JP2022061305A - Simulation system and picking station layout designing method - Google Patents

Abstract

To verify the layout of a picking station in a simulation system.SOLUTION: A simulation system 1 includes a virtual space creating unit 3, a measuring unit 5, and a calculating unit 7. The virtual space creating unit 3 three-dimensionally expresses a picking station 41 in a virtual space VS. The measuring unit 4 measures, when a worker 61 wearing a head-mount display 21 carries out a work of picking an article W on the basis of a virtual order at the picking station 41 in the virtual space VS, a time needed for the picking work. The calculating unit 7 calculates the processing capacity of the picking station 41 on the basis of the time needed for the picking work.SELECTED DRAWING: Figure 5

Description

The present invention relates to a simulation system, particularly a system capable of simulating a picking operation in a picking station.

The picking station is a facility for workers to sort goods. For example, a bucket taken out of a rack by a stacker crane in an automated warehouse is transported to a picking station. At the picking station, the worker takes out the stored items in the bucket and puts them in another container to perform the sorting work.
A method of creating a schematic layout of a physical distribution facility and performing a performance evaluation simulation is known (see, for example, Patent Document 1).

Japanese Unexamined Patent Publication No. 2002-197128

The equipment layout of the picking station is drawn and determined using, for example, CAD.
However, in such a case, it is difficult to determine whether the space of the picking station is appropriate, whether the operation position of the operator is appropriate, and the like.

An object of the present invention is to verify the layout of a picking station in a simulation system.

Hereinafter, a plurality of aspects will be described as means for solving the problem. These aspects can be arbitrarily combined as needed.

The simulation system according to the viewpoint of the present invention includes a virtual space creation unit, a measurement unit, and a calculation unit.
The virtual space creation unit expresses the picking station in the virtual space in three dimensions.
When a worker wearing a head-mounted display performs a work of picking an article based on a virtual order at a picking station in a virtual space, the measuring unit measures the time required for the picking work.
The calculation unit calculates the processing capacity of the picking station based on the time required for the picking operation.

In this simulation system, when a worker picks at a picking station in a virtual space based on a virtual order, the processing power of the picking station is obtained. In this way, workability in a specific layout of the picking station can be verified without the need for a prototype of the actual machine.
As a result, a picking station having a layout that reduces the burden on the operator can be obtained.
The "picking station" is a facility in which a worker sorts articles.
The "virtual space" means, for example, a virtual space in VR (virtual reality), AR (augmented reality), MR (mixed reality), or a combination thereof.

A picking completion switch may be provided in the virtual space.
The time required for the picking work is that the worker picks based on the virtual order after the item arrives at the picking work position, and the worker picks after the picking of all the items included in the order is completed. It may be the time until the completion switch is operated.
In this simulation system, the time actually worked by the worker is obtained as the time taken for the picking work. That is, the time required for the transfer device is not included in the time required for the picking work, and therefore the workability at the picking station can be accurately obtained.

The system may further include a determination unit. The determination unit may determine the picking work ability of the worker based on the time taken for the picking work.
In this simulation system, the picking work capacity of the worker can be determined, so that, for example, the calculation unit can calculate the processing capacity of the picking station in consideration of the picking work capacity of the worker.

The picking station layout design method according to another aspect of the present invention includes the following steps.
◎ A step to express a picking station in a virtual space in three dimensions.
◎ When a worker wearing a head-mounted display picks an article based on a virtual order at a picking station in a virtual space, the step of measuring the time taken for the picking work.
◎ A step to calculate the processing capacity of a picking station based on the time taken for picking work.
◎ Steps to determine the layout of the picking station based on the processing capacity of the picking station.
In this method, when a worker picks at a picking station in a virtual space based on a virtual order, the processing capacity of the picking station is obtained. In this way, workability in a specific layout of the picking station can be verified without the need for a prototype of the actual machine.
As a result, a picking station having a layout that reduces the burden on the operator can be obtained.

In the simulation system according to the present invention, the layout of the picking station is verified.

The schematic diagram which shows the schematic structure of the simulation system which concerns on 1st Embodiment. The block diagram which shows the structure of an information processing apparatus and peripheral equipment. Schematic perspective of virtual space. A diagram showing an image in a virtual space as a viewpoint of a worker object. A flowchart showing the layout capacity calculation control operation.

