JP2022066531A - Carrier system - Google Patents

Abstract

PROBLEM TO BE SOLVED: To move articles efficiently, order by order, among multilayer floors having different functions.

SOLUTION: A carrier system comprises: a storage device which stores floor information relating sections of floors and floor attributes; and a control device which refers to the floor information, and then controls a carrier robot and an inter-floor carrier device so that when a container containing an article having a frequency of picking on a first floor of a floor attribute of a work floor larger than a threshold, is arranged on a second floor of a floor attribute of a stockroom floor, the container is carried from the second floor to the first floor.

SELECTED DRAWING: Figure 2

COPYRIGHT: (C)2022,JPO&INPIT

Description

The present invention relates to a transport system.

A distribution center exists as one of the infrastructure facilities for promptly delivering goods related to customer transactions. The distribution center receives goods from manufacturers and the like, and temporarily stores the received goods. After that, when the distribution center receives the order, it takes out the goods related to the order, packs them, and ships them to the customer.

The distribution center has an area for executing each process (receipt, storage, removal, packing, shipping) of the above-mentioned series of flows. Therefore, efficient movement of goods between each area is an important management strategy for a company that operates a distribution center. These days, the movement of such goods is often automated and mechanized. As the quantity of goods handled by the distribution center increases, the area of each process area expands. However, the land suitable for logistics (around the interchange of the expressway, etc.) is limited, and the site area may not be sufficiently expanded. In such a case, the distribution center will be gradually multi-layered.

The production equipment of Patent Document 1 includes a production line floor, a parts storage floor, an elevator connecting each floor, and an automatic guided vehicle for transporting pallets containing parts. On the production line floor, there is a production line in which an unfinished automobile (body) is flown by a conveyor, and a plurality of stations arranged along the production line. The parts storage floor stores many types of parts that should be mounted on the vehicle body. The automatic guided vehicle mounts a pallet containing parts on the parts storage floor, gets on the elevator, and moves to the production line floor. After that, the automatic guided vehicle unloads the parts required by the target station at the target station. After that, the automatic guided vehicle transports the empty pallet to the parts storage floor.

Japanese Unexamined Patent Publication No. 8-155761

The production equipment of Patent Document 1 is solely aimed at improving the efficiency of automobile production. For example, suppose that there is a process of first attaching an engine to a vehicle body, then attaching a battery, and finally attaching a wire harness that connects the engine and the battery. The order between such a plurality of steps is generally fixed. Not surprisingly, the installation of wire harnesses cannot come to the beginning of the process. Then, the automatic guided vehicle transports the wire harness to the station downstream of the production line and the engine to the station upstream, so that the combination of routes and parts is fixed, while the return route is always empty. There is also a waste.

Then, in the production equipment of Patent Document 1, the role of the floor is fixed to two, "production line floor" and "parts storage floor", and they are interchanged with each other, and a floor having an existing function is added. , It is not expected that floors with other functions will be added. Further, the article carried out from the production facility of Patent Document 1 is a finished vehicle equipped with similar parts, which is far from the idea of taking out a plurality of different articles according to a customer's order.
Therefore, an object of the present invention is to efficiently move an article between multiple floors having different functions for each individual order.

The transport system of the present invention refers to a storage device that stores floor information that associates floor divisions with floor attributes, and refers to the floor information, and the frequency at which floor attributes are picked on the first floor, which is the work floor, is equal to or higher than the threshold value. When the container for storing the article is arranged on the second floor whose floor attribute is the warehouse floor, the transfer robot and the floor transfer so as to transfer the container from the second floor to the first floor. It is characterized by comprising a control device for controlling the device.
Other means will be described in the embodiment for carrying out the invention.

According to the present invention, it is possible to efficiently move an article between multiple floors having different functions for each individual order.

It is a top view of a distribution center. It is a side view of a distribution center. It is a perspective view of a shelf. It is a side view of a shelf. (A) is a plan view of a transport vehicle. (B) is a side view of a state in which the transport vehicle lifts the cargo handling platform. (C) is a side view of the transport vehicle in a state where the cargo handling platform is lowered. It is a figure explaining the structure of the transport management apparatus. It is a figure explaining floor information. It is a figure explaining the shelf information. It is a figure explaining the transport vehicle information. It is a figure explaining the elevator information. It is a figure explaining article information. It is a figure explaining the order information. It is a figure explaining instruction information. It is a figure explaining the content of an instruction. It is a flowchart of the arrival processing procedure. It is a flowchart of a picking process procedure. It is a flowchart of the 1st shelf arrangement review processing procedure. It is a flowchart of the 2nd shelf arrangement review processing procedure.

Hereinafter, a mode for carrying out the present invention (referred to as “the present embodiment”) will be described in detail with reference to figures and the like. This embodiment describes an example in which a distribution center for mail-order sales receives goods from a manufacturer or the like and ships the goods in response to a customer's order. However, the present invention can also be applied, for example, when a manufacturer or the like stores and manages parts in-house. In addition, the "article" of this embodiment is a concept including a product to be traded, other products, parts and the like.

(Distribution center)
FIG. 1 is a plan view of the layout of the distribution center. The distribution center in FIG. 1 is a three-story building. The first floor is the arrival floor 8c. The arrival floor 8c has an arrival area 43 and a temporary storage area 44. An empty shelf 7 is arranged in the temporary storage area 44. Each shelf 7 stores various items (details will be described later). The shelf 7 constitutes an "island" with 2 rows and 6 columns, and the islands are arranged in 3 rows and 1 column. In the aisle between the islands, a transport vehicle 2 capable of lifting and transporting the shelves 7 is moving (details will be described later). When the truck 9 carrying the article arrives at the arrival area 43 from the manufacturer or the like, the cargo handling worker 47 (or the cargo handling robot) stores the article in the empty shelf 7.

The second floor is a work floor 8b. The work floor 8b has a picking area 41 and a temporary storage area 42. A shelf 7 is arranged in the temporary storage area 42. The shelf 7 constitutes an "island" of 2 rows and 6 columns, and the islands are arranged in 3 rows and 1 column. In the passage between the islands, the transport vehicle 2 is moving. The transport vehicle 2 transports the shelves 7 to a position adjacent to the picking area 41 in the temporary storage area 42. Then, in the picking area 41, the picking worker 46 (or the robot) takes out a predetermined article from the shelf 7, packs the taken-out article in a package, and stores it in the sorting shelf 45. This package contains one or more items that are the subject of an order from the customer and is sent to the customer. As described above, in the work floor 8b, the picking area 41 (first area) where a person works on one side of the floor and the primary storage area 42 in which the transport vehicle 2 runs and works on the other side of the floor. (Second area) is partitioned and arranged.

The third floor is the warehouse floor 8a. The entire warehouse floor 8a is a long-term storage area 8a. A shelf 7 is arranged on the warehouse floor 8a. The shelf 7 constitutes an "island" of 2 rows and 6 columns, and the islands are arranged in 3 rows and 2 columns. In the passage between the islands, the transport vehicle 2 is moving.

