JP2020172347A - Management device, picking system, and management method - Google Patents

Abstract

To shorten the whole time of picking work by improving the efficiency of the picking work.SOLUTION: In a management device for managing the picking work of articles by X workers and M autonomous traveling vehicles, by obtaining a target article group that is a collection of articles that may be picked in the next picking operation, for each of the M autonomous vehicles, and by obtaining a combination of the X workers having the shortest picking time for the target article group and the article, and then from the target article group, a picking allotted article to be picked next time and a worker to pick the picking allotted article are determined. However, X and M are integers, and one of X and M is 2 or more.SELECTED DRAWING: Figure 13

Description

The present invention relates to a management device, a picking system and a management method.

Conventionally, in response to an order from a customer, in a distribution center or a distribution center that delivers products (goods) stored in inventory, a list of orders from customers from in-stock products stored on product shelves, etc. There is a work called picking work in which a worker collects the products listed in a certain order list.

In the above-mentioned picking work, a plurality of workers take out and collect the products listed in the order list one by one while pressing the hand-held cart (trolley). Regarding such picking work, there has been a demand for reducing the burden on workers and improving work efficiency.

Therefore, in recent years, in picking work, a technique has been disclosed in which a plurality of automatic guided vehicles (AGVs) are loaded with picked products by an operator and transported (for example, Patent Document 1). When the automatic guided vehicle is ready to load the product, the automatic guided vehicle outputs an instruction regarding the product to be picked by the operator on the screen installed on the automatic guided vehicle. Since the operator only has to take out the displayed product without pushing the hand-held cart, he / she can concentrate on taking out the product. By dividing the labor between the automatic guided vehicle and the worker in this way, the picking work can be made more efficient.

According to the conventional picking system, it has a route calculation means for calculating the shortest route, a route instruction means for instructing a worker or an automatic guided vehicle, and a schedule calculation unit for scheduling an order list in the shortest possible time. Workers work in parallel with the automatic guided vehicle.

However, according to the conventional picking system, there is room for improvement from the viewpoint of efficiently performing the picking work by the automatic guided vehicle and the operator (shortening the time of the entire picking work).

The present invention has been made in view of the above, and an object of the present invention is to improve the efficiency of picking work, in other words, to shorten the time of the entire picking work.

In order to solve the above-mentioned problems and achieve the object, the present invention is a management device that manages picking work of articles by X workers and M autonomous vehicles. For each of the above, a target article group is obtained as a set of articles that may be picked in the next picking operation, and the X workers and the article having the shortest picking time for the target article group. By obtaining the combination of the above, the picking allocation article to be picked next time and the worker who picks the picking allocation article are determined from the target article group. However, X and M are integers, and one of X and M is 2 or more.

According to the present invention, it is possible to improve the efficiency of the picking work, in other words, it is possible to shorten the time of the entire picking work.

FIG. 1 is a block diagram showing a configuration of a picking system according to an embodiment. FIG. 2 is a diagram showing a configuration example of an AGV. FIG. 3 is a diagram showing a configuration example of a worker terminal. FIG. 4 is a block diagram showing an example of the hardware configuration of the management device. FIG. 5 is a block diagram showing a functional configuration example exhibited by the management device. FIG. 6 is a diagram showing a data flow between the list creation unit and the data holding unit. FIG. 7 is a sequence diagram schematically showing the flow of picking work in the picking system. FIG. 8 is a diagram showing an example of the layout of the warehouse. FIG. 9 is a diagram showing data of the warehouse layout shown in FIG. FIG. 10 is a diagram showing the calculation result of the movement distance between the WPs in which the AGV moves. FIG. 11 is a diagram showing a calculation result of a movement distance between WPs in which a picking operator moves. FIG. 12 is a diagram showing an example of a combination in which a picking worker is assigned to a product. FIG. 13 is a flowchart schematically showing a flow of assignment processing of the Nth picking worker with respect to the AGV. FIG. 14 is a diagram showing an example of calculating all combinations of loading times of the first calculation target product group by the picking operator. FIG. 15 is a diagram showing an example of a combination in which a picking operator is associated with a product in the second calculation target group. FIG. 16 is a diagram showing an example of a combination in which a picking operator is associated with a product in the third calculation target group. FIG. 17 is a diagram showing an example of an action plan list of a picking worker. FIG. 18 is a diagram showing an example of order data. FIG. 19 is a diagram showing an example of the order processing order of AGVs. FIG. 20 is a diagram showing an example of an AGV stop position list. FIG. 21 is a diagram showing an example of a picking list of products by AGV. FIG. 22 is a diagram showing an example of order data. FIG. 23 is a diagram showing an example of the order processing order of the AGV. FIG. 24 is a diagram showing an example of an AGV stop position list. FIG. 25 is a diagram showing an example of the first calculation target product group. FIG. 26 is a diagram showing an example of an AGV stop position list. FIG. 27 is a diagram showing the working time of the picking worker. FIG. 28 is a diagram showing a picking operator and an AGV working time from the start of picking to the completion of loading the product on the AGV. FIG. 29 is a diagram showing a first allocated product. FIG. 30 is a diagram showing an example of an action plan list of a picking worker. FIG. 31 is a diagram showing the working time of the picking operator. FIG. 32 is a diagram showing a picking operator and an AGV working time from the start of picking to the completion of loading the product on the AGV. FIG. 33 is a diagram showing a first allocated product. FIG. 34 is a diagram showing an example of an action plan list of a picking worker.

Embodiments of the management device, the picking system, and the management method will be described in detail with reference to the accompanying drawings.

FIG. 1 is a block diagram showing a configuration of a picking system 100 according to an embodiment. As shown in FIG. 1, the picking system 100 includes an automatic guided vehicle (AGV) 2, a worker terminal 3 owned by a picking worker, and a management device 1 that manages the AGV 2 and the worker terminal 3. , Equipped with.

