JP6619657B2 - Work support system, gate and work support method - Google Patents

Description

  The present invention relates to a technology for a work support system, a gate, and a work support method that support picking of articles stored on a shelf.

In a warehouse or a factory, there is a picking operation in which an operator picks up an article according to an order from a storage shelf in which the article is stored (hereinafter appropriately referred to as a shelf). In order to take out articles from a shelf in which a large number of articles are stored, an operator often moves around the warehouse and takes out predetermined articles while referring to a list or the like. However, a mistake in picking out an article that is not the corresponding article may occur due to an erroneous reading of a list or the like and unclear display of the frontage position.
As a method for preventing this picking error, for example, there is a technique described in Patent Document 1. In the technique described in Patent Document 1, it is disclosed that an area sensor is provided at a take-out opening and that a sensor detects that a hand has been put in a predetermined opening.

JP 2005-29391 A

  In the technique described in Patent Document 1, since only the take-out opening can be detected by the sensor, even if an operator takes out an article from a place other than the pick-up opening, it cannot recognize the mistake in the front.

  This invention was made in view of such a background, and this invention makes it a subject to prevent an operator's picking mistake.

In order to solve the above-described problem, the present invention includes a controller including a work position specifying unit that specifies a work position on a shelf, a detection unit that detects a position where the worker is about to perform work, and the worker blocking sensor There is a position that is attempting to work, if different from the working position, have a, a gate with include, an alarm unit for outputting an alert, the detection unit for detecting the interruption by the object , and the said gate, and OFF the block sensor corresponding to the working position, characterized in that it have a sensor control unit to oN the blocking sensor corresponding to other than the working position.
Other solutions are described in the embodiments.

  According to the present invention, it is possible to prevent an operator from mistaken picking.

It is a figure which shows the external appearance of the picking gate which concerns on 1st Embodiment. It is a functional block diagram of the picking system concerning a 1st embodiment. It is a figure which shows the structural example of the order data which concern on 1st Embodiment. It is a figure which shows the structural example of shelf DB which concerns on 1st Embodiment. It is a figure which shows the structural example of frontage DB which concerns on 1st Embodiment. It is a flowchart which shows the procedure of the process in the picking system which concerns on 1st Embodiment. It is a figure which shows the example of an external appearance of the picking gate which concerns on 2nd Embodiment. It is a functional block diagram of the picking system concerning a 2nd embodiment. It is a flowchart which shows the procedure of the process in the picking system which concerns on 2nd Embodiment. It is a figure which shows the example of an external appearance of the picking gate which concerns on 3rd Embodiment. It is a figure which shows the example of an external appearance of the picking gate which concerns on 4th Embodiment. It is a figure which shows the example of an external appearance of the picking gate which concerns on 5th Embodiment. It is a functional block diagram of the picking system concerning a 5th embodiment. It is a flowchart which shows the process sequence in the picking system which concerns on 5th Embodiment. It is a figure which shows the example of an external appearance of the picking gate which concerns on 6th Embodiment, and a conveyance vehicle. It is a functional block diagram of the picking system concerning a 6th embodiment. It is a figure which shows the structural example of shelf position DB which concerns on 6th Embodiment. It is a flowchart which shows the process sequence in the picking system which concerns on 6th Embodiment. It is a figure which shows the example of an external appearance of the picking gate which concerns on 7th Embodiment. It is a functional block diagram of the picking system concerning a 7th embodiment. It is a flowchart which shows the process sequence in the picking system which concerns on 7th Embodiment. It is a figure for demonstrating the method of the arm position calculation in 7th Embodiment. It is a figure which shows the example of an external appearance of the picking gate which concerns on 8th Embodiment. It is a functional block diagram of the picking system concerning an 8th embodiment. It is a flowchart which shows the process sequence in the picking system which concerns on 8th Embodiment. It is a figure which shows the example of the picking gate which concerns on 9th Embodiment. It is a functional block diagram of the picking system concerning a 9th embodiment. It is a figure which shows the example of an external appearance of the picking gate in the picking system in 10th Embodiment.

  Next, modes for carrying out the present invention (referred to as “embodiments”) will be described in detail with reference to the drawings as appropriate. In addition, in each drawing, about the same component, the same code | symbol is attached | subjected and description is abbreviate | omitted suitably.

[First Embodiment]
FIG. 1 is a diagram illustrating an appearance of a picking gate according to the first embodiment.
In the present embodiment, an example will be described in which an article 11 is managed on a shelf 3 having a plurality of front doors 21 and an article 11 corresponding to an order is picked up (picking work).
As shown in FIG. 1, the picking gate (gate) 1 is provided on a shelf 3 having a plurality of opening 21.
The shelf 3 is installed in a warehouse, a factory, or the like, and articles 11 are stored in the frontage 21. The worker moves to the position of the shelf 3 to be picked, and picks up the article 11 from the opening 21 of the shelf 3 to perform the picking work. Here, the two-dot chain line in FIG. 1 indicates the boundary of the frontage 21. Thus, although each shelf of the shelf 3 is not physically partitioned, it may have a plurality of openings 21. Each frontage 21 may be physically partitioned.

The picking gate 1 is installed on the front surface of the shelf 3. Here, the front surface of the shelf 3 is the surface on the side where the take-out port is provided.
The cutoff sensor (detection unit) 104 is, for example, an infrared cutoff sensor 104. As shown in FIG. 1, a plurality of shutoff sensors 104 are provided inside the picking gate 1 so as to cover the front surface of the shelf 3, and an operator puts a hand in a place where the shutoff sensor 104 is ON. Then, an alert is output from the alarm device 105. Here, the broken line in FIG. 1 indicates an infrared laser.
An infrared laser transmitter is installed in the vertical frame 121 of the picking gate 1, and an infrared laser receiver is installed inside the vertical frame 122 (or vice versa). Is a blind spot in FIG. Also, the method of attaching the transmitter and receiver of the infrared laser is not limited to the method shown in FIG. 1, for example, the transmitter and the receiver are attached alternately.

Each shut-off sensor 104 can be turned ON / OFF.
Then, the shutoff sensor 104 corresponding to the shelf where the article 11 to be picked is stored is turned OFF, and the shutoff sensor 104 corresponding to a shelf other than the shelf where the article 11 to be picked is stored is turned ON. . Hereinafter, a region where the shutoff sensor 104 is OFF (a region without an infrared laser indicated by a broken line) will be referred to as an open region 131 as appropriate.
In this way, if an operator mistakenly tries to insert a hand into a shelf other than the shelf in which the article 11 to be picked is stored (a shelf other than the open area 131), an alarm is issued from the alarm device. It is possible to make an operator aware of an error by being emitted.

(System block diagram)
FIG. 2 is a functional block diagram of the picking system according to the first embodiment.
The picking system (work support system) Z includes a WMS (Warehouse Management System) 4, a controller 2, and a picking gate 1.
The WMS 4 manages order data including the type and number of articles 11 to be picked.
The controller 2 receives the order data from the WMS 4 and controls the picking gate 1 based on the received order data.
As described above, the picking gate 1 generates the open region by turning off the blocking sensor 104 corresponding to the opening 21 to be picked.

<Controller>
The controller 2 includes a memory 201, a transmission / reception device 202, a CPU (Central Processing Unit) 203, a shelf DB (shelf storage unit) 221, a frontage DB (shelf storage unit) 222, and the like.
The memory 201 is loaded with a program, and is executed by the CPU 203, whereby the processing unit 210, the data receiving unit 211 constituting the processing unit 210, the frontage information acquisition unit (work position specifying unit) 212, a sensor switching instruction Part 213 is embodied.
The data receiving unit 211 receives data from other devices such as the WMS 4 via the transmission / reception device 202.
The frontage information acquisition unit 212 specifies a work position by acquiring information on a shelf or frontage that is a picking target (working target) based on the order data received from the WMS 4, the shelf DB 221, the front door DB 222, and the like.
The sensor switching instruction unit 213 turns off the blocking sensor 104 corresponding to the frontage 21 specified by the frontage information acquisition unit 212 with respect to the picking gate 1 installed on the shelf 3 specified by the frontage information acquisition unit 212. Instruct.

