JP2023135365A - Picking system, picking method, and picking program - Google Patents

Abstract

To avoid the accidental transfer of an article to a transfer destination platform in which a picking operation has been completed.SOLUTION: If a take-out source placing body 9s in a take-out source area As is an order final placing body 9f on which the final article to be transferred last in the group of order articles to be transferred to a transfer destination placing body 9d in a transfer destination area Ad is placed, a control device controls a take-out source placing body supply machine 1 to perform a take-out source placing body supply process Pss so that a new take-out source placing body 9s is supplied to the take-out source area As after the start of the execution of a transfer destination placing body take-out process Pod for taking out the transfer destination placing body 9d from the transfer destination area Ad.SELECTED DRAWING: Figure 4

Description

The present invention provides a picking system and a picking method for performing a picking operation in which a group of ordered articles consisting of the type and number of articles specified by order information is taken out from a source mounting body and transferred to a destination mounting body. , and a picking program.

For example, Japanese Patent No. 4048426 discloses equipment for performing a picking operation of transferring articles from a source mounting body to a destination mounting body. Hereinafter, the symbols shown in parentheses in the column of explanation of the background art are those of Patent Document 1.

The equipment disclosed in Patent Document 1 includes an article storage shelf (3) that stores articles placed on a pallet (2), and various conveyance devices that convey the pallet (2). The pallet (2a) on which the articles are placed is transported from the article storage shelf (3) to the picking work location (4). At the picking work point (4), as shown in Figure 3 of the same document, the required number of pallets (2a), which are the source loading bodies, are transferred to empty pallets (2c), which are the destination loading bodies. Goods are transferred. After transferring the articles to be transferred from the pallet (2a) to the empty pallet (2c), the worker turns on the pick completion button (16) to transfer the pallet (2a) to the article storage shelf (2c) again. Return to 3). The worker repeats the above operations until the required number of items are on the empty pallet (2c) at the picking work location (4).

Patent No. 4048426

As described above, in the equipment disclosed in Patent Document 1, when the operator turns on the pick completion button (16), new pallets (2a) are sequentially transported to the picking work location (4), and the corresponding The pallets (2a) at the picking work location (4) are sequentially replaced. Therefore, after the picking work for the empty pallet (2c), which is the transfer destination loading body, is completed and the necessary number of items are collected on the empty pallet (2c), the worker picks up the new pallet (2a) after replacing it. ), there is a possibility that an article may be mistakenly transferred to the transfer destination mounting body after the picking operation has been completed.

In view of the above-mentioned circumstances, it is desired to realize a technique that can prevent articles from being erroneously transferred to a transfer destination mounting body after a picking operation has been completed.

The picking system according to the present disclosure includes:
Ordered articles consisting of the type and number of said articles specified by the order information from a take-out source mounting body which is placed in a take-out source area and which carries a single article group made up of a plurality of articles of a single type. A picking system for performing a picking operation of taking out a group and transferring it to a transfer destination mounting body arranged in a transfer destination area,
an extraction source mounting body supply device that supplies the extraction source mounting body to the extraction source area;
an extraction source mounting body carrying out device that carries out the extraction source mounting body from the extraction source area;
a transfer destination mounting body unloading device that carries out the transfer destination mounting body from the transfer destination area;
A control device that controls the source mounting body supplying device, the source mounting body carrying out device, and the transfer destination mounting body carrying out device,
The control device is configured such that the take-out source mounting body in the take-out source area is the last of the group of ordered articles to be transferred to the transfer destination mounting body in the transfer destination area. If it is an order final placement object on which a final article is placed, the removal process is performed after the start of execution of the transfer destination placement object carrying out process for carrying out the transfer destination placement object from the transfer destination area. The source mounting body supplying device is controlled to execute the source mounting body supply process so that the new source mounting body is supplied to the source area.

The picking method according to the present disclosure includes:
Ordered articles consisting of the type and number of said articles specified by the order information from a take-out source mounting body which is placed in a take-out source area and which carries a single article group made up of a plurality of articles of a single type. A picking method for performing a picking operation in which a group is taken out and transferred to a transfer destination mounting body arranged in a transfer destination area, the picking method comprising:
an extraction source mounting body supplying step of supplying the extraction source mounting body to the extraction source area;
an extraction source mounting body carrying out step of carrying out the extraction source mounting body from the extraction source area;
a transfer destination mounting body carrying out step of carrying out the transfer destination mounting body from the transfer destination area,
The take-out source mounting body in the take-out source area places the final article to be transferred last among the group of ordered articles to be transferred to the transfer destination mounting body in the transfer destination area. If it is the final placement object of the order, after the start of execution of the transfer destination placement object carrying out step for carrying out the transfer destination placement object from the transfer destination area, a new one is placed in the take-out source area. The extraction source mounting body supply step is performed so that the extraction source mounting body is supplied.

The picking program according to this disclosure is
Ordered articles consisting of the type and number of said articles specified by the order information from a take-out source mounting body which is placed in a take-out source area and which carries a single article group made up of a plurality of articles of a single type. A picking program for performing a picking operation of picking up a group and transferring it to a transfer destination mounting body arranged in a transfer destination area,
an extraction source mounting body supply function that supplies the extraction source mounting body to the extraction source area;
an extraction source mounting body carrying out function for carrying out the extraction source mounting body from the extraction source area;
causing a computer to realize a transfer destination mounting body carrying out function of carrying out the transfer destination mounting body from the transfer destination area,
The take-out source mounting body in the take-out source area places the final article to be transferred last among the group of ordered articles to be transferred to the transfer destination mounting body in the transfer destination area. If it is the final placement object of the order, a new object is added to the source area after the start of execution of the destination placement object carrying out process for carrying out the destination placement object from the transfer destination area. A source mounting body supply process is executed so that the source mounting body is supplied.

According to this configuration, execution of the transfer destination mounting body unloading process (transfer destination mounting body unloading process) for unloading the transfer destination mounting body on which the final article has been transferred and the picking work has been completed is started. An extraction source mounting body supply process for supplying a new extraction source mounting body to the extraction source area so that a new extraction source mounting body is subsequently supplied to the extraction source area (extraction source mounting body supply process) is executed. Therefore, the state in which the transfer destination mounting body for which the picking operation has been completed is in the transfer destination area and the new extraction source mounting body is in the extraction source area does not continue. Therefore, according to this configuration, it is possible to avoid erroneously transferring an article related to another order to the transfer destination mounting body on which the picking operation has been completed.