(About AGV2)
The AGV2 is a kind of self-driving car and is an autonomous vehicle that can automatically drive without human operation. It is not necessary for the AGV2 itself to be able to load luggage, and an automatic guided vehicle may be composed of a vehicle carrying luggage such as a trolley or a basket vehicle and the AGV2 that travels autonomously. The guidance method of AGV2 includes a guidance method (electromagnetic induction type, optical guidance type, magnetic guidance type, image recognition method, etc.) that guides according to a predetermined detection target (metal wire, magnetic tape, optical tape, marker, etc.). , There is an autonomous driving method that enables autonomous driving without using magnetic tape for guidance. In the present embodiment, an autonomous driving system in which an arbitrary stop position can be set is adopted.

The AGV2 is composed of one or more units. Each AGV2 receives the patrol route information from the management device 1. Each AGV2 automatically performs a move and stop operation according to the received patrol route information.

Here, FIG. 2 is a diagram showing a configuration example of AGV2. As shown in FIG. 2, the AGV2 is equipped with a box 21 such as a container for loading goods (articles). The AGV2 includes an operation unit 22 which is a user interface using mechanical buttons and a tablet. The AGV2 also includes sensors 23 such as a gyroscope, an acceleration sensor, and a range finder. Further, the AGV 2 has a built-in wireless interface (I / F) 24 that performs wireless communication with the management device 1.

Further, as shown in FIG. 2, the AGV2 includes an AGV controller 25 that is a control body of the AGV2. In addition to the movement control of the AGV2, the AGV controller 25 performs communication control for communicating with the management device 1 via the wireless interface 24.

With such a configuration, the AGV2 moves and stops in the warehouse, which is a distribution center or a distribution center, according to the patrol route information instructed by the management device 1 with the box 21 mounted. The AGV2 shifts to the next operation when it detects that the picking operator has pressed the start button of the operation unit 22 that notifies that the work has been completed while the product is temporarily stopped due to product loading or the like. After the series of loading is completed, the AGV2 repeats the operation of lowering the box 21 and restarting it in the inspection and packing processes.

(About worker terminal 3)
Here, FIG. 3 is a diagram showing a configuration example of the worker terminal 3. As shown in FIG. 3, the worker terminal 3 includes a display unit 31 on which instructions for work to be performed by the picking worker are displayed. Further, the worker terminal 3 has a code reading unit 32 that reads a product identification code such as a bar code or a QR code (registered trademark) for collating (inspecting) the product at the same time as picking the product, and completion of the work. It is provided with an input unit 33 such as a button or a touch panel for inputting. Further, the worker terminal 3 has a built-in wireless interface (I / F) 34 that performs wireless communication with the management device 1.

The worker terminal 3 takes in work instruction information from the management device 1. The worker terminal 3 uses the product name to be picked, the position of the product, the quantity, the movement route to the product position, the ID of the AGV2 for loading the product, and the target expected picking completion time as work instruction information. Information such as (target completion time) is displayed so that the picking operator can easily judge.

In this way, by notifying the worker terminal 3 of the work instruction indicating the target picking completion expected time (target completion time) for the work, the picking worker can target the expected picking completion time (target). Since the completion time) can be grasped, there is an effect that the difference between the work plan and the actual result is reduced, and that the free time is available, so that incidental work such as garbage disposal can be performed.

Note that FIG. 3A shows a display example of text information on the display unit 31, and FIG. 3B shows a display example of a route to a graphical product position on the display unit 31. The text information shown in FIG. 3A is a list showing the position, product name, and quantity of the product for which the worker performs the picking work. Further, as shown in FIG. 3B, by graphically displaying the patrol route on the display unit 31, the operator can move in the shortest distance.

(Management device 1)
Here, FIG. 4 is a block diagram showing an example of the hardware configuration of the management device 1. The management device 1 is composed of a PC (Personal Computer), a server, and the like. As shown in FIG. 4, the management device 1 includes a control device 11 such as a CPU (Central Processing Unit) and a GPU (Graphics Processing Unit), and a main storage device such as a ROM (Read Only Memory) and a RAM (Random Access Memory). 12, auxiliary storage devices 13 such as HDD (Hard Disk Drive) and SSD (Solid State Drive), display devices 14 such as displays, input devices 15 such as keyboards and mice, and communication devices 16 such as communication interfaces. And, it has a hardware configuration using a normal computer.

The control device 11 controls the operation of the entire management device 1 by executing various programs stored in the main storage device 12 and the auxiliary storage device 13, and realizes various functional units described later.

The program executed by the management device 1 of the present embodiment is a computer in an installable format or an executable format file such as a CD-ROM, a flexible disk (FD), a CD-R, or a DVD (Digital Versatile Disk). It may be configured to be recorded and provided on a recording medium that can be read by.

Further, the program executed by the management device 1 of the present embodiment may be stored on a computer connected to a network such as the Internet and provided by downloading via the network. Further, the program executed by the management device 1 of the present embodiment may be configured to be provided or distributed via a network such as the Internet.

The communication device 16 includes a wired interface and a wireless interface. The wireless interface is an interface that performs wireless communication with the AGV 2 and the worker terminal 3. Since many general worker terminals 3 are equipped with Wi-Fi (registered trademark), the configuration becomes easy when a wireless LAN is used.

The wired interface is an interface that communicates with the order receiving system 4, the warehouse management system (WMS) 5, and the administrator terminal 6 shown in FIG. The wired interface is used for LAN communication.

The order receiving system 4 is a system that manages an order list (picking order) of products from customers. For example, the management device 1 acquires an order list from the ordering system 4 connected by LAN via the wired interface of the communication device 16.

WMS5 is a system that manages product inventory information indicating the inventory status of products and product position information indicating a storage position of products in a warehouse or the like. For example, the management device 1 acquires product inventory information and product position information from the WMS 5 connected by LAN via the wired interface of the communication device 16.

The administrator terminal 6 is an information processing device such as a PC (Personal Computer) or a tablet terminal. The manager terminal 6 receives input from the site manager about the number of picking workers and the number of AGV2s. In addition, the administrator terminal 6 accepts input from the site administrator to start and stop work. Further, the administrator terminal 6 displays the operating status of the picking work. For example, the management device 1 acquires the number of picking workers and the number of AGV2s from the administrator terminal 6 connected by LAN via the wired interface of the communication device 16.

