JP6796553B2 - Operation management system and operation management method - Google Patents

Description

The present invention relates to a technique for managing the transportation of goods in a warehouse, a factory, or the like.

In the warehouse or factory, the worker collects (picks) the items stored according to the order and sorts them to the delivery destination, that is, the picking work is performed. In the picking work, a picking system for transporting articles by an automatic guided vehicle is operated. Regarding such a picking system, there is a technique described in Patent Document 1.

Patent Document 1 discloses a technique for picking by using an automatic guided vehicle in a distribution warehouse to transport a target article or a storage shelf in which the target article is stored to a worker's place. During transportation, the automatic