Further features and advantages of the technology according to the present disclosure will become clearer from the following description of illustrative and non-limiting embodiments, written with reference to the drawings.

Schematic plan view of the picking system Explanatory diagram for determining the final placement object of an order Explanatory diagram showing the process when the extraction source placement object in the extraction source area is not the final order placement object Explanatory diagram showing the process when the take-out source mounting object in the take-out source area is the final order placing object Flowchart showing the processing procedure of the control device Flowchart showing the processing procedure of the control device in the second embodiment

[First embodiment]
A first embodiment of the picking system will be described.

As shown in FIG. 1, in the picking system 100, an article 90 is placed on a mounting body 9 and transported. The mounting body 9 includes an extraction source mounting body 9s and a transfer destination mounting body 9d. The extraction source mounting body 9s is configured to place a single article group Gs consisting of a plurality of articles 90 of a single type. The transfer destination mounting body 9d is configured to place an ordered article group Go consisting of articles 90 of the type and number specified by the order information (α, β, γ, . . . ). In this specification, a pallet is illustrated as the mounting body 9. However, a container such as a folding container or a cardboard box may also be used as the mounting body 9.

The picking system 100 according to the present disclosure collects order information ( A picking operation is performed in which an ordered article group Go consisting of the types and number of articles 90 specified by α, β, γ, etc. is taken out and transferred to the transfer destination mounting body 9d arranged in the transfer destination area Ad. This is a system for In the picking operation, the necessary articles 90 are transferred from the source mounting body 9s on which a single article group Gs is placed to the destination mounting body 9d, for each of the plurality of source mounting bodies 9s. By repeating this process, the articles 90 included in the ordered article group Go are collected on the transfer destination mounting body 9d. Note that a plurality of articles 90 included in one ordered article group Go may be distributed and transferred to a plurality of transfer destination mounting bodies 9d. That is, the configuration may be such that a plurality of articles 90 included in one ordered article group Go are placed on a plurality of transfer destination mounting bodies 9d.

As shown in FIG. 1, the picking system 100 includes a source area As to which the source mounting body 9s is supplied, a transfer destination area Ad to which the transfer destination mounting body 9d is supplied, and a source area As. A picking area Ap is provided in which a picking operation is performed to transfer the article 90 from the source mounting body 9s located in the transfer destination area Ad to the transfer destination mounting body 9d located in the transfer destination area Ad. In the picking area Ap, picking work is performed by a worker W or a robot (not shown). In the present embodiment, picking work is performed by the worker W in the picking area Ap. In the illustrated example, the picking system 100 further includes a standby area Aw where the source mounting bodies 9s supplied to the source area As are temporarily held.

The source area As and the destination area Ad are arranged adjacent to each other. The picking area Ap is arranged adjacent to both the source area As and the destination area Ad. In this embodiment, the extraction source area As is arranged in a part of the article supply path R1 (described later). The transfer destination area Ad is arranged in a part of the mounting body supply path R3 (described later). That is, in this embodiment, the source area As and the destination area Ad are arranged on different routes and adjacent to each other. The picking area Ap is arranged outside the article supply path R1 and the mounting body supply path R3, and is arranged adjacent to both the take-out source area As and the transfer destination area Ad.

The picking system 100 includes a source mounting body supply device 1 that supplies a source mounting body 9s to a source area As, and a source mounting body carrying out device that carries out a source mounting body 9s from a source area As. 2, a transfer destination mounting body unloading device 4 that carries out the transfer destination mounting body 9d from the transfer destination area Ad, a source loading body supplying device 1, a source loading body unloading device 2, and A control device C that controls the transfer destination mounting body unloading device 4 is provided.

In this embodiment, the picking system 100 further includes a transfer destination mounting body supply device 3 that supplies the transfer destination mounting body 9d to the transfer destination area Ad. In addition to the source mounting body supply device 1, the source mounting body unloading device 2, and the transfer destination mounting body unloading device 4, the control device C controls the transfer destination mounting body supply device 3. Control.

The control device C performs a source mounting body supply process Pss (source mounting body supply process) that supplies the source mounting body 9s to the source area As by controlling the source mounting body supply device 1. , a source mounting body carrying out process Pos (source mounting body carrying out process) of carrying out the fetching source mounting body 9s from the fetching source area As by controlling the fetching source mounting body carrying out device 2, and a transfer destination. Execute a transfer destination mounting body carrying out process Pod (transfer destination mounting body carrying out process) which carries out the transfer destination mounting body 9d from the transfer destination area Ad by controlling the mounting body carrying out device 4. is configured to do so. In this embodiment, the control device C performs a transfer destination mounting body supply process Psd (which supplies the transfer destination mounting body 9d to the transfer destination area Ad by controlling the transfer destination mounting body supply device 3). The transfer destination mounting body supply step) is further executed. The control device C includes, for example, a processor such as a microcomputer, peripheral circuits such as a memory, and the like. Each process or each function is realized by cooperation between these hardware and a program executed on a processor such as a computer.

In this embodiment, the extraction source mounting body supply device 1 is configured using a conveyor. The source mounting body supply device 1 constitutes an article supply path R1, which is a path through which the source mounting body 9s on which the single article group Gs is placed is supplied to the source area As. In this embodiment, the picking system 100 includes an article storage section 5 that stores a plurality of extraction source placement bodies 9s on which a single article group Gs is placed. The article supply path R1 constitutes at least a part of the route connecting the article storage section 5 to the take-out source area As. In the illustrated example, the above-mentioned waiting area Aw is arranged on the upstream side of the take-out source area As in the transport direction (the direction in which the take-out source mounting body 9s is transported) in the article supply path R1.

In this embodiment, the extraction source mounting body carrying out device 2 is configured using a conveyor. The source mounting body carrying out device 2 constitutes a return path R2, which is a path for the source mounting body 9s to return to the article storage section 5 again after having taken out the necessary articles 90 in the picking operation. The return path R2 constitutes at least a part of the path connecting the source area As to the article storage section 5.