Next, a function exhibited by the management device 1 when the control device 11 of the management device 1 executes a program stored in the main storage device 12 and the auxiliary storage device 13 will be described. Here, the description of the conventionally known functions will be omitted, and the characteristic functions exhibited by the management device 1 of the present embodiment will be described in detail.

A part or all of the functions exhibited by the management device 1 may be configured by using a dedicated processing circuit such as an IC (Integrated Circuit).

FIG. 5 is a block diagram showing a functional configuration example exhibited by the management device 1. As shown in FIG. 5, the management device 1 includes a list creation unit 111 that functions as an operator determination means, an information input / output unit 112, an operation management unit 113, and a data holding unit 114.

The list creation unit 111 performs a picking simulation from the order list acquired from the order receiving system 4, and determines the AGV patrol plan list which is the patrol route information of the AGV2 and the picking worker who loads the product on each AGV2. Create an action plan list.

The information input / output unit 112 writes the information from the AGV 2 and the worker terminal 3 to the data holding unit 114. Further, the information input / output unit 112 writes the AGV patrol plan list, which is the result of the picking simulation in the list creation unit 111, to the AGV data management unit 114a, which will be described later. The information input / output unit 112 writes out the action plan list of the picking worker, which is the result of the picking simulation in the list creation unit 111, to the worker data management unit 114b, which will be described later.

The operation management unit 113 gives an instruction to the AGV 2 and the worker terminal 3 possessed by the picking worker according to the AGV patrol plan list and the action plan list.

The operation management unit 113 notifies the list creation unit 111 to update (recreate) the action plan list of the picking worker that determines the picking worker each time the operation unit 22 of the AGV2 detects that the start button is pressed.

Further, the operation management unit 113 sets the expected picking completion time (target completion time) of the created action plan list and the actual picking work completion time based on the time when the start button of the operation unit 22 of the AGV2 is pressed. Detect differences. Although the details will be described later, each time the start button of the operation unit 22 of the AGV2 is pressed, the operation management unit 113 creates an action plan list for the list creation unit 111 according to the positions of each AGV2 and each picking operator. Let me create it again.

The operation management unit 113 refers to the worker terminal 3 with the product name, the position, the quantity, and the estimated picking completion time (target completion time) for which the picking work for the next work is performed from the updated action plan list. Notify the work instruction indicating.

Further, the operation management unit 113 notifies the worker terminal 3 of the route image to the destination in addition to these work instructions.

Here, FIG. 6 is a diagram showing a data flow between the list creation unit 111 and the data holding unit 114. With reference to FIG. 6, the data to be passed between the list creation unit 111 and the data holding unit 114 and how to handle the data will be described.

The data holding unit 114 includes an AGV data management unit 114a, a worker data management unit 114b, a warehouse data management unit 114c, an order data management unit 114d, and an inventory data management unit 114e. Further, the worker data management unit 114b has a worker characteristic management unit 114b-1 and a work instruction management unit 114b-2. The AGV data management unit 114a has an AGV characteristic management unit 114a-1 and a travel instruction management unit 114a-2.

The AGV data management unit 114a (AGV characteristic management unit 114a-1) holds the information (number of units, moving speed, AGVID) of the AGV2 in the RAM of the main storage device 12. The AGV data management unit 114a (travel instruction management unit 114a-2) holds a travel instruction to the AGV2 (AGV patrol plan list) in the RAM of the main storage device 12.

The worker data management unit 114b (worker characteristic management unit 114b-1) holds information on the picking worker (number of people, walking speed, product take-out time, worker ID) in the RAM of the main storage device 12. The worker data management unit 114b (work instruction management unit 114b-2) holds a work instruction (picking worker's action plan list) to the worker terminal 3 in the RAM of the main storage device 12.

The warehouse data management unit 114c holds the layout information and the shelf position information of the shelves in the warehouse where the products are stored in the RAM of the main storage device 12. Specifically, the warehouse data management unit 114c holds the WP name, the X coordinate, the Y coordinate, the connection destination WP name, the distance from the connection destination WP name, and the like, which will be described later, in the RAM of the main storage device 12.

The order data management unit 114d holds order data such as an order ID, a product name, a required quantity, and an order processing order in the RAM of the main storage device 12.

The inventory data management unit 114e holds inventory data such as a product name, the number of stocks, a storage position name, and a WP name corresponding to the storage position name in the RAM of the main storage device 12.

The list creation unit 111 reads the order ID, product name, required quantity, and order processing order from the order data management unit 114d into the RAM of the main storage device 12.

The list creation unit 111 reads into the RAM of the main storage device 12 the storage position name of the product called by the inventory data management unit 114e and the WP name corresponding to the storage position name. The WP is the confluence of the picking worker or the inspection / packing worker and the AGV2.

The list creation unit 111 creates order data by combining the data read from the order data management unit 114d and the inventory data management unit 114e. The order data is composed of an order ID, a product name, a required quantity, a storage location name, and a WP name. The above data group having the same order ID is regarded as one order data. The order ID is an ID assigned to each customer who placed an order or to each delivery destination. In the picking operation, each time a product group of one order data is collected, the product group is sent to the inspection / packing process.

The list creation unit 111 uses the warehouse layout information (WP name, X coordinate, Y coordinate, connection destination WP name, distance from the connection destination WP name) used for calculation of the patrol plan simulation of AGV2 and the action plan simulation of the picking worker. ) Is read from the warehouse data management unit 114c into the RAM of the main storage device 12.

The list creation unit 111 stores the number of picking workers, walking speed, product take-out time, and worker ID, which are used for calculating the action plan simulation of the picking worker, from the worker's characteristic management unit 114b-1 as a main memory device. Read into 12 RAMs.

The list creation unit 111 transfers the number of AGV2s, the moving speed, and the AGVID used for calculating the patrol plan simulation of the AGV2 and the action plan simulation of the picking worker from the characteristic management unit 114a-1 of the AGV to the RAM of the main storage device 12. Record.

The list creation unit 111 writes out the result of the picking worker's action plan simulation to the picking worker's action plan list of the work instruction management unit 114b-2. The picking worker's action plan list is the picking worker's picking product name and the required number of products, the storage location name, the WP that joins AGV2, the AGVID that loads the product, the picking worker's travel time, and the product. It is a list of the time to take out the product and the time to wait for the arrival of AGV2.