  The shelf DB 221 stores information related to the shelf 3, and the frontage DB 222 stores information related to the frontage 21.

<Picking gate>
The picking gate 1 includes a memory 101, a CPU 103, a transmission / reception device 102, a shutoff sensor 104, an alarm device (alarm unit) 105, and the like.
The shutoff sensor 104 emits an infrared laser or the like as described above, and detects whether or not the infrared laser is shut off.
The alarm device 105 emits a buzzer or the like.

The memory 101 is loaded with a program, and is executed by the CPU 103 to realize a processing unit 110, a sensor switching control unit 111, an abnormality detection unit 112, an output processing unit 113, and the like constituting the processing unit 110. Yes.
A sensor switching processing unit (sensor control unit) 111 switches ON / OFF of the shutoff sensor 104 in accordance with an instruction transmitted from the controller 2.
The abnormality detection unit 112 detects whether or not the infrared laser has been blocked when the blocking sensor 104 is ON.
The output processing unit 113 causes the alarm device 105 or the like to output an alert when the abnormality detection unit 112 detects the cutoff of the infrared laser.

(Order data)
FIG. 3 is a diagram illustrating a configuration example of order data according to the first embodiment.
As shown in FIG. 3, the order data 220 stores the article ID (Identification) of the article 11 to be picked and the number of picking in association with each other.
That is, the first line in FIG. 3 indicates that three articles 11 (FIG. 1) with the article ID “st1” are picked.

(Shelf DB)
FIG. 4 is a diagram illustrating a configuration example of the shelf DB according to the first embodiment.
As shown in FIG. 4, the shelf DB 221 stores the data of the column number, the column position, and the frontage ID for each shelf 3 (shelf ID).
The column number is a number indicating the shelf in the shelf 3 that is the object. For example, the column number “1” indicates the first column from the bottom, and the column number “2” indicates the second column from the bottom.
The stage position indicates the position of the target shelf. For example, the stage position “11-20” indicates that the target shelf stage is located 11 cm to 20 cm from the bottom (floor surface) of the shelf 3. In the first embodiment, the data on the position of the shelf DB 221 may be omitted.
The frontage ID is identification information indicating the frontage 21 in each shelf.

(Frontage DB)
FIG. 5 is a diagram illustrating a configuration example of the frontage DB according to the first embodiment.
The frontage DB 222 stores frontage ID, frontage position, article ID, and number of data in association with each other.
The frontage position indicates the position of the target frontage 21. For example, the frontage position “1 to 10” indicates that the target frontage 21 is in the range of 1 cm to 10 cm from the left side toward the shelf 3. In addition, it can be known by which shelf ID the shelf 21 is in the shelf 3 by referring to the shelf ID.
The article ID is identification information of the article 11 stored in the target frontage 21.
The number is the number of articles 11 stored in the frontage 21 as a target.

(flowchart)
FIG. 6 is a flowchart showing a processing procedure in the picking system according to the first embodiment. Reference is made to FIGS.
First, the data receiving unit 211 of the controller 2 receives the order data 220 from the WMS 4 (S101).
Next, the frontage information acquisition unit 212 acquires, from the shelf DB 221, information (shelf information) regarding the shelf in which the article 11 to be picked is stored, based on the order data 220 received by the data reception unit 211 (S102). ).

Specifically, the frontage information acquisition unit 212 acquires shelf information in the following procedure.
(A1) The frontage information acquisition unit 212 acquires an article ID that is a picking target from the order data 220.
(A2) Next, the frontage information acquisition unit 212 searches the frontage DB 222 (FIG. 5) using the acquired article ID as a key, and acquires the frontage ID.
(A3) Then, the frontage information acquisition unit 212 searches the shelf DB 221 (FIG. 4) using the acquired frontage ID as a key, the shelf ID having the frontage ID acquired in (A2), and the column number having the frontage ID. To get.

Then, the sensor switching instruction unit 213 turns off the shut-off sensor 104 for the shelf in which the article 11 to be picked is stored based on the information on the step number acquired in (A3), and turns on other than the relevant shelf. Is transmitted to the picking gate 1 to be picked (S103). That is, the instruction includes information on the column number to be picked.
Based on the instruction transmitted from the controller 2, the sensor switching control unit 111 of the picking gate 1 performs ON / OFF switching control of the blocking sensor 104 in the shelf corresponding to the stage number included in the instruction (S104). .
Subsequently, the abnormality detection unit 112 determines whether or not a blocking state is detected by the blocking sensor 104 that is in the ON state (S105). In other words, the abnormality detection unit 112 determines whether or not an interruption by the operator's hand or the like has been detected by the interruption sensor 104 (for example, infrared rays) that is in the ON state. That is, the abnormality detection unit 112 detects a position where the worker is about to work.

As a result of step S105, when the blocking state is not detected (S105 → No), the abnormality detection unit 112 returns the process to step S105.
When the interruption state is detected as a result of step S105 (S105 → Yes), the output processing unit 113 outputs an alert from the alarm device 105 (S106), and the processing unit 110 returns the process to step S105.

  The picking system Z of 1st Embodiment has the controller 2 provided with the frontage information acquisition part 212 as a picking position detection part which detects the picking position in the shelf 3. FIG. Further, the picking system Z of the first embodiment includes a blocking sensor 104 as a detection unit that detects the position of the worker's hand, and an alarm device 105 that issues an alert when the worker's hand is different from the picking position. , Including a picking gate. By providing such a configuration, when an operator tries to pick the article 11 from a place other than the picking position, an alert is issued, so that it is possible to prevent an operator from mistakenly taking the article 11.

In the picking system Z according to the first embodiment, the shutoff sensor 104 other than the shelf including the frontage 21 in which the picking target article 11 is stored is turned on, and the shelf including the frontage 21 in which the picking target article 11 is stored. The stage cutoff sensor 104 is turned OFF. By doing in this way, the picking system Z can be aware that the article 11 is mistakenly taken out from other than the opening 21 to be picked, and can prevent the article 11 from being mistakenly taken out.
In short, in the picking system Z, when an operator puts a hand other than the shelf in which the article 11 to be picked is stored, the shutoff sensor 104 reacts and an alert is issued. Mistakes can be prevented.
Furthermore, according to the first embodiment, theft prevention can also be realized.

In the present embodiment, the output processing unit 113 and the alarm device 105 are included in the picking gate 1, but may be included in the controller 1.
In the present embodiment, the alert is generated by the sound from the alarm device 105, but the alert may be generated by light from the display device 106 or a screen display.

In the first embodiment, it is assumed that the alert is emitted by sound, but the alert may be issued by light, screen display, or the like.
Note that the output processing unit 113 may be included in the controller 2 instead of the picking gate 1.

[Second Embodiment]
(Picking gate)
FIG. 7 is a diagram illustrating an appearance example of a picking gate according to the second embodiment.
The picking gate 1a is provided with a display (display unit) 106 at each position corresponding to the shelf. The display 106 can be lit over the entire vertical frames 121 and 122.
As in the first embodiment, the picking gate 1a controls the ON / OFF of the shutoff sensor 104 for each shelf, and turns on the display 106 corresponding to the location where the shutoff sensor 104 is OFF (open area 131). Lit).

(System block diagram)
FIG. 8 is a functional block diagram of the picking system according to the second embodiment.
The picking system Za according to the second embodiment is the same as the picking system Z in FIG. 2 except that the picking gate 1a includes the display 106. The output processing unit (display processing unit) 113 turns on the display unit 106 in addition to outputting an alert from the alarm unit 105.