1. 1. 1st Embodiment (1) Simulation system The simulation system 1 will be described with reference to FIGS. 1 and 2. FIG. 1 is a schematic diagram showing a schematic configuration of a simulation system according to the first embodiment. FIG. 2 is a block diagram showing the configurations of an information processing device and peripheral devices.
The simulation system 1 is a system for designing a picking station by simulating the movement of an operator in a virtual space VS in order to design the picking station. The virtual space VS is a full-scale space created using virtual reality technology (VR). The virtual space VS is created based on the data of 3D CAD.
In the simulation system 1, a worker 61 wearing a head-mounted display 21 performs picking work in the virtual space VS.

(2) Information processing device The simulation system 1 is executed by the information processing device 3. That is, the information processing device 3 provides the worker interface in the virtual reality VR that the worker 61 is experiencing through the head-mounted display 21.

The information processing device 3 includes a processor (for example, a CPU), a storage device (for example, ROM, RAM, HDD, SSD, etc.), and various interfaces (for example, an A / D converter, a D / A converter, a communication interface, etc.). It is a computer system that has. The information processing device 3 performs various control operations by executing a program stored in the storage unit 19 (corresponding to a part or all of the storage area of the storage device).
The information processing device 3 may be composed of a single processor, or may be composed of a plurality of independent processors for each control.
A part or all of the functions of each element of the information processing apparatus 3 may be realized as a program that can be executed by a computer system constituting the control unit. In addition, some of the functions of each element of the information processing apparatus 3 may be configured by a custom IC.

The information processing device 3 has an object management unit 5.
The object management unit 5 manages each of the plurality of objects holding information in association with each other based on the information held by each.
The object management unit 5 includes an object database. The object database registers all the objects placed in the virtual space.
In this embodiment, as shown in FIG. 3, the object is a work station 43 constituting the picking station 41, a first conveyor 45, a second conveyor 47, a first bucket 49, a second bucket 51, an article W, and a display. 53 (FIG. 4), picking completion switch 55 (FIG. 4). Note that FIG. 3 is a schematic perspective view of the virtual space.

The information processing device 3 has a virtual space creation unit 7.
The virtual space creation unit 7 constructs the virtual space VS in the memory section of the memory provided in the information processing apparatus 3 by using the objects registered in the object database. The above-mentioned picking station 41 is represented in three dimensions in the virtual space VS.
The virtual space creation unit 7 also arranges a worker object 63 representing the worker 61 in the constructed virtual space VS, and displays the virtual space VS with the worker object 63 as a viewpoint on the display (described later) of the head-mounted display 21. Display the image inside.
The virtual space creation unit 7 reflects the posture, hand movement, and position of the worker 61 in the real space on the worker object 63 (described later). Further, the virtual space creation unit 7 detects the operation of the worker object 63 in the virtual space VS from the reflection result (described later).

The information processing device 3 is connected to a head-mounted display 21 and a position detecting device 23 for detecting the position of the worker 61.
The head-mounted display 21 is equipped with a motion sensor 27 that detects the movement of the head-mounted display 21 and an infrared sensor 29 that detects the movement of the hand of the worker 61 who wears the motion sensor 27.

The motion sensor 27 includes an acceleration sensor (not shown) and an angular velocity sensor (not shown), and outputs a signal that identifies the movement of the head-mounted display 21 itself.
The infrared sensor 29 includes a light source (not shown) that outputs infrared rays and an image pickup element that receives infrared rays reflected by the operator 61, and outputs an infrared image as a signal.
The head-mounted display 21 and the sensor used therein are not particularly limited. In this embodiment, various head-mounted displays and sensors developed in the future can be used.

The head-mounted display 21 has a display 25. The display 25 displays the field of view from the worker object 63 in the virtual space VS (described later).

The information processing device 3 has an operator motion detection unit 9.
The worker motion detection unit 9 detects the motion of the worker 61 in the virtual space VS. Specifically, the worker motion detection unit 9 takes the posture of the worker 61 in the real space based on the signal from the motion sensor 27, the signal from the infrared sensor 29, and the signal from the position detection device 23. And the movement of the hand.

The information processing device 3 has a measuring unit 11.
When the worker 61 wearing the head-mounted display 21 picks the article W at the picking station 41 in the virtual space VS based on the virtual order, the measurement unit 11 takes time for the picking work. To measure. The order is stored in advance in the storage unit 19 of the information processing apparatus 3, is associated with the generated bucket, and is used in order.
The "virtual order" can be randomly generated, or the actual data actually used can be used.