The elevator 3 penetrates the first floor portion, the second floor portion, and the third floor portion. The elevator 3 transports the transport vehicle 2 with the shelves 7 lifted across a plurality of floors in the vertical direction. The scales (1, 2, 3, ...) Marked on the third floor of FIG. 1 will be described later. On the work floor 8b, the elevator 3 is arranged so that the entrance / exit for the transport vehicle 2 to / from the elevator 3 faces the primary storage area 42. Further, the elevator 3 may be arranged so that the entrance / exit is located in the primary storage area 42.

FIG. 2 is a side view of the layout of the distribution center. Although detailed description is omitted, in FIG. 2, the work floor 8b has two layers. The elevator 3 transports the transport vehicle 2 with the shelves 7 lifted between the floors.

(Typical flow of goods)
Return to FIG. The shelves 7 storing the articles are first stored in the temporary storage area 44 of the arrival floor 8c. After that, the shelf 7 is transported to the warehouse floor 8a and waits for an order from a customer. Upon receiving an order from a customer, the shelf 7 is transported to the temporary storage area 42 of the work floor 8b. Immediately thereafter, the picking worker 46 takes out the ordered article from the shelf 7, packs it in an arbitrary package, and puts the package on the sorting shelf 45.

The package placed on the sorting shelf 45 will be shipped by truck or the like. The arrival floor may also serve as the shipping floor (not shown). Unless ordered, the shelves 7 containing the goods will continue to be stored on the warehouse floor 8a. In that sense, the warehouse floor 8a is used for long-term storage, and has more shelves 7 than other floors. The "storage floor" corresponds to the warehouse floor (for long-term storage) here.

FIG. 3 is a perspective view of the shelf 7. The shelf 7 has a square plane and four legs 51. In FIG. 3, one of them is hidden. The shelf 7 has an upper stage, a middle stage, and a lower stage. Each stage has left, center and right storage spaces. After all, the shelf 7 will have nine storage spaces. The upper, middle and lower tiers are labeled with U, M and L, respectively, and the left, center and right are labeled with L, C and R, respectively. Then, for example, the storage space on the upper left is written as "UL".

FIG. 4 is a side view of the shelf 7. The shelf 7 has a space under the lower stage. The transport vehicle 2 can enter the space. Further, the transport vehicle 2 can transport the shelves 7 in a lifted state. The "container" is a concept including a shelf. Containers include pallets, tanks, baskets, storages, etc., in addition to shelves.

FIG. 5A is a plan view of the transport vehicle 2. The transport vehicle 2 has a square flat surface. The transport vehicle 2 has a disk-shaped cargo handling platform 55 in the center of the upper surface thereof.
FIG. 5B is a side view showing a state in which the transport vehicle 2 lifts the cargo handling platform 55. The transport vehicle 2 lifts the cargo handling platform 55 by adjusting the height (length) of the shaft 58. The transport vehicle 2 has drive wheels 56 and auxiliary wheels 57. The drive wheel 56 is rotated by its own power. The training wheels 57 have no power and exclusively support the transport vehicle 2. The number and position of the drive wheels 56 are arbitrary. The number and position of training wheels 57 are arbitrary.
In addition, "holding" is a concept including "lifting". "Holding" includes operations such as pulling up the container from above with a crane or the like, towing or propelling the container or the like with wheels or the like.

FIG. 5C is a side view of the transport vehicle 2 in a state where the cargo handling platform 55 is lowered. The upper surface of the cargo handling platform 55 coincides with the upper surface of the transport vehicle 2. When the transport vehicle 2 does not transport the shelves 7, the cargo handling platform 55 is lowered as shown in FIG. 5 (c). The height of the upper surface of the transport vehicle 2 from the floor surface is lower than the height of the space below the shelf 7 from the floor surface. Therefore, the transport vehicle 2 can enter and pass through the space under the shelf 7 in the state of FIG. 5 (c). That is, the islands composed of the shelves 7 and the shelves 7 do not pose any obstacle to the transport vehicle 2 in the state of FIG. 5 (c).

The configuration of the transport management device 1 will be described with reference to FIG. The transport management device 1 is a general computer and includes a central control device 11, an input device 12 such as a keyboard, an output device 13 such as a display, a main storage device 14, an auxiliary storage device 15, and a communication device 16. These devices are interconnected by a bus. The auxiliary storage device 1 stores floor information 31, shelf information 32, transport vehicle information 33, elevator information 34, article information 35, order information 36, and instruction information 37 (all of which are described in detail later). The article management unit 21, the transport management unit 22, and the floor management unit 23 in the main storage device 14 are programs. In the following, when the operating subject is described as "○○ part is", it means that the central control device 11 reads each program from the auxiliary storage device 15 and loads it into the main storage device 14, and then the function of each program (details). It means to realize (described later).

The transport management device 1 communicates with one or more transport vehicles 2, one or a plurality of elevators 3, a transport vehicle control device 4, and an elevator control device 5 via a wired or wireless network 6 (including a leased line on the premises). It is connected as possible.

In addition to the configurations described in FIGS. 5A to 5C, the transport vehicle 2 includes an electric motor for rotating the drive wheels 56, an electric motor for adjusting the length of the shaft 58, a storage battery for supplying power to these electric motors, and a sensor. It also has an in-vehicle computer.

The sensor acquires its current position by reading the floor marker placed on the floor surface. The in-vehicle computer transmits various data including the current position to the transport vehicle control device 4 in real time, and receives an instruction from the transport vehicle control device 4. The in-vehicle computer adjusts the rotation direction and the rotation speed of the drive wheels 56 and adjusts the length of the shaft 58 by operating the above-mentioned electric motor based on the received instruction. In addition, the sensor can also read the shelf ID (details described later) described at any position on the shelf 7. The transport vehicle 2 may operate based on map information based on surrounding environment information and the like without using a floor marker.

The elevator 3 is suspended from a drive rope in an elevator shaft penetrating each floor. The electric motor arranged in the rooftop machine room or the like adjusts the vertical position of the elevator 3 by winding up or opening the drive rope. The elevator has a sensor and a tower-mounted computer. The sensor acquires its current position (rank) by reading a shaft marker located inside the elevator shaft. The tower-mounted computer transmits various data including the current position to the elevator control device 5 in real time, and receives an instruction from the elevator control device 5. The tower-mounted computer adjusts the current position of the elevator by operating the above-mentioned electric motor based on the received instruction.

All of the above instructions are generated by the transport management device 1. The transport vehicle control device 4 and the elevator control device 5 may be integrated with the transport management device 1. For the sake of simplification of the description, the transport management device 1 will be assumed to have the functions of the transport vehicle control device 4 and the elevator control device 5 in combination. On the other hand, the auxiliary storage device 15 of the transport management device 1 may have a configuration independent of the transport management device 1.

The transfer robot is a concept including the above-mentioned transfer vehicle 2. In addition to the wheels, the transport robot may have caterpillars, human-shaped legs, or the like as a means of transportation. The floor-to-floor transfer device is a concept including the elevator described above. The floor-to-floor transfer device includes an escalator, a crane, and the like, in addition to an elevator that moves in a vertical manner. The transfer robot, the inter-floor transfer device, and the transfer management device 1 constitute a transfer system.

