JP2019218197A - Conveyance system - Google Patents

Abstract

To provide a conveyance system capable of realizing improvement of conveyance efficiency of articles and suppression of wasteful labor cost, etc., by suppressing failure such as collision between mobile objects.SOLUTION: A conveyance system: comprises a plurality of mobile objects capable of moving via a passage connecting each of a plurality of storage means in which articles are stored by sorting and capable of housing the article, and a management device performing determination processing of a scheduled movement route for each mobile object so as to sequentially go through the storage means corresponding to each article contained in an order in accordance with the order of the article; and moves the plurality of mobile objects on the basis of the scheduled movement route to convey the article. The management device performs the determination processing by allowing duplication of the route of the mobile objects, and each of the plurality of mobile objects moves while avoiding collision to another mobile object at duplicating, in the conveyance system.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a transport system used for transporting articles.

  2. Description of the Related Art Conventionally, there has been proposed a system that is used in a warehouse or the like that stores products (one form of articles) and that stores ordered products in a moving body and transports the products. According to this system, for example, regarding the operation of the Internet shopping using the Internet, it is possible to stock products according to the order for each purchaser.

  In such a system as described above, cost reduction is expected by improving the efficiency of goods transportation and reducing the number of workers. In view of this point, for example, according to Patent Literature 1, a product sorting system that generates operation data of a transport vehicle (one form of a moving body) based on an order of the product and controls the transport vehicle using the operation data is disclosed. It has been disclosed. According to this system, there is no need to dedicate a worker to the carrier, and the number of workers can be reduced.

JP-A-11-322027

  According to the system disclosed in Patent Literature 1, cost reduction is achieved by automating the movement of a moving body as much as possible. However, efficiency of article conveyance is improved by moving a plurality of moving bodies at the same time. Is not mentioned. For example, when articles are conveyed by only one mobile unit, the transfer efficiency is significantly lower than when multiple mobile units are used at the same time. In particular, in a situation in which a plurality of workers who store articles in a moving body are arranged, there is a problem in that using only one moving body results in a long time during which no work is performed by the worker, and wasteful labor costs increase. Occurs.

  However, in the case where a plurality of moving objects are moved at the same time, there is a concern that a problem such as collision between the moving objects when the courses overlap may occur. Unless measures are taken against such a problem, a plurality of moving objects cannot be moved at the same time. The present invention has been made in view of the above-described problems, and has as its object to provide a transport system capable of suppressing inconveniences such as collisions between moving bodies, improving transport efficiency of articles, suppressing waste of labor costs, and the like. .

  The transport system according to the present invention is capable of moving in a passage connecting each of a plurality of storage means in which articles are classified and stored, and a plurality of moving bodies capable of storing the articles, and an order of the articles. A management device that performs a process of determining a planned movement route for each of the moving objects so as to sequentially pass through the storage unit corresponding to each article included in the order. A transport system that moves based on the scheduled travel route and transports the article, wherein the management device performs the determination process while allowing overlapping of the courses of the moving bodies, Is configured to move while avoiding collision with another moving body at the time of the overlap. According to this configuration, it is possible to suppress problems such as collisions between moving bodies, to improve the efficiency of transporting articles, to suppress waste of labor costs, and the like.

  More specifically, as the above configuration, in response to the arrival of the moving body to the storage unit, a notification unit that notifies the worker of a housing work instruction, and a reception unit that receives a work completion report from the worker. The transport system of the above configuration, in which the moving body moves to the next storage unit in response to receiving the work completion report, wherein the management device Among the corresponding storage means, the first storage means to be assigned to a worker who is not currently carrying out the accommodation work is detected, and the determination processing is performed so that the first storage means is prioritized in the passing order. Alternatively, the configuration may be such that the planned movement route is changed.

  According to this configuration, it is possible to minimize the time during which the worker does not perform the accommodation operation. In addition, the "accommodation work" in the present application is an operation of taking out an article from the storage means and accommodating the article in the moving body. More specifically, as the configuration, the management device may be configured to detect the first storage unit based on the status of the worker and the state of the moving body.

  More specifically, as the above-described configuration, the management device includes, among the storage units corresponding to each article included in the order, a second storage unit that minimizes a moving time from a current position of the moving object. The configuration may be such that the determination processing or the change of the planned movement route is performed such that the first storage means and the second storage means are prioritized in the order of detection and passing. According to this configuration, it is possible to minimize the time during which the worker does not perform the accommodating operation, and also minimize the article transport time.

  More specifically, in the above configuration, when another moving body is waiting for a predetermined number in the storage unit, which is the next moving destination, the moving body moves to the evacuation space corresponding to the next moving destination. It is good also as a structure which waits after waiting. According to this configuration, it is possible to prevent a moving body on standby from interfering with a moving body of another moving body.

  More specifically, the above-mentioned configuration may be such that the moving body is moved to the first storage unit when the first storage unit is detected while waiting in the evacuation space. According to this configuration, the waiting time of the moving body can be minimized, and the moving body can be used more efficiently.

  More specifically, as the above-described configuration, the plurality of storage units are classified into a plurality of groups, and the management device determines a time period from when the accommodation work instruction is notified to when the work completion report is received. When a certain difference time is measured, and the difference time in any one of the groups exceeds a predetermined reference value, the number of storage units belonging to the group may be reduced. More specifically, as the configuration, each of the groups may correspond to each of the assigned areas where the same worker is in charge of the accommodation work. According to this configuration, it is possible to allow the worker in charge of the group to have a margin and to smoothly perform the work.