The information processing device 3 has a calculation unit 13.
The calculation unit 13 calculates the processing capacity of the picking station 41 based on the time required for the picking operation.

The information processing device 3 has a layout determination unit 15.
The layout determination unit 15 can compare the processing capacities of the plurality of picking stations 41 and determine an excellent one.

(3) Operation (3-1) Prerequisite The virtual space creation unit 7 constructs a virtual space VS in the memory section of the memory provided in the information processing apparatus 3 by using the objects registered in the object database. A picking station 41 and a worker object 63 are arranged in the virtual space VS.
As shown in FIG. 4, the virtual space creation unit 7 displays an image in the virtual space VS as a viewpoint of the worker object 63 on the display 25 of the head-mounted display 21. As a result, the worker 61 can experience virtual reality. FIG. 4 is a diagram showing an image in a virtual space as a viewpoint of a worker object.

(3-2) Basic operation The worker motion detection unit 9 is a worker 61 in a real space based on the signals from the motion sensor 27 and the infrared sensor 29 of the head mount display 21 and the video data from the position detection device 23. Detects posture, hand movement, and position.
The virtual space creation unit 7 reflects the posture, hand movement, and position of the worker 61 in the real space on the worker object 63.

The virtual space creation unit 7 detects the operation of the worker object 63 in the virtual space VS from the reflection result. Then, when the operation of the worker object 63 causes another object to operate, the virtual space creation unit 7 reflects it on the other object. For example, when the worker object 63 picks up, moves, or releases the article W in the virtual space VS, it is realized as the movement of the article W in the virtual space VS.
The operation of the worker object 63 and the article W in the virtual space VS described below is performed based on the above basic operation.

(3-3) Layout capacity calculation control operation In this simulation system 1, the worker object 63 picks at the picking station 41 in the virtual space VS based on a virtual order.
The picking work in the virtual space VS will be described with reference to FIG. FIG. 5 is a flowchart showing the capacity calculation control operation of the layout.

In step S1, as shown in FIG. 3, the virtual space VS is constructed and displayed. At this time, the worker object 63 stands in front of the work station 43 of the picking station 41. Further, the display 53 (FIG. 4) displays the number of articles W picked from each first bucket 49.

In step S2, the transportation of the article W is started in the virtual space VS. Specifically, the first conveyor 45 supplies the first bucket 49 containing the plurality of articles W to the work station 43. The worker object 63 can pick the article W in the first bucket 49 that has arrived and put it into the second bucket 51. When the picking completion switch 55 is operated, the first bucket 49 after picking is carried out by the second conveyor 47, and then a new first bucket 49 is carried into the work station 43.
In the above work, the worker 61 can enter the virtual space VS and confirm the position such as the sense of space and the height of various devices.

In step S3, it is determined whether or not the picking completion switch 55 (FIG. 4) is finally pressed after the picking of all the articles W included in one order is completed in the virtual space VS. If pressed, the process proceeds to step S4.

In step S4, the measuring unit 11 measures the time required for one picking operation. As for the time required for the picking work, after the first first bucket 49 arrives at the work station 43, the worker object 63 picks based on the virtual order (grabbing the individual article W and performing the replacement work). This is the time from when the picking of all the articles W included in the order is completed until the worker object 63 operates the picking completion switch 55. Therefore, the time actually worked by the worker object 63 is obtained as the time taken for the picking work. That is, the time required for the first conveyor 45 and the second conveyor 47 is not included in the time required for the picking operation.

In step S5, the calculation unit 13 calculates the processing capacity of the picking station 41. Specifically, the calculation unit 13 calculates the number of processes per unit time.
In this way, workability in a specific layout of the picking station 41 can be verified without the need for trial production of an actual machine.

The above description is the calculation of the processing capacity of one picking station 41, but the design of the picking station is determined by calculating the processing capacity of a plurality of objects having different layouts and dimensions and then comparing them with each other. ..
Specifically, after the processing capacities of the plurality of picking stations 41 different from each other are calculated, the layout determination unit 15 determines the layout of the picking stations based on the processing capacities of the picking stations 41. The contents that make the picking stations 41 different from each other include the direction of loading and unloading of the article W, the moving place of the empty bucket, the taking-out position and height of the article W, the loading position and the height, and the like.
According to the picking station layout design method described above, a picking station having a layout that is less burdensome when the worker 61 operates on the actual machine can be obtained.