(flowchart)
FIG. 9 is a flowchart illustrating a processing procedure in the picking system according to the second embodiment. 7 and 8 will be referred to as appropriate.
The processing shown in FIG. 9 is different from the flowchart shown in FIG. 6 in that after step S104, the output processing unit 113 turns on the indicator 106 corresponding to the stage number that is the picking target received from the controller 2. (S111).

In the present embodiment, the display 106 corresponding to the shelf (open area 131) to be picked is turned on. However, in addition to this, the number of the articles 11 to be picked may be displayed on the display 106. Good. Further, the display unit 106 may not be provided in the picking gate 1a. For example, a light that irradiates a shelf to be picked and is installed separately from the picking gate 1a may be used. Or the number of picking etc. may be projected with the projector etc. which were installed separately from the picking gate 1a. The number of picking is stored in the order data 220 (FIG. 3). Further, the remaining number of working hours may be displayed by a projector installed separately from the picking gate 1a. The display device 106 is not limited to these.
This makes it easy to see the position of the frontage 21 that is the target of picking, and reduces mistakes.

[Third Embodiment]
(Picking gate)
FIG. 10 is a diagram illustrating an appearance example of the picking gate according to the third embodiment.
In the picking gate 1 shown in FIG. 1, the blocking sensor 104 is provided only in the vertical frames 121 and 122 of the picking gate 1, but in the picking gate 1 b shown in FIG. 4, in addition to the vertical frames 121 and 122, the upper frame 123 and The lower frame 124 is also provided with a blocking sensor 104.
That is, in addition to the configuration of FIG. 1, for example, an infrared laser transmitter is installed in the upper frame 123, and an infrared data receiver is installed in the lower frame 124 (or vice versa). The method for attaching the transmitter and receiver of the infrared laser is not limited to the method shown in FIG. 10, for example, the transmitter and the receiver are attached alternately.
The display unit 106 can be lit over the entire vertical frames 121 and 122, the upper frame 123, and the lower frame 124.

In the third embodiment, the following processing is different from the processing in FIG. 9 of the second embodiment.
(B1) In step S102, by performing the processes (A1) to (A3) described above, the stage number that is the target of picking is acquired, and the frontage information acquisition unit 212 uses the frontage DB 222 (FIG. 5). A frontage position or the like of the frontage 21 that is a picking target picking target is acquired.

(B2) In step S103, the sensor switching instruction unit 213 sets the picking target article 11 in the front door 21 based on the step number acquired in (A3) and the front door position information acquired in (B1). The blocking sensors 104 of the corresponding vertical frames 121 and 122, the upper frame 123, and the lower frame 124 are turned off. Further, the sensor switching instruction unit 213 selects an instruction to turn on the blocking sensors 104 other than the corresponding frontage 21 based on the step number acquired in (A3) and the frontage position information acquired in (B1). Transmit to picking gate 1b. That is, the instruction transmitted to the picking gate 1b includes information about the stage number to be picked and the frontage position.

(B3) In step S104, the sensor switching control unit 111 of the picking gate 1b, based on the instruction transmitted from the controller 2, the vertical frames 121 and 122, the upper frame 123, the lower frame corresponding to the corresponding shelf and the frontage position. The ON / OFF switching control of the shutoff sensor 104 is performed (S104).
(B4) In step S111, the output processing unit 113 turns on the indicators 106 of the vertical frames 121 and 122, the upper frame 123, and the lower frame 124 corresponding to the frontage position that is the picking target received from the controller 2.
In addition, since processes other than these are the same as the process of FIG. 9 of 2nd Embodiment, illustration of a flowchart is abbreviate | omitted in 4th Embodiment. The configuration of the picking system Za is the same as that in FIG.

According to the third embodiment, since only the portion corresponding to the frontage 21 to be picked is the open region 131, the picking position can be determined more accurately.
In the third embodiment, the indicator 106 of the picking gate 1b may be omitted.

[Fourth Embodiment]
FIG. 11 is a diagram illustrating an appearance example of a picking gate according to the fourth embodiment.
In the picking gate 1c shown in FIG. 11, the vertical frames 121, 122, the upper frame 123, and the lower frame 124 are provided with the shutoff sensor 104 as in FIG. 10, but the frontage 21 ( The shutoff sensor 104 is turned off so that the open area 131 becomes larger than that indicated by a two-dot chain line.
That is, in the fourth embodiment, the sensor switching control unit 111 (FIG. 8) of the picking gate 1 c is opened from the front opening 21 (FIG. 1) to be picked based on the instruction transmitted from the controller 2 (FIG. 8). The shutoff sensor 104 is turned off so that 131 becomes large. That is, the sensor switching control unit 111 turns off not only the shutoff sensor 104 corresponding to the frontage 21 to be picked but also the shutoff sensor 104 corresponding to a predetermined distance from the frontage 21 to be picked.

  The processing other than the sensor switching control unit 111 of the picking gate 1c turning off the blocking sensor 104 so that the open area 131 is larger than the opening 21 to be picked is the processing of FIG. 9 of the second embodiment. In the fourth embodiment, the flowchart is omitted. The configuration of the picking system Za is the same as that in FIG.

If a hand is inserted into the front opening 21 to be picked, the blocking sensor 104 (non-open area) of the adjacent front opening 21 may be accidentally touched due to the effect of hand shaking.
In the picking gate 1c according to the present embodiment, not only the frontage 21 to be picked but also the blocking sensor 104 at a predetermined distance from the frontage 21 is turned off. In particular, when the front door 21 that is adjacent in the horizontal direction is often accidentally touched, the sensor switching processing unit 111 turns off the sensor that is adjacent in the horizontal direction by a predetermined distance with respect to the front door 21 that is to be picked. May be. Here, the predetermined distance is a distance determined in accordance with the hand movement situation. For example, when the width of the frontage 21 to be picked is narrower than the range in which the operator's hand moves, the sensor switching control unit 111 sets the open area 131 in the range in which the hand moves.

Further, the size of the open area 131 may be determined for each size of the stored article 11. For example, when the article 11 is large and both hands are used when picking, the sensor switching control unit 111 may set a range in which both hands are operated as the open area 131. In addition, when the article 11 is high and needs to be turned over when taken out, the sensor switching control unit 111 sets the open area 131 as a range corresponding to the article 11 lying sideways. The size of each open area 131 is set in advance for each frontage 21 by an administrator or the like, and stored in the frontage DB 222 as a frontage position.
In these cases, the sensor switching processing unit 111 performs switching of the blocking sensor 104 in a finer range rather than switching for each shelf or shelf row.
As described above, the shutoff sensor 104 can be switched according to the operation status and the article 11 to be picked, and it is possible to reduce unnecessary alerts from being issued.

In addition, when producing | generating the open area | region 131 for every shelf like FIG. 1, the picking gate 1 may produce | generate the open area 131 larger than a shelf.
Further, the display unit 106 may be omitted.

[Fifth Embodiment]
FIG. 12 is a diagram illustrating an appearance example of a picking gate according to the fifth embodiment.
In the present embodiment, an example will be described in which the picking gate 1d is movable instead of the shelf 3 being moved. That is, in the present embodiment, the picking gate 1d is removable from the shelf 3, and the picking gate is connected to each shelf 3. 1d can be attached. A caster 41 is attached to the picking gate 1d, and the operator carries the picking gate 1d to the shelf 3 to be picked, and then attaches the picking gate 1d to the shelf 3.

  The picking gate 1d has a shutoff sensor 104 and a display 106 in the same manner as in the third embodiment. Then, the picking gate 1d changes the switching position of the blocking sensor 104 according to the installed shelf 3. That is, as shown in FIG. 12, the picking gate 1d can be attached to the shelves 3 (in the case of FIG. 12, the shelves 3 with 4 levels and the shelves 3 with 3 levels) having different numbers of shelves, widths of the frontage 21 and the like. Yes, the picking gate 1d turns on / off the shutoff sensor 104 according to the shelf level of the attached shelf 3 and the structure of the frontage 21.

