in the past may be performed during off-season periods.
Furthermore, the technique described in Patent Document 2 may be used for the automatic guided vehicle 2.

  Further, in the present embodiment, the turning of the automatic guided vehicle 2 is such that one of the left and right drive wheels 250 in the automatic guided vehicle 2 rotates in the opposite direction with respect to the other drive wheel 250. However, this is not a limitation. For example, instead of the universal wheel 240, a direction turning wheel that can be controlled by the travel control unit 213 may be provided, and the direction of the automatic guided vehicle 2 may be turned by changing the direction of the direction turning wheel. .

  In this embodiment, after the picking of all the articles 12 constituting the article group 13 is completed, the articles 12 constituting the article group 13 are collectively transported by operating the conveyor 4. Not limited to. For example, the picked article 12 may be sequentially transferred. In this case, the article management unit 114 of the control device 1 manages which article 12 is located at which position on the conveyor 12 from the transfer speed of the conveyor 4, and distributes the chute 51 for each article group 13 by the third conveyor 43. You may do it.

  At least one of the units 112 to 115 of the control device 1 may be provided in the automatic guided vehicle 2 or the work terminal 3. In this case, the process regarding the function with which the automatic guided vehicle 2 and the work terminal 3 are mounted is performed.

Moreover, in this embodiment, although the automatic guided vehicle 2 is conveying the shelf 11, it is not restricted to this. For example, the automatic guided vehicle 2 may transport a box in which the article 12 is stored.
In the present embodiment, the picking worker H1 performs picking. However, the present invention is not limited to this, and picking by a machine or the like may be performed.

  Moreover, in this embodiment, when the automatic guided vehicle 2 goes to the shelf 11, when the automatic guided vehicle 2 goes from the shelf 11 to the standby area A1, when the automatic guided vehicle 2 goes from the standby area A1 to the picking stop area A2, In each case, the control device 1 generates and transmits route information, but the present invention is not limited to this. For example, when the automated guided vehicle 2 heads for the shelf 11, the route information from the current position to the shelf 11 to be transported and the route information from the shelf 11 to be transported to the standby area A1 are once transmitted to the automated guided vehicle 2. May be sent to. The same applies to other route information.

  Moreover, in this embodiment, although the automatic guided vehicle 2 is moving according to route information, it is not restricted to this. For example, you may make it instruct | indicate the direction which the control apparatus 1 advances to the automatic guided vehicle 2 for every lattice.

  The present invention is not limited to the above-described embodiment, and includes various modifications. For example, the above-described embodiment has been described in detail for easy understanding of the present invention, and is not necessarily limited to having all the configurations described. In addition, a part of the configuration of a certain embodiment can be replaced with the configuration of another embodiment, and the configuration of another embodiment can be added to the configuration of a certain embodiment. In addition, it is possible to add, delete, and replace other configurations for a part of the configuration of each embodiment.

Each of the above-described configurations, functions, and the like may be realized by hardware by designing a part or all of them, for example, with an integrated circuit. Further, as shown in FIGS. 5 and 6, the above-described configurations, functions, and the like may be realized by software by interpreting and executing programs that realize the respective functions by the processors such as the CPUs 120 and 220. . In addition to storing information such as programs, tables, and files for realizing each function in the HD, a memory, a recording device such as an SSD (Solid State Drive), an IC (Integrated Circuit) card, an SD (Secure It can be stored in a recording medium such as a Digital) card or DVD (Digital Versatile Disc).
In each embodiment, control lines and information lines are those that are considered necessary for explanation, and not all control lines and information lines are necessarily shown on the product. In practice, it can be considered that almost all configurations are connected to each other.

DESCRIPTION OF SYMBOLS 1 Control apparatus 2 Automatic guided vehicle 3 Work terminal 4 Conveyor 5 Client terminal 11 Shelf 12, 12a, 12b, 12c Goods 13 Goods group 31 Display device 32 Bar code reader 41 First conveyor 42 Second conveyor 43 Third conveyor 51 Chute 111 Processing unit 112 of control device 112 Transport planning unit 113 Movement control unit 114 Article management unit 115 Work terminal control unit 130 Storage device 131 Collection plan information 201 Main unit 202 Loading device 211 Processing unit 212 of automatic guided vehicle 212 Signal control unit 213 Travel control unit 214 Loading device control unit 230a, 230b Camera 240 Swivel wheel 250 Drive wheel A Work area A1, A1a, A1b Standby area A2 Picking stop area A3 Picking work area A4 Packing area A10 Picking area R Traveling area Z, Za, Zb In / out Support systems

Claims (6)

Identify the position of the self, and based on the identified position of the self, has an automatic guided vehicle that transports the article,
The automatic guided vehicle is
When the automatic guided vehicle is transporting an article constituting an article group composed of a plurality of the articles, it moves to a preset standby area until the articles constituting the article group are arranged in the standby area. Wait,
When the articles constituting the group of articles are prepared, the goods movement to the picking area where the articles are picked is performed. The receipt / shipment support system according to claim 1, wherein the automatic guided vehicle stands by in a stopped state in the waiting area. The receipt / shipment support system according to claim 1, wherein the automatic guided vehicle stands by while traveling in the standby area. The receipt / shipment support system according to claim 1, wherein the standby area is in the vicinity of the picking area. An automatic guided vehicle that identifies its own position and transports an article based on the identified own position,
When the automatic guided vehicle is transporting an article constituting an article group composed of a plurality of the articles, it moves to a preset standby area until the articles constituting the article group are arranged in the standby area. An automatic guided vehicle comprising a traveling control unit that waits and moves to a picking area where the articles are picked when the articles constituting the group of articles are gathered. An automatic guided vehicle that identifies its own position and transports articles based on the identified own position,
When the automatic guided vehicle is transporting an article that constitutes an article group composed of a plurality of the articles, the automatic guided vehicle moves to a preset standby area,
Wait until the articles constituting the group of articles are ready in the standby area,
The receipt / shipment support method, wherein when the articles constituting the group of articles are prepared, the article is moved to a picking area where the articles are picked.

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