  Further, more specifically, as the above configuration, the management device may be configured to detect a movement amount of each worker who performs the accommodating work and perform the determination process based on a result of the detection. According to this configuration, it is possible to reduce the amount of movement of the worker as much as possible, and to concentrate on the storing operation while stopping as much as possible.

  More specifically, as the above configuration, the moving body has a camera, and based on photographing information obtained by the camera, the speed of the own body and the allowable proximity distance with the other moving body can be changed. It may be configured. According to this configuration, for example, when it is determined from the shooting information that the danger of a collision is relatively high, the collision can be more reliably performed by reducing the speed of the mobile unit and increasing the allowable proximity distance. It is possible to avoid. More specifically, as the configuration, when the moving body detects an obstacle based on the photographing information, the moving body may avoid the obstacle and move on the planned movement path.

  More specifically, as the above configuration, the receiving unit is provided on the moving body as an operation unit that receives an operation of the work completion report by the worker, and the moving body detects a position of the worker. Then, the operation means may be directed to the worker. According to this configuration, it is possible to facilitate the operation of the work completion report by the worker.

  More specifically, the moving body may be a flying body that enables unmanned flight, and the moving body may move along a ceiling surface. The moving body may be configured to move along a floor surface.

  ADVANTAGE OF THE INVENTION According to the transport system which concerns on this invention, it becomes possible to suppress malfunctions, such as collision of moving bodies, to improve the transport efficiency of articles | goods, and to suppress waste of personnel expenses.

It is a block diagram about a schematic structure of conveyance system X concerning a 1st embodiment. It is explanatory drawing regarding the state in the warehouse to which the transport system X is applied. FIG. 5 is an explanatory diagram regarding management contents of a product management unit according to the first embodiment. FIG. 2 is an explanatory diagram schematically illustrating an appearance of a moving object according to the first embodiment. It is an explanatory view showing a situation around a storage shelf in a warehouse. 9 is a flowchart illustrating a main operation flow of the transport system X. It is explanatory drawing regarding the management status of an order. FIG. 4 is an explanatory diagram regarding a specific example of a planned movement route according to the first embodiment. It is explanatory drawing regarding the planned movement path | route determined so that two mobile bodies may move simultaneously. FIG. 4 is an explanatory diagram regarding a specific example of a planned movement route according to the first embodiment. It is explanatory drawing regarding the mode of movement of the moving body which concerns on 2nd Embodiment. It is explanatory drawing which shows typically the structure of the moving body which concerns on 2nd Embodiment. It is explanatory drawing regarding the planned movement route which concerns on 2nd Embodiment. It is explanatory drawing regarding the descent of the box-shaped part which concerns on 2nd Embodiment. It is explanatory drawing which shows typically the external appearance of the moving body which concerns on 3rd Embodiment.

  Embodiments of the present invention will be described below with reference to the drawings, taking first to third embodiments as examples.

1. First Embodiment First, a first embodiment will be described. FIG. 1 is a block diagram illustrating a schematic configuration of a transport system X according to the present embodiment. FIG. 2 schematically shows a state from an upper viewpoint in the warehouse 4 to which the transport system X is applied.

  As shown in these figures, the transport system X has a management device 1 and a plurality of moving bodies 2. As an example, the transport system X according to the present embodiment is used to receive an order for a product from a customer (shopper) of the Internet shopping and to order the product from each storage shelf 5 installed in the warehouse 4.

  The management device 1 is capable of wireless communication with a plurality of mobile units 2 arranged in the warehouse 4, and includes an order reception unit 11, an order management unit 12, a scheduled movement route determination unit 13, and a product management unit 14. Having. The specific form of the management device 1 is not particularly limited, and the entire device may be installed in the warehouse 4 or a part thereof may be installed outside the warehouse 4.

  The order receiving unit 11 is connected to a communication network (such as the Internet) used for online shopping, and receives an order for a product from each customer around the clock (see step S11 in FIG. 6). The product order information includes the product number of one or more products that the customer wants to purchase and the number of purchases, as well as a customer number that allows the customer to be identified. Information such as the name and address of each customer is provided in advance by the customer, and the management device 1 assigns a customer number to each customer, and links the information provided by the customer to the corresponding customer number. It has been recorded. When the customer inputs his / her customer number, logs in to the online shopping site, selects an item, and performs an order operation, information on the ordered item is sent to the order receiving unit 11 together with the customer number.

  The order management unit 12 manages an order for a product received from a customer (see step S12 in FIG. 6 and FIG. 7). The scheduled movement route determination unit 13 determines a route (scheduled movement route) on which the mobile unit 2 is to be moved based on the order contents of the products so as to pass through the storage shelves 5 where the products to be stocked are stored. (See step S13 in FIG. 6). A specific method for determining the planned movement route by the planned movement route determination unit 13 will be described in detail again.