  The picking gate 1d may be moved by an operator as described above, or may be moved by a transport vehicle or the like. Further, in FIG. 12, the picking gate 1d moves, but the picking gate 1d may be fixed and the shelf 3 may move. For example, when the picking gate 1d is fixedly installed at the picking station, and the shelf 3 is transported by a transport vehicle or the like and attached to the picking gate 1d, the shutoff sensor 104 is switched according to the structure of the attached shelf 3. May be.

(System block diagram)
FIG. 13 is a functional block diagram of the picking system according to the fifth embodiment.
The picking system Zb according to the fifth embodiment is different from the configuration shown in FIG. 8 of the second embodiment as follows.
The shelf 3 has shelf identification information means 301. The shelf identification information means 301 is specifically a barcode, RFID (Radio Frequency Identification), or the like, and stores identification information (shelf ID) of the shelf 3.
The picking gate 1d has the identification information reading device 107. If the shelf identification information means 301 is a barcode, the identification information reader 107 is a barcode reader, and if the shelf identification information means 301 is an RFID, it is an RFID reader.
The processing unit 110d of the picking gate 1d includes an identification information reading unit 114 and a transmission processing unit 115. The identification information reading unit 114 acquires the shelf ID read by the identification information reading device 107. The transmission processing unit 115 transmits shelf information including the shelf ID read by the identification information reading unit 114 to the controller 2 via the transmission / reception device 102.

(flowchart)
FIG. 14 is a flowchart illustrating a processing procedure in the picking system according to the fifth embodiment.
First, the order data 220 (FIG. 3) is transmitted from the WMS 4, and the data receiving unit 211 of the controller 2 receives the order data 220 from the WMS 4 (S201).
Further, the worker moves the picking gate 1d with reference to the paper on which the order data 220 is printed, and attaches the picking gate 1d to the shelf 3 to be picked (S202), via the identification information reading device 107 of the picking gate 1d. The identification information reading unit 114 acquires the shelf ID (S203).
Then, the transmission processing unit 115 of the picking gate 1d transmits shelf information including the shelf ID acquired through the transmission device to the controller 2 (S204).

Then, the frontage information acquisition unit 212 acquires information (frontage information) of the frontage 21 in which the picked article 11 is stored from the shelf DB 221 based on the order data 220 received by the data reception unit 211 (S205).
Specifically, the frontage information acquiring unit 212 acquires information on the frontage 21 in the following procedure.
(C1) The frontage information acquisition unit 212 acquires an article ID that is a picking target from the order data 220.
(C2) Next, the frontage information acquisition unit 212 searches the frontage DB 222 (FIG. 5) using the acquired article ID as a key, and acquires the frontage position and the frontage ID.
(C3) Then, the frontage information acquisition unit 212 searches the shelf DB 221 (FIG. 4) using the acquired frontage ID and the shelf ID included in the shelf information transmitted in step S204 as a key, and has the frontage ID. Acquire the position of the shelf (stage position).

Then, the sensor switching instruction unit 213 turns off the shutoff sensor 104 of the frontage 21 in which the article 11 to be picked is stored, based on the information on the step position acquired in (C3) and the frontage position acquired in (C2). The sensor switching control unit 111 of the picking gate 1d includes a step position included in the instruction received from the controller 2 and transmits an instruction to turn on the shut-off sensor 104 other than the corresponding opening 21 to the picking gate 1d to be picked. Based on the above, the shutoff sensor 104 is switched ON / OFF (S206), and the output processing unit 113 lights the display 106 (S207).
Since the subsequent processing is the same processing as steps S105 and S106 shown in FIG. 6 of the first embodiment, illustration and description thereof are omitted.

When the shelf 3 moves, only the shelf 3 is moved and attached in step S202, and the other processes are the same as those shown in FIG.
Further, a rail may be laid in the warehouse, and the picking gate 1d may move on the rail.

[Sixth Embodiment]
FIG. 15 is a diagram illustrating an appearance example of a picking gate and a transport vehicle according to the sixth embodiment.
As shown in FIG. 15, in the present embodiment, the shelf 3 moves. Here, it is assumed that the picking gate 1 detachable from the shelf 3 is fixed to a picking station or the like, and the shelf 3 is moved by the transport vehicle 5.
That is, in this embodiment, the transport vehicle 5 enters under the shelf 3 and lifts the shelf 3, so that the shelf 3 is transported. However, the conveyance method of the shelf 3 is not limited to this.

(System block diagram)
FIG. 16 is a functional block diagram of the picking system according to the sixth embodiment.
As shown in FIG. 16, the picking system Zc according to the sixth embodiment includes a transport vehicle 5 in addition to the WMS 4, the controller 2 </ b> A, and the picking gate 1.

In the transport vehicle 5, a program is loaded into the memory 501 and executed by the CPU 503, thereby realizing an arrival notification unit 511.
When the transport vehicle 5 arrives at a predetermined position adjacent to the picking gate 1, the arrival notification unit 511 transmits an arrival notification to the controller 2A via the transmission / reception device 502. The arrival notification includes the shelf ID that the transport vehicle 5 is transporting.
For example, it is attached to the bottom surface of the barcode shelf storing the shelf ID or the like, or the RFID shelf 3. A reading device for reading these bar codes and RFID information is attached to the upper portion of the transport vehicle 5. And this reader may be acquired by reading the barcode or shelf ID stored in the RFID.

  Even if the shelf ID is not included in the arrival notification, the controller 2A may acquire the shelf ID transported by the transport vehicle 5 acquired when the transport vehicle 5 to be described later is selected.

  The processing unit 210A of the controller 2A includes a transport vehicle selection unit 214 that selects the transport vehicle 5 in addition to the configuration illustrated in FIG. 8 of the second embodiment. Further, the controller 2A has a shelf position DB 223 in which information related to the position of the shelf 3 in the warehouse is stored.

(Shelf position DB)
FIG. 17 is a diagram illustrating a configuration example of the shelf position DB according to the sixth embodiment.
In the shelf position DB 223, a shelf ID and a shelf position that is a coordinate in the warehouse are stored in association with each other. Here, the coordinates of the shelf position are the coordinates of the center of the shelf 3 and the like.

(flowchart)
FIG. 18 is a flowchart illustrating a processing procedure in the picking system according to the sixth embodiment.
First, the controller 2A receives the order data 220 (FIG. 3) from the WMS 4 (S301).
Next, the transport vehicle selection unit 214 of the controller 2A selects the transport vehicle 5 (S302).
Selection of the conveyance vehicle 5 is performed in the following procedures.
(D1) The transport vehicle selection unit 214 acquires an article ID that is a picking target from the order data 220.
(D2) Next, the transport vehicle selection unit 214 searches the frontage DB 222 (FIG. 5) using the acquired article ID as a key, and acquires the frontage ID.
(D3) Then, the transport vehicle selection unit 214 searches the shelf DB 221 (FIG. 4) using the acquired frontage ID as a key, and acquires the shelf ID having the frontage ID acquired in (D2).
(D4) Further, the transport vehicle selection unit 214 searches the shelf position DB 223 (FIG. 17) using the acquired shelf ID as a key, and acquires the shelf position.
(D5) And the conveyance vehicle selection part 214 selects the conveyance vehicle 5 nearest to the acquired shelf position among the plurality of conveyance vehicles 5. Note that the transport vehicle 5 always transmits its own position information to the controller 2A, so that the controller 2A holds the positions of all the transport vehicles 5.