In this embodiment, the transfer destination mounting body supply device 3 is configured using a conveyor. The transfer destination mounting body supply device 3 constitutes a placement body supply path R3, which is a path through which the empty mounting body 9 on which no article 90 is placed is supplied to the transfer destination area Ad. There is. In this embodiment, the picking system 100 includes an empty placement object storage section 6 that stores a plurality of empty placement objects 9. The mounted object supply path R3 constitutes at least a part of a route connecting the empty mounted object storage section 6 to the transfer destination area Ad.

In this embodiment, the transfer destination mounting body carrying out device 4 is configured using a conveyor. The transfer destination mounting body unloading device 4 carries out the transfer destination mounting body 9d on which the transfer of the ordered article group Go from the pick-up source mounting body 9s has been completed, that is, the transfer destination mounting body 9d on which the picking work has been completed. constitutes an unloading route R4, which is a route for unloading. In this embodiment, the picking system 100 includes a shipping section 7 for shipping the ordered article group Go. In the illustrated example, the shipping section 7 is arranged for each piece of order information (α, β, γ, . . . ). The unloading route R4 constitutes at least a part of the route connecting the transfer destination area Ad to each shipping section 7.

A group of ordered articles Go picked based on order information (α, β, γ, . . . ) is transported to the shipping unit 7. In this example, the "order information" includes various information such as the type and number of items 90 as well as shipping destination and shipping time. The ordered article group Go transported to the shipping section 7 is transported to the intended shipping destination by a transport means such as a vehicle, a ship, or an aircraft.

In this embodiment, the picking system 100 includes an operation unit 8 operated by the worker W. In the illustrated example, the operation unit 8 is arranged in the picking area Ap.

The operation unit 8 includes a take-out completion reception unit 8s, which is operated by the worker W when the take-out of the articles 90 included in the ordered article group Go from the take-out source placing body 9s in the take-out area As, and a transfer completion reception unit 8s. It includes a picking completion receiving section 8d that is operated by the worker W when the transfer of the ordered article group Go to the pre-loading body 9d is completed. At least one of the extraction completion receiving section 8s and the picking completion receiving section 8d may be configured using a button or a lever, or may be configured using an icon displayed on a monitor or a touch panel.

Here, in the picking system 100 according to the present disclosure, the control device C is configured to transfer the source mounting body 9s located in the source area As to the destination mounting body 9d located in the destination area Ad. In the case of the final order placement body 9f (see FIG. 4) on which the final article 90 to be transferred last among the order article group Go is placed, the transfer destination placement body 9f is placed from the transfer destination area Ad. The extraction source mounting body supply device 1 is controlled so that a new extraction source mounting body 9s is supplied to the extraction source area As after the start of execution of the transfer destination mounting body carrying out process Pod for carrying out the transfer destination mounting body 9d. The extraction source mounting body supply process Pss is executed. Note that "after" includes both that point in time and a later point in time. Therefore, the new extraction source mounting body 9s is unloaded at the time when the execution of the transfer destination mounting body unloading processing Pod starts, or at a time later than the execution start time of the transfer destination mounting body unloading processing Pod. It is supplied (reaches) to the original area As.

In this way, after the start of execution of the transfer destination mounting body unloading process Pod for carrying out the transfer destination mounting body 9d on which the final article 90 has been transferred and the picking work has been completed, a new A source mounting body supply process Pss is executed to supply a new source mounting body 9s to the source area As so that the source mounting body 9s is supplied. Therefore, the state in which the transfer destination mounting body 9d for which the picking operation has been completed is in the transfer destination area Ad and the new extraction source mounting body 9s is in the extraction source area As does not continue. For example, if a new source mounting body 9s is supplied to the source area As at a time later than the execution start time of the transfer destination mounting body unloading process Pod, the picking work is completed. A new source mounting body 9s is not supplied to the source area As while the transfer destination mounting body 9d is in the transfer destination area Ad. Therefore, according to the picking system 100 according to the present disclosure, it is possible to avoid erroneously transferring the article 90 related to different order information to the transfer destination mounting body 9d on which the picking operation has been completed. can.

In the present embodiment, the control device C specifies the take-out source placement bodies 9s necessary for collecting the articles 90 included in the ordered article group Go, and when a plurality of take-out source placement bodies 9s are specified, Among the plurality of take-out source mounting bodies 9s, the take-out source mounting body 9s that is last supplied to the take-out source area As is determined to be the order final placing body 9f.

For example, FIG. 2 shows a list of retrieval source mounting bodies 9s necessary for collecting the articles 90 included in the ordered article group Go related to the order information α. In the illustrated example, the ordered article group Go related to the order information α is composed of articles 90 placed on each of a plurality of take-out source mounting bodies A, B, and C. For example, a display section may be provided in the picking area Ap, and the above list may be displayed on the display section. In the list shown in FIG. 2, a number of articles 90 are taken out from the source placement body A, b items 90 are taken out from the source placement body B, and c items 90 are taken out from the source placement body C. Taking out means that a plurality of articles 90 included in the ordered article group Go related to the order information α are collected.

In the example shown in FIG. 2, the control device C controls the extraction source mounting bodies A and B necessary for collecting the articles 90 (in this example, a plurality of articles 90) included in the ordered article group Go related to the order information α. ,C. Among the source mounting bodies A, B, and C, when the source mounting body C is first supplied to the source area As, the worker W picks up c items from the source mounting body C. 90 is taken out and transferred to the transfer destination mounting body 9d. Then, the control device C stores the fact that the work on the extraction source mounting body C has been completed. This information may be stored by the operator W's operation. In the illustrated example, after the work on the source mounting body C is completed, “Complete” is entered in the column of the source mounting body C in the list (see the center diagram of FIG. 2).

Next, among the remaining source mounting bodies A and B, when the source mounting body A is supplied to the source area As, the worker W selects a number of a pieces from the source mounting body A. The article 90 is taken out and transferred to the transfer destination mounting body 9d. Then, the control device C stores the fact that the work on the extraction source mounting body A has been completed. In the illustrated example, after the work on the source mounting body A is completed, “Complete” is entered in the column of the source mounting body A in the list (see the right diagram of FIG. 2).

Then, the control device C orders the final loading body 9f of the loading source loading bodies A, B, and C on which no work is being performed (the last remaining loading loading body B). It is determined that When the source mounting body B is supplied to the source area As, the worker W takes out b items 90 from the source mounting body B and transfers them to the destination mounting body 9d. . As a result, all the articles 90 constituting the ordered article group Go are transferred to the transfer destination mounting body 9d, and the picking operation for the transfer destination mounting body 9d is completed.