  The product management unit 14 manages the stock, storage location, and the like of each product stored in the warehouse 4. FIG. 3 shows a specific example of the content managed by the product management unit 14. In the example shown in this figure, the merchandise management unit 14 provides information such as “merchandise number”, “merchandise name”, “corresponding storage shelf”, “stock quantity”, and “necessity of stock replenishment” for each product type. Hold. The “product number” is a number for identifying a corresponding product, and the “corresponding storage shelf” indicates information (A1 to J8 shown in FIG. 2) for specifying the storage shelf 5 in which the product is stored. “Necessity of stock replenishment” is “necessary” when the number of stocks falls below a predetermined reference value, and “no” otherwise. The administrator can refer to this information to prevent the product from running out of stock by replenishing the products whose stock has decreased. The replenishment of the product is performed on the corresponding storage shelf 5, and the value of the “stock number” of the corresponding product is increased or decreased according to the replenishment or the sale of the product.

  The moving body 2 has a notification unit 21, an operation unit 22, a camera unit 23, and a driving unit 24, and is movable in a passage connecting the plurality of storage shelves 5 in the warehouse 4. The moving body 2 can store a plurality of products, and can transport the stored products to a desired position.

  The moving body 2 of the present embodiment is a flying body that enables unmanned flight, and can move in the air. FIG. 4 schematically shows the appearance of the moving body 2. As described above, in the example of the present embodiment, the moving body 2 is formed as a so-called drone, and has four propeller sections 25 and a main body section 26 provided thereunder. Since general matters relating to drones are known, detailed description thereof is omitted here. A part of the main body 26 is formed in a box shape, and can accommodate a plurality of products inside. The box-shaped opening is provided with a door 26a that can be opened and closed so that the product does not drop during transportation.

  The notification unit 21 has a touch panel type display 21a for displaying various information, and notifies various information to an operator or the like (see steps S17 and S20 in FIG. 6). Note that the notification unit 21 may include a speaker instead of the display 21a or together with the display 21a, and various information may be notified as audio information.

  The operation unit 22 can be operated by a worker or the like, and plays a role of receiving various reports from the worker or the like (see steps S18 and S21 in FIG. 6). In the present embodiment, the above-described touch panel display 21 functions as the operation unit 22. Thereby, even if the moving body 2 is a flying body as in the present embodiment, the operation can be easily performed. The camera unit 23 has a photographing lens 23a provided on a side surface of the moving body 2, and can photograph surrounding conditions to obtain photographing information (video). The obtained photographing information is used for operation control of the own device.

  In addition, since the mobile unit 2 has a GPS (Global Positioning System) that can be used indoors, the mobile unit 2 can grasp the position of the mobile unit 2 itself. Further, the moving body 2 performs machine learning, and real-time processing of surrounding objects (posts, walls, other moving bodies, persons, pictures of shelves, contents of shelves, etc.) based on the image of the camera section 23. Object recognition is possible. To realize this object recognition, an algorithm such as YOLO (You Only Look Once) can be used. “Machine learning” is a method of autonomously finding rules and rules by repeatedly learning based on given information. In the machine learning described above, deep learning (deep learning) may be employed so that a multidimensional data structure can be processed smoothly. This “deep learning” is machine learning using a multilayered neural network (an information processing model imitating the mechanism of the human brain nervous system).

  The driving unit 24 plays a role of driving a part necessary for moving in the warehouse 4. In the case of the present embodiment, the drive unit 24 can rotate each of the four propeller units 25 independently, and in addition to the movement of the moving body 2 in the horizontal direction, it is also possible to rotate and move up and down on the spot. I do.

  The mobile unit 2 in the first embodiment flies at a relatively low position (equal to or lower than the height of the storage shelf 5) and does not jump over the storage shelf 5. Therefore, the passage through which the moving body 2 can pass in the first embodiment is an area where no obstacle such as the storage shelf 5 exists in the space in the warehouse 4. On the other hand, an embodiment in which the moving body 2 can move over the storage shelf 5 will be described again as a second embodiment.

  Further, as shown in FIG. 2, in the warehouse 4, in addition to a plurality of (six in the example of FIG. 2) mobile bodies 2, a plurality of storage shelves 5 and a collection space 6 are provided. In the example shown in FIG. 2, a total of 70 storage shelves 5 indicated by “A1” to “J8” are provided, and a standby space in which each mobile unit 2 waits before the start of movement (before receiving information on the planned movement route). The collection space 9 and the collection space 6 are arranged in an area near the edge in the warehouse 4. Such information on the arrangement state in the warehouse 4 is stored in the management device 1 in advance.

  The storage shelves 5 function as storage means capable of classifying and storing products together with buckets (containers for storing products), and different types of products are stored for each storage shelf 5. As the storage shelf 5, another storage means capable of classifying and storing commodities may be employed. Further, a plurality of types of commodities may be stored in the same storage shelf 5. For example, ten types of products are stored in the storage shelf 5 of “A1”, another ten types of products are stored in the storage shelf 5 of “A2”, and yet another type of product is stored in the storage shelf 5 of “A3”. A form in which ten types of products are stored can also be adopted. Each storage shelf 5 is capable of taking in and out of a product at a position indicated by a white arrow in FIG. For example, with respect to the storage shelf 5 of “A1”, it is possible to put in and take out products at a position on the passage side facing the storage shelf 5 (the position on the left side of the storage shelf 5 of “A1” in FIG. 2). .

  FIG. 5 illustrates a state around the storage shelf 5 in the warehouse 4. The storage shelf 5 is provided with a plurality of buckets 7, and each bucket 7 stores a product 8 (a transport target of the moving body 2). The worker who performs the storing operation can take out the product 8 from the inside of the bucket 7 and store it in the moving body 2. Thereafter, the merchandise 8 is conveyed as the moving body 2 moves.

