JP6727159B2 - Movable projector type picking device - Google Patents

Description

The present invention relates to an assorting and picking system that sorts articles by shipping destination and puts them in a shipping container when shipping articles (commodities) in a commodity distribution storage warehouse, and particularly relates to work assistance using a movable projector projection image.

Generally, in a product distribution storage warehouse, when shipping products, a large number of products are efficiently received or stored, and then those products are sorted and sorted into cart carts or racks by shipping destination, and then shipped. Ship in containers. This sorting method is the same as the picking method in which the worker selects products from the product shelves that have received and stored the products in advance by shipping destination, puts them in a shipping rack or shipping container, and then flows them to a conveyor line or the like. There is an assorting system (seeding) in which a worker is loaded on a movable cart, such as a cart cart, and the worker puts it in a shipping container for each shipping destination while moving on the assort floor. In other words, picking and assorting means collecting and putting in articles (commodities) for each shipping destination. In particular, various methods have been developed for a system for efficiently picking and assorting a large number and a large number of types of products by shipping destination.

Picking and assorting work is the work of reading the identification mark such as barcode attached to the product using a device such as a barcode reader, and inserting the product into the shipping container or shipping rack according to the displayed shipping destination information. Is. The work of picking and assorting a wide variety of products for each shipping destination is often performed manually by a worker, and since it is a simple work, it is a simple continuous work, and therefore an input error is also likely to occur. In recent years, various technical developments have been made to prevent picking and assortment mistakes, and various technical ideas have been proposed by the following references.

For example, in Patent Document 1, a fluorescent tube is installed so as to surround a shelf opening (frontage) having a product shipping container and is turned on, so that a worker can insert a shelf for each shipping destination of a product without making a mistake. Such a technical idea is disclosed. The shipping destinations of all the above products are set by barcodes, etc. and are managed by the information management device, so it is possible to turn on only the fluorescent tube at the container opening of the shipping destination of the product, and the operator turns on the light. Follow the steps below to add products. Further, since the quantity display and the like are lit on the front surface of the opening, the number of products to be put in may also follow the quantity display.

However, in the case of such a system, it is necessary to install equipment such as lights and indicators that are lit on all the input containers, and all of these equipment must be linked with the product entry/exit management system. It is essential to introduce such a system at the product delivery and distribution center, which requires a large number of types of products to be accurately selected and accurately placed in the shipping container for each customer, but enormous capital investment is involved. Needless to say.

For example, in Patent Document 2, as a method for supporting the device assembling work, a work supporting device is provided in which a worker indicates a position of a component to be taken out from the work component storage box according to a work order through an image projected from a projector. The technical idea is disclosed. A work support method of designating a part by a video and giving a work instruction via the video is effective for avoiding a simple mistake made by a worker.

However, in Patent Document 2, the determination as to whether or not the work has been properly performed is based on a mechanism in which only a light-shielding due to the movement of the worker's hand in taking out parts is detected by a sensor, and the subsequent assembling work action. The accuracy of is not mentioned. That is, even in the problem, it is limited to accurately taking out certain parts in the manufacturing process for assembling the device, and does not support or pursue the accuracy of the assembling work itself.

That the technical idea disclosed in Patent Document 2, to assist adequacy of the choice of numerous types of articles in the goods shipment distribution center as described above and turned to those precise delivery container (picking operation and assorted working) It can be said that this is different from the subject of the present invention.

As described above, in picking and assorting work at a distribution base to deliver a wide variety of products to each shipping destination, which is a customer, accurately select the required number of specified products and perform the designated shipment. There is a demand for an assistive technology that allows quick and continuous work without causing picking mistakes and assortment mistakes, which are simple mistakes, for all work actions of accurately putting in a container.

JP 2012-240765 A JP, 2008-222386, A

As described above, in the conventional system or the disclosed technical idea, in the picking system, the lighting indicator system with a large capital investment is mainly used as a means for making the worker recognize the product to be selected and the shipping container to be put. In the assortment system as well, the lighting indicator is used to guide the operator.

It is easy for beginners to understand, and there is an accurate support system for simply continuing the picking work and assorting work to select the necessary products without mistake and put them into the specified shipping container for each shipping destination without delay. Is desired. In addition, the work instruction must be linked to the warehousing/delivery management system and the warehouse storage management system in the product shipping/delivery center, and must be a part of the customer-specific delivery management system based on the order-shipment/shipment information.

In this way, in picking and assorting work by shipping destination when shipping goods (products) in a goods distribution storage warehouse, the floor is effectively used, the work speed is increased, and the error of the worker is minimized. It has been desired to develop a picking system, an assortment system, and a device therefor. The present invention is intended to solve the above-mentioned problems in the conventional technology, and it is possible to significantly improve the workability of picking work and assorting work, and also to significantly improve the economic efficiency in goods receipt and shipment. It is an object to provide a picking and assorting system for possible articles.