The control device C executes different processes depending on whether the source mounting body 9s in the source area As is the final order placement body 9f or when it is not the final order placement body 9f. FIG. 3 shows the process that the control device C executes when the take-out source placement body 9s in the take-out source area As is not the order final placement body 9f. FIG. 4 shows the process that the control device C executes when the take-out source placement body 9s in the take-out source area As is the order final placement body 9f. In addition, in FIGS. 3 and 4, different numbers (No. 1 to No. 4) are given to each of the plurality of mounting bodies 9 so that the movements of each of the plurality of mounting bodies 9 can be easily distinguished. Moreover, the article 90 placed on the mounting body 9 is omitted.

As shown in FIG. 3, in the present embodiment, the control device C controls the extraction from the take-out source area As when the take-out source placing object 9s (No. 1) in the take-out source area As is not the order final placing object 9f. A source mounting body carrying out process Pos for carrying out the source mounting body 9s (No. 1) and a source mounting body supply supplying a new source mounting body 9s (No. 2) to the source area As. Processing Pss is executed in parallel. As a result, a new source mounting body 9s (No. 2) is supplied to the source area As in parallel with the removal of the source mounting body 9s (No. 1) from the source area As. Therefore, it is easy to quickly start the work of taking out the necessary article 90 from the next taking-out source mounting body 9s (No. 2). In this case, the article 90 is transferred from the new pick-up source mounting body 9s (No. 2) to the transfer destination mounting body 9d (No. 3) in the transfer destination area Ad, and the picking operation is continued. . Note that executing multiple processes in parallel means executing these multiple processes such that the execution periods of the respective processes overlap at least in part.

In the present embodiment, the control device C controls the take-out completion receiving unit 8s (see FIG. 1) to be operated when the take-out source placing object 9s (No. 1) in the take-out source area As is not the order final placing object 9f. Based on this, the extraction source mounting body carrying out process Pos and the extraction source mounting body supplying process Pss are executed. That is, the worker W operates the retrieval completion reception unit 8s when the retrieval of the article 90 included in the ordered article group Go from the retrieval source mounting body 9s (No. 1) in the retrieval source area As is completed. . Then, the control device C executes the source mounting body carrying out process Pos and the source mounting body supplying process Pss, and replaces the source mounting body 9s in the source area As (No. 1→No. 2). ). Thereafter, as described above, picking is carried out to transfer the article 90 from the source mounting body 9s (No. 2) in the source area As to the destination mounting body 9d (No. 3) in the destination area Ad. Work continues.

As shown in FIGS. 4(a) and 4(b), in this embodiment, the control device C controls the case where the take-out source mounting body 9s (No. 1) in the take-out source area As is the order final placing body 9f. , after executing the source mounting body unloading process Pos, the transfer destination mounting body unloading process Pod and the source loading body supplying process Pss are executed in parallel. Specifically, the control device C controls the transfer destination mounting body so that a new extraction source mounting body 9s is supplied to the extraction source area As after the start of execution of the transfer destination mounting body unloading process Pod. The carry-out processing Pod and the extraction source mounting body supply processing Pss are executed in parallel. In this way, the transfer destination mounting body unloading processing Pod and the source mounting body supplying process Pss are executed in parallel, so that the transfer destination mounting body 9d (No. 3) for which the picking work has been completed is transferred. It is possible to prevent a new source mounting body 9s (No. 2) from being supplied to the source area As while remaining in the destination area Ad. Therefore, it is possible to prevent the article 90 related to different order information from being erroneously transferred to the transfer destination mounting body 9d (No. 3) on which the picking operation has been completed.

As shown in FIG. 4(b), in this embodiment, the control device C moves a new transfer destination mounting body 9d ( No. 4) is executed. That is, in this example, the control device C executes the transfer destination mounting body unloading processing Pod, the transfer destination mounting body supplying process Psd, and the extraction source mounting body supplying process Pss in parallel. As a result, it is possible to avoid erroneous transfer of the article 90 to the transfer destination mounting body 9d (No. 3) where the picking work has been completed, and to quickly replace the transfer destination mounting body 9d with respect to the transfer destination area Ad. It can be done (No.3→No.4).

In the present embodiment, the control device C controls the removal completion receiving unit 8s (see FIG. 1) when the removal source mounting body 9s (No. 1) in the extraction source area As is the order final placement object 9f. Based on the operation of the picking completion reception unit 8d (see FIG. 1), the extraction source mounting body unloading process Pos is executed (see FIG. 4(a)). The carry-out processing Pod and the extraction source mounting body supply processing Pss are executed (see FIG. 4(b)). That is, the worker W operates the picking completion reception unit 8d when the transfer of the ordered article group Go to the transfer destination mounting body 9d (No. 3) is completed. Then, the control device C executes the destination mounting body unloading process Pod and the source mounting body supplying process Pss. In this embodiment, the control device C performs a transfer destination mounting body unloading process Pod, a transfer destination mounting body supply process Psd, and an extraction source mounting body supply based on the operation of the picking completion reception unit 8d. Processing Pss is executed. As a result, the transfer destination mounting body 9d (No. 3) on which the picking work has been completed is carried out from the transfer destination area Ad, and a new transfer destination mounting body 9d (No. 3) is transferred to the transfer destination area Ad. 4) is supplied, and a new source mounting body 9s (No. 2) is supplied to the source area As (see FIG. 4(b)).

As shown in FIG. 4(c), after the control device C finishes the above series of processes, a new extraction source mounting body 9s (No. 2) is placed in the extraction source area As, and a new extraction source mounting body 9s (No. 2) is placed in the extraction source area As. A new transfer destination mounting body 9d (No. 4) is placed in the destination area Ad. Then, based on another order information, a new picking operation for a new transfer destination mounting body 9d (No. 4) is started.

Next, the processing procedure performed by the control device C will be explained with reference to the flowchart of FIG.

As shown in FIG. 5, the control device C determines whether the take-out source mounting body 9s in the take-out source area As is the order final placing body 9f (step #11). After the control device C determines that the take-out source placing object 9s in the take-out source area As is the order final placing object 9f (step #11; Yes), when the take-out completion reception unit 8s is operated, (Step #12; Yes), the extraction source mounting body carrying out process Pos is executed (Step #13). Thereafter, when the picking completion reception unit 8d is operated (step #14; Yes), the control device C performs the transfer destination mounting body unloading process Pod, the transfer destination mounting body supply process Psd, and the source loading process. The body supply process Pss is executed in parallel (step #15).