  In the warehouse 4, three assigned areas 7a to 7c indicated by broken lines in FIG. 2 are set. Each of these assigned areas is an area in which the same worker is in charge of the accommodating operation (the operation of taking out the product from the storage shelf 5 and accommodating it in the moving body 2). The assigned area 7a includes 28 storage shelves 5 of A1 to D7 (hereinafter, these groups are referred to as “group A”), and the assigned area 7b includes 26 storage shelves 5 of E1 to H6 (hereinafter, referred to as “group A”). These groups are referred to as “group B”), and 16 storage shelves 5 from I1 to J8 (hereinafter, these groups are referred to as “group C”) belong to the assigned area 7c. As described above, the plurality of storage shelves 5 are classified into groups, and information of these groups (such as information as to which group each storage shelf 5 belongs to) is held by the management device 1 in advance.

  The collection space 6 is a space for collecting each product conveyed by the moving body 2. Each product transported to the collection space 6 by the mobile unit 2 is packed for each mobile unit 2 (in other words, for each product order) and sent to the customer. In the warehouse 4, workers who take out the collection space 6 (work to take out each conveyed product from the moving body 2 and make it ready for packing) are arranged.

  Next, the main operation flow of the transport system X will be described with reference to the flowchart shown in FIG.

  The management device 1 is always waiting for access from a customer, and accepts an order for a product for each customer (step S11). When receiving the order for the product, the management device 1 sets the order as a new management target (step S12). The process may be executed each time an order for one case is received, or may be executed, for example, every fixed time or every time a predetermined number of orders are received.

  FIG. 7 shows an example of an order management situation. As shown in the figure, the management device 1 assigns an “order management number” to each order, and corresponds to the “customer number”, “order reception date and time” (order received date and time), and “shipped”. The date and time (the date and time when the shipment of the ordered product is completed) and the information on the "ordered product / corresponding storage shelf" are managed. Here, the “ordered product / corresponding storage shelf” indicates the product number for each type of ordered product, the number ordered, and the information of the corresponding storage shelf 5. According to the example shown in FIG. 7, the order having the order management number No. 00001 has three products (stored in the storage shelf 5 of B3) with the product number “Q0245” and the product with the product number “Q0313”. This is an order for one product (stored in the storage shelf 5 of B7). Note that the product number and the corresponding storage shelf information for each product are managed by the product management unit 14 as described above (see FIG. 3). In this way, the management device 1 associates each ordered product with the storage shelf 5.

  Further, the management device 1 determines the planned movement route of the moving body 2 based on the management content of the order (particularly, information on the ordered product / corresponding storage shelf) (step S13). The planned movement route for one mobile unit 2 is from storage space 5 to collection space 6 of mobile unit 2, and each storage shelf 5 (hereinafter, “specified”) corresponding to each product included in one order. It is determined to move along a passage in the warehouse 4 via a storage shelf.

  The information of the determined planned movement route for one order is transmitted to any one of the mobile units 2 on standby, and in response thereto, the mobile unit 2 moves according to the planned movement route. Is started (step S14). In the present embodiment, the moving body 2 moves autonomously based on the information on the planned moving route. However, the management device 1 may remotely control the moving body 2 based on the information on the planned moving route.

  The moving body 2 that has started moving continues to move according to the planned moving route while monitoring whether it has arrived at either the specific storage shelf or the collection space 6. Upon arriving at any of the specific storage shelves (Yes in step S15), the moving body 2 stops moving and notifies the worker in charge of the accommodation work at that location of an accommodation work instruction (step S17). This accommodation work instruction includes information on the name (or article number) and the number of the articles to be accommodated in the moving body 2. Further, the mobile unit 2 waits for the completion report of the accommodation work from the worker on the spot (step S18).

  At this time, the moving body 2 detects the position of the worker who is in charge of the accommodation work, and rotates on the spot so as to direct the touch panel type display 21a (operation means) to the worker. This makes it easy for the operator to perform the operation of reporting the completion of the accommodation operation. When the operation of reporting the completion of the accommodation work is performed (Yes in step S18), the moving body 2 resumes the movement according to the planned movement route (step S19).

  On the other hand, when the vehicle 2 arrives at the collection space 6 (Yes in step S16), the moving body 2 stops moving and notifies the worker in charge of the removal work of a removal work instruction (step S20). Also, the mobile unit 2 waits for the completion report of the removal work from the worker on the spot (step S21). At this time, the moving body 2 detects the position of the worker in charge of the unloading work, and rotates on the spot so as to direct the touch panel display 21a toward the worker. When the operation of reporting the completion of the accommodation work is performed (Yes in step S21), the moving body 2 moves to the original standby position and returns to the standby state.

  The above-described series of processing (steps S11 to S22) is performed for each product order, and thus, it is possible to efficiently stock products for each order. Here, in order to make the above series of processing easier to understand, a specific case in which the storage shelves 5 of H1, F1, B3, B7, I6, and J2 become specific storage shelves will be described as an example.