The list creation unit 111 writes the result of the tour plan simulation of the AGV2 to the tour plan list of the AGV of the travel instruction management unit 114a-2. The AGV patrol plan list is a list in which the stop positions of the AGV2 are arranged.

Next, the flow of picking work in the picking system 100 mainly composed of the management device 1 will be briefly described.

Here, FIG. 7 is a sequence diagram schematically showing a flow of picking work in the picking system 100. As shown in FIG. 7, the site manager performs an operation of starting the picking work from the manager terminal 6 to the WMS 5 (step S1). As a result, the WMS 5 causes the management device 1 to read the data of the purchase order to be picked in the current picking operation and all the product data included in the purchase order.

The management device 1 allocates an order ID for each purchase order and generates order data (order list) in which WP that merges with AGV2 is added to the product data in the purchase order (step S2). Order data is generated for the number of purchase orders to be picked in this picking operation.

Next, the management device 1 performs a process of equally dividing the order data (order list) to the plurality of AGV2s (step S3). In the present embodiment, the order data group arranged in the order of earliest date and time input to WMS5 is equally divided by the number of AGV2. For example, when the management device 1 allocates 100 order data to two AGV2s, the management device 1 allocates the 50th order data input to the WMS5 from the first input data to the first AGV2. , The 51st to 100th order data is assigned to the second AGV2.

The management device 1 generates an AGV2 route for picking products for each order data from the AGV2 patrol plan simulation, and arranges the routes in the order processing order (step S4). The management device 1 arranges the order processing order in the order of the earliest date and time input to the WMS 5, as in step S3. As a result, a patrol plan list of AGV2 is generated.

The picking operator or the inspection / packing operator presses the start button of the operation unit 22 of the AGV2 (step S5). The place where the start button of the operation unit 22 is pressed at the beginning of the picking operation is the start position of the AGV2.

The AGV2 refers to the next stop position from the patrol plan list of the AGV2 recorded in the management device 1, and starts traveling toward the stop position (step S6).

The management device 1 executes a "worker's action plan simulation" in response to the notification that the start button of the operation unit 22 of each AGV2 is pressed, and determines the picking worker to pick out the product picked by the AGV2 ( Step S7).

Immediately after the picking worker is determined (immediately after the start of running of the AGV2), the management device 1 includes the product information to be picked next and the AGV information for loading the product on the worker terminal 3 held by the determined picking worker. Notify the WP information (step S8).

The picking operator moves to the product position, picks the product, loads the box 21 such as the container of AGV2, and then presses the start button of the operation unit 22 of AGV2 (step S9).

Steps S6 to S9 are repeated until the collection of all the order data products is completed.

The AGV2, which has collected all the products in the order data, moves to the position of the inspection / packing worker and delivers the picked products (step S10).

When the AGV2 is stopped, the inspection / packing worker replaces the box 21 such as a container loaded with products with the box 21 such as an empty container, and then presses the start button of the operation unit 22 of the AGV2 (step S5). Then, steps S6 to S9 are repeated in order to collect the next order data product.

The management device 1 notifies the worker terminal 3 of the end of the picking work when the collection of all the order data products is completed (step S11). Upon seeing the notification, the picking worker finishes the picking work.

In the present embodiment, each time the start button of the operation unit 22 of the AGV2 is pressed, the worker is assigned to the unloaded product of all order data, but the calculation time is very short. It does not matter in calculation. For example, the calculation time for allocating a picking worker to 1000 products is less than 1 second.

Next, the creation of the AGV patrol plan list and the action plan list of the picking worker related to the picking work in the picking system 100 will be described in detail.

(Creation of AGV patrol plan list)
First, the creation of the AGV patrol plan list by the list creation unit 111 of the management device 1 in step S4 of FIG. 7 will be described. The list creation unit 111 of the management device 1 creates an AGV patrol plan list as a patrol route of AGV2 by calculating a patrol route based on the order list.

The following points are prerequisites for creating the AGV patrol plan list.
-Since one AGV2 is assigned to one order list, do not change the route (loading product) of AGV2.

Further, as the layout information of the shelves in the warehouse held by the warehouse data management unit 114c, a waypoint is provided in front of the storage position of the product and the inspection / packing position which is the next process. Numbers are assigned to the provided WayPoints in the order of transit through the warehouse, and the WayPoint name is used as the name of each WayPoint.

The AGV patrol plan list showing the patrol route of AGV2 shall be routed in ascending order of the WayPoint names of the storage locations of the products described in the order list. In this specification, WayPoint names are referred to as WP-0, WP-1 ...

In the present embodiment, the AGV2 is described on the precondition that the AGV2 patrols the warehouse with a single stroke in order to explain with a simple example. However, the patrol route is not limited to the one-stroke patrol route.

(Creating an action plan list for picking workers)
Next, the creation of the action plan list (person assignment) of the picking worker by the list creation unit 111 of the management device 1 in step S7 of FIG. 7 will be described.

The AGV2 moves to the product position according to the patrol order according to the AGV patrol plan list. Here, a method will be described in which the optimum picking operator picks up the products to be picked into AGV2 so that all the order lists can be processed in the shortest time.

Here, FIG. 8 is a diagram showing an example of the layout of the warehouse. As shown in FIG. 8, in the layout of the warehouse of this embodiment, nine storage shelves for storing products are installed, and an environment with an inspection / packing area is considered. The layout information of the shelves in such a warehouse is held in the warehouse data management unit 114c.

The picking worker or the inspection / packing worker and the AGV2 meet at WP. The picking operator and AGV2 can be stopped at WPs (WP-0, WP-1, ..., WP-5) at 6 points around the storage shelf.

Here, FIG. 9 is a diagram showing data of the warehouse layout shown in FIG. The list creation unit 111 manages the data of the warehouse layout shown in FIG. 9 on the RAM of the main storage device 12. The warehouse layout data includes the X-coordinate and Y-coordinate values with the lower left of the warehouse layout in FIG. 8 of the orthogonal coordinate system as the origin for each WP name, and the WP name of the connection destination as the moving lead wire between the picking worker and AGV2. ,have. In the present embodiment, the distance to the connection destination WP name is calculated by the Manhattan distance, but the distance calculation means may be used.