On the other hand, after the control device C determines in step #11 that the source placing object 9s in the source area As is not the order final placing object 9f (step #11; No), the taking-out completion reception unit 8s If the operation has been performed (Step #16; Yes), the source mounting body carrying out process Pos and the source mounting body supplying process Pss are executed in parallel (Step #17).

[Second embodiment]
Next, a second embodiment of the picking system 100 will be described. In the second embodiment, the process performed by the control device C when the take-out source placing body 9s in the take-out source area As is the order final placing body 9f is different from the first embodiment. In the following, the second embodiment will be mainly described with respect to the differences from the first embodiment. Points not particularly described are the same as those in the first embodiment.

In the present embodiment, when the source mounting body 9s in the source area As is the order final mounting body 9f, the control device C performs a transfer destination mounting body carrying out process Pod and a fetching source mounting body carrying out process. Pos and extraction source mounting body supply processing Pss are executed in parallel. Specifically, the control device C controls the transfer destination mounting body so that a new extraction source mounting body 9s is supplied to the extraction source area As after the start of execution of the transfer destination mounting body unloading process Pod. The carry-out process Pod, the source placement body carry-out process Pos, and the source placement body supply process Pss are executed in parallel. In this way, the transfer destination mounting body unloading process Pod, the source loading body unloading process Pos, and the source loading body supplying process Pss are executed in parallel, so that the transfer destination loading unit after the picking work is completed It is possible to prevent a new source mounting body 9s from being supplied to the source area As while the body 9d remains in the transfer destination area Ad. Therefore, it is possible to avoid erroneously transferring the article 90 related to different order information to the transfer destination mounting body 9d for which the picking operation has been completed. In addition, in parallel with carrying out the transfer destination mounting body 9d for which the picking work has been completed from the transfer destination area Ad, a new extraction source mounting body 9s is supplied to the extraction source area As, so that the next It is easy to quickly start picking work for the ordered article group Go.

In the present embodiment, when the source mounting body 9s in the source area As is the order final placement body 9f, the control device C controls the transfer destination mounting body based on the operation of the extraction completion reception unit 8s. Execute the placing body carrying out process Pod, the taking out source placing body carrying out process Pos, and the taking out source placing body supplying process Pss. That is, when the transfer of the ordered article group Go to the transfer destination mounting body 9d is completed, the worker W operates the removal completion reception unit 8s instead of the picking completion reception unit 8d. Then, the control device C executes a transfer destination mounting body unloading process Pod, a source mounting body unloading process Pos, and a source mounting body supplying process Pss. Note that in this embodiment, the operation unit 8 does not need to include the picking completion reception unit 8d.

Next, the processing procedure performed by the control device C will be explained with reference to the flowchart of FIG.

As shown in FIG. 6, the control device C determines whether the take-out source mounting body 9s in the take-out source area As is the order final placing body 9f (step #21). After the control device C determines that the take-out source placing object 9s in the take-out source area As is the order final placing object 9f (step #21; Yes), when the take-out completion reception unit 8s is operated, (Step #22; Yes), the transfer destination mounting body unloading processing Pod, the transfer destination mounting body supplying process Psd, the source mounting body unloading process Pos, and the source mounting body supplying process Pss are performed in parallel. Execute (step #23).

On the other hand, after the control device C determines in step #21 that the source placing object 9s in the source area As is not the order final placing object 9f (step #21; No), the taking-out completion reception unit 8s If the operation has been performed (Step #24; Yes), the source mounting body carrying out process Pos and the source mounting body supplying process Pss are executed in parallel (Step #25).

[Picking method and picking program]
According to the picking system 100 described above by exemplifying the first embodiment and the second embodiment, the article 90 may be erroneously transferred to the transfer destination mounting body 9d on which the picking work has been completed. can be avoided. The configuration of the picking system 100 described above can also be used for a picking method and a picking program.

That is, the picking method is specified by the order information from the pick-up source mounting body 9s that is placing a single article group Gs consisting of a plurality of articles 90 of a single type and is arranged in the pick-up source area As. This is a method for performing a picking operation in which an ordered article group Go consisting of different types and numbers of articles 90 is taken out and transferred to a transfer destination mounting body 9d arranged in a transfer destination area Ad.

This picking method includes a source mounting body supply step in which the source mounting body 9s is supplied to the source area As, and a source mounting body carrying out step in which the source mounting body 9s is carried out from the source area As. , and a transfer destination mounting body carrying out step of carrying out the transfer destination mounting body 9d from the transfer destination area Ad. In the picking method, the pick-up source mounting body 9s in the pick-up source area As is the last to be transferred out of the order article group Go to be transferred to the transfer destination mounting body 9d in the transfer destination area Ad. In the case of the final order placement body 9f on which the final product 90 is placed, after the start of the execution of the destination placement body carrying out process for carrying out the destination placement body 9d from the transfer destination area Ad. The source mounting body supply step is executed so that a new source mounting body 9s is supplied to the source area As. In the picking method according to the present disclosure, a transfer destination mounting body supply step of supplying the transfer destination mounting body 9d to the transfer destination area Ad is further executed.

In addition, the picking program picks up the items specified by the order information from the pick-up source mounting body 9s that is placing a single article group Gs consisting of a plurality of articles 90 of a single type and is arranged in the pick-up source area As. This is a program for performing a picking operation in which an ordered article group Go consisting of articles 90 of different types and numbers is taken out and transferred to a transfer destination mounting body 9d arranged in a transfer destination area Ad.