Thereafter, the transport vehicle 5 autonomously moves when it receives the route information from the controller 2A (S303), moves to the shelf 3 to be transported, lifts the shelf 3, and then picks the station (ie, the picking gate). Move to 1). Since this process is a known technique, a detailed description thereof is omitted here.
Then, the arrival notification unit 511 of the transport vehicle 5 that has arrived at the picking position transmits an arrival notification to the controller 2A (S204), and moves down to the standby position when the shelf 3 is lowered. Since the process in which the transport vehicle 5 lowers the shelf 3 and moves autonomously to the standby position is a known technique, detailed description thereof is omitted here.

The arrival notification includes the shelf ID that the transport vehicle 5 has transported.
The frontage information acquisition unit 212 then stores information on the frontage (the frontage information in which the article 11 to be picked is stored from the shelf DB 221 based on the shelf ID included in the arrival notification received by the data reception unit 211 and the order data 220. ) Is acquired (S305). The frontage information here is specifically a step position.
Specifically, the frontage information acquisition unit 212 acquires information on the step position and the frontage 21 in the following procedure.
(E1) The frontage information acquisition unit 212 acquires an article ID that is a picking target from the order data 220.
(E2) Next, the frontage information acquisition unit 212 searches the frontage DB 222 using the acquired article ID as a key, and acquires the frontage ID.
(E3) Then, the frontage information acquisition unit 212 acquires the position (stage position) of the shelf having the frontage ID using the acquired frontage ID and the shelf ID included in the arrival notification transmitted in step S304 as keys. To do.

Then, based on the step position acquired in (E3), the sensor switching instruction unit 213 turns off the shut-off sensor 104 for the shelf in which the article 11 to be picked is stored, and turns off the shut-off sensors 104 other than the relevant shelf. An instruction to turn on is transmitted to the picking gate 1 to be picked.
The sensor switching control unit 111 of the picking gate 1 switches ON / OFF of the interruption sensor 104 based on the step position included in the instruction received from the controller 2A (S306). When the picking gate 1 includes the display device 106 (FIG. 7), the output processing unit 113 may turn on the display device 106 in the same processing as in the second embodiment.
Since the subsequent processing is the same processing as steps S105 and S106 shown in FIG. 6 of the first embodiment, illustration and description thereof are omitted.
Note that the controller 2A may hold the shelf ID that the transport vehicle 5 is transporting.

As described above, the shelves 3 having different structures such as the number of the shelves 3 and the positions of the shelves can be set according to the shelves 3 to be operated by the blocking sensor 104 by referring to the shelves information. As a result, the picking gate 1 is fixed to the picking station, and the shelf 3 can be transported by the transport vehicle 5.
In this embodiment, as shown in FIG. 15, the shutoff sensor 104 is turned on / off for each shelf, but as shown in FIG. 12, the shutoff sensor 104 is turned on / off for each frontage 21. Also good. In this case, the picking system Zc switches ON / OFF of the shutoff sensor 104 and displays the display unit 106 by the same process as the process shown in FIG.

[Seventh Embodiment]
(Picking gate)
FIG. 19 is a diagram illustrating an appearance example of a picking gate according to the seventh embodiment.
As shown in FIG. 19, the picking gate 1 e according to the present embodiment includes a laser scanning device (detection unit, position measurement unit) 6 at the top. In the present embodiment, the XYZ axes are defined as shown in FIG.
The laser scanning device 6 irradiates a laser beam and measures the distance and direction to the object by the reflected light from the object. Laser is irradiated from the laser scanning device 6 in a predetermined range in the vertical direction (Y-axis direction) downward (arrow in FIG. 20). The range in which the laser scanning device 6 irradiates the laser is, for example, 180 degrees or more. In this way, the laser scanning device 6 can perform scanning (laser scanning) by irradiating the laser in a predetermined range downward in the vertical direction. Details of laser scanning by the laser scanning device 6 will be described later.
The installation position of the laser scanning device 6 is not limited to the position shown in FIG.
The laser scanning device 6 is a device used for measuring the shape of an autonomous mobile vehicle, a laser radar sensor used for preventing a collision of an automobile, or the like.

(System block diagram)
FIG. 20 is a functional block diagram of the picking system according to the seventh embodiment.
The picking system Zd shown in FIG. 20 includes a WMS 4, a controller 2B, and a picking gate 1e. The picking gate 1e is provided with a laser scanning device 6.

<Controller>
As in FIG. 2, the controller 2B includes a memory 201, a transmission / reception device 202, a CPU 203, a shelf DB 221, a frontage DB 222, and the like.
A program is loaded in the memory 201, and is executed by the CPU 203, whereby the processing unit 210B, the data receiving unit 211 constituting the processing unit 210B, the picking position calculation unit (work position specifying unit) 215, and the arm position calculation A unit (position calculation unit) 216 and an arm position determination processing unit 217 are embodied.
The data receiving unit 211 receives data from other devices such as the WMS 4 via the transmission / reception device 202.
The picking position calculation unit 215 calculates the coordinates of the picking position based on the order data 220 (FIG. 3). Here, the picking position calculation unit 215 is different from the frontage information acquisition unit 212 in FIG. 2 in that the picking position (picking range) is calculated using coordinates instead of the frontage position.
The arm position calculation unit 216 calculates the position of the operator's arm based on the laser scan information sent from the picking gate 1e.
The arm position determination processing unit 217 determines whether or not the arm position calculated by the arm position calculation unit 216 is within the picking range calculated by the picking position calculation unit 215, and the arm position is outside the picking range. If there is, an instruction to output an alert to the picking gate 1e is transmitted.

<Picking gate>
The picking gate 1e includes a memory 101, a transmission / reception device 102, a CPU 103, an alarm device 105 that emits a buzzer, and the like. Here, the picking gate 1e according to the seventh embodiment does not include the cutoff sensor 104 (see FIG. 2).
The memory 101 is loaded with a program, and is executed by the CPU 103 to realize a processing unit 110e, an output processing unit 113 constituting the processing unit 110e, a transmission processing unit 115, and the like.
When receiving an instruction to output an alert from the arm position determination processing unit 217 of the controller 2B, the output processing unit 113 causes the alarm device 105 or the like to output an alert.
The transmission processing unit 115 transmits the measurement information of the laser scanning device 6 to the controller 2B.

(flowchart)
FIG. 21 is a flowchart illustrating a processing procedure in the picking system according to the seventh embodiment.
First, the data receiving unit 211 receives the order data 220 (FIG. 3) from the WMS 4 (S401).
Then, the picking position calculation unit 215 calculates the picking position from the order data 220, the shelf DB 221 (FIG. 4), and the frontage DB 222 (FIG. 5) (S402).
The picking position calculation unit 215 calculates the picking position in the following procedure.
(D1) First, the picking position calculation unit 215 acquires the article ID of the article 11 to be picked from the order data 220 (FIG. 3).
(D2) Then, the picking position calculation unit 215 searches the frontage DB 222 using the acquired article ID as a key, and acquires the frontage ID and the frontage position.
(D3) The picking position calculation unit 215 calculates the coordinates of the frontage 21 to be picked based on the size information (not shown) of each frontage 21 held in advance. Here, as for the calculated coordinates, the range of the frontage 21 is indicated by the X coordinate and the Y coordinate, such as x1 to x2 and y1 to y2.

Next, the transmission processing unit 115 of the picking gate 1e acquires information (measurement information) on the reflected light from the laser scanning device 6, and the transmission processing unit 115 transmits the measurement information to the controller 2B (S403).
Next, when the data reception unit 211 of the controller 2B receives the measurement information sent from the picking gate 1e, the arm position calculation unit 216 uses the angle and distance of the reflected light included in the acquired measurement information as a basis. Next, the arm position (position where the worker is going to perform the work) is calculated (S404). The calculation of the arm position will be described later. Here, it is assumed that the calculated arm position is (x11, y11).
Then, the arm position determination processing unit 217 compares the arm position calculated in step S404 with the picking position calculated in step S402, and the arm position (x11, y11) is within the range (x1 to x2, picking position). It is determined whether or not it is within y1 to y2) (arm position OK ?: S405).