  In this case, for example, a planned movement path as indicated by an arrow in FIG. 8 is determined so that the mobile unit 2 moves via the storage shelves 5 of H1, F1, B3, B7, I6, and J2 (step). S13). The moving body 2 that has received the information on the scheduled moving route basically moves from the standby space 9 to the positions of the specific storage shelves H1, F1, B3, B7, I6, and J2 (the positions indicated by circles in FIG. 8). ) In order to arrive at the collection space 6. However, the planned moving route may be appropriately changed according to the state of the worker, the moving body 2, and the like. In this case, the moving body 2 moves according to the changed planned moving route. The method of determining and changing the planned movement route will be described in detail again.

  At the position of the specific storage shelf, the moving body 2 stops until there is a report of the completion of the accommodation work (Steps S17 to S18), so that the accommodation work can be easily performed. During this time, the worker performs an accommodation operation in accordance with the accommodation operation instruction, and after completing the operation, performs an operation of a completion report. Further, at the position of the collection space 6, the moving body 2 stops until there is a report of the completion of the removal operation (Steps S20 to S21), so that the removal operation can be easily performed. During this time, the worker performs the removal work according to the removal work instruction, and after completing the work, performs the operation of the completion report. The goods taken out of the moving body 2 are packed and sent to the ordering customer. When the shipment is completed, the current date and time are recorded as the shipped date and time for the order (see FIG. 7), and all the processing related to the order ends.

  In addition, the management device 1 moves the plurality of moving bodies 2 at the same time so that the plurality of orders can be promptly dealt with, and determines the planned movement route so that the goods transport corresponding to the plurality of orders is performed in parallel. . At this time, the management device 1 performs a process of deciding a scheduled movement route while allowing overlapping of the routes of the moving objects 2. Each of the plurality of moving bodies 2 moves so as to avoid collision with another moving body 2 at the time of the overlap.

  FIG. 9 shows an example of a planned movement route determined to move the two moving bodies 2 at the same time. The planned moving path for one moving body 2 is indicated by a solid line arrow and the planned movement path for the other moving body 2 is determined. The movement paths are indicated by broken arrows. When the planned moving route is determined in this way, the planned moving routes overlap in the areas W1 to W4 shown in FIG. 9, and when the two moving bodies 2 move at the same time according to the planned moving route, each moving is performed. The course of the body 2 may overlap. Therefore, unless measures are taken to avoid collision between the moving bodies 2, a problem that the moving bodies 2 collide with each other when the courses overlap may occur.

  In this regard, in the present embodiment, since each of the plurality of moving bodies 2 moves while avoiding a collision with another moving body 2 when such courses overlap, it is possible to prevent the occurrence of the problem beforehand. I can do it. In order to avoid the collision, the moving body 2 that is moving determines that there is a possibility of collision with another moving body 2 based on the photographing information obtained by the camera unit 23 of the own body, and follows the planned movement path. However, the course is changed so that collision is avoided (passing or translating with another moving body 2). As another method for avoiding the collision, a method may be adopted in which the planned movement path of each moving body 2 moving at the same time is shifted in advance in the width direction or the height direction of the passage. In particular, since the moving body 2 according to the present embodiment is a flying body, the flying height of each moving body 2 can be shifted so as not to collide with each other.

  In addition, the moving body 2 is based on the photographing information obtained by the camera unit 23 of the own body, and the speed of the own body and the allowable close distance to the other moving body 2 (the range allowed as the distance to the other moving body 2). May be changeable. For example, when it is determined from the photographing information that the danger of a collision is relatively high, the moving body 2 can more reliably avoid the collision by lowering its own speed and increasing the allowable proximity distance. Become. When detecting any obstacle (for example, a worker standing on a passage) based on photographing information obtained by the camera unit 23 of the own apparatus, the moving body 2 avoids the obstacle and performs scheduled movement. The route may be moved.

  As described above, in the present embodiment, the product transport can be performed in parallel by using a plurality of moving bodies 2, and therefore, the transport efficiency is significantly higher than when the product is transported by only one moving body 2. To improve. In particular, in the situation where a plurality of workers performing the accommodation work are arranged as in the present embodiment, the time when the workers are idle (the time when there is no accommodation work) is eliminated as much as possible, and the labor cost increases wastefully. Such a situation can be prevented. In addition, since the collision between the moving bodies 2 is also avoided, it is possible to smoothly carry the goods.

  In addition, as a basic policy when determining the planned movement route, the management device 1 shortens the transportation time of the product and improves the shipping speed while giving top priority to reducing the time during which the worker does not perform the accommodation work as much as possible. To do. That is, the management device is a storage shelf 5 to be assigned to a worker (free worker) who is not currently carrying out the accommodation work among the specific storage shelves (storage shelves 5 corresponding to the respective products included in the order). (Hereinafter, sometimes referred to as “first storage shelf”) and storage shelf 5 (hereinafter, sometimes referred to as “second storage shelf”) in which the moving time of the mobile unit 2 from the current position is the shortest. The priority is given to the first storage shelf and the second storage shelf in the order of detection.

  More specifically, when the number of specific storage shelves is n, first storage shelves (hereinafter referred to as P1) are prioritized, and second storage when P1 storage shelves are set as current positions. When the shelf (P2) is prioritized, then the second storage shelf (P3) when the storage shelf of P2 is the current position is prioritized, and then the storage shelf of P3 is the current position , The second storage shelf (P4) is prioritized, and then the second storage shelf (Pn) when the Pn-1 storage shelf is the current position is prioritized. Thus, the order of passing through the specific storage rack is determined. In a situation where there are a plurality of first storage shelves, the priority is set to be higher in the first storage shelves in order of decreasing moving time from the current position of the moving body 2.