It is assumed that the AGV2 can travel only clockwise on the storage shelf. The list creation unit 111 calculates the movement distance between the WPs in which the AGV2 moves in all combinations. FIG. 10 is a diagram showing a calculation result of a movement distance between WPs in which AGV2 moves.

On the other hand, the picking operator has no particular limitation on movement and can move clockwise or counterclockwise. In addition, the AGV2 and the picking operator can overtake another AGV2 or another picking operator, and a plurality of units or a plurality of persons can stop at the same position. The list creation unit 111 calculates the total combination of the shortest travel distances between the WPs of the picking operator. FIG. 11 is a diagram showing a calculation result of a movement distance between WPs in which a picking operator moves.

Next, the assignment of the picking worker to the product will be described.

FIG. 12 is a diagram showing an example of a combination in which a picking worker is assigned to a product. For example, as shown in FIG. 12, when each of the three AGV2s (2-1, 2, 2-3) picks five products, a total of 15 products are picked with the picking worker A. The allocation of picking workers to all products when two picking workers B load into three AGV2s (2-1, 2, 2-3) will be described. In the example shown in FIG. 12, AGV2-1 picks P1, P4, P7, P10, P13 as a product, and AGV2-2 picks P2, P5, P8, P11, P14 as a product, and AGV2-3. Picks P3, P6, P9, P12, P15 as products. In other words, the products in the order data assigned to AGV2-1 are P1, P4, P7, P10, P13, and the products in the order data assigned to AGV2-2 are P2, P5, P8, P11, P14. , P3, P6, P9, P12, P15 in the order data assigned to AGV2-3.

Here, FIG. 13 is a flowchart schematically showing the flow of the Nth picking worker allocation process for the AGV by the list creation unit 111. The product group is represented as the Nth calculation target product group. N indicates the number of the picking worker to be assigned among the 15 products in total.

First, the flow of assigning the first picking worker will be described.

As shown in FIG. 13, the list creation unit 111 first records the initial positions of the two picking workers and the three AGV2s as WP-0 in the main storage device 12 (step S101).

Next, the list creation unit 111 sets the calculation target product group, which is a set of products that may be picked in the next picking operation, for all AGV2 (2-1, 2, 2-3). Obtained and recorded in the main storage device 12 (step S102).

According to the example shown in FIG. 12, at the time when the picking work is started (the state where the two picking workers and the three AGV2s are in the initial positions), the products that may be picked in the next picking work are The set calculation target product group is P1, P2, P3, which is the product group that is first picked by each AGV2 (2-1, 2, 2-3). In the present specification, a calculation target product group that is a set of products that may be picked first is set as a set of products that may be picked second. The target product group is referred to as the second calculation target product group ... The calculation target product group in which the product group that may be picked at the Nth position is set is referred to as the Nth calculation target product group.

Next, the list creation unit 111 calculates for all the picking workers by combining all the times from the start of the picking work to the completion of loading the products of the product group on the AGV2 (step S103).

More specifically, the list creation unit 111 includes the elapsed time of the picking worker from the start of picking to loading the already assigned products on the AGV2 (2-1, 2, 2-3), and the already picking. The elapsed time of each AGV2 (2-1, 2, 2-3) until the product to which the worker is assigned is loaded is calculated. At the start of the picking work, no picking worker is assigned to any product, so the elapsed time of all the picking workers and the elapsed time of all AGV2 (2-1, 2, 2-3) are , 0 [s].

Here, FIG. 14 is a diagram showing an example of calculating all combinations of loading times of the first calculation target product group by the picking operator. As shown in FIG. 14, from the start of movement by the picking operator at WP-0 to the completion of loading each product of the first calculation target product group on AGV2 (2-1, 2, 2-3). Calculate by combining all the times. Then, the elapsed time of each picking worker calculated in advance is added to each of the times of all combinations.

Subsequently, the list creation unit 111 determines the combination of the picking worker and the product that can be loaded earliest among all the combinations in consideration of the elapsed time of each picking worker as the picking worker's allocation (the picking worker's allocation). Step S104). Among the Nth calculation target product group, which is a set of the Nth picked product group, the product that the picking worker can load on AGV2 (any of 2-1, 2, 2 and 2-3) is the first. Notated as N-assigned product.

For example, among P1, P2, and P3 constituting the first calculation target product group, when the picking worker A has the earliest time to load P2 on AGV2 (2-2), the first allocated product is P2. ..

Next, the list creation unit 111 assigns the picking worker A as the worker who picks P2, updates the positions of the picking worker A and the AGV2 (2-2) to the WP with P2, and the main storage device 12 (Step S105).

The processes of steps S102 to S105 are repeated until a picking worker is assigned to all the products (Yes in step S106).

Next, the flow of allocating the second picking worker will be described.

As shown in FIG. 13, the list creation unit 111 sets the calculation target product group, which is a set of products to be picked in the next picking operation, for all AGV2 (2-1, 2, 2-3). Obtained and recorded in the main storage device 12 (step S102).

Here, FIG. 15 is a diagram showing an example of a combination in which a picking operator is associated with a product in the second calculation target group. According to the example shown in FIG. 15, since the first allocated product was P2, the second calculation target product group, which is the product group that may be picked second, is P1, P3, P5. More specifically, the product P1 is picked first by AGV2-1, the product P3 is picked first by AGV2-3, and the product P5 is picked second by AGV2-2.

In the following step S103, the list creation unit 111 calculates for all the picking workers by combining all the times from the start of the picking work to the completion of loading the products of the product group on the AGV2 (step S103). For example, it is assumed that it takes N [s] for the picking worker A to finish loading P2 on AGV2 (2-2). Then, the elapsed time of each picking worker is N [s] for the picking worker A and 0 [s] for the picking worker B. The elapsed time of each AGV2 (2-1, 2, 2-3) is 0 [s] for AGV2 (2-1, 2-3) and N [s] for AGV2 (2-2). Become.

Then, the list creation unit 111 combines all the times from the WP where the picking worker is present to the completion of loading each product of the second calculation target product group on the AGV2 (2-1, 2, 2-3). To calculate. The standing position of the picking worker A is the place where P2 is located, and the stop position of the picking worker B is the start position.