This picking program includes a source mounting body supplying function that causes the source mounting body supply device 1 to perform a source mounting body supplying process of supplying the source mounting body 9s to the source area As, and A source mounting body unloading function that causes the source mounting body unloading device 2 to perform a source loading body unloading process of transporting the source loading body 9s from the area As, and a transfer destination from the transfer destination area Ad. The computer is made to realize a transfer destination mounting body unloading function that causes the transfer destination mounting body unloading device 4 to carry out a transfer destination mounting body unloading process for unloading the mounting body 9d. Then, the picking program transfers the pick-up source mounting body 9s in the pick-up source area As to the transfer destination mounting body 9d in the transfer destination area Ad last among the group of ordered articles Go to be transferred. In the case of the order final placement body 9f on which the final article 90 is placed, after the start of the execution of the transfer destination loading body carrying out process for carrying out the transfer destination loading body 9d from the transfer destination area Ad. The extraction source mounting body supply process is executed so that a new extraction source mounting body 9s is supplied to the extraction source area As. In the picking program according to the present disclosure, the transfer destination placement device 3 causes the transfer destination placement device supplying device 3 to perform a transfer destination placement device supplying process of supplying the transfer destination placement device 9d to the transfer destination area Ad. The computer also realizes the function of supplying the body. The picking program is provided, for example, by a recording medium (a computer-readable recording medium such as an optical disk or a flash memory) on which the picking program is recorded, or via a communication network. The provided picking program is then stored in a storage device that can be referenced by the computer. In this embodiment, the control device C (specifically, the arithmetic processing unit included in the control device C) functions as a “computer”.

[Other embodiments]
Next, other embodiments of a picking system, a picking method, and a picking program will be described.

(1) In the above embodiment, if the source mounting body 9s in the source area As is not the final order placement body 9f, the control device C carries out the source mounting body 9s from the source area As. An example has been described in which the source mounting body carrying out process Pos and the source mounting body supplying process Pss for supplying a new source mounting body 9s to the source area As are executed in parallel. However, without being limited to such an example, the control device C controls the extraction source placement object to be carried out even if the removal source placement object 9s in the removal source area As is not the order final placement object 9f. The processing Pos and the extraction source mounting body supply processing Pss may be performed at different times.

(2) In the above embodiment, the control device C supplies the new transfer destination mounting body 9d to the transfer destination area Ad in parallel with the transfer destination mounting body unloading processing Pod. An example of executing the body supply process Psd has been described. However, the control device C may execute the transfer destination mounting body unloading process Pod and the transfer destination mounting body supply process Psd at different times.

(3) In the above embodiment, based on the operator W operating the operation unit 8, the extraction source mounting body supply processing Pss, the extraction source mounting body unloading process Pos, and the transfer destination mounting body supply processing An example in which each process of Psd and transfer destination mounting body unloading process Pod is executed has been described. However, without being limited to such an example, the control device C may automatically execute each process without involving the intention of the worker W. In this case, the operation section 8 is unnecessary.

(4) In the above embodiment, the source mounting body supply device 1, the source mounting body unloading device 2, the transfer destination mounting body supply device 3, and the transfer destination mounting body unloading device 4 are connected to a conveyor. An example configured using . However, without being limited to such an example, each of the above-mentioned devices may include a lifter that transports the mounting body 9 along the vertical direction, and a conveyor that transports the mounting body 9 so as to revolve around a horizontal axis. Any device, such as a device, that can continuously transport a plurality of mounting bodies 9 along the same route may be used.

(5) In the above embodiment, an example has been described in which the picking system 100 further includes the transfer destination mounting body supply device 3 that supplies the transfer destination mounting body 9d to the transfer destination area Ad. However, the picking system 100 is not limited to such an example, and the picking system 100 may not include the transfer destination mounting body supply device 3. In this case, the transfer destination mounting body 9d may be supplied to the transfer destination area Ad by the worker W, for example.

(6) Note that the configuration disclosed in the embodiment described above can also be applied in combination with the configuration disclosed in other embodiments, as long as there is no contradiction. Regarding other configurations, the embodiments disclosed herein are merely illustrative in all respects. Therefore, various modifications can be made as appropriate without departing from the spirit of the present disclosure.

[Summary of the above embodiment]
The picking system, picking method, and picking program described above will be explained below.

The picking system according to the present disclosure includes:
Ordered articles consisting of the type and number of said articles specified by the order information from a take-out source mounting body which is placed in a take-out source area and which carries a single article group made up of a plurality of articles of a single type. A picking system for performing a picking operation of taking out a group and transferring it to a transfer destination mounting body arranged in a transfer destination area,
an extraction source mounting body supply device that supplies the extraction source mounting body to the extraction source area;
an extraction source mounting body carrying out device that carries out the extraction source mounting body from the extraction source area;
a transfer destination mounting body unloading device that carries out the transfer destination mounting body from the transfer destination area;
A control device that controls the source mounting body supplying device, the source mounting body carrying out device, and the transfer destination mounting body carrying out device,
The control device is configured such that the take-out source mounting body in the take-out source area is the last of the group of ordered articles to be transferred to the transfer destination mounting body in the transfer destination area. If it is an order final placement object on which a final article is placed, the removal process is performed after the start of execution of the transfer destination placement object carrying out process for carrying out the transfer destination placement object from the transfer destination area. The source mounting body supplying device is controlled to execute the source mounting body supply process so that the new source mounting body is supplied to the source area.

According to this configuration, execution of the transfer destination mounting body unloading process (transfer destination mounting body unloading process) for unloading the transfer destination mounting body on which the final article has been transferred and the picking work has been completed is started. An extraction source mounting body supply process for supplying a new extraction source mounting body to the extraction source area so that a new extraction source mounting body is subsequently supplied to the extraction source area (extraction source mounting body supply process) is executed. Therefore, the state in which the transfer destination mounting body for which the picking operation has been completed is in the transfer destination area and the new extraction source mounting body is in the extraction source area does not continue. Therefore, according to this configuration, it is possible to avoid erroneously transferring an article related to another order to the transfer destination mounting body on which the picking operation has been completed.

The control device includes:
If the take-out source mounting body in the take-out source area is not the order final placement body, a take-out source placing body carry-out process of carrying out the take-out source placing body from the take-out source area; and the take-out source placing body; Executes supply processing in parallel,
If the source mounting body in the source area is the final order placement body, after executing the source mounting body unloading process, the transfer destination loading body unloading process and the unloading source loading body are performed. It is preferable to execute the placement body supply process in parallel.

According to this configuration, when the take-out source mounting body in the take-out source area is not the final order placing body, a new take-out source is transferred to the take-out source area in parallel with the removal of the take-out source placing body from the take-out source area. Since the mounting body is supplied, it is easy to quickly start the work of taking out the necessary article from the next extraction source mounting body. In addition, if the source loading object in the source area is the final loading object for the order, a new loading object in the source area will be placed in parallel with the removal of the destination loading object from the destination area. Since the placed objects are supplied, it is easy to quickly start the picking operation for the next group of ordered articles.