In order to solve such a problem, a movable projector type picking/assorting device according to the present invention includes an article, an image projecting unit, and an information processing system for picking or assorting the article using the projecting unit. It is characterized by Further, the information processing system is characterized in that the position specifying unit uses the projection unit to guide-project an image on the position of the article. Further, the position specifying means is a position specifying means based on identification ID information including any one of a bar code, a QR code (registered trademark), an IC tag, an AR marker, a magnetic marker, and a hologram. .. That is, in the movable projector type picking/sorting device according to the present invention, the position is determined from the identification ID information including any one of a barcode, a QR code, an IC tag, an AR marker, a magnetic marker, and a hologram by the information processing system. An individual image is projected from the image projecting means by the same information processing system to the item (commodity) identified as, and the worker performs picking or assorting work by recognizing the individual image. Further, specifically, a movable projector type picking and assorting device according to the present invention is an article (product) to which the identification ID information is attached, a shipping container to which the identification ID information is attached, and a part of the information processing system. An article storage/entry management system in a warehouse, a space position specifying system in which a space in a warehouse is three-dimensionally coordinated, a video projection device (projector) that can move a ceiling lower surface and/or a wall surface and/or a floor surface, It may be configured to include the article loading/unloading management system in the warehouse and the control device of the image projection device that is interlocked with the spatial position specifying system.

A spatial position specifying system of a movable projector type picking/assorting device according to the present invention uses a single point of a three-dimensional space in a warehouse as a virtual space in which XYZ axes are three-dimensionally coordinated, and identifies ID information arranged in the virtual space. The position of the attached article and/or the shipping container attached with the identification ID information and/or the article shelf attached with the identification ID information and/or the article moving means attached with the identification ID information can be specified in coordinates. it can.

According to the present invention, since the goods received in the warehouse, the goods shelves, the shelves, the shipping containers, the carts, the conveyors, etc. are all provided with the identification ID information for identifying the goods, for example, together with the projector or alone. The identification ID information is read by the image recognition by the photographing device installed in 1., and it is possible to specify at which position in the commodity shipping and delivery center all the articles are located.

Regarding the technology of recognizing the position of the goods in the product shipping and delivery center, in addition to the method of recognizing the image of the identification ID information by photographing with the camera, the method of recognizing the individual position information by irradiating ultrasonic waves on the goods with the individual IC tags attached, infrared Although various three-dimensional position confirmation methods such as a position confirmation system according to the present invention and a reaction information sensing method for an IC tag by forming a magnetic field in a specific portion have been technicalized, in the movable projector type picking/assorting device according to the present invention, those three-dimensional position confirmation methods have been developed. It is not a matter to specify any one of the techniques for three-dimensionally grasping the position of an article and discuss it. The three-dimensional specific position grasping technique can be selected and supported within the range of the above-mentioned known technique.

Since the movable projector type picking/assorting device according to the present invention is linked to the article storage/entry management system in the warehouse, at the time of issuing a product shipping instruction, the position of the product in the product shipping/delivery center and the product By obtaining information such as which shipping container should be shipped and when it should be shipped, a worker can be instructed through a video projected from a projector to give a work instruction for picking and assorting the product.

The projector of the movable projector type picking and assorting apparatus according to the present invention can move a ceiling, a wall, or a floor via rails or the like. In addition, a movable projector can be installed and moved near the tip of an arm that can be expanded and contracted and moved in space, such as a robot arm installed on a ceiling, wall, or floor. The robot arm expands and contracts to a position where the projector easily projects an image according to an instruction from the control device, for example, a position where there is no projection obstacle. And, of course, the movable projector has the same function even in a stationary state. Hereinafter, such a movable projector will be referred to as a “movable projector”. The movable projector can move to a position suitable for projecting an image based on the three-dimensional position information of the product etc., so the image necessary for picking and assorting work can be performed in the most suitable state. It is possible to make a person recognize the projection.

The movable projector type picking/assorting device according to the present invention stores identification ID information that enables position recognition in an article shelf and/or in a spatial position specification system to which identification ID information that enables position recognition is attached. It can also be configured by including the attached article moving means (cargo car, conveyor) and the identification ID information attached to the worker.

In the movable projector type picking/assorting device according to the present invention, the identification ID information is also attached to the article shelves, cargo carts, conveyors, etc. in the product shipping/delivery center. By recognizing the identification ID information by the image, the three-dimensional position information can be sequentially grasped. Thus, the movable projector can project a required image on an article shelf, a cargo trolley, a conveyer, etc. when and when required, even before or after the movement.

That is, the movable projector type picking/assorting device according to the present invention is an image linked with the shipping information of the spatial position identifying system and the article in/out management system in the warehouse for identifying the product position and the shipping container position by reading the identification ID information. The control device of the projection device projects the product individual information image on the product and/or the product shelf and/or the shipping container and/or the article moving means via the movable image projection device.

In addition, in the movable projector type picking/assorting device according to the present invention, an image recognition device is provided side by side with the image projection device, and image recognition is performed for sequentially moving articles and/or shipping containers and/or identification ID information of article moving means. By doing so, each spatial position is specified, and the product individual information image is projected to an arbitrary specified position.