  Further, even after the mobile device 2 starts moving based on the first planned moving route based on the determined planned moving route, the management device 1 changes the planned moving route according to the ever-changing situation, and Optimize. For example, even if the planned movement route is initially determined as shown by the solid line arrow in FIG. 10, when the mobile unit 2 reaches the position indicated by α in FIG. 10, the specific storage shelf (“ If the storage shelf 5) of “J2” is the first storage shelf, and there is no first storage shelf in the assigned area 7a at that time, as shown by the dotted arrow in FIG. The destination is the storage shelf 5 of “J2”. Such an operation related to the change of the planned moving route may be performed, for example, every time the moving body 2 arrives at any specific storage shelf.

  In addition, the management device 1 manages the worker's charge status (how many workers are in charge in each charge area) and the state of each mobile unit 2 (standby state in the standby space 9, moving state, and work completion). It is possible to know which area is in charge of a free worker based on this information, and to detect the above-mentioned first storage shelf. It is. For example, in the area in which two workers are in charge, in a situation where only one mobile unit 2 is in a state of waiting for a work completion report, one worker is in the containment work and another worker is in the work. Are found to be free. Further, when a predetermined number (for example, three) or more mobile units 2 are waiting for a work completion report in a specific storage shelf, the management device 1 may lower the priority of the specific storage shelf. Thereby, the waiting time of the moving body 2 can be minimized, and the moving body 2 can be used more efficiently.

  When a predetermined number (for example, two) of the other mobile units 2 are waiting in the specific storage shelf as the next destination, the mobile unit 2 moves to the evacuation space corresponding to the next specific storage shelf. stand by. This evacuation space is a space provided so as not to hinder the movement of another moving body 2 at a position as close as possible to the corresponding storage shelf 5. As an example, the evacuation space corresponding to the storage shelf 5 of “B1” is set near the storage shelf 5 of “B1” and at the space provided near the wall of the warehouse 4 as indicated by β in FIG. You. Furthermore, when the first storage shelf is detected during the standby in the evacuation space, the moving body 2 moves to the first storage shelf. Thereby, the waiting time of the moving body 2 can be minimized, and the moving body 2 can be used more efficiently.

  The management device 1 may detect the amount of movement of each of the workers in the assigned areas 7a to 7c and determine or change the planned movement route based on the detection result. The movement amount of each worker can be detected using GPS or the like. By determining or changing the planned movement route so that the detected movement amount becomes as small as possible, the movement amount of the worker can be reduced as much as possible, so that the worker can concentrate on the accommodation work while standing as much as possible. It becomes possible.

  In addition, the management device 1 sets a time (hereinafter, referred to as “difference time”) from the time of notifying the accommodation work instruction (see step S17 of FIG. 6) to the time of receiving the completion report of the accommodation work (see step S18 of FIG. 6). If the difference time in any one of the groups A to C described above exceeds a predetermined reference value, the number of storage shelves 5 belonging to the group may be reduced. If the difference time of any group exceeds the reference value, it is assumed that the worker in charge of that group has no margin. Therefore, in this case, by reducing the number of storage shelves 5 belonging to the group, the worker in charge of the group can have a margin and the work can be smoothly performed. The storage rack 5 removed from the group may belong to another group, or may belong to a newly provided group (a group in which a new worker is in charge).

2. Second Embodiment Next, a second embodiment will be described. Note that the second embodiment is basically the same as the first embodiment, except that an overhead carrier is used as a moving body and related points. In the following description, emphasis is placed on the description of points different from the first embodiment, and description of points common to the first embodiment may be omitted.

  The moving body 2a according to the present embodiment is a ceiling transport vehicle that moves along the ceiling surface of the warehouse 4. FIG. 11 schematically shows a state in which a plurality of moving bodies 2a move along rails 30 provided on the ceiling of the warehouse 4 from a lower viewpoint. As shown in this figure, rails 30 are arranged in a mesh shape (lattice shape) on the ceiling surface of the warehouse 4 so as to spread in a plane direction (horizontal direction). It is possible to move freely.

  For example, the moving body 2a indicated by δ in FIG. 11 can move from the current position in the direction indicated by the dotted arrow in FIG. The rail 30 is provided in a sufficiently wide area of the ceiling surface so as to cover the positions corresponding to all the storage shelves 5, the collection space 6, and the standby space 9 in the warehouse 4. Further, the rails 30 are arranged sufficiently densely, so that the moving bodies 2a having overlapping courses can easily pass each other or translate.

  FIG. 12 schematically shows a configuration of the moving body 2a (a state in which the elevating belt 33a is wound up). As shown in the figure, the moving body 2a includes a driving device 31 for traveling on the rail 30, a box-shaped portion 32 for accommodating goods, an elevating portion 33 for lifting and lowering the box-shaped portion 32 in a suspended state, and a box. And a housing portion 34 capable of housing most of the shape portion 32 from below.

  The driving device 31 (corresponding to a part of the driving unit according to the present embodiment) has a traveling wheel 31a that is driven by a motor and rotates around a horizontal axis. When the running wheel 31a rolls on the upper surface of the rail 30, the moving body 2a can move along the rail 30 on the ceiling surface.