Equipped with an operation section operated by the worker,
The operation unit includes a picking completion reception unit that is operated by the operator when the transfer of the group of ordered articles to the transfer destination mounting body is completed, and a picking completion reception unit that is operated by the worker when the transfer of the group of ordered articles to the transfer destination mounting body is completed, and a picking completion reception unit that a retrieval completion reception unit operated by the operator when retrieval of the article included in the ordered article group from the body is completed;
The control device includes:
If the take-out source mounting body in the take-out source area is not the order final placement body, the take-out source placing body carrying out process and the take-out source placing body are performed based on the operation of the take-out completion reception unit. Execute supply processing and
When the pick-up source placement object in the pick-up source area is the order final placement object, the pick-up source placement object carrying out process is executed based on the operation of the pick-up completion reception unit, and the picking Preferably, the transfer destination mounting body unloading process and the extraction source mounting body supplying process are executed based on the completion reception unit being operated.

According to this configuration, based on the operator's operation, depending on whether or not the source loading body in the loading source area is the final loading body of the order, It is possible to appropriately carry out the processing for carrying out the mounting body and the processing for supplying the mounting body from the extraction source.

The control device includes:
If the take-out source mounting body in the take-out source area is not the order final placement body, a take-out source placing body carry-out process of carrying out the take-out source placing body from the take-out source area; and the take-out source placing body; Executes supply processing in parallel,
When the source mounting body in the source area is the final order placement body, the transfer destination mounting body carrying out process, the fetching source mounting body carrying out process, and the picking source mounting body supplying process It is preferable to execute these in parallel.

According to this configuration, when the take-out source mounting body in the take-out source area is not the final order placing body, a new take-out source is transferred to the take-out source area in parallel with the removal of the take-out source placing body from the take-out source area. Since the mounting body is supplied, it is easy to quickly start the work of taking out the necessary article from the next extraction source mounting body. In addition, if the retrieval source mounting body in the retrieval source area is the final order loading object, the retrieval source mounting body from the retrieval source area will be removed from the retrieval source area in parallel with the removal of the transfer destination mounting object from the transfer destination area. and a new take-out source mounting body is supplied to the take-out source area, making it easy to quickly start picking work for the next group of ordered articles.

Equipped with an operation section operated by the worker,
The operation unit includes a take-out completion reception unit that is operated by the operator when taking out the articles included in the ordered article group from the take-out source mounting body in the take-out source area is completed;
The control device includes:
If the take-out source mounting body in the take-out source area is not the order final placement body, the take-out source placing body carrying out process and the take-out source placing body are performed based on the operation of the take-out completion reception unit. Execute supply processing and
When the take-out source mounting body in the take-out source area is the order final place, the transfer destination mounting body unloading process and the take-out source loading process are performed based on the operation of the take-out completion reception unit. It is preferable to execute the placing body carrying out process and the extraction source placing body supplying process.

According to this configuration, based on the operator's operation, depending on whether or not the source loading body in the loading source area is the final loading body of the order, It is possible to appropriately carry out the processing for carrying out the mounting body and the processing for supplying the mounting body from the extraction source.

further comprising a transfer destination mounting body supplying device for supplying the transfer destination mounting body to the transfer destination area,
The control device executes a transfer destination mounting body supplying process for supplying the new transfer destination mounting body to the transfer destination area in parallel with the transfer destination mounting body unloading process. suitable.

According to this configuration, the transfer destination mounting body can be quickly replaced with respect to the transfer destination area.

The picking method according to the present disclosure includes:
Ordered articles consisting of the type and number of said articles specified by the order information from a take-out source mounting body which is placed in a take-out source area and which carries a single article group made up of a plurality of articles of a single type. A picking method for performing a picking operation in which a group is taken out and transferred to a transfer destination mounting body arranged in a transfer destination area, the picking method comprising:
an extraction source mounting body supplying step of supplying the extraction source mounting body to the extraction source area;
an extraction source mounting body carrying out step of carrying out the extraction source mounting body from the extraction source area;
a transfer destination mounting body carrying out step of carrying out the transfer destination mounting body from the transfer destination area,
The take-out source mounting body in the take-out source area places the final article to be transferred last among the group of ordered articles to be transferred to the transfer destination mounting body in the transfer destination area. If it is the final placement object of the order, after the start of execution of the transfer destination placement object carrying out step for carrying out the transfer destination placement object from the transfer destination area, a new one is placed in the take-out source area. The extraction source mounting body supply step is performed so that the extraction source mounting body is supplied.

The picking program according to this disclosure is
Ordered articles consisting of the type and number of said articles specified by the order information from a take-out source mounting body which is placed in a take-out source area and which carries a single article group made up of a plurality of articles of a single type. A picking program for performing a picking operation of picking up a group and transferring it to a transfer destination mounting body arranged in a transfer destination area,
an extraction source mounting body supplying function that causes an extraction source mounting body supplying device to perform an extraction source mounting body supplying process for supplying the extraction source mounting body to the extraction source area;
a source mounting body carrying out function that causes a fetching source mounting body carrying out device to carry out a fetching source mounting body carrying out process of carrying out the fetching source mounting body from the fetching source area;
a transfer destination mounting body unloading function for causing a transfer destination mounting body unloading device to carry out a transfer destination mounting body unloading process of transporting the transfer destination mounting body from the transfer destination area; Make it happen,
The take-out source mounting body in the take-out source area places the final article to be transferred last among the group of ordered articles to be transferred to the transfer destination mounting body in the transfer destination area. If it is the final placement object of the order, a new object is added to the source area after the start of execution of the destination placement object carrying out process for carrying out the destination placement object from the transfer destination area. A source mounting body supply process is executed so that the source mounting body is supplied.

The technology according to the present disclosure is a picking system for performing a picking operation in which a group of ordered articles consisting of the type and number of articles specified by order information is taken out from a source loading body and transferred to a destination loading body. , a picking method, and a picking program.