As a result of step S405, when the arm position is not within the picking position range (S405 → No), the arm position determination processing unit 217 instructs the picking gate 1e to output an alert (S406).
Thereafter, the output processing unit 113 of the picking gate 1e outputs an alert from the alarm device 105 (S407), and the picking system Zd returns the process to step S403. At this time, the output processing unit 113 may turn on a warning lamp (not shown). The warning lamp may be turned on by changing the color depending on the arm position. For example, when the arm position in the Z-axis direction in FIG. 19 is equal to or less than the first distance from the picking gate 1e, red is lit. When the arm position is equal to or greater than the second distance (first distance <second distance) from the picking gate 1e, green is lit. Then, when the arm position is larger than the first distance and less than the second distance, yellow is turned on.
If the result of step S405 is that the arm position is within the picking position range (S405 → Yes), the picking system Zd returns the process to step S403.

(Arm position calculation)
Next, with reference to FIG. 22, the technique for calculating the arm position in the seventh embodiment will be described in detail.
As shown in FIG. 22, XYZ coordinates are defined. Among these, the XYZ axes coincide with the XYZ axes in FIG.
The origin O of the XYZ coordinates corresponds to the center in the horizontal direction (X-axis direction) on the forefront surface (the surface facing the operator) of the picking gate 1e.
Here, it is assumed that an arm is detected at a point P (x11, y11, z11). At this time, the length of OP is L, and the vertical leg from P to the XY plane is Q. The angle formed by the OQ and the X axis is φ, and the angle formed by the OP and the Z axis is θ. L, θ, and φ are information that can be easily acquired from the measurement result of the laser scanning device 6.
Here, the arm position calculated in step S404 in FIG. 21 is the X and Y coordinates of P, that is, (x11, y11). x11 and y11 can be easily calculated by the following equations (1) and (2) using L, θ, and φ.

x11 = Lsin θ cos φ (1)
y11 = Lsinθsinφ (2)

  According to the seventh embodiment, when an operator is about to pick from an incorrect frontage 21, the operator tries to pick from an incorrect frontage 21 before the worker's arm arrives at the shelf 3. The operator can be notified. As a result, the operator can notice earlier that the picking position is not correct.

[Eighth Embodiment]
(Picking gate)
FIG. 23 is a diagram illustrating an appearance example of a picking gate according to the eighth embodiment.
A magnetic sensor (detection unit, position measurement unit, magnetic measurement unit) 107 is installed inside the picking gate 1f. Although not visible in FIG. 41, the magnetic sensor 107 is also installed inside the vertical frames 121 and 122, and inside the upper frame 123 and the lower frame 124.
Then, the picking operator wears the bracelet 51 to which the magnet 52 is attached to the arm.
When the picking operator approaches his picking gate 1f to perform the picking work, the magnetic sensor 107 detects the magnet 52 attached to the bracelet 51.
The controller 2C (see FIG. 24) detects the position of the picking worker's arm (the position at which the worker is working) based on the magnetic force detected by each magnetic sensor 107.

(System block diagram)
FIG. 24 is a functional block diagram of the picking system according to the eighth embodiment.
The picking system Ze shown in FIG. 24 includes a WMS 4, a controller 2C, and a picking gate 1f.

<Controller>
As in FIG. 2, the controller 2C includes a memory 201, a transmission / reception device 202, a CPU 203, a shelf DB 221, a frontage DB 222, and the like.
A program is loaded in the memory 201, and is executed by the CPU 203, whereby the processing unit 210C, the data reception unit 211 constituting the processing unit 210C, the picking position calculation unit 215, and the arm position estimation unit (position calculation unit). 218, an arm position determination processing unit 217 is embodied.
The data receiving unit 211 receives data from other devices such as the WMS 4 via the transmission / reception device 202.
The picking position calculation unit 215 calculates the coordinates of the picking position based on the order data 220 (FIG. 3). Here, the picking position calculation unit 215 is different from the frontage information acquisition unit 212 in FIG. 2 in that the picking position (picking range) is calculated using coordinates instead of the frontage position.
The arm position estimation unit 218 estimates the position of the operator's arm based on the magnetic information sent from the picking gate 1f.
The arm position determination processing unit 217 determines whether or not the arm position calculated by the arm position estimation unit 218 is within the picking range calculated by the picking position calculation unit 215, and the arm position is outside the picking range. If so, an instruction to output an alert to the picking gate 1f is transmitted.

<Picking gate>
The picking gate 1 f includes a memory 101, a transmission / reception device 102, a CPU 103, an alarm device 105 that emits a buzzer, a magnetic sensor 107, a shelf DB 221, a frontage DB 222, and the like. Here, the picking gate 1f according to the seventh embodiment does not include the cutoff sensor 104 (see FIG. 2).
The memory 101 is loaded with a program, and is executed by the CPU 103 to realize a processing unit 110f, an output processing unit 113 constituting the processing unit 110f, a transmission processing unit 115, and the like.
When receiving an instruction to output an alert from the arm position determination processing unit 217 of the controller 2C, the output processing unit 113 causes the alarm device 105 or the like to output an alert.
The transmission processing unit 115 transmits the measurement information of the laser scanning device 6 to the controller 2C.

(flowchart)
FIG. 25 is a flowchart illustrating a processing procedure in the picking system according to the eighth embodiment.
First, the data receiving unit 211 receives the order data 220 (FIG. 3) from the WMS 4 (S501).
Then, the picking position calculation unit 215 calculates the picking position from the order data 220, the shelf DB 221 (FIG. 4), and the frontage DB 222 (FIG. 5) (S502). Since the process of step S502 is the same process as step S402 of FIG. 21 in the seventh embodiment, detailed description thereof is omitted.

Next, the transmission processing unit 115 of the picking gate 1f transmits the detection result of each magnetic sensor 107 to the controller 2C (S503). The detection result is information in which the ID of each magnetic sensor 107 is associated with the detected magnetic strength.
Next, when the data reception unit 211 of the controller 2C receives the detection result sent from the picking gate 1f, the arm position estimation unit 218 estimates the arm position based on the detection result (S504). Specifically, the arm position estimation unit 218 estimates the position of the arm (more precisely, the position of the magnet 52 attached to the bracelet 51) from the magnetic strength detected by each magnetic sensor 107. Assume that the estimated arm position is (x11, y11) as in the seventh embodiment.
Then, the arm position determination processing unit 217 compares the arm position estimated in step S504 with the picking position calculated in step S502, and the arm position (x11, y11) is within the picking position range (x1 to x2, x2). It is determined whether or not it falls within (y1 to y2) (arm position OK ?: S505).
As a result of step S505, when the arm position is not within the picking position range (S505 → No), the arm position determination processing unit 217 instructs the picking gate 1e to output an alert (S506).
Thereafter, the output processing unit 113 of the picking gate 1e outputs an alert from the alarm device 105 (S507), and the picking system Zd returns the process to step S503. At this time, the output processing unit 113 may turn on a warning lamp (not shown).
If the result of step S505 is that the arm position is within the picking position range (S505 → Yes), the picking system Zd returns the process to step S503.

  According to the eighth embodiment, since the magnetic sensor 107 and the bracelet 51 to which the magnet 52 is attached may be prepared, the picking system Ze can be made inexpensive. In the present embodiment, the bracelet 51 to which the magnet 52 is attached is used, but a ring or the like may be used.

[Ninth Embodiment]
(Picking gate)
FIG. 26 is a diagram illustrating an example of a picking gate according to the ninth embodiment.
A capacitance sensor (detection unit, position measurement unit, capacitance measurement unit) 108 is installed inside the picking gate 1g. Although not visible in FIG. 26, the capacitance sensor 108 is also installed inside the vertical frame 122 and inside the upper frame 123.
When the picking operator approaches his picking gate 1g to perform the picking operation, the electrostatic capacity sensor 108 detects the electrostatic capacity of the operator's arm.
The controller 2 </ b> C (see FIG. 27) detects the position of the picking worker's arm (the position where the worker is working) based on the capacitance detected by each capacitance sensor 108.