  The box-shaped portion 32 can accommodate a plurality of products inside through the opening. The opening is provided with a door portion 32a which can be freely opened and closed so that the product does not drop during transportation. In addition, on the side wall of the box-shaped portion 32, a photographing lens 32b (corresponding to a part of the camera unit according to the present embodiment) for photographing a surrounding subject and a touch panel display 32c (a notification unit according to the present embodiment). And a part of the operation unit). The photographing lens 32b is located at a position where it is not accommodated in the accommodating portion 34 even when the elevating belt 33a is wound up (in the example of the present embodiment), so that the subject can be photographed even while the moving body 2a is moving. , Near the lower end of the box-shaped portion 32).

  The elevating part 33 raises and lowers the box-shaped part 32 in a suspended state. In the example of this embodiment, the elevating unit 33 has a pulley around which the elevating belt 33a is wound. The elevating unit 33 drives the pulley to feed out and wind up the elevating belt 33a, thereby raising and lowering the box-shaped portion 32 connected to the lower end of the elevating belt 33a.

  The moving body 2a in this embodiment is in a state in which the elevating belt 33a is wound up when moving according to the planned movement path, that is, a state in which the box-shaped portion 32 is raised to near the ceiling surface as shown in FIG. Thus, the moving body 2a can stably move along the ceiling surface of the warehouse 4 using a space higher than the storage shelf 5 as a passage. Further, in this state, since the box-shaped portion 32 is housed in the housing portion 34, the shaking of the box-shaped portion 32 during the movement of the moving body 2a is suppressed as much as possible.

  In addition, since the moving body 2a uses a space higher than the storage shelves 5 as a passage, the storage shelves 5 do not become obstacles when moving, and accordingly, move between the specific storage shelves by a short distance. Is possible. For example, when B3, B7, I6, and J2 are specific storage shelves, in a situation where the storage shelf 5 becomes an obstacle, the planned movement route is, for example, a route indicated by a dotted arrow in FIG. However, in the present embodiment, as an example, the planned movement route can be a route indicated by a solid arrow in FIG. 13, and the moving distance of the moving body can be extremely short. Therefore, in the present embodiment, it is possible to more efficiently transport the ordered product.

  When the movable body 2a arrives at the specific storage shelf or the collection space 6, as shown in FIG. 14, the movable body 2a extends the elevating belt 33a, so that the box-shaped portion 32 has a height that can be reached by the worker. Descend to. This facilitates the worker's accommodating work and taking-out work, operation of the touch panel display 32c, and the like. When the completion of the storing operation is reported, the box-shaped portion 32 rises to near the ceiling surface and resumes the movement according to the planned movement route.

3. Third Embodiment Next, a third embodiment will be described. Note that the third embodiment is basically the same as the first embodiment, except that an automatic guided vehicle is used as a moving body and related points. In the following description, emphasis is placed on the description of points different from the first embodiment, and description of points common to the first embodiment may be omitted.

  The moving body 2b according to the present embodiment is an automated guided vehicle (AGV) that moves along the floor in the warehouse 4. Since general matters relating to the automatic guided vehicle are known, detailed description thereof is omitted here. The moving body 2b according to the present embodiment can easily transport heavy goods because it travels on the floor surface, does not need to have a flying means such as a propeller, and can easily have a relatively simple configuration. is there.

  FIG. 15 schematically shows the appearance of the moving body 2b. As shown in the figure, the moving body 2b includes a control unit 201, a lifting unit 202, a first storage unit 203, a second storage unit 204, a photographing lens 205, a touch panel display 206, a driving wheel 207, and an auxiliary wheel 208. are doing.

  The control unit 201 includes a motor (corresponding to a part of the drive unit according to the present embodiment) for driving the left and right drive wheels 207, a battery, a control board, and the like. It has a form. The lifting unit 202 is provided above the control unit, and the second storage unit 204 is provided below the control unit.

  The elevating unit 202 is configured to be capable of elevating (moving up and down), and has a first storage unit 203 that can store goods from above, a photographic lens 205 for photographing a surrounding subject (a camera unit according to the present embodiment). And a touch panel display 206 (corresponding to a part of the notification unit and the operation unit according to the present embodiment). When recognizing the worker by photographing the subject, the lifting unit 202 moves up and down to a position where the worker can easily store the product in the first storage unit 203 and operate the touch panel display 206 by the worker. . In addition, the worker can store goods in the second storage section 204 in addition to the first storage section 203.

  Driving wheels 207 are provided on the left and right sides of the second storage section 204, and auxiliary wheels 208 are provided below the second storage section 204, and the mobile unit 2b moves on the floor surface in the warehouse 4 by these rotations. I do. Various mechanisms can be applied to the mechanism for automatically moving the moving body 2b. As an example, a mechanism in which a light reflector for position setting is installed on the floor of the passage can be applied. When this mechanism is applied, map information corresponding to the passage in the warehouse 4 and position information of the light reflector are stored in the control unit 201 of the moving body 2b in advance. The moving body 2b receives the reflected light by irradiating the light reflector with the laser light, and grasps the current position of the own device based on the information obtained by the light reception together with the previously stored information. It is possible to do.

  However, in the present embodiment, it is not necessary to maintain the moving body 2 in the air as in the first and second embodiments, but it is difficult to shift the positions of the moving bodies 2b in the height direction. Therefore, the moving body 2b according to the present embodiment is configured to move while avoiding collision with another moving body 2 when the courses overlap, so that the course is shifted in the width direction of the passage. As a method for avoiding the collision, a method may be adopted in which the planned movement paths of the moving bodies 2b moving at the same time are shifted in the width direction of the passage in advance.