The control device of the image projection device of the movable projector type picking and assorting device according to the present invention indicates to the movable projector a three-dimensional position where an image should be projected, and the movable projector moves to that position via a rail or the like. be able to. However, the moving means of the movable projector in the present invention is not limited to the movement via the rail or the like, and the movement mechanism is not limited to the electric movement of the wheels. The movement of the movable projector within the range of well-known technology may be carried out arbitrarily by using a system such as electric or wireless, wired telecommunication, LAN or the like.

In the movable projector type picking and assorting device according to the present invention, the product individual information image is an image of an article and/or an identification mark and/or a character and/or a figure and/or a symbol and/or a color and/or an identification mark for identifying the article. It is an information image of a photograph, and the quantity, size, color, shade, and blink are selected, and the images are simultaneously projected on the shipping container of a plurality of articles and/or in the vicinity of the shipping container.

In the movable projector type picking/assorting device according to the present invention, the product individual information video includes video information for prompting a work end operation to be performed by the worker at the end of the picking or assorting work of the goods. Can also

The worker finishes the work (unit work) of 1 when picking or assorting one product and putting it in the shipping container is completed, and proceeds to the next work. At this time, the movable projector type picking and assorting device according to the present invention projects and instructs the next work by projecting an image, but unless the user recognizes that the previous unit work is completed, it does not lead to the next work instruction. For this reason, the operator notifies the end of the unit work by means other than voice, such as electric communication or image recognition of a specific operation. The movable projector type picking and assorting apparatus according to the present invention may include a means for transmitting the end in the image projected in advance.

That is, after the control device of the video projection device and/or the image recognition device and/or the voice recognition device connected to the control device of the video projection device recognize the work end operation information of the picking or assorting work, the product individual information video The projection ends, and the unit work of picking or assorting ends. As a matter of course, it is well known in the art that the recognizing means of the end of the unit work can be recognized by the image recognition of the inserted article and the weight detection of the inserted container in addition to the operation recognition by the operator. The operator's motion recognition is not limited to the recognition unit end recognition.

Since the position recognition based on the photographed image is also performed by the projector device itself, the position of the projector is sequentially recognized by the system while moving, so the necessary image is projected at the specified position as instructed by the system. It becomes possible to do.

The above-mentioned product shipping/delivery center (in the product distribution warehouse) is made into three-dimensional coordinates represented by X-axis, Y-axis, and Z-axis with a fixed location as 0, and X, Y, and Z spatial positions at all positions. Since the identification has been made, the system according to the present invention recognizes the position of the article whose identification ID information is recognized by the image recognition of the photographing device such as a camera, in the commodity shipping/delivery center.

Therefore, for example, at the time of product shipment, which specific product should be assorted to which shipping container by what time, which specific product on which product shelf should be picked and how many should be loaded into which container should be determined by the product shipping and distribution center. It is grasped by the article entry/exit management system in the warehouse. Since this information is linked to the position information in the product shipping and delivery center for each product such as the product described above, the position of each individual product and the position of the shipping container can be grasped in tandem at the same time when the product is shipped. it can.

The movable projector type picking/assorting device according to the present invention works in conjunction with an article warehousing/dispatching management system in a commodity shipping/delivery center, and based on shipping information of individual articles, shelf positions, article positions, numbers, shipping times of the articles, Since it is possible to grasp the position of the shipping container, other individual information for each product and the position of the worker who is given identification ID information, and the individual worker information associated with the skill of the worker, etc., based on the above shipping information, It is possible to sequentially judge which worker at which position and how many products are to be picked, which shipping container, which cargo trolley, and which conveyor should be loaded, and to give an instruction.

In addition, the above-mentioned instruction allows the worker to know in advance how long it will take for the picking work or the assorting work based on the specific information of the worker. Simulate a work program that can complete the total work in the shortest time while sequentially judging the selection of workers, avoidance of intersection of work courses between workers, the movement distance for work, the work density of the work site, etc. You can

The image of the product is image information created in advance for each product, and there is no limitation on the content of the image including the above-mentioned identification mark, characters, figures, photographs and the like. You can also specify the number of products to be assorted. In addition, since the incidental information of the specific product to be transmitted to the worker can be included in the image, any information that can be visually recognized can be transmitted and instructed to the worker.

According to this work simulation, the projector may project the previously-stored individual product and the image information (product individual information) associated with the individual product onto a worker, a shelf, a product, or the like required as an instruction image.

According to the movable projector type picking/assorting device according to the present invention, a projector or a shipping container on a rail such as a ceiling is used for moving individual images, a shipping container, a shipping container on a conveyor, a product shelf, a frontage, etc. Therefore, in the picking work or the assorting work, the worker can perform the work according to only the instruction of the image. In addition, in a wide range of assorting worksites and picking worksites, close to the target while moving via rails to product shelves, products or conveyors, etc. that are difficult to project images from the movable projector. Can project images. Since it is not necessary to install many projectors, capital investment cost can be reduced.