Then, the list creation unit 111 sets the elapsed time of each picking worker calculated in advance for each of the all combinations of time as N [s] for the picking worker A and 0 [s] for the picking worker B. Is added.

Next, the list creation unit 111 determines the combination of the picking worker and the product that can be loaded earliest among all the combinations in consideration of the elapsed time of each picking worker as the picking worker assignment (step). S104). For example, when the picking worker B has the earliest time to load P1 on AGV2 (2-1), the second assigned product is P1.

Next, the list creation unit 111 assigns the picking worker B as the worker who picks P1, updates the positions of the picking worker B and the AGV2 (2-1) to the WP with P1, and the main storage device 12 (Step S105).

Then, the processes of steps S102 to S105 are repeated until a picking worker is assigned to all the products (Yes in step S106).

Here, FIG. 16 is a diagram showing an example of a combination in which a picking operator is associated with a product in the third calculation target group. According to the example shown in FIG. 16, since the second allocated product was P1, the third calculation target product group, which is the product group that may be picked third, is P3, P4, and P5. More specifically, the product P3 is picked first by AGV2-3, the product P4 is picked second by AGV2-2, and the product P5 is picked second by AGV2-2.

The subsequent processing is the same as the determination of the first allocated product, the determination of the second allocated product, the determination of the worker who picks the first allocated product, and the determination of the worker who picks the second allocated product described above. When the processes of steps S102 to S105 are repeated in this way and the list creation unit 111 assigns a picking worker to all the products (Yes in step S106), the process proceeds to step S107.

The list creation unit 111 writes the action plan list of the picking worker to the worker data management unit 114b (step S107), and ends.

Here, FIG. 17 is a diagram showing an example of an action plan list of picking workers. As shown in FIG. 17, the action plan list of the picking worker corresponds to the picking worker to be picked, and the picking worker picks the product name, the required number of picks, and the storage position in the order of the products to which the picking worker is assigned. , The patrol position (WP) at the confluence of the picking worker and AGV2, the AGVID of the confluent AGV2, the moving time of the picking worker, the picking time of the picking worker, the waiting time for the picking worker to wait for AGV2 at the confluence, Is being recorded.

Here, the actions of the AGV2 and the picking worker on the action plan simulation of the picking worker will be described.

<Operation of AGV2 on the action plan simulation of the picking worker>
Here, FIG. 18 is a diagram showing an example of order data, and FIG. 19 is a diagram showing an example of the order processing order of AGV2. For example, FIG. 18 is a list of six order data. Two products P1 and P2 whose order ID is Order-1 are one order data. The order processing order of AGV2 shown in FIG. 19 is the order of order data picked by AGV2.

The list creation unit 111 reads the list of order data shown in FIG. 18 and the order processing order of AGV2 shown in FIG. 19 from the order data management unit 114d into the RAM of the main storage device 12. Then, the list creation unit 111 reads the list of order data shown in FIG. 18 and the order processing order of AGV2 shown in FIG. 19 for the patrol plan simulation of AGV2.

The list creation unit 111 generates a product route for each order data as a patrol plan simulation of the AGV2, and outputs a stop position list of the AGV2 in which the routes are arranged in the order processing order.

Here, FIG. 20 is a diagram showing an example of a stop position list of AGV2 (2-1). As shown in FIG. 20, since the patrol plan list of AGV2 also includes WP-0 of the inspection / packing area of AGV2, the list creation unit 111 sets the picking order of the products excluding WP-0 to the products by AGV2. Record in the picking list of. FIG. 21 is a diagram showing an example of a picking list of products by AGV2.

In the action plan simulation of the picking worker, AGV2 (2-1) moves at a moving speed of 0.5 [m / s] from WP-0 in front of the inspection / packing area according to the patrol plan list shown in FIG. Start.

When the AGV2 (2-1) arrives at the next WP and joins the picking worker, the picking worker is asked to load the product in a box 21 such as a container, and the operation unit 22 of the AGV2 (2-1) is started. Have the button pressed. Then, the AGV2 (2-1) whose start button is pressed starts moving to the next WP.

In the action plan simulation of the picking worker, the time from when the AGV2 joins the picking worker until the picking worker presses the start button is ignored.

When the AGV2 finishes moving the WPs of all the products in the order data, it moves to the WP-0. When the AGV2 arrives at WP-0, it asks an inspection / packing worker in the inspection / packing area to replace the box 21 such as a container with an empty box 21 and waits for the start button to be pressed. Then, when the start button is pressed, the AGV2 starts moving to the next WP.

In the action plan simulation of the picking worker, the time from the arrival of AGV2 at WP-0 until the start button is pressed by the inspection / packing worker is ignored.

<Picking worker's behavior plan Simulation of picking worker's behavior>
The picking worker has a worker terminal 3, and instruction information of the product to be picked next is output to the worker terminal 3. The product instruction information output to the worker terminal 3 is the product name, the storage position, and the ID of the AGV2 that loads the picked product.

In the action plan simulation of the picking worker, the picking worker moves in the warehouse at 1.0 [m / s] according to the instruction information output to the worker terminal 3 and takes out the instructed product. Further, the time until the picking worker arrives at the storage position of the product and takes out the product is 2 [s].

Subsequently, when the picking operator finishes taking out the instructed product, he / she joins the AGV2 at WP, loads the picked product in a box 21 such as a container of the AGV2, and presses the start button of the operation unit 22.

In the action plan simulation of the picking worker, the time required for the picking worker to move the instruction information from the product storage position to the WP is ignored. Further, the time from when the picking worker and the AGV2 meet at the WP until the picking worker finishes loading the products in the box 21 on the AGV2 is ignored. However, if the picking worker arrives at the WP but the AGV2 does not arrive, the waiting time until the AGV2 arrives is calculated. Further, when the picking worker does not arrive even if the AGV2 arrives at the WP, the waiting time until the picking worker arrives is calculated.

Subsequently, when the picking worker presses the start button of the operation unit 22 of the AGV2, the next instruction is output to the worker terminal 3, and the picking worker performs the next picking work according to the instruction.