100: Picking system 1: Source mounting body supply device 2: Source mounting body unloading device 3: Transfer destination mounting body supply device 4: Transfer destination mounting body unloading device 8: Operation unit 8d: Picking complete Reception section 8s: Retrieval completion reception section 9: Placement body 9d: Transfer destination placement body 9s: Source placement body 9f: Order final placement body 90: Article Go: Ordered article group Gs: Single article group Ad : Transfer destination area As : Retrieval source area C : Control device W : Operator Pod : Transfer destination mounting body unloading process Pos : Retrieval source loading body unloading process Psd : Transfer destination mounting body supply process Pss : Retrieval Original mounting body supply processing

Claims (8)

Ordered articles consisting of the type and number of said articles specified by the order information from a take-out source mounting body which is placed in a take-out source area and which carries a single article group made up of a plurality of articles of a single type. A picking system for performing a picking operation of taking out a group and transferring it to a transfer destination mounting body arranged in a transfer destination area,
an extraction source mounting body supply device that supplies the extraction source mounting body to the extraction source area;
an extraction source mounting body carrying out device that carries out the extraction source mounting body from the extraction source area;
a transfer destination mounting body unloading device that carries out the transfer destination mounting body from the transfer destination area;
A control device that controls the source mounting body supplying device, the source mounting body carrying out device, and the transfer destination mounting body carrying out device,
The control device is configured such that the take-out source mounting body in the take-out source area is the last of the group of ordered articles to be transferred to the transfer destination mounting body in the transfer destination area. If it is an order final placement object on which a final article is placed, the removal process is performed after the start of execution of the transfer destination placement object carrying out process for carrying out the transfer destination placement object from the transfer destination area. A picking system that controls the source mounting body supply device to execute a source mounting body supply process so that the new source mounting body is supplied to the source area. The control device includes:
If the take-out source mounting body in the take-out source area is not the order final placement body, a take-out source placing body carry-out process of carrying out the take-out source placing body from the take-out source area; and the take-out source placing body; Executes supply processing in parallel,
If the source mounting body in the source area is the final order placement body, after executing the source mounting body unloading process, the transfer destination loading body unloading process and the unloading source loading body are performed. The picking system according to claim 1, wherein the picking system executes the placing body supply process in parallel. Equipped with an operation section operated by the worker,
The operation unit includes a picking completion reception unit that is operated by the operator when the transfer of the group of ordered articles to the transfer destination mounting body is completed, and a picking completion reception unit that is operated by the worker when the transfer of the group of ordered articles to the transfer destination mounting body is completed, and a picking completion reception unit that a retrieval completion reception unit operated by the operator when retrieval of the article included in the ordered article group from the body is completed;
The control device includes:
If the take-out source mounting body in the take-out source area is not the order final placement body, the take-out source placing body carrying out process and the take-out source placing body are performed based on the operation of the take-out completion reception unit. Execute supply processing and
When the pick-up source placement object in the pick-up source area is the order final placement object, the pick-up source placement object carrying out process is executed based on the operation of the pick-up completion reception unit, and the picking The picking system according to claim 2, wherein the transfer destination mounting body carrying out process and the extraction source mounting body supplying process are performed based on the completion reception unit being operated. The control device includes:
If the take-out source mounting body in the take-out source area is not the order final placement body, a take-out source placing body carry-out process of carrying out the take-out source placing body from the take-out source area; and the take-out source placing body; Executes supply processing in parallel,
When the source mounting body in the source area is the final order placement body, the transfer destination mounting body carrying out process, the fetching source mounting body carrying out process, and the picking source mounting body supplying process The picking system according to claim 1, wherein the picking system executes the above steps in parallel. Equipped with an operation section operated by the worker,
The operation unit includes a take-out completion reception unit that is operated by the operator when taking out the articles included in the ordered article group from the take-out source mounting body in the take-out source area is completed;
The control device includes:
If the take-out source mounting body in the take-out source area is not the order final placement body, the take-out source placing body carrying out process and the take-out source placing body are performed based on the operation of the take-out completion reception unit. Execute supply processing and
When the take-out source mounting body in the take-out source area is the order final place, the transfer destination mounting body unloading process and the take-out source loading process are performed based on the operation of the take-out completion reception unit. 5. The picking system according to claim 4, wherein the picking system executes a placing object carrying out process and a taking-out source placing object supplying process. further comprising a transfer destination mounting body supplying device for supplying the transfer destination mounting body to the transfer destination area,
The control device executes a transfer destination mounting body supplying process for supplying the new transfer destination mounting body to the transfer destination area in parallel with the transfer destination mounting body unloading process. The picking system according to any one of Items 1 to 5. Ordered articles consisting of the type and number of said articles specified by the order information from a take-out source mounting body which is placed in a take-out source area and which carries a single article group made up of a plurality of articles of a single type. A picking method for performing a picking operation in which a group is taken out and transferred to a transfer destination mounting body arranged in a transfer destination area, the picking method comprising:
an extraction source mounting body supplying step of supplying the extraction source mounting body to the extraction source area;
an extraction source mounting body carrying out step of carrying out the extraction source mounting body from the extraction source area;
a transfer destination mounting body carrying out step of carrying out the transfer destination mounting body from the transfer destination area,
The take-out source mounting body in the take-out source area places the final article to be transferred last among the group of ordered articles to be transferred to the transfer destination mounting body in the transfer destination area. If it is the final placement object of the order, after the start of execution of the transfer destination placement object carrying out step for carrying out the transfer destination placement object from the transfer destination area, a new one is placed in the take-out source area. A picking method, wherein the picking source mounting body supplying step is performed so that the picking source mounting body is supplied. Ordered articles consisting of the type and number of said articles specified by the order information from a take-out source mounting body which is placed in a take-out source area and which carries a single article group made up of a plurality of articles of a single type. A picking program for performing a picking operation of picking up a group and transferring it to a transfer destination mounting body arranged in a transfer destination area,
an extraction source mounting body supplying function that causes an extraction source mounting body supplying device to perform an extraction source mounting body supplying process for supplying the extraction source mounting body to the extraction source area;
a source mounting body carrying out function that causes a fetching source mounting body carrying out device to carry out a fetching source mounting body carrying out process of carrying out the fetching source mounting body from the fetching source area;
a transfer destination mounting body unloading function for causing a transfer destination mounting body unloading device to carry out a transfer destination mounting body unloading process of transporting the transfer destination mounting body from the transfer destination area; Make it happen,
The take-out source mounting body in the take-out source area places the final article to be transferred last among the group of ordered articles to be transferred to the transfer destination mounting body in the transfer destination area. If it is the final placement object of the order, a new object is added to the source area after the start of execution of the destination placement object carrying out process for carrying out the destination placement object from the transfer destination area. A picking program that executes a source mounting body supply process so that the source mounting body is supplied.

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