(location information)
Return to FIG. Each floor of the distribution center has a virtual grid. The floor marker described above is attached or embedded in each of the grids of the grid so as not to interfere with the traveling of the transport vehicle 2. The vertical and horizontal lengths of the squares are the same as the vertical and horizontal lengths of the shelves 7. On the floor marker, the coordinate value on the horizontal axis, the coordinate value on the vertical axis, and the number of floors as shown in the “third floor” of FIG. 1 are described. For example, a floor marker on which three-dimensional position information “[16, 4, 3]” is described is attached to the square directly below the shelf 7 of reference numeral 7a in FIG. “16” indicates the position of the horizontal axis, “4” indicates the position of the vertical axis, and “3” indicates the number of floors.

(Floor information)
The floor information 31 will be described with reference to FIG. 7. In the floor information 31, the floor attribute is stored in the floor attribute column 102, the floor use is stored in the floor use column 103, and the position is stored in the position column 104 in relation to the division stored in the division column 101.
The classification of the classification column 101 is a management classification of the floor of the distribution center, and here, it is a character string in which "east side" or "west side" is added to the number of floors.
The floor attribute of the floor attribute column 102 is one of the above-mentioned "warehouse floor", "work floor", and "arrival floor".

The floor use in the floor use column 103 is a use for each category, and is one of "long-term storage", "picking", "temporary storage", and "arrival". Picking and temporary storage are available for work floors. For the arrival floor, arrival and temporary storage are available. Only long-term storage is available for warehouse floors.
The position of the position column 104 is the above-mentioned three-dimensional position information, but here, in particular, the position information for specifying all the squares included in the division is stored. In addition, "#" indicates a different value abbreviated (hereinafter, the same applies to FIG. 8 and the like).

The user of the transport management device 1 inputs the reviewed data via the input device 12 each time the floor attribute or floor use of the distribution center is reviewed or the line drawn between the categories is reviewed. The transport management device 1 stores the input data as floor information 31 in the auxiliary storage device 15.

(Shelf information)
The shelf information 32 will be described with reference to FIG. In the shelf information 32, the storage position is stored in the storage position column 112, the article ID is stored in the article ID column 113, and the quantity is stored in the quantity column 114 in association with the shelf ID stored in the shelf ID column 111. The storage start date is stored in the day column 115, and the shelf position is stored in the shelf position column 116.
The shelf ID in the shelf ID column 111 is an identifier that uniquely identifies the shelf 7.
The storage position of the storage position column 112 is the position of the storage space on the shelf, and is a combination of one of the upper U, the middle M, and the lower L, and one of the left L, the center C, and the right R. ..

The article ID in the article ID column 113 is an identifier that uniquely identifies the type (not an individual) of the article. For the sake of simplification of the description, in this embodiment, it is assumed that only one kind of article is stored in one storage space.
The quantity in the quantity column 114 is the quantity of the stored goods.
The storage start date in the storage start date column 115 is the date when the goods arrived at the distribution center. For the sake of simplification of the description, the goods shall be received in a predetermined number of lots. The storage start date here is the date when the lot was received.

The shelf position of the shelf position column 116 is a three-dimensional coordinate value of the square of the floor surface on which the shelf 7 is currently arranged.
When the article is not stored in a certain storage space, the article ID column 113, the quantity column 114, and the storage start date column 115 of the record (row) about the storage position are blank. In addition, such a storage space is called an "empty storage space".

Each time an article arrives for each lot, the article ID, quantity and storage start date are updated. The shelf position is updated each time the position where the shelf 7 is arranged changes. The quantity is updated (decreased) each time the item is taken out (picked). The transport management device 1 obtains these information from a terminal device (not shown) carried by the cargo handling worker 47 or a transport vehicle 2, and keeps the shelf information 32 up-to-date.

(Transport vehicle information)
The transport vehicle information 33 will be described with reference to FIG. In the transport vehicle information 33, in relation to the transport vehicle ID stored in the transport vehicle ID column 121, the transport vehicle position is in the transport vehicle position column 122, the status flag is in the status column 123, and the operation column 124 is in operation. The flag is stored in the shelf ID column 125, and the shelf ID is stored.
The transport vehicle ID in the transport vehicle ID column 121 is an identifier that uniquely identifies the transport vehicle 2.
The transport vehicle position in the transport vehicle position column 122 is a three-dimensional coordinate value of the square of the floor surface on which the transport vehicle is currently moving or stopped.

The status flag in the status column 123 is either "actual vehicle" or "empty vehicle". “Actual vehicle” indicates that the transport vehicle is transporting the shelf 7. “Empty vehicle” indicates that the transport vehicle is not transporting the shelf 7.
The operation flag in the operation column 124 is one of "operating", "standby", and "failing". “Operating” indicates that the transport vehicle is executing the transport / operation according to the instruction received from the transport management device 1. "Waiting" indicates that the carrier is waiting to receive the next instruction after completing the instruction. "Failure" indicates that the carrier is stopped due to the failure.

The shelf ID in the shelf ID column 125 is the same as the shelf ID in FIG. 8, but here, in particular, the shelf 7 currently being transported by the transport vehicle is specified.
The position of the carrier is updated each time the carrier passes the boundary line of the squares on the floor. Each time the carrier raises or lowers the shelf, the status flag changes between "actual vehicle" and "empty vehicle". The transport management device 1 obtains these information from the transport vehicle and keeps the transport vehicle information 33 up to date.

(Elevator information)
Elevator information 34 will be described with reference to FIG. In the elevator information 34, the capacity is stored in the capacity column 122, the plane position is stored in the plane position column 133, and the vertical position is stored in the vertical position column 134 in association with the elevator ID stored in the elevator ID column 131. There is.
The elevator ID in the elevator ID column 131 is an identifier that uniquely identifies the elevator.
The capacity of the capacity column 132 is the maximum number of transport vehicles that the elevator can mount at one time.

The plane position of the plane position column 133 is a two-dimensional coordinate value (other than the number of floors) of the squares of the floor surface of each floor adjacent to the opening of the elevator shaft. On each floor, the transport vehicle 2 passes through the plane position and gets on and off the elevator. If the plane position of an elevator is, for example, [18, 9] on the first floor, the plane position of the elevator is [18, 9] on the other floors as well (see FIG. 1).
The vertical position of the vertical position column 134 is the number of floors where the elevator is currently located.
The vertical position is updated each time the elevator moves up and down. The transport management device 1 obtains this information from each elevator and keeps the elevator information 34 up-to-date.

(Goods information)
Article information 35 will be described with reference to FIG. In the article information 35, in association with the article ID stored in the article ID column 141, the article name column 142 has an article name, the maker name column 143 has a maker name, and the size column 144 has a size and a color column. The color is stored in 145.
The article ID in the article ID column 141 is the same as the article ID in FIG.
The article name in the article name column 142 is the name of the type of article.
The manufacturer name in the manufacturer name column 143 is the name of the manufacturer of the article.

The size of the size column 144 is the size of the article.
The color in the color column 145 is the color of the article.
The article information 35 in FIG. 11 is an example when the article is clothing. The data in each column is appropriately selected by the user according to the characteristics of the article, such as the model of the machine part and the place of origin of the food. The user of the transport management device 1 inputs such data about the articles handled by the user through the input device 12 at an appropriate timing. The transport management device 1 stores the input data as the article information 35 in the auxiliary storage device 15.