In the action plan simulation of the picking worker, after the start button of the operation unit 22 of the AGV2 is pressed, the next instruction is output to the worker terminal 3, and the picking worker moves according to the instruction. The time until the picking worker starts moving is ignored.

When the picking worker finishes loading the products of all order data into the AGV2 and the AGV2 transports the box 21 such as the container from which the last order data is collected to the inspection / packing area, the picking work is completed.

The list creation unit 111 calculates the action plan list of the picking worker until the end of the picking work by the algorithm described above, and records the action plan list of the picking worker in the work instruction management unit 114b of the management device 1.

(Example of picking work in which a picking worker and AGV2 cooperate)
Next, a method and effect of the picking operator and the AGV2 performing the picking operation in cooperation with each other will be described with reference to specific examples during the picking operation.

In the following, a case where the number of AGV2s is three and the number of picking workers is two will be described.

Here, FIG. 22 is a diagram showing an example of order data, and FIG. 23 is a diagram showing an example of the order processing order of AGV2. For example, in the list of order data shown in FIG. 22, AGV2 (2-1) circulates the WP of the product which is Order-1. In addition, AGV2 (2-2) patrols the WP of the product which is Order-2. Further, AGV2 (2-3) patrols the WP of the product which is Order-3.

Picking worker A or picking work so that the picking work time is the shortest for each of the products picked by AGV2 (2-1), AGV2 (2-2), and AGV2 (2-3). The procedure for calculating the allocation of person B will be described.

First, a procedure for creating a list of stop positions where the AGV2 patrols will be described.

(1st product)
The list creation unit 111 reads the list of order data shown in FIG. 22 and the order processing order of AGV2 shown in FIG. 23 into the RAM of the main storage device 12.

Next, the list creation unit 111 arranges the stop positions of the same order ID from the order data list in the order in which the AGV2 moves clockwise, and finally creates a position list for moving to WP-0. The list creation unit 111 creates a stop position list for all order IDs, and then arranges the position lists in the order processing order of AGV2. Finally, the list creation unit 111 records the position list to which the initial position WP-0 is added as the first stop position of the AGV2 (2-1) in the stop position list of the AGV on the RAM of the main storage device 12. To do. Here, FIG. 24 is a diagram showing an example of an AGV stop position list.

The list creation unit 111 calculates the movement time between the moving WPs based on the stop position list of the AGV shown in FIG. 24. Specifically, the list creation unit 111 reads the movement distance [m] between the moving WPs of the AGV2 from FIG. 10 and records it in the stop position list of the AGV. Then, the read movement distance is divided by the movement speed of the AGV read from the RAM of the main storage device 12 [m / s], and the movement time between WPs is calculated. Then, the list creation unit 111 records the movement time between the WPs of the AGV2, which is the calculation result, in the stop position list of the AGV.

The list creation unit 111 determines which product is assigned to which picking worker, creates a circulation list of products by AGV, and records it in the RAM of the main storage device 12.

Subsequently, in the list creation unit 111, the product P1 in which AGV2 (2-1) stops first, the product P3 in which AGV2 (2-2) stops first, and the AGV2 (2-3) are first. From the first calculation target product group, which is a set of products P5 that stop at, the product that can be loaded earliest and the picking worker are determined. Here, FIG. 25 is a diagram showing an example of the first calculation target product group.

Next, the list creation unit 111 sets the initial positions WP of the picking worker A, the picking worker B, the AGV2 (2-1), the AGV2 (2-2), and the AGV2 (2-3), respectively. −0 is read from the RAM of the main storage device 12.

FIG. 26 is a diagram showing an example of a stop position list of AGV2. Next, from FIG. 26, the list creation unit 111 has a movement time of AGVID2-1 in which AGV2 (2-1) moves from WP-0 to WP-3 is 6 [s], and AGV2 (2-2) is WP-. The movement time 8 [s] of AGVID2-2 moving from 0 to WP-4 and the movement time 2 [s] of AGVID2-3 moving from WP-0 to WP-1 are read by AGV2 (2-3).

Next, the list creation unit 111 has a moving time when each picking worker moves to the WP-3 with the product P1, a moving time when moving to the WP-4 with the product P3, and a product P5. The movement time when moving to WP-1 is recorded in the RAM of the main storage device 12.

Next, the list creation unit 111 reads the picking operator's product take-out time 2 [s] from the RAM of the main storage device 12.

In addition, the list creation unit 111 calculates the time for each picking operator to finish loading the products in the box 21 on each AGV2 and records them in the RAM of the main storage device 12. Here, FIG. 27 is a diagram showing the working time of the picking worker.

As shown in FIG. 27, both the picking worker A and the picking worker B have a waiting time of 1 [s] to finish loading the product P1 in the box 21 on the AGV2 (2-1). Similarly, both the picking worker A and the picking worker B have a waiting time of 4 [s] to finish loading the product P3 in the box 21 on the AGV2 (2-2). On the other hand, neither the picking worker A nor the picking worker B has a waiting time to finish loading the product P5 in the box 21 on the AGV2 (2-3).

Here, FIG. 28 is a diagram showing a picking operator and an AGV working time from the start of picking to the completion of loading the product on the AGV. As shown in FIG. 28, the picking worker A and the picking worker B can finish loading the product P5 on the AGV2 (2-3) earliest from the start of picking. When there are a plurality of candidates for a picking worker who finishes loading the product P5 early, the picking worker A having a younger subscript of the worker ID of the picking worker is made to pick the product P5. Here, as a predetermined rule for determining the picking worker to be picked, the subscript of the worker ID of the picking worker is set to be younger, but the present invention is not limited to this.

Since the picking worker A is determined to pick the product P5 first, the moving time until the picking worker B's product P5 is loaded in the box 21 on the AGV2 (2-3) and the product taking-out time Delete the waiting time.

Here, FIG. 29 is a diagram showing a first allocated product. As shown in FIG. 29, the picking worker A is determined to pick the product P5 first. The product P5 selected from the first calculation target product group is referred to as a first allocated product as a product to which the picking worker A is assigned.