Conventionally, a lighting lamp or an indicator for a worker to find a shipping container to which products should be assorted needs to be installed on each of the assort floor, rack shelf, and shipping container, and all of them are electrically included in the shipping management information. Since it is necessary to be connected to, a huge capital investment was required. However, the projector-based assorting apparatus according to the present invention can handle all of the range in which the image can be projected by the projector apparatus, so that the equipment investment can be significantly reduced. The number of projector devices may be increased and installed side by side.

According to the present invention, in picking work and assorting work of a logistics base for delivering various kinds of products to a destination which is a customer, a worker appropriately selects and sets a specified number of specified products. With respect to all the work activities of accurately putting the shipping container into the shipping container, it is possible to support the user to work quickly and continuously without making a simple mistake.

In addition, there is no need for capital investment such as installation of individual lamp lighting equipment linked to the shipping management system in shipping containers, rack shelves, floor entrances, adjacent to conveyors, etc., which significantly improves safety and workability. At the same time, an article entry/exit management system that can significantly improve economic efficiency is realized.

FIG. 1 is a perspective conceptual view showing an entire image of an assort floor of a movable projector type picking/assorting device according to an embodiment of the present invention. FIG. 1 is a perspective conceptual view showing an overall image of a picking floor of a movable projector type picking/assorting device according to an embodiment of the present invention. It is a perspective conceptual view showing an image for grasping the spatial position of the entire floor of the movable projector type picking and assorting apparatus according to an embodiment of the present invention.

Hereinafter, embodiments for carrying out the present invention will be described with reference to the drawings. In the following, the range necessary for the explanation to achieve the object of the present invention is schematically shown, and the range necessary for the explanation of the relevant part of the present invention will be mainly explained, and the explanation will be omitted. A known technique is used.

FIG. 1 is a perspective conceptual view showing an overall image of an assort floor of a movable projector type picking and assorting apparatus according to an embodiment of the present invention. As shown in the figure, on the floor in the product shipping and delivery center, each process from receipt of goods to inspection, warehousing, picking or assorting work for shipping, shipping container packaging, and shipping Is configured. FIG. 1 is a conceptual diagram of the assort floor 2.

The movable projector 11 of the movable projector type picking and assorting apparatus according to the embodiment of the present invention is installed in a form capable of moving via a rail 21 installed on a ceiling and/or a wall and/or a floor. .. FIG. 1 illustrates an example of a mode in which the movable projector 11 moves on the ceiling.

Rack shelves (shipping container shelves) 16 are installed in a plurality of rows on the assort floor 2, and the worker 15 performs the assort work while advancing in a U shape between them. In each rack shelf 16 having a plurality of frontages, a shipping container 14 for each destination is installed for each frontage. A shipping conveyor 13 is arranged behind each rack shelf 16, and the shipping conveyor 13 carries the shipping container 14 in which the products have been loaded and goes to the shipping truck yard.

As shown in FIG. 1, an operator 15 moves a cart (car) 18 on which a product 17 is posted in a U-shape inside the assort floor 2 while the designated shipping container 14 on each rack shelf 16 is moved. Work to put (assort) products into. The shipping container 14 into which all the necessary products have been loaded is pushed out to the shipping conveyor 13 behind the rack shelf 16, is posted on the conveyor, and is moved to the shipping truck yard.

As shown in FIG. 1, a projector control device 12 of a movable projector type picking and assorting device according to an embodiment of the present invention is located near the assort floor 2, for example, and is provided with communication means such as wireless communication, wired telecommunication or LAN. The movable projector 11 that moves on the ceiling is controlled and controlled. The movable projector 11 projects individual images of products to be assorted by the worker 15 onto the products 17 to be assorted, the rack shelves 16, the shipping container 14, or the like.

The projection location of this image may be the cart cart 18, the entrance to the assort floor 2, the worker himself, or the like, and a plurality of projected images are projected from the plurality of movable projectors 11 for the purpose of assisting the assortment work to the worker. It That is, the movable projector 11 of the movable projector type picking and assorting apparatus according to the embodiment of the present invention moves, while the image for supporting the assorting work to be performed by the worker 15 on the assorting floor 2 is needed at a necessary place. To project.

FIG. 2 is a perspective conceptual view showing an overall image of the picking floor of the movable projector type picking/assorting device according to the embodiment of the present invention. As shown in the figure, the movable projector 11 of the movable projector type picking and assorting apparatus according to the embodiment of the present invention is installed in a form capable of moving via a rail 21 installed on the ceiling. However, as described above, the moving place of the movable projector 11 according to the present invention is not limited to the ceiling, and the moving method is not limited to rail traveling.