(Order information)
The order information 36 will be described with reference to FIG. In the order information 36, the customer name is in the customer name column 152, the article ID is in the article ID column 153, the quantity is in the quantity column 154, and the time column is associated with the order ID stored in the order ID column 151. The time is stored in 155.
The order ID in the order ID field 151 is an identifier that uniquely identifies an order from a customer. An order is an application to purchase an article. The distribution center picks the goods related to the order and then ships them.

The customer name in the customer name column 152 is the customer's name or name.
The article ID in the article ID column 153 is the same as the article ID in FIG.
The quantity in the quantity column 154 is the quantity of the goods related to the order.
The time in the time column 155 is the year, month, day, hour, minute, and second when the transport management device 1 receives the order.

As is clear from FIG. 12, one order is intended for one or more types of goods consisting of one or more quantities. Then, the picking worker packs the articles related to one order into one package and arranges them on the sorting shelf 45 (FIG. 1). Each time an order is placed, a new record of order information 36 is created. The transport management device 1 receives such a record from, for example, the server of the operator of the goods sales site, and stores it in the auxiliary storage device 15 as order information 36.

(Instruction information)
The instruction information 37 will be described with reference to FIG. In the instruction information 37, the instruction destination ID is stored in the instruction destination ID column 162, the instruction is stored in the instruction column 163, and the time is stored in the time column 164 in association with the instruction ID stored in the instruction ID column 161. There is.
The instruction ID in the instruction ID column 161 is an identifier that uniquely identifies the instruction. The instruction is an instruction transmitted by the transport management device 1 to the transport vehicle 2 or the elevator 3.

The instruction destination ID in the instruction destination ID column 162 is a transport vehicle ID or an elevator ID that identifies a transport vehicle or an elevator that receives an instruction.
The instruction in the instruction column 163 is the above-mentioned instruction. Details of the instructions will be described later.
The time in the time column 164 is the year, month, day, hour, minute, and second when the transport management device 1 transmits an instruction to the transport vehicle 2 or the elevator 3.

(Instructions sent to the carrier)
Attention is paid to the record 165a of the instruction information 37. This record is an instruction transmitted by the transport management device 1 to the transport vehicle "C001". The instruction consists of multiple "sections" separated by ",". Each clause has a three-dimensional coordinate value. Some clauses have character strings other than three-dimensional coordinate values. Hereinafter, the contents of the instructions (meaning of each section) will be described in order from the left with reference to FIG. The instruction consisting of 11 sections is an instruction indicating a route and an operation for transporting the shelf on which the transport vehicle "C001" is located from the warehouse floor on the 3rd floor to the work floor on the 2nd floor as a whole.

[1,3,3] start: The transport vehicle "C001" starts moving from ● 61 in FIG. In FIG. 14, the squares are represented by “●” for the sake of clarity. Note that ● 61 is a square that was waiting in an empty vehicle immediately before the transport vehicle “C001” received the instruction. The squares with "start" in this way are called "starting points".

[1,8,3]: The transport vehicle "C001" moves to ● 62.
[6,8,3] up: The transport vehicle "C001" moves to ● 63. At this time, the transport vehicle "C001" passes through the space under the shelves constituting the island. After that, lift the shelves located at ● 63. The carrier "C001" then maintains the shelves lifted. The squares with "up" in this way are called "shelf points".

[6,9,3]: The transport vehicle "C001" moves to ● 64.
[18, 9, 3] in: The transport vehicle "C001" moves to ● 65. ● 65 is adjacent to the opening of the elevator shaft. After that, the transport vehicle "C001" gets into the elevator. Then, the elevator moves from the 3rd floor to the 2nd floor based on the separately received instruction. The squares with "in" in this way are called "elevator entrance points".

[18,9,2] out: The transport vehicle "C001" gets off the elevator and moves to ● 66. The squares with "out" in this way are called "elevator exit points".

[18, 5, 2]: The transport vehicle "C001" moves to ● 67.
[9, 5, 2] pause: The transport vehicle "C001" moves to ● 68 and stops with the open surface of the shelf facing the left side of the figure. Here, the picking worker 46 takes out the target article from the shelf. The transport vehicle "C001" is stopped in place while the picking worker is working. The squares with "pause" in this way are called "work points".
[9, 3, 2]: The transport vehicle "C001" moves to ● 69.

[11,3,2] down: The transport vehicle "C001" moves to ● 70 and lowers the shelf to the floor. It is assumed that no other shelves have been placed in this square. The squares with "down" in this way are called "shelfing points".

[11, 1, 2] wait: The transport vehicle "C001" moves to ● 71 and waits until the next instruction is received. The squares with "wait" in this way are called "end points".
It should be noted that the route is a collection of vertical, horizontal and vertical line segments, that is, the carrier does not move diagonally.

(Instructions sent to the elevator)
Attention is paid to the record 165b of the instruction information 37. This record is an instruction transmitted by the transport management device 1 to the elevator "D001". The instruction consists of multiple "sections" separated by ",". Each clause has a rank and a string. The contents of the instructions (meaning of each section) will be explained below in order from the left. The three-section instruction, as a whole, is an instruction indicating the route and operation for transporting a shelf with an elevator from the arrival floor on the first floor to the warehouse floor on the third floor.

[2nd floor] start: The elevator "D001" starts from the 2nd floor. The "second floor" is the number of floors waiting at the time immediately before the elevator "D001" receives the instruction.
[1st floor] charge: Elevator "D001" moves to the 1st floor and mounts a shelf. In reality, the transport vehicle is self-propelled and gets into the elevator.
[3rd floor] disharge and wait: The elevator "D001" moves to the 3rd floor and unloads the transport vehicle on the 3rd floor. In reality, the transport vehicle runs on its own and leaves the elevator. After that, the elevator "D001" waits on the third floor until the next instruction is received.
The example in which the transport management device determines the route of the transport vehicle via the floor-to-floor transport device has been described above. The route may be determined based on the above.

(Processing procedure)
The processing procedure will be described below. There are four processing procedures, which are an arrival processing procedure, a picking processing procedure, a first shelf arrangement review processing procedure, and a second shelf arrangement review processing procedure.

(Receiving processing procedure)
The arrival processing procedure will be described with reference to FIG.
In step S101, the article management unit 21 of the transport management device 1 recognizes the arrival of articles. Specifically, the article management unit 21 receives an arrival signal indicating that the article has arrived from the terminal device carried by the cargo handling worker 47. The arrival signal includes the article ID and the quantity of articles (number of lots x number of individuals per lot).

In step S102, the article management unit 21 determines a shelf for storing articles. Specifically, the article management unit 21 determines, for example, a shelf that satisfies all of the following conditions 1 to 3 with reference to the shelf information 32. The squares on which such shelves are arranged are the shelving points. The goods to be received are packed in packages for each lot, and the packages are opened and then stored in the empty storage space together with the packages. The application of condition 4 is optional (optional).