The information processing device 3 further includes a determination unit 17. The determination unit 17 determines the picking work ability of the worker 61 based on the time taken for the picking work.
Since the picking work capacity of the worker 61 can be determined in this way, for example, the calculation unit 13 can calculate the processing capacity of the picking station 41 in consideration of the picking work capacity of the worker 61.
Specifically, by using a picking station 41 having the same layout and shape and having a plurality of workers 61 perform the same work, the picking work ability of the worker 61 can be determined based on the length of the work time. Then, the calculation unit 13 can calculate the processing capacity of the picking station 41 by adding, for example, the work capacity of the worker 61 belonging to a specific group (for example, a group for each region, age, and gender). ..

2. 2. Features of the first embodiment The above first embodiment can also be described as follows.
The simulation system 1 (an example of a simulation system) includes a virtual space creation unit 7, a measurement unit 11, and a calculation unit 13.
The virtual space creation unit 7 (an example of a virtual space creation unit) represents a picking station 41 (an example of a picking station) in a virtual space VS (an example of a virtual space) in three dimensions.
In the measuring unit 11 (an example of the measuring unit), the worker 61 wearing the head-mounted display 21 (an example of the head-mounted display) uses the article W (article W) based on a virtual order at the picking station 41 in the virtual space VS. When the work of picking (one example) is performed, the time required for the picking work is measured.
The calculation unit 13 (an example of the calculation unit) calculates the processing capacity of the picking station 41 based on the time required for the picking work.

In this simulation system 1, when the worker 61 picks at the picking station 41 in the virtual space VS based on the virtual order, the processing capacity of the picking station 41 is obtained. In this way, workability in a specific layout of the picking station can be verified without the need for a prototype of the actual machine.
As a result, a picking station having a layout that reduces the burden on the operator 61 can be obtained.

3. 3. Other Embodiments Although one embodiment of the present invention has been described above, the present invention is not limited to the above embodiment, and various modifications can be made without departing from the gist of the invention. In particular, the plurality of embodiments and modifications described herein can be arbitrarily combined as needed.

In the above embodiment, a VR (virtual reality) technique is used as a technique for realizing a "virtual space". However, the "virtual space" may be realized by VR, AR (augmented reality), MR (mixed reality), SR (substitutional reality), or a combination thereof.

The types of hardware and software for realizing the virtual space are not particularly limited. The position detection device may be, for example, a camera type sensor. In addition, or separately, a glove or controller may be used to detect the movement of the worker's hand.
The type of picking station, the type and number of conveyors, and the actual work of the operator are not limited to the first embodiment. Picking may be an operation of transporting an article from a bucket to a place other than the bucket.
The layout determination unit and the determination unit may be omitted.

The present invention can be widely applied to a system capable of simulating a picking operation in a picking station.

1: Simulation system 3: Information processing device 5: Object management unit 7: Virtual space creation unit 9: Worker motion detection unit 11: Measurement unit 13: Calculation unit 15: Layout determination unit 17: Judgment unit 19: Storage unit 21: Head-mounted display 23: Position detection device 25: Display 27: Motion sensor 29: Infrared sensor 41: Picking station 43: Work station 45: First conveyor 47: Second conveyor 49: First bucket 51: Second bucket 53: Display Instrument 55: Picking completion switch 61: Worker 63: Worker object VS: Virtual space W: Article

Claims (4)

A virtual space creation unit that expresses the picking station in three dimensions in the virtual space,
When a worker wearing a head-mounted display picks an article based on a virtual order at the picking station in the virtual space, a measuring unit that measures the time taken for the picking work and a measuring unit.
A calculation unit that calculates the processing capacity of the picking station based on the time taken for the picking work.
A simulation system equipped with. A picking completion switch is provided in the virtual space.
The time required for the picking operation is after the article arrives at the picking work position, the worker picks based on a virtual order, and the picking of all the articles included in the order is completed. The simulation system according to claim 1, which is the time until the worker operates the picking completion switch. The simulation system according to claim 1 or 2, further comprising a determination unit for determining the picking work ability of the worker based on the time taken for the picking work. Steps to express the picking station in 3D in virtual space,
When a worker wearing a head-mounted display picks an article based on a virtual order at the picking station in the virtual space, a step of measuring the time taken for the picking work and a step of measuring the time taken for the picking work.
A step of calculating the processing capacity of the picking station based on the time taken for the picking operation, and
A step of determining the layout of the picking station based on the processing capacity of the picking station, and
How to design a picking station layout.

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