It does not have to be a rail, as long as it can be moved using a means capable of moving accurately in a certain direction. For example, it may detect an identification line attached to the ceiling in a tape shape and move along the identification line. For example, a movable projector can be laid and moved near the tip of an arm that can be expanded and contracted and moved in space, such as a robot arm installed on a ceiling, wall, or floor. The robot arm expands and contracts to a position where the projector easily projects an image according to an instruction from the control device, for example, a position where there is no projection obstacle. The present invention does not limit the moving mechanism of the projector. And, of course, the movable projector has the same function even in a stationary state. All are technical ideas within the scope of the present invention.

On the picking floor 3, one or more conveyors 22 in which the shipping containers 14 sequentially flow are installed, and in the vicinity thereof, product shelves 23 in which the products 17 are arranged are installed in a plurality of rows, and the worker 15 picks between them. I do. The shipping container 14 flowing on the conveyor 22 goes to the shipping truck yard via the conveyor.

As shown in FIG. 2, the worker 15 picks the specified product 17 from the product shelf 23 in which the product 17 is arranged and puts it in the specified shipping container 14. Shipping container 14 the required goods are all turned on ship moved to factory truck yard is mounting tower to the conveyor 22.

As shown in FIG. 2, the projector control device 12 of the movable projector type picking and assorting device according to the embodiment of the present invention is on the picking floor 3, and the ceiling is provided by using communication means such as wireless communication, wired telecommunication or LAN. The movable projector 11 that moves is controlled and controlled. The movable projector 11 selects and projects an individual image required for the product 15 to be picked by the worker 15, the product shelf 23, or the shipping container 14.

The projection location of this projection image may be a specific location of the conveyor 22, a temporary shelf for goods, the worker himself or the like, and the plurality of projection images from the plurality of movable projectors 11 are used for the purpose of supporting the picking work for the worker. Projected. While the movable projector 11 of the movable projector type picking/assorting device according to the embodiment of the present invention moves, an image for supporting the picking work that should be performed by the worker 15 on the picking floor 3 can be displayed at a necessary place at a necessary time. To project.

FIG. 3 is a perspective conceptual view showing an image for grasping the spatial position of the entire floor of the movable projector type picking and assorting apparatus according to an embodiment of the present invention. The figure shows the space in the floor. As shown in the figure, one point in the goods distribution center is set as a reference point (0, 0, 0) 24, for example, the horizontal north-south direction is the X axis, the horizontal east-west direction is the Z axis, and the vertical direction is the Y axis. To do.

As shown in FIG. 3, for example, the position of the product Q is specified by three-dimensional space coordinates (X, Y, Z). Similarly, the position of the movable projector 11 is also specified by the three-dimensional space coordinates (x, y, z). The position (in-floor address (x, y, z)) of all products in the product delivery center, such as products, product shelves, shipping containers, conveyors, workers, and movable projectors, should be specified by the three-dimensional space coordinates. You can

Products, product shelves, frontages, carts, shipping containers, conveyors, movable projectors, and workers in the product shipping/delivery center are attached with specific identification ID information, and the identification ID information is obtained by an image recognition device by camera photography. It is recognized and the spatial position is also specified. The identification ID information may be identifier information such as a barcode and a QR code. The identification ID information may be specific identification information read by an IC such as an electronic tag, but in this case, the identification ID information is read by an electronic reading means instead of camera image recognition (image reading).

In any case, the identification ID information is read and recognized by the image reading device or the electronic recognition device of the movable projector type picking and assorting device according to the present invention. Since those positions are also linked with the three-dimensional position information identified by the XYZ coordinates at the same time, for example, at which position on the floor a specific product is present, or a specific shipping container is located on the floor. It is in a state where it is possible to sequentially know which position it is. The necessary number of camera photographing devices may be installed on the floor, and in some cases, they may be installed side by side with a movable projector and movable together.

Then, the movable projector type picking and assorting device according to the embodiment of the present invention constructs a three-dimensional article location (position recognition) database as described above. This article location database is connected to the article entry/exit management system in the warehouse. Current position registration and position change registration of shelves and articles are also performed by image recognition by the camera photographing device 25, for example. Of course, the three-dimensional position registration of the article can be performed by reading and inputting the identification ID information in advance, but at the same time, it can be performed by the image recognition by the camera photographing device. The advantage of image recognition by the camera photographing device is that it is possible to successively recognize the position of a moving article. The system is adaptable, for example, to moving conveyors and to specific locations on the conveyor. The principle is exactly the same, and these image recognition techniques have already been generalized as known techniques.

The three-dimensional position recognition (position grasping) method can technically grasp the position when it is carried out through transmission and reception of infrared rays, ultrasonic waves or the like, or in some cases, GPS (Global Positioning System). In selecting a three-dimensional position recognition technique, the present invention does not specify or limit that technique. This is because three-dimensional position recognition can be similarly utilized in the present invention regardless of whether it is laser image recognition or camera-captured image recognition.