4. Others The transport system X according to each embodiment described above is capable of moving in a passage connecting each of a plurality of storage shelves in which goods are classified and stored, and a plurality of moving bodies capable of accommodating the goods. And a management device that determines a scheduled movement route for each mobile object so as to sequentially pass through storage shelves corresponding to each product included in the order in accordance with the order of the product, Is a system for moving a moving object based on a planned movement route and transporting a product.

  Further, the management device performs a process of determining a planned movement route while allowing overlapping of courses of the moving objects, and each of the plurality of moving objects moves while avoiding a collision with another moving object at the time of the overlap. It has become. Therefore, according to the transport system X according to each embodiment, it is possible to suppress problems such as collision between moving objects, to improve the transport efficiency of the product, to suppress waste of labor costs, and the like.

  As described above, the embodiments of the present invention have been described. However, the configuration of the present invention is not limited to the above embodiments, and various changes can be made without departing from the gist of the invention. The technical scope of the present invention is defined by the terms of the claims, rather than the description of the embodiments, and is understood to include any modifications within the scope and meaning equivalent to the terms of the claims. Should.

  INDUSTRIAL APPLICATION This invention can be utilized for the conveyance system which conveys an article.

REFERENCE SIGNS LIST 1 management device 11 order reception unit 12 order management unit 13 scheduled movement route determination unit 14 product management unit 2, 2a, 2b mobile unit 21 notification unit 21a display 22 operation unit 23 camera unit 23a shooting lens 24 drive unit 25 propeller 26 main unit 26a Door part 30 Rail 31 Driving device 31a Running wheel 32 Box part 32a Door part 32b Photo lens 32c Touch panel display 33 Elevating part 33a Elevating belt 34 Housing part 201 Control unit 202 Elevating unit 203 First storage part 204 Second storage part 205 Shooting lens 206 Touch panel display 207 Drive wheel 208 Auxiliary wheel 4 Warehouse 5 Storage shelf 6 Collection space 7 Bucket 8 Product 9 Standby space X Transport system

Claims (15)

A plurality of moving bodies capable of moving in a passage connecting each of the plurality of storage means in which articles are classified and stored, and capable of storing the articles,
In accordance with the order of the articles, a management device that performs a process of determining a scheduled movement route for each of the moving objects, so as to sequentially pass through the storage unit corresponding to each article included in the order,
A transport system that transports the article by moving the plurality of moving bodies based on the scheduled travel path,
The management device performs the determination process by allowing overlapping of courses of the moving objects,
Each of the plurality of moving bodies moves while avoiding collision with another moving body at the time of the overlap. A notifying unit that notifies a worker of an accommodation work instruction in response to the arrival of the moving body at the storage unit;
A receiving unit for receiving a work completion report from the worker,
The transport system according to claim 1, wherein the moving body moves to a next storage unit in response to receiving the work completion report.
The management device,
Among the storage means corresponding to each of the articles included in the order, a first storage means to be in charge of a worker who is not currently carrying out accommodation work is detected,
The transport system, wherein the determination processing or the change of the planned movement route is performed so that the first storage unit is prioritized in the order of the route. The management device,
The transport system according to claim 2, wherein the first storage unit is detected based on a status of a worker and a state of the moving body. The management device,
Among the storage units corresponding to the respective articles included in the order, a second storage unit in which the moving time from the current position of the moving body is the shortest is detected,
4. The transport system according to claim 2, wherein the determination processing or the change of the planned movement route is performed so that the first storage unit and the second storage unit are prioritized in the order of the route. 5.   The mobile unit, when a predetermined number of other mobile units are waiting in the storage unit, which is the next destination, moves to a retreat space corresponding to the next destination and waits. The transport system according to any one of claims 2 to 4.   6. The transport system according to claim 5, wherein the mobile unit moves to the first storage unit when the first storage unit is detected while waiting in the evacuation space. The plurality of storage units are classified into a plurality of groups,
The management device measures a difference time that is a time from the notification of the accommodation work instruction to the reception of the work completion report,
7. The transport system according to claim 2, wherein when the difference time in any one of the groups exceeds a predetermined reference value, the number of storage units belonging to the group is reduced. .   The transport system according to claim 7, wherein each of the groups corresponds to an area in which the same worker is in charge of an accommodation operation.   2. The transport system according to claim 1, wherein the management device detects a movement amount of each worker who performs the accommodation operation, and performs the determination process based on a result of the detection. 3.   2. The mobile object according to claim 1, wherein the mobile object has a camera, and based on photographing information obtained by the camera, a speed of the mobile object and an allowable proximity distance with another mobile object can be changed. 3. Item 10. The transport system according to any one of Items 9 to 10.   The transport system according to claim 10, wherein, when detecting an obstacle based on the photographing information, the moving body avoids the obstacle and moves on the planned movement route. The receiving unit is provided on the moving body as an operating unit that receives an operation of the work completion report by an operator,
The transport system according to claim 1, wherein the moving body detects a position of the worker and turns the operation device toward the worker.   13. The transport system according to claim 1, wherein the moving body is a flying body that enables unmanned flight.   The transport system according to claim 13, wherein the moving body moves along a ceiling surface.   The transport system according to claim 1, wherein the moving body moves along a floor.