<Condition 1> The shelf has at least one empty storage space.
<Condition 2> The empty storage space of the shelf can store more articles with the article ID included in the arrival signal than the quantity included in the arrival signal. Information indicating the correspondence between the article ID and the maximum quantity of the article that can be stored in one storage space is stored in the auxiliary storage device 15 (not shown), and the article management unit 21 stores the information. You can refer to it.
<Condition 3> The shelf is located on the floor closest to the arrival floor.
<Condition 4> The shelf already stores an article with the same article ID.
For the sake of simplicity, it is assumed that one shelf has been decided here.

In step S103, the article management unit 21 determines the floor and squares on which the shelves are arranged. Specifically, first, the article management unit 21 determines, for example, a floor that satisfies all of the following conditions 11 and 12 as a floor on which the shelves determined in step S102 will be arranged in the future.
<Condition 11> If the quantity ordered for the article with the article ID included in the arrival signal in the latest predetermined period is equal to or greater than the predetermined threshold value, the shelf is placed on the work floor in the future. If the quantity of the article with the article ID included in the arrival signal is less than the predetermined threshold in the most recent predetermined period, the shelf is placed on the warehouse floor in the future. The article management unit 21 can acquire the quantity by referring to the order information 36 (FIG. 12). It should be noted that, for the sake of brevity, the most recent order quantity of other goods already stored on the shelf is discarded here.
<Condition 12> There are empty squares on the floor where shelves should be placed. The article management unit 21 can know the squares (empty squares) that do not correspond to the shelf position (column 116) of the shelf information 32 (FIG. 8) and do not correspond to the aisle.

Secondly, the article management unit 21 determines, for example, the squares that satisfy all of the following conditions 21 to 23. That is, the article management unit 21 determines the shelving point.
<Condition 21> The square is on the floor determined in "first" of step S103.
<Condition 22> The square is an empty square.
<Condition 23> If there are multiple empty squares, the distance between the squares and the elevator is the shortest. When there are a plurality of elevators, the distance here is the average value of the distances from each elevator.

In step S104, the transport management unit 22 of the transport management device 1 determines a transport vehicle for transporting the shelves. Specifically, the transport management unit 22 refers to the transport vehicle information 33 (FIG. 9), and determines, for example, a transport vehicle that satisfies all of the following conditions 31 and 32. The starting point is the square in which such a transport vehicle exists.
<Condition 31> The operation flag of the transport vehicle is "waiting".
<Condition 32> When there are a plurality of waiting transport vehicles, the "floor distance" when the transport vehicles transport the shelves is the shortest. The floor distance here is the sum of "the absolute value of the difference between the number of floors of the starting point and the number of floors of the shelving point" and "the absolute value of the difference between the number of floors of the starting point and the number of floors of the shelving point".

In step S105, the transport management unit 22 determines an elevator that transports the transport vehicle. Specifically, the transport management unit 22 refers to the elevator information 34 (FIG. 10), and determines, for example, an elevator that satisfies all of the following conditions 41 and 42.
<Condition 41> The capacity of the elevator is equal to or greater than the number of shelves determined in step S102. In the above example, since the number is "1", any elevator satisfies the condition. However, when transporting a plurality of shelves arranged on the same floor at the same time, the condition must be satisfied.
<Condition 42> The "floor distance" when the elevator transports the transport vehicle is the shortest. The floor distance here is the "absolute value of the difference between the number of floors where the elevator is waiting and the number of floors at the shelving point" and "the absolute value of the difference between the number of floors where the elevator is waiting and the number of floors at the shelving point". It is a sum.

In step S106, the transport management unit 22 determines the route. Specifically, the transport management unit 22 determines a route that satisfies all of the following conditions 51 to 56.
<Condition 51> The route has a starting point determined in step S104.
<Condition 52> The route has an end point designated in advance for the carrier to stand by in the vicinity of the shelving point.
<Condition 53> On that route, after the carrier vehicle becomes an actual vehicle, it must not pass through the squares on which the shelves are placed.

<Condition 54> The route has a shelving point, a working point, and a shelving point between the starting point and the ending point in this order. When the carrier moves across multiple floors, the route shall have one or more combinations of elevator entry points and elevator exit points. At the work point here, the arrival work is performed.
<Condition 55> Of the multiple route candidates, the length from the start point to the end point of the route is the shortest.
<Condition 56> If there is no difference under condition 55, the number of squares in which the carrier vehicle as an empty vehicle passes under the shelf is the smallest among the candidates for a plurality of routes.

The route determined here includes a route for a transport vehicle such as the instruction of record 165a in FIG. 13 and a route for an elevator such as the instruction of record 165b.

In step S107, the transport management unit 22 transmits an instruction. Specifically, first, the transport management unit 22 sets the route determined in step S106 to each of the transport vehicle determined in step S104 and the elevator determined in step S105 as an instruction having a plurality of "nodes". Send.
Second, the transport management unit 22 stores the transmitted route as two records (a record for the transport vehicle and a record for the elevator) of the instruction information 37 (FIG. 13). After that, the arrival processing procedure is completed.

(Picking process procedure)
The picking process procedure will be described with reference to FIG.
In step S201, the article management unit 21 of the transport management device 1 accepts an order.
Specifically, the article management unit 21 receives, for example, a new record of order information 36 (FIG. 12) from the server of the operator of the article sales site. This record is called a "new order record". The new order record contains the article ID and the quantity of the article. For the sake of simplicity of the description, it is assumed here that the number of article IDs included in the new order record is "1".

In step S202, the article management unit 21 determines the shelf storing the article. Specifically, the article management unit 21 searches for a shelf that satisfies all of the following conditions 61 and 62, that is, a shelf that stores the article related to the order, with reference to the shelf information 32 (FIG. 8). The squares on which such shelves are arranged are the shelving points.

<Condition 61> The shelf stores the goods specified by the goods ID of the new order record in an amount equal to or larger than the quantity of the new order record. The quantity may be distributed and stored in a plurality of storage spaces on the same shelf.
<Condition 62> The shelf is located on the floor closest to the work floor where picking is performed.
For the sake of simplicity, it is assumed that one shelf has been decided here.

In step S203, the article management unit 21 determines the floor and squares on which the shelves are arranged. Specifically, first, the article management unit 21 determines, for example, a floor that satisfies all of the following conditions 71 and 72 as a floor on which the shelves determined in step S202 will be arranged in the future.
<Condition 71> If the quantity of the article with the article ID included in the new order record ordered in the latest predetermined period is equal to or greater than the predetermined threshold value and the shelf is placed on the warehouse floor, the shelf will be operated in the future. Place it on the floor. If the quantity of the article with the article ID included in the new order record ordered in the most recent predetermined period is less than the predetermined threshold value and the shelf is placed on the work floor, the shelf will be placed on the warehouse floor in the future. .. In all other cases, the shelf will continue to be placed on the floor on which the shelf was placed. The article management unit 21 can acquire the quantity by referring to the order information 36 (FIG. 12). It should be noted that, for the sake of brevity, the most recent order quantity of other goods already stored on the shelf is discarded here.

<Condition 72> When reviewing the floor under condition 71, there are empty squares on the floor after the review where shelves should be placed. The article management unit 21 can know the squares (empty squares) that do not correspond to the shelf position (column 116) of the shelf information 32 (FIG. 8) and do not correspond to the aisle.