For example, the ultrasonic three-dimensional position management system is a technique for attaching an ultrasonic wave transmitting tag to an operator, an article such as a product, a rack, and a shipping container and attaching receivers to the ceiling at regular intervals to grasp the three-dimensional position. The receiver sends an instruction to the detector (ultrasonic wave transmitting tag) wirelessly according to the instruction of the host computer of the system, and the ultrasonic wave transmitting tag instructed transmits the ultrasonic wave, and the host computer detects the ultrasonic wave arrival time to the receiver. This is a technique for calculating the three-dimensional position coordinates of each article. Also in this case, if the ultrasonic wave transmitting function is added to the identification ID information, the present invention corresponds to the present invention.

The use of the movable projector type picking/assorting device according to the embodiment of the present invention is not limited to the assorting work and the picking work, but can be applied to all movement of goods in the product shipping/delivery center. Since the identification ID information is added to all the articles at the time of receipt, if the identification ID information is image-recognized or read and input at that time, then the three-dimensional position is recognized in all the steps. For example, even if the ID cannot be recognized, the position is recognized at the time of being caught by the camera image, and from that time, the three-dimensional position is recognized by sequentially tracking. All the goods are inspected at the time of arrival as a part of the inspection work, so that the identification ID information is surely recognized and input into the article location database.

The subsequent process is the same regardless of whether the shipment is a picking operation or an assorting operation. First, a product is stored in a specific position in a warehouse, a shelf, or a frontage. At the same time as the storage, the camera recognizes the identification ID information as an image. It is possible to constantly grasp the position of the article with which identification ID information is stored in the warehouse together with the product individual data of the storage/receipt management system of the article.

The product individual data is “linked” to the individual data such as the manufacturer name, product name, manufacturing date, transaction relationship, price, expiration date, and number. Here, "linking" of information is defined. Correlating one piece of identification information with the other piece of identification information means associating one piece of identification information with the other piece of identification information on a one-to-one basis. As a result, when one piece of identification information is specified, the other information is inevitably specified. Hereinafter, this association relationship is referred to as "linking" for easy understanding.

The projector control device 12 compares the identification ID information of the product by image recognition through the camera-captured image to identify the product, and compares it with the product individual database in the in-warehouse inventory management system to identify the individual product linked to the product in advance. Video data and specific information are extracted and provided to the movable projector.

Since the goods entry/exit management information is normally managed by the all entry/exit management system of the product shipping/delivery center, the movable projector type picking/assorting device according to an embodiment of the present invention can also be operated by linking with the database etc. become. For example, regarding product shipment, a picking operation or an assorting operation is instructed according to the instruction of the goods warehousing management information of when and to which shipping destination, which are all of the present invention. (EN) A movable projector type picking and assorting device according to an embodiment.

That is, it is selected from the in-warehouse inventory management system whether the product is to be stored in the warehouse, picked or shipped assorted, and based on this information, the projector of the movable projector type picking and assorting apparatus according to the embodiment of the present invention. The control device 12 selects an instruction image for prompting the product to work to that effect and sends it to the movable projector 11.

The same applies when the received goods are inspected and received. Before shipping, for example, in the case of warehouse storage after warehousing, the image of the building number, storage shelf number, storage shelf, and shelf position of the warehouse is selected, the image is irradiated to the product, and as instructed by the image. The worker stores the item on the shelf at the address. In this case, since a similar image is projected by the movable projector also on the shelf and the shelf position, the worker can store the product in the shelf position without making an error.

At the time of product shipping, the shipping instruction of the goods warehousing/management system notifies when and how many products with which identification ID information at which position in the warehouse should be put into which shipping container for each shipping destination. In the projector control device of the movable projector type picking/assorting device according to the embodiment of the present invention, all of work priority and floor arrangement, time, worker, assorting, picking, etc. are simulated and optimized. The shortest work is selected. Then, the image of the movable projector causes the actual instruction to be projected on time and at the required place, to the required worker.

In the operation of picking and inserting the product into the shipping container flowing on the conveyor, it is sufficient that the position information can be accurately recognized and the image can be accurately projected in accordance with the movement of the shipping container. The identification ID information is also attached to the shipping container flowing on the conveyor, and the three-dimensional position is recognized by recognizing the image of the information by camera photographing. Since the position of the conveyor with respect to speed and time has all been controlled by the equipment control system in the article storage/management system, it is possible to detect when and where the shipping container on the conveyor is located by the conventional method. Is.

In the case of using a camera photographing device, the identification ID information of the shipping container that moves sequentially can be photographed by the camera and the image can be recognized. Therefore, the position of the moving container is more realistic than the position information calculated from the conveyor speed. It is accurate as information. In the present invention, either of the above may be selected, and any one is not limited.

In addition, the shelf position of the item to be put into the shipping container has already been grasped by the item location data, and which operator should select the item from which shelf and which item should be put into which shipping container are all simulated. Since the movable projector 11 projects an image of the work instruction on the basis of the information obtained, the worker is timely instructed, so that the worker only has to work faithfully according to the instruction of the image.

Incidentally, when there is an individual difference in the work speed of the worker due to the problem of the skill of the worker, data indicating the level of the work speed by the worker may be input into the system in advance and stored in the database. Based on the speed data, the projector controller simply executes the work allocation simulation.