Here, FIG. 30 is a diagram showing an example of an action plan list of picking workers. The list creation unit 111 joins the picking worker's action plan list shown in FIG. 30 on the RAM of the main storage device 12, with the product name, the required number, the storage position name, the patrol position, and the picking worker A taking out. Record the AGVID, travel time, take-out time, and waiting time.

Further, as shown in FIG. 29, the list creation unit 111 updates the stop positions of the picking operator A and the AGV2 (2-3) on the RAM of the main storage device 12 to the WP-1 in which the product P5 exists.

(2nd product)
Next, the product P1 in which AGV2 (2-1) stops first, the product P3 in which AGV2 (2-2) stops first, and the product P6 in which AGV2 (2-3) stops second. From the set of products subject to the second calculation, the product that can be loaded earliest and the picking worker are determined.

From FIG. 26, the list creation unit 111 shows that the movement time of AGVID2-1 in which AGV2 (2-1) moves from WP-0 to WP-3 is 6 [s], and that of AGV2 (2-2) is from WP-0 to WP. The movement time 8 [s] of AGVID2-2 moving to -4 and the movement time 6 [s] of AGVID2-3 moving from WP-1 to WP-4 are read by AGV2 (2-3).

Next, the list creation unit 111 has a moving time when each picking worker moves to the WP-3 with the product P1, a moving time when moving to the WP-4 with the product P3, and a product P6. The movement time when moving to the WP-4 and the movement time are recorded in the RAM of the main storage device 12.

Next, the list creation unit 111 reads the picking operator's product take-out time 2 [s] from the RAM of the main storage device 12.

In addition, the list creation unit 111 calculates the time for each picking operator to finish loading the products in the box 21 on each AGV2 and records them in the RAM of the main storage device 12. Here, FIG. 31 is a diagram showing the working time of the picking operator.

As shown in FIG. 31, in order for the picking worker B to finish loading the product P1 in the box 21 on the AGV2 (2-1), the picking worker B has a waiting time of 1 [s]. Similarly, in order for the picking worker B to finish loading the product P3 in the box 21 on the AGV2 (2-2), the picking worker B has a waiting time of 4 [s]. Further, in order for the picking worker A to finish loading the product P6 in the box 21 on the AGV2 (2-3), the picking worker A has a waiting time of 1 [s]. Further, in order for the picking worker B to finish loading the product P6 in the box 21 on the AGV2 (2-3), the picking worker B has a waiting time of 5 [s].

Here, FIG. 32 is a diagram showing a picking operator and an AGV working time from the start of picking to the end of loading the product on the AGV. As shown in FIG. 32, the picking worker B can finish loading the product P1 on the AGV2 (2-1) earliest from the start of picking.

Here, FIG. 33 is a diagram showing the first allocated product. As shown in FIG. 33, the picking worker B is determined to pick the product P1 first. The product P1 selected from the first calculation target product group is referred to as a first allocated product as a product to which the picking worker B is assigned.

Here, FIG. 34 is a diagram showing an example of an action plan list of the picking worker. The list creation unit 111 refers to the action plan list of the picking worker shown in FIG. 34 on the RAM of the main storage device 12, and the AGVID, the order ID, the confluence point, the storage position of the product, the product name, the number of picks, and the worker. Record the ID, the worker's travel time, and the worker's waiting time.

Here, the case where the number of AGV2s is three and the number of picking workers is two has been described, but the present invention is not limited to this. However, at least one AGV2 may be used, but a plurality of picking workers are required.

As described above, according to the present embodiment, the picking work time (moving time to the confluence place with AGV2) from the target article group, which is a set of articles to be picked by all AGV2s in the next picking operation, and By finding the combination of the picking worker and the article (the combination that minimizes the work waiting time of the picking worker (mainly the arrival waiting time of AGV2)), which is the shortest (total time with the product take-out time), the target is obtained. Since the operator who picks one item in the article group is determined, it becomes possible to calculate the subsequent assignment of the picking operator based on the situation at that time each time one picking operation is completed. , The efficiency of the entire picking work can be improved. In other words, the time of the entire picking operation can be shortened.

Further, the combination of the number of AGV2s and the number of picking workers is set as the minimum unit of calculation, and by repeating the calculation of this minimum unit for all the products (articles) to be picked, the work of the picking worker is performed with respect to the picking work. It is possible to obtain the allocation of workers with the minimum waiting time in a short time, and as a result, the work simulation before the picking work can be performed in a short time.

1 Management device 2 Autonomous vehicle 100 Picking system 111 Worker determination means

Japanese Unexamined Patent Publication No. 2000-128319

Claims (6)

In a management device that manages picking work of goods by X workers and M autonomous vehicles.
For each of the M autonomous vehicles, a target article group was obtained as a set of articles that may be picked in the next picking operation.
By obtaining the combination of the X workers and the article having the shortest picking time for the target article group, the picking allotted article for performing the next picking work from the target article group and the picking allotted article. Decide with the worker to pick,
A management device characterized by that.
However, X and M are integers, and one of X and M is 2 or more. The order in which all the articles to be picked are picked, with the operation of finding the combination of the X workers and the articles having the shortest picking time for the target article group as the minimum unit operation. And decide which worker to pick,
The management device according to claim 1. In the combination of the X workers and the article having the shortest picking time for the target article group, the working time by the combination of the first worker with respect to the first article and the second with respect to the first article. When the working time by the combination of the workers is the same, the worker to be combined with the first article is determined according to a predetermined rule.
The management device according to claim 1 or 2. M autonomous vehicles and
The management device according to any one of claims 1 to 3 and
A picking system characterized by being equipped with. In the management method of managing the picking work of goods by X workers and M autonomous vehicles.
For each of the M autonomous vehicles, a target article group was obtained, which was a collection of articles that could be picked in the next picking operation.
By obtaining the combination of the X workers and the article having the shortest picking time for the target article group, the picking allotted article for performing the next picking work from the target article group and the picking allotted article. Decide with the worker to pick,
A management method characterized by that.
However, X and M are integers, and one of X and M is 2 or more. The order in which all the articles to be picked are picked, with the operation of finding the combination of the X workers and the articles having the shortest picking time for the target article group as the minimum unit operation. And decide which worker to pick,
The management method according to claim 5, characterized in that.

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