Secondly, the article management unit 21 determines, for example, the squares that satisfy all of the following conditions 81 to 83. That is, the article management unit 21 determines the shelving point.
<Condition 81> The square is on the floor determined in "first" of step S203.
<Condition 82> The square is an empty square.
<Condition 82> If there are multiple empty squares, the distance between the squares and the elevator is the shortest. When there are a plurality of elevators, the distance here is the average value of the distances from each elevator.

In step S204, the transport management unit 22 of the transport management device 1 determines a transport vehicle for transporting the shelves. Specifically, the transport management unit 22 refers to the transport vehicle information 33 (FIG. 9), and determines, for example, a transport vehicle that satisfies all of the following conditions 91 and 92. The starting point is the square in which such a transport vehicle exists.
<Condition 91> The operation flag of the transport vehicle is "waiting".
<Condition 92> When there are a plurality of waiting transport vehicles, the "floor distance" when the transport vehicles transport the shelves is the shortest. The floor distance here is the sum of "the absolute value of the difference between the number of floors of the starting point and the number of floors of the shelving point" and "the absolute value of the difference between the number of floors of the starting point and the number of floors of the shelving point".

In step S205, the transport management unit 22 determines the elevator that transports the transport vehicle. Specifically, the transport management unit 22 refers to the elevator information 34 (FIG. 10), and determines, for example, an elevator that satisfies all of the following conditions 101 and 102.
<Condition 101> The capacity of the elevator is equal to or greater than the number of shelves determined in step S202. In the above example, since the number is "1", any elevator satisfies the condition. However, when transporting a plurality of shelves arranged on the same floor at the same time, the condition must be satisfied.
<Condition 102> The "floor distance" when the elevator transports the transport vehicle is the shortest. The floor distance here is the "absolute value of the difference between the number of floors where the elevator is waiting and the number of floors at the shelving point" and "the absolute value of the difference between the number of floors where the elevator is waiting and the number of floors at the shelving point". It is a sum.

In step S206, the transport management unit 22 determines the route. Specifically, the transport management unit 22 determines a route that satisfies all of the following conditions 111 to 116.
<Condition 111> The route has a starting point determined in step S204.
<Condition 112> The route has an end point designated in advance for the carrier to stand by in the vicinity of the shelving point.
<Condition 113> On that route, after the carrier vehicle becomes an actual vehicle, it must not pass through the squares on which the shelves are placed.

<Condition 114> The route has a shelving point, a working point, and a shelving point between the starting point and the ending point in this order. When the carrier moves across multiple floors, the route shall have one or more combinations of elevator entry points and elevator exit points. At the work point here, picking work is performed.
<Condition 115> Of the multiple route candidates, the length from the start point to the end point of the route is the shortest.
<Condition 116> If there is no difference under condition 115, the number of squares in which the carrier vehicle as an empty vehicle passes under the shelf is the smallest among the candidates for a plurality of routes.

In step S207, the transport management unit 22 transmits an instruction. Specifically, first, the transport management unit 22 sets the route determined in step S206 to each of the transport vehicle determined in step S204 and the elevator determined in step S205 as an instruction having a plurality of "nodes". Send.
Second, the transport management unit 22 stores the transmitted route as two records (a record for the transport vehicle and a record for the elevator) of the instruction information 37 (FIG. 13). After that, the picking process procedure is terminated.

(Procedure for reviewing the first shelf layout)
A first shelf arrangement review processing procedure will be described with reference to FIG.
In step S301, the floor management unit 23 of the transport management device 1 determines the articles with many orders. Specifically, first, the floor management unit 23 recognizes that a predetermined timing for starting the first shelf layout review processing procedure has arrived. The predetermined timing is, for example, "8:00 pm on the last day of every month".

Secondly, the floor management unit 23 refers to the order information 36 (FIG. 12) and determines the article ID of the article in which the quantity ordered in the latest predetermined period is equal to or greater than the predetermined threshold value. The most recent predetermined period is, for example, a period from 8:00 pm on the last day of the previous month to 8:00 pm on the last day of the current month. Now, it is assumed that "B001" is determined as such an article ID. If the corresponding article ID does not exist, the floor management unit 23 proceeds to step S305 (not shown in FIG. 17).

In addition to the quantity of the goods ordered, the floor management unit 23 obtains at least one value of the number or frequency of orders for the goods or the number, quantity or frequency of picking the goods on the work floor. A threshold may be applied to each. Further, the floor management unit 23 constantly monitors the number, quantity or frequency of orders for goods, or the number of times, quantity or frequency of picking goods on the work floor, and acquires at least one of these values. However, the first shelf layout review processing procedure may be started when these values fall within a predetermined range.

In step S302, the floor management unit 23 determines whether or not the shelves are arranged on the warehouse floor. Specifically, first, the floor management unit 23 refers to the shelf information 32 (FIG. 8) and determines the shelf ID of the shelf in which the article “B001” is stored. For the sake of simplicity of the description, it is assumed here that only one "A001" is determined as such a shelf ID. Then, the floor management unit 23 acquires the shelf position (column 116 in FIG. 8) of “A001”.
Second, the floor management unit 23 searches for the floor information 31 (FIG. 7) using the shelf position acquired in "first" of step S302 as a search key, and the floor attribute corresponding to the shelf position (column of FIG. 7). 102) is acquired.

Third, the floor management unit 23 proceeds to step S303 when the floor attribute acquired in "second" of step S302 is "warehouse floor" (step S302 "Yes"), and in other cases (step). S302 “No”), the process proceeds to step S305.

In step S303, the floor management unit 23 determines a route for transporting the shelves to the work floor. The method for determining the route here is based on the method described in the arrival processing procedure and the picking processing procedure. That is, the floor management unit 23 determines a route, a transport vehicle, and an elevator for transporting the shelf “A001” from the warehouse floor to the work floor.

In step S304, the floor management unit 23 transmits an instruction. Specifically, first, the floor management unit 23 transmits the route determined in step S303 to each of the transport vehicle and the elevator determined in step S303 as an instruction having a plurality of "nodes".
Secondly, the floor management unit 23 stores the transmitted route as two records (a record for a transport vehicle and a record for an elevator) of instruction information 37 (FIG. 13).

In step S305, the floor management unit 23 determines an item with a small order. Specifically, the floor management unit 23 refers to the order information 36 (FIG. 12) and determines the article ID of the article for which the quantity ordered in the latest predetermined period is less than the predetermined threshold value. Now, it is assumed that "B003" is determined as such an article ID. If the corresponding article ID does not exist, the floor management unit 23 ends the first shelf layout review processing procedure (not shown in FIG. 17). As in step S301, the floor management unit 23 has at least the number or frequency of orders for articles or the number, quantity or frequency of picking articles on the work floor, in addition to the quantity of articles ordered. One value may be acquired and a threshold value may be applied to each value.

In step S306, the floor management unit 23 determines whether or not the shelves are arranged on the work floor. Specifically, first, the floor management unit 23 refers to the shelf information 32 (FIG. 8) and determines the shelf ID of the shelf in which the article “B003” is stored. For the sake of simplicity of the description, it is assumed here that only one "A002" is determined as such a shelf ID. Then, the floor management unit 23 acquires the shelf position (column 116 in FIG. 8) of “A002”.
Second, the floor management unit 23 searches for the floor information 31 (FIG. 7) using the shelf position acquired in "first" of step S306 as a search key, and the floor attribute corresponding to the shelf position (column of FIG. 7). 102) is acquired.