Regarding a specific picking operation, first, for example, an image of a product, a specific image for the worker, the number of products to be selected, and the like are projected as an image on the product 17 to be selected on the product shelf 23 to be selected. The operator selects and picks the product 17 as shown in the projected image 19. Next, since the image is projected on the shipping container 14 flowing on the conveyor 22, the worker puts the product 17 into the shipping container.

If this is a unit work of the picking work, it is necessary for the worker to transmit the end of the work to the movable projector type picking and assorting device according to the embodiment of the present invention. In other words, it is basically that the operator is given an instruction for the next unit work only after the unit work is completed. Although it is possible to transmit the end by voice using a sound collecting microphone, for example, when it is a signal that the operator greatly raises one hand at the end of the unit work to notify the end of the unit work, one hand after the end If the image of raising is projected together with the individual image of the product, the worker may act as it is. When the camera photographing device recognizes the image of the operation of the worker who raises one hand greatly, the projector control device recognizes the end of the unit work and becomes a trigger for the next work instruction.

The repetition of the above unit work is the total number of picking works in a certain period of time, and this is configured, for example, for each shipping destination, for each worker, for each floor, or for each certain period of time. It is the same as the act of creating an optimal work plan (order) to be set.

In the case of picking a plurality of products at the same time and putting them in the same container, it is sufficient that the quantity to be picked is displayed on the projected image in exactly the same manner. Similarly, it is possible to instruct the operator through the projected image of the movable projector even for the work such as the waiting process of goods or the temporary waiting work.

The work instruction by the movable projector type picking and assorting device according to the embodiment of the present invention is the same in shipping the products by assorting work. For example, in the case of an assorting operation of assorting the products and putting the products into a shipping container of a rack shelf where the products are shipped, the shipping ID is specified, after the identification ID information of the received products 17 is captured and recognized. The product image is projected on the cart for assorting 18 and the worker loads the product on the cart. After that, the movable projector 11 guides the operator by projecting an image on the assort floor 2 to enter, and guides the operator to the rack shelf 16, the frontage, and the shipping container 14 on the floor by the image projection to perform the operator's assortment work. Make them perform without mistakes.

The image projected by the movable projector type picking and assorting apparatus according to the embodiment of the present invention also includes customer information and specific information. At the time of shipping to that customer, for example, including a specific advertisement, what is included, frozen processing, etc., and in conjunction with such customer individual data, an image of information necessary for that is simultaneously projected. be able to.

The movable projector of the movable projector type picking and assorting apparatus according to the embodiment of the present invention is characterized in that it is movable and moves to a position most suitable for projecting an image for a work instruction. The image can be projected while being projected. Further, since the movable projector is also provided with the identification ID information, the three-dimensional coordinate position of the movable projector 11 is sequentially captured by the image recognition of the camera photographing device, and is controlled by the projector control device 12 as the article location data as described above. Information. Of course, when the camera photographing device moves together with the movable projector, the other camera photographing device also recognizes the three-dimensional position information by recognizing the image of the identification ID information attached to the camera photographing device. Of course, it is technically possible to grasp the position by GPS (Global Positioning System).

The projector control device can indicate the three-dimensional coordinate position to be moved to the movable projector 11 based on the above information. For example, when the movable projector 11 projects several kinds of images, the projector control device gives an instruction as an optimum location where the accurate images can be projected to all of these projection destinations as a three-dimensional coordinate position.

For example, when the moving method of the movable projector is traveling by electric wheels via rails, the rails laid on the ceiling are preset with three-dimensional coordinate positions subdivided at regular intervals as shown in FIG. The projector 11 receives the designation of the three-dimensional coordinate position on the rail to be moved from the projector control device and is controlled and moves to that position. The designated three-dimensional coordinate position is the position selected as the position where the image for instructing the picking work or the assorting work is most easily projected.

The moving method is not limited to rail traveling, and the moving place is not limited to the ceiling, and even if it is a floor or a wall, the route that the movable projector can move is laid, and three-dimensional coordinate positions are set at each point. For example, the projector controller can controllably move the movable projector to that position.

Further, the three-dimensional coordinate position designated by the projector control device is not limited only to the picking or assorting work place. For example, in order to support the work of only a specific worker, even when the movable projector moves following the movement of the worker, the three-dimensional coordinate position is determined while recognizing the identification ID information of the worker in the image. It is also possible for the projector control device to specify and move the movable projector.

Similarly, it is possible to specify a specific product and follow the movement of the product to move the movable projector to project an image. Further, for example, it is also possible to specify only a specific shipping container on the conveyor, and follow the movement of the shipping container while projecting a supporting image of only the picking or assorting work required for the shipping container to a necessary place.

Since all the information such as the support image is instruction information transmitted from the projector control device to a specific movable projector as data, it is possible to switch the instruction information to a different movable projector from a certain time point and transmit the instruction information. .. That is, a plurality of movable projectors can project an image while switching according to the image projection location, floor area, time, or the like. It is also possible to project a plurality of support images of the same work simultaneously from a plurality of movable projectors.