(System block diagram)
FIG. 27 is a functional block diagram of the picking system according to the ninth embodiment.
The picking system Zf of FIG. 27 differs from the picking system Ze of FIG. 24 in the eighth embodiment in that a capacitance sensor 108 is provided in the picking gate 1g instead of the magnetic sensor 107 of FIG. It is. Further, the arm position estimation unit 218 of the controller 2C estimates the position of the operator's arm based on the capacitance information sent from the picking gate 1g by the respective capacitance sensors 108.

  The processing of the picking system Zf in the ninth embodiment is the same as that in the eighth embodiment except that the arm position estimation by the arm position estimation unit 218 is the capacitance detected by each capacitance sensor 108. Since it is the same as the process of No. 25, illustration and description are omitted.

According to the ninth embodiment, since the capacitance sensor 108 is prepared, the picking system Zf can be made inexpensive. Further, unlike the eighth embodiment, it is not necessary to prepare the bracelet 51 to which the magnet 52 is attached, so that the cost can be further reduced as compared with the eighth embodiment.
A metal bracelet or the like may be attached.

[Tenth embodiment]
(Picking gate)
FIG. 28 is a diagram illustrating an appearance example of a picking gate in the picking system according to the tenth embodiment.
As shown in FIG. 28, the picking gate 1h in the tenth embodiment has a shutter 61 that opens in the vertical direction, and opens a shelf having a frontage 21 to be picked.
The shutter 61 is, for example, a sheet of cloth or the like, and the shutter 61 can be opened and closed up and down by winding up with a winding unit 62 provided at the top and bottom of the picking gate 1h. The configuration of the shutter 61 is not limited to this. Further, the shutter 61 is not limited to opening and closing up and down, and may be opened and closed left and right.
Since which shelf is opened can be specified by the same processing as in the first embodiment, illustration and description are omitted here.

In the present embodiment, the shutter 61 is in the form of a sheet such as cloth, but is not limited thereto, and may be made of metal.
Then, the number of articles 11 to be taken out may be projected by a projector or the like on the upper and lower or left and right shutter portions of the position of the front opening 21 in which the articles 11 to be picked are stored.

  According to the tenth embodiment, the worker can easily visually recognize the work opening 21. In addition, when an operator tries to put his hand into the opening 21 other than the picking target, the operator is physically blocked, so that an erroneous shooting can be prevented.

In the first to sixth embodiments, only the vertical frames 121 and 122, or the vertical frames 121 and 122, the upper frame 123, and the lower frame 124 are provided with the shutoff sensor 124 and the display 106. The shutoff sensor 104 and the display device 106 may be provided only in the 123 and the lower frame 124.
In the first to sixth embodiments, the cutoff sensor 104 using an infrared laser or the like is used, but a pyroelectric sensor may be used instead of such a cutoff sensor 104.

In the first to tenth embodiments, the case where the worker takes out the article 11 from the shelf 3 has been described. However, the present invention can also be applied when the worker stores the article 11 in the shelf 3.
In the first to tenth embodiments, the operator's hand is the detection target of the shutoff sensor 104, the laser scanning device 6, the magnetic sensor 107, and the capacitance sensor 108, but the operator holds it. A tool or the article 11 may be a detection target.
Furthermore, the picking gates 1 shown in the first, second, third, fourth and sixth to tenths may be integrated with the shelf 3.
In the first to ninth embodiments, when an operator tries to pick from a frontage different from the frontage to be picked, a warning is issued by outputting an alert by the alarm device 105, but the warning lamp is turned on. You may warn by doing.

  The present invention is not limited to the above-described embodiment, and includes various modifications. For example, the above-described embodiment has been described in detail for easy understanding of the present invention, and is not necessarily limited to having all the configurations described. A part of the configuration of an embodiment can be replaced with the configuration of another embodiment, and the configuration of another embodiment can be added to the configuration of an embodiment. Further, it is possible to add, delete, and replace other configurations for a part of the configuration of each embodiment.

In addition, each of the above-described configurations, functions, units 110 to 115, 210 to 218, DBs 221 to 223, and 511 are realized by hardware by designing a part or all of them with, for example, an integrated circuit. Also good. In addition, as shown in FIGS. 2, 8, 13, 16, 20, 20, 24, and 27, each of the above-described configurations and functions is realized by a processor such as the CPU 103, 203, or 503. It may be realized by software by interpreting and executing the program to be executed. In addition to storing information such as programs, tables, and files for realizing each function in an HD (Hard Disk), a memory 201, 301, 501, a recording device such as an SSD (Solid State Drive), or an IC ( It can be stored in a recording medium such as an integrated circuit (SD) card, a secure digital (SD) card, or a digital versatile disc (DVD).
In each embodiment, control lines and information lines are those that are considered necessary for explanation, and not all control lines and information lines are necessarily shown on the product. In practice, it can be considered that almost all configurations are connected to each other.

1,1a-1h Picking gate (gate)
2,2A ~ 2C Controller 3 Shelf 4 WMS
5 Carrier 6 Laser scanning device (detection unit, position measurement unit)
11 article 21 frontage 51 bracelet 52 magnet 61 shutter 62 take-up part 104 shut-off sensor (detection part)
105 Alarm (alarm unit)
106 Display (display unit)
107 Magnetic sensor (detection unit, position measurement unit, magnetic measurement unit)
108 Capacitance sensor (detection unit, position measurement unit, capacitance measurement unit)
111 Sensor switching control unit (sensor control unit)
112 Abnormality detection unit 113 Output processing unit (display processing unit)
114 Identification Information Reading Unit 115 Transmission Processing Unit 131 Open Area 211 Data Reception Unit 212 Frontage Information Acquisition Unit (Work Position Identification Unit)
213 Sensor switching instruction unit 214 Carriage vehicle selection unit 215 Picking position calculation unit (work position specifying unit)
216 Arm position calculation unit 217 Arm position determination unit 218 Arm position estimation unit (position calculation unit)
221 Shelf DB (shelf storage unit)
222 Frontage DB (shelf storage unit)
223 shelf position DB
301 Shelf identification information means Z, Za to Ze picking system (work support system)

Claims (17)

A controller including a work position specifying unit for specifying a work position on the shelf;
A detection unit for detecting a position where the worker is about to perform work;
An alarm unit that outputs an alert when a position where the worker is about to work is different from the work position;
Including a gate comprising,
Have a,
The detection unit is a blocking sensor that detects blocking by an object,
The gate is
A sensor control unit for turning off the shutoff sensor corresponding to the work position and turning on the shutoff sensor corresponding to a position other than the work position.
Work support system, characterized in that to have a. And have you on the shelf, the information of a portion including a frontage article work object is stored by acquiring a working position, and a controller comprising including a working position specifying unit for specifying the working position,
A detection unit for detecting a position where the worker is about to perform work;
An alarm unit that outputs an alert when a position where the worker is about to work is different from the work position;
Including a gate comprising,
Have a,
The detection unit is a blocking sensor that detects blocking by an object,
The gate is
A sensor control unit for turning off the shutoff sensor corresponding to the work position and turning on the shutoff sensor corresponding to a position other than the work position.
Have