Third, the floor management unit 23 proceeds to step S307 when the floor attribute acquired in "second" of step S306 is "work floor" (step S306 "Yes"), and in other cases (step). S306 “No”), the first shelf layout review processing procedure is completed.

In step S307, the floor management unit 23 determines a route for transporting the shelves to the warehouse floor. The method for determining the route here is based on the method described in the arrival processing procedure and the picking processing procedure. That is, the floor management unit 23 determines a route, a transport vehicle, and an elevator for transporting the shelf “A002” from the work floor to the warehouse floor.

In step S308, the floor management unit 23 transmits an instruction. Specifically, first, the floor management unit 23 transmits the route determined in step S307 to each of the transport vehicle and the elevator determined in step S307 as an instruction having a plurality of "nodes".
Secondly, the floor management unit 23 stores the transmitted route as two records (a record for a transport vehicle and a record for an elevator) of instruction information 37 (FIG. 13). After that, the first shelf layout review processing procedure is completed.

(Second shelf layout review processing procedure)
A second shelf layout review processing procedure will be described with reference to FIG. In the second shelf layout review processing procedure, it is premised that there are a plurality of work floors for picking.
In step S401, the floor management unit 23 of the transport management device 1 determines the articles that are frequently transported to the work floor. Specifically, first, the floor management unit 23 recognizes that a predetermined timing for starting the second shelf layout review processing procedure has arrived. The predetermined timing is, for example, "8:00 pm on the last day of every month". The work floor is a floor out of a plurality of work floors (floors with work points) that attempts to review the work floor (floor with shelves) in which shelves transported to the work floor are arranged. .. Of the plurality of work floors, floors other than the work floor are referred to as "other work floors".

Secondly, the floor management unit 23 refers to the instruction information 37 (FIG. 13), and the number of times (the number of records) transported to the work floor in the most recent predetermined period is equal to or more than a predetermined threshold value. Determine the article ID. The most recent predetermined period is, for example, a period from 8:00 pm on the last day of the previous month to 8:00 pm on the last day of the current month. For example, by searching the shelf information 32 (FIG. 8) using "[6,8,3]" of "[6,8,3] up" among the sections constituting the instruction, the floor management unit 23 can know which article was transported. Further, by searching the floor information 31 (FIG. 7) using "[9,5,2]" of "[9,5,2] pause" among the sections constituting the instruction, the floor management unit 23 can know to which floor the article was transported. Now, it is assumed that "B005" has been determined as such an article ID. If the corresponding article ID does not exist, the floor management unit 23 proceeds to step S405 (not shown in FIG. 18).

The floor management unit 23 may apply a threshold value to the number of times the article is transported to the work floor, as well as the quantity of the article transported to the work floor. That is, in general, the floor management unit 23 can apply a predetermined threshold value to the frequency at which articles are transported to the work floor. Further, the floor management unit 23 may constantly monitor the frequency with which the articles are transported to the work floor, and start the second shelf layout review processing procedure when the frequency falls within a predetermined range. .. The floor management unit 23 acquires at least one value of the frequency at which the article is transported to the work floor, or the number, quantity, or frequency at which the article is ordered on the work floor, and sets a threshold value for each. It may be applied.

In step S402, the floor management unit 23 determines whether or not the shelves are arranged on another work floor. Specifically, first, the floor management unit 23 refers to the shelf information 32 (FIG. 8) and determines the shelf ID of the shelf in which the article “B005” is stored. For the sake of simplicity of the description, it is assumed here that only one "A003" is determined as such a shelf ID. Then, the floor management unit 23 acquires the shelf position (column 116 in FIG. 8) of “A003”.
Second, the floor management unit 23 searches for the floor information 31 (FIG. 7) using the shelf position acquired in "first" of step S402 as a search key, and the floor attribute corresponding to the shelf position (column of FIG. 7). 102) and the classification (column 101) are acquired.

Thirdly, when the floor attribute and the classification acquired in "second" of step S402 indicate "another work floor" (step S402 "Yes"), the floor management unit 23 proceeds to step S403, and other than that. If (step S402 “No”), the process proceeds to step S405.

In step S403, the floor management unit 23 determines a route for transporting the shelves to the work floor. The method for determining the route here is based on the method described in the arrival processing procedure and the picking processing procedure. That is, the floor management unit 23 determines a route, a transport vehicle, and an elevator for transporting the shelf "A003" from another work floor to the work floor.

In step S404, the floor management unit 23 transmits an instruction. Specifically, first, the floor management unit 23 transmits the route determined in step S403 to each of the transport vehicle and the elevator determined in step S403 as an instruction having a plurality of “nodes”.
Secondly, the floor management unit 23 stores the transmitted route as two records (a record for a transport vehicle and a record for an elevator) of instruction information 37 (FIG. 13).

In step S405, the floor management unit 23 determines an article that is rarely transported to the work floor. The floor management unit 23 refers to the instruction information 37 (FIG. 13) and determines the article ID of the article in which the number of times (the number of records) transported to the work floor in the latest predetermined period is less than the predetermined threshold value. do.
Now, it is assumed that "B006" is determined as such an article ID. If the corresponding article ID does not exist, the floor management unit 23 ends the second shelf layout review processing procedure (not shown in FIG. 18). The floor management unit 23 acquires at least one value of the frequency at which the article is transported to the work floor, or the number, quantity, or frequency at which the article is ordered on the work floor, and sets a threshold value for each. It may be applied.

In step S406, the floor management unit 23 determines whether or not the shelves are arranged on the work floor. Specifically, first, the floor management unit 23 refers to the shelf information 32 (FIG. 8) and determines the shelf ID of the shelf in which the article “B006” is stored. For the sake of simplicity of the description, it is assumed here that only one "A004" is determined as such a shelf ID. Then, the floor management unit 23 acquires the shelf position (column 116 in FIG. 8) of “A004”.
Second, the floor management unit 23 searches for the floor information 31 (FIG. 7) using the shelf position acquired in "first" of step S406 as a search key, and the floor attribute corresponding to the shelf position (column of FIG. 7). 102) and the classification (column 101) are acquired.

Third, the floor management unit 23 proceeds to step S407 when the floor attribute and classification acquired in "second" of step S406 indicate "the work floor" (step S406 "Yes"), and in other cases. (Step S406 “No”), the second shelf layout review processing procedure is completed.

In step S407, the floor management unit 23 determines a route for transporting the shelves to another work floor. The method for determining the route here is based on the method described in the arrival processing procedure and the picking processing procedure. That is, the floor management unit 23 determines a route, a transport vehicle, and an elevator for transporting the shelf "A004" from the work floor to another work floor.

In step S408, the floor management unit 23 transmits an instruction. Specifically, first, the floor management unit 23 transmits the route determined in step S407 to each of the transport vehicle and the elevator determined in step S407 as an instruction having a plurality of "nodes".
Secondly, the floor management unit 23 stores the transmitted route as two records (a record for a transport vehicle and a record for an elevator) of instruction information 37 (FIG. 13). After that, the second shelf layout review processing procedure is completed.