In the movable projector type picking and assorting device according to the present invention, the projector control device selects an image of the specific product and ships the specific product in accordance with a shipping instruction of the specific product issued from the article in/out management system in the warehouse. It transmits to a movable projector together with shipping information such as time and shipping container position information or product position information, and projects the image on a specific product and shipping container. At that time, the movable projector can be moved to a position suitable for image projection.

Not only products but also product shelves, shipping containers, cart carts, movable projectors according to the present invention, and even workers in the product shipping and delivery center are movable because their spatial position coordinates are specified by the identification ID information. The image by the projector can be projected at an arbitrary position and time under the control of the projector control device.

Since the worker may perform the inspection/stocking work and/or the picking work and/or the assorting work of the received goods based on the information represented in the image projected from the movable projector, the worker may make a mistake in the work. Will be drastically reduced.

In addition, the movable projector type picking and assorting device according to the present invention allows a plurality of movable projectors to arbitrarily move by the projector control device and project an image required in any place at a necessary timing. It will be possible to support various tasks envisioned in.

It should be noted that the present invention is not limited to the above-described embodiments, and various modifications can be implemented without departing from the spirit of the present invention. These are all part of this technical idea.

As described above, according to the invention relating to the movable projector type picking/assorting apparatus, the product receiving/shipping work of the worker in the product distribution center, which is an intermediate physical distribution base, can be remarkably speeded and the work mistakes can be drastically reduced. Efficiency can also be improved significantly.

Further, the present invention is not limited to the applicable range of goods receiving and shipping work, but can be used and applied to all kinds of goods serving work. Therefore, the present application brings great benefits to various industries such as the manufacturing industry and the service industry in addition to the merchandise logistics industry, and the availability of the industry is very large.

1 Movable projector type picking and assorting device 2 Assorting floor 3 Picking floor 11 Movable projector (projection device)
12 Projector Control Device 13 Shipping Conveyor 14 Shipping Container 15 Worker 16 Rack Shelf (Shipping Container Shelf)
17 products 18 carts (cars)
19 Projection image 20 Antenna 21 Rail 22 Conveyor 23 Product shelf 24 Reference point 25 Camera photographing device

Claims (10)

An image projecting means having a three-dimensional coordinate position that can be grasped by attaching identification information or by GPS and has a moving part for moving the three-dimensional coordinate position and a projecting part for projecting an image on an image projection target. When,
Things article as an information processing system for picking using said projection means is a video projection subject the image each subject identification information is assigned is projected, products, goods Shinatana, mosquitoes over preparative truck, ship Image projection target position specifying means for specifying the three-dimensional coordinate position of the image projection target by image-reading or electronically reading the target identification information relating to at least one of a container, a conveyor, and a worker. ,
With respect to the image projection target while controlling the moving unit to move the three-dimensional coordinate position of the image projection unit so as to follow the movement of the image projection target specified by the image projection target position specifying unit. A projector-type picking device, comprising: a control unit that controls the image projection unit to project an image. When the control unit controls the moving unit to move the three-dimensional coordinate position of the image projecting unit, the three-dimensional coordinate that most easily projects the image on the image projection target. The projector-type picking device according to claim 1, further comprising projection optimum three-dimensional coordinate position specifying means for specifying a position. The projector-type picking according to claim 1 or 2, wherein the target identification information includes any one of a bar code, a QR code (registered trademark), an IC tag, an AR marker, a magnetic marker, and a hologram. apparatus. The projector type picking device according to any one of claims 1 to 3, wherein the moving unit moves the projection unit so as to travel on a rail laid under a ceiling. The projector type picking device according to any one of claims 1 to 3, wherein the moving unit moves the projecting unit by an expandable and contractible arm laid on a lower surface of a ceiling and/or a wall surface and/or a floor surface. The image projected by the projecting unit is an image of the product and/or an information image of an identification mark and/or characters and/or figures and/or symbols and/or colors and/or photographs for identifying the product, The projector type picking device according to any one of claims 1 to 5, wherein the projection type picking device is projected on the shipping container and/or in the vicinity of the shipping container. 7. The image projected by the projection unit includes image information for prompting a work ending operation to be performed by a worker when the picking work of the product is finished. 2. The projector type picking device according to item 1. The target identification information includes first target identification information related to the product and second target identification information related to the shipping container,
8. The projector type according to claim 1, wherein the control unit causes the projection unit to project an image on the product and the shipping container based on shipping information of the product. Picking device. 9. The control unit controls the projection unit so that the projection of the image is finished after recognizing the work ending motion information of the picking work. The projector type picking device described in 1. The image projection target position specifying means defines a virtual space in which XYZ axes are three-dimensionally coordinated from one point of a three-dimensional space in a warehouse, and is arranged in the virtual space, and the target identification information is attached to an article, a shipping container, The at least one of the article shelves and the position of the image projection means to which the identification information is attached are specified in the virtual space. Projector type picking device.

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