The sensor control unit
Based on the information of the location including the frontage, the shutoff sensor corresponding to the predetermined location including the frontage is turned off, and the shutoff sensors other than the location including the frontage are turned on.
Work support system which is characterized a call. And have you on the shelf, the information of a portion including a frontage article work object is stored by acquiring a working position, and a controller comprising including a working position specifying unit for specifying the working position,
A detection unit for detecting a position where the worker is about to perform work;
An alarm unit that outputs an alert when a position where the worker is about to work is different from the work position;
Including a gate comprising,
Have a,
The detection unit is a blocking sensor that detects blocking by an object,
The gate is
A sensor control unit for turning off the shutoff sensor corresponding to the work position and turning on the shutoff sensor corresponding to other than the work position;
A display unit;
A display processing unit for turning on a display unit at a predetermined location including the frontage;
Have
The sensor control unit
Based on the information of the location including the frontage, the shutoff sensor corresponding to the predetermined location including the frontage is turned off, and the shutoff sensors other than the location including the frontage are turned on.
Work support system which is characterized a call. A controller including a work position specifying unit for specifying a work position on the shelf;
A detection unit for detecting a position where the worker is about to perform work;
An alarm unit that outputs an alert when a position where the worker is about to work is different from the work position;
Including a gate comprising,
Have a,
The detection unit is a blocking sensor that detects blocking by an object,
The gate is
A sensor control unit for turning off the shutoff sensor corresponding to the work position and turning on the shutoff sensor corresponding to a position other than the work position.
Have
The work position specifying unit obtains information on a frontage where an object to be worked is stored in the shelf,
The sensor control unit
Based on the information on the frontage, the shutoff sensor corresponding to the frontage is turned off, and the shutoff sensor corresponding to a place other than the frontage is turned on.
Work support system which is characterized a call. A controller including a work position specifying unit for specifying a work position on the shelf;
A detection unit for detecting a position where the worker is about to perform work;
An alarm unit that outputs an alert when a position where the worker is about to work is different from the work position;
Including a gate comprising,
Have a,
The detection unit is a blocking sensor that detects blocking by an object,
The gate is
A sensor control unit for turning off the shutoff sensor corresponding to the work position and turning on the shutoff sensor corresponding to a position other than the work position.
Have
The work position specifying unit obtains information on a frontage where an object to be worked is stored in the shelf,
The sensor control unit
Based on the information on the frontage, turn off the shutoff sensor corresponding to the frontage, turn on the shutoff sensor corresponding to a location other than the frontage,
Switching the ON / OFF of the shut-off sensor so that the space where the shut-off sensor is OFF is larger than the size of the opening of the work target.
Work support system which is characterized a call. A controller including a work position specifying unit for specifying a work position on the shelf;
A detection unit for detecting a position where the worker is about to perform work;
An alarm unit that outputs an alert when a position where the worker is about to work is different from the work position;
Including a gate comprising,
Have a,
The detection unit is a blocking sensor that detects blocking by an object,
The gate is removable from the shelf;
A sensor control unit for turning off the shutoff sensor corresponding to the work position and turning on the shutoff sensor corresponding to other than the work position;
When there are a plurality of the shelves, a shelf storage unit that stores information on the structure of the shelves in each shelf,
Have
The work position specifying unit is
Obtaining information about the structure of the shelf to which the gate is attached from the shelf storage unit,
The sensor control unit
Based on the acquired information on the shelf structure, the shutoff sensor is switched on and off according to the work position.
Work support system which is characterized a call. A controller including a work position specifying unit for specifying a work position on the shelf;
A detection unit for detecting a position where the worker is about to perform work;
An alarm unit that outputs an alert when a position where the worker is about to work is different from the work position;
Including a gate comprising,
Have a,
The detection unit is a blocking sensor that detects blocking by an object,
The gate is removable from the shelf;
A sensor control unit for turning off the shutoff sensor corresponding to the work position and turning on the shutoff sensor corresponding to other than the work position;
An identification information reading unit for acquiring shelf identification information from the shelf identification information means provided on the shelf;
When there are a plurality of the shelves, a shelf storage unit that stores information on the structure of the shelves in each shelf,
Have
The work position specifying unit is
Based on the shelf identification information acquired by the identification information reading unit, identify the shelf to which the gate is attached,
Obtaining information about the structure of the shelf to which the gate is attached from the shelf storage unit,
The sensor control unit
Based on the acquired information on the shelf structure, the shutoff sensor is switched on and off according to the work position.
Work support system which is characterized a call. A controller including a work position specifying unit for specifying a work position on a movable shelf;
A detection unit for detecting a position where the worker is about to perform work;
An alarm unit that outputs an alert when a position where the worker is about to work is different from the work position;
Including a gate comprising,
Have a,
The detection unit is a blocking sensor that detects blocking by an object,
The gate is removable from the shelf;
A sensor control unit for turning off the shutoff sensor corresponding to the work position and turning on the shutoff sensor corresponding to other than the work position;
When there are a plurality of the shelves, a shelf storage unit that stores information on the structure of the shelves in each shelf,
Have
The work position specifying unit is
Obtaining information about the structure of the shelf to which the gate is attached from the shelf storage unit,
The sensor control unit
Based on the acquired information on the shelf structure, the shutoff sensor is switched on and off according to the work position.
Work support system which is characterized a call. A controller including a work position identifying unit that identifies a work position on a shelf that is moved by being transported by a transport vehicle ;
A detection unit for detecting a position where the worker is about to perform work;
An alarm unit that outputs an alert when a position where the worker is about to work is different from the work position;
Including a gate comprising,
Have a,
The detection unit is a blocking sensor that detects blocking by an object,
The gate is removable from the shelf;
A sensor control unit for turning off the shutoff sensor corresponding to the work position and turning on the shutoff sensor corresponding to other than the work position;
When there are a plurality of the shelves, a shelf storage unit that stores information on the structure of the shelves in each shelf,
Have
The work position specifying unit is
Obtaining information about the structure of the shelf to which the gate is attached from the shelf storage unit,
The sensor control unit
Based on the acquired information on the shelf structure, the shutoff sensor is switched on and off according to the work position.
Work support system which is characterized a call. The gate is
The detection unit includes a position measurement unit capable of measuring the position of an object,
The controller is
Based on the position of said measured object by the position measuring unit, the worker claim 1, characterized in that it comprises including a position calculating unit for calculating a position that is attempting to work according to claim 9 The work support system according to any one of the above. Wherein the position measuring unit, work support system of claim 1 0, characterized in that the laser scanning device for measuring the distance and direction to the object by the reflected light from the object. The gate has a plurality of magnetic measuring units capable of measuring magnetic strength as the position measuring unit,
Each magnetic measurement unit detects the magnetic strength of the magnet attached to the operator's hand,
The position calculating unit, work support system of claim 1 0 in which each magnetic measuring unit based on the magnetic intensity detected, the operator and calculates the position that is attempting to work . The gate has a plurality of capacitance measuring units capable of measuring capacitance as the position measuring unit,
Each capacitance measuring unit detects the capacitance due to the object,
The position calculating unit on the basis of the electrostatic capacitance by each electrostatic capacitance measurement unit detects, according to claim 1 0, characterized in that the operator and calculates the position that is attempting to work The work support system described in 1. A detection unit that is a blocking sensor that detects a position where an operator is about to work by detecting blocking by an object ;
An alarm unit for outputting an alert when a position where the worker is about to work is different from a work position specified by the controller;
A sensor control unit for turning off the shutoff sensor corresponding to the work position and turning on the shutoff sensor corresponding to other than the work position;
A gate characterized by comprising: Examples detector, the gate according to claim 1 4, characterized in that it comprises a position measuring unit capable of measuring the position of an object. The controller
Identify the work position on the shelf,
The gate
The blocking sensor detects the blocking by the object, detects the position where the worker is going to work,
Turn off the shut-off sensor corresponding to the work position, turn on the shut-off sensor corresponding to other than the work position,
An alert is output when a position where the worker is about to perform a work is different from the work position. In the gate,
The position measuring unit detects the position where the worker is working by measuring the position of the object,
The controller is
The work support method according to claim 16 , wherein a position where the worker is working is calculated based on the position of the object measured by the position measurement unit.

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