(Effect of this embodiment)
The effects of the transport system of this embodiment are as follows.
(1) The transport system enables efficient picking work in a distribution center having a plurality of floors.
(2) The transport system can efficiently transport goods up and down between the arrival floor, the warehouse floor, and the work floor.
(3) The transport system can transport articles that are frequently subject to picking work to the work floor.
(4) The transport system can automatically start the process of (3).
(5) When there are a plurality of work floors on which the picking work is performed, the transport system can transport the articles frequently targeted for the picking work to the work floor.
(6) The transport system can automatically start the process of (5).

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 in order to explain the present invention in an easy-to-understand manner, and is not necessarily limited to the one including all the configurations described. Further, it is possible to replace a part of the configuration of one embodiment with the configuration of another embodiment, and it is also possible to add the configuration of another embodiment to the configuration of one embodiment. Further, it is possible to add / delete / replace a part of the configuration of each embodiment with another configuration.

1 Transport management device 2 Transport vehicle (transport robot)
3 Elevator (inter-floor transfer device)
7 Shelf 11 Central control device 12 Input device 13 Output device 14 Main storage device 15 Auxiliary storage device 16 Communication device 21 Goods management department 22 Transport management department 23 Floor management department 31 Floor information 32 Shelf information 33 Transport vehicle information 34 Elevator information 35 Goods Information 36 Order information 37 Instruction information

Claims (17)

A storage device that stores floor information that associates floor divisions with floor attributes,
When a container for storing an article whose floor attribute is picked at a frequency equal to or higher than a threshold value on the first floor whose floor attribute is the work floor is arranged on the second floor whose floor attribute is the warehouse floor with reference to the floor information. A control device that controls the transfer robot and the inter-floor transfer device so that the container is transferred from the second floor to the first floor.
A transport system characterized by being equipped with. A storage device that stores floor information that associates floor divisions with floor attributes,
When a container for storing an article whose floor attribute is picked on the first floor, which is a work floor, is less than the threshold value with reference to the floor information is arranged on the first floor, from the first floor. A control device that controls the transfer robot and the inter-floor transfer device so that the container is transferred to the second floor whose floor attribute is the warehouse floor.
A transport system characterized by being equipped with. A storage device that stores floor information that associates floor divisions with floor attributes,
When a container for storing an article whose quantity to be picked on the first floor whose floor attribute is the work floor is equal to or greater than the threshold value is arranged on the second floor whose floor attribute is the warehouse floor with reference to the floor information. A control device that controls the transfer robot and the inter-floor transfer device so that the container is transferred from the second floor to the first floor.
A transport system characterized by being equipped with. A storage device that stores floor information that associates floor divisions with floor attributes,
When a container for storing an article whose floor attribute is a work floor and the quantity picked is less than the threshold value is arranged on the first floor with reference to the floor information, from the first floor. A control device that controls the transfer robot and the inter-floor transfer device so that the container is transferred to the second floor whose floor attribute is the warehouse floor.
A transport system characterized by being equipped with. A storage device that stores floor information that associates floor divisions with floor attributes,
When a container for storing an article whose floor attribute is picked on the first floor, which is the work floor, is equal to or greater than the threshold value is arranged on the second floor, which is the warehouse floor, with reference to the floor information. A control device that controls the transfer robot and the inter-floor transfer device so that the container is transferred from the second floor to the first floor.
A transport system characterized by being equipped with. A storage device that stores floor information that associates floor divisions with floor attributes,
When a container for storing an article whose floor attribute is picked on the first floor, which is the work floor, is less than the threshold value with reference to the floor information is arranged on the first floor, from the first floor. A control device that controls the transfer robot and the inter-floor transfer device so that the container is transferred to the second floor whose floor attribute is the warehouse floor.
A transport system characterized by being equipped with. A storage device that stores floor information that associates floor divisions with floor attributes,
When the container for storing the goods whose order frequency is equal to or higher than the threshold value with reference to the floor information is arranged on the second floor whose floor attribute is the warehouse floor, the floor attribute is the work floor from the second floor. A control device that controls the transfer robot and the inter-floor transfer device so as to transfer the container to the first floor.
A transport system characterized by being equipped with. A storage device that stores floor information that associates floor divisions with floor attributes,
When the container for storing the goods whose order frequency is less than the threshold value with reference to the floor information is arranged on the first floor whose floor attribute is the work floor, the floor attribute is the warehouse floor from the first floor. A control device that controls the transfer robot and the inter-floor transfer device so as to transfer the container to the second floor.
A transport system characterized by being equipped with. A storage device that stores floor information that associates floor divisions with floor attributes,
When the container for storing the goods whose ordered quantity is equal to or more than the threshold value is arranged on the second floor whose floor attribute is the warehouse floor with reference to the floor information, the floor attribute is the work floor from the second floor. A control device that controls the transfer robot and the inter-floor transfer device so as to transfer the container to the first floor.
A transport system characterized by being equipped with. A storage device that stores floor information that associates floor divisions with floor attributes,
When the container for storing the goods whose ordered quantity is less than the threshold value is arranged on the first floor whose floor attribute is the work floor with reference to the floor information, the floor attribute is the warehouse floor from the first floor. A control device that controls the transfer robot and the inter-floor transfer device so as to transfer the container to the second floor.
A transport system characterized by being equipped with. A storage device that stores floor information that associates floor divisions with floor attributes,
When the container for storing the goods whose order count is equal to or greater than the threshold value is arranged on the second floor whose floor attribute is the warehouse floor with reference to the floor information, the floor attribute is the work floor from the second floor. A control device that controls the transfer robot and the inter-floor transfer device so as to transfer the container to the first floor.
A transport system characterized by being equipped with. A storage device that stores floor information that associates floor divisions with floor attributes,
When the container for storing the goods whose order count is less than the threshold value is arranged on the first floor whose floor attribute is the work floor with reference to the floor information, the floor attribute is the warehouse floor from the first floor. A control device that controls the transfer robot and the inter-floor transfer device so as to transfer the container to the second floor.
A transport system characterized by being equipped with. Further provided with the transfer robot and the floor-to-floor transfer device,
The transport system according to any one of claims 1 to 12, wherein the transport system is characterized. The container is
A shelf for storing the articles.
The transfer robot
Being a transport vehicle capable of lifting and transporting the shelves,
13. The transport system according to claim 13. The storage device is
Stores shelf information that associates an identifier that identifies the shelf, an identifier of the article stored in the shelf, and information on the position of the shelf.
The control device is
With reference to the shelf information, information on the position of the shelf for storing the article is obtained.
To acquire the floor attribute corresponding to the acquired shelf position by referring to the floor information.
14. The transport system according to claim 14. The control device is
The route for transporting the shelves, the transport vehicle, and the floor-to-floor transport device are determined.
Sending the instruction about the determined route to the transport vehicle and the floor-to-floor transport device,
15. The transport system according to claim 15. The claim work floor is
It has a storage area where the shelves can be arranged, and a picking area where the articles are taken out from the shelves by a worker or a robot.
The warehouse floor
Having a storage area where the shelves can be placed,
16. The transport system according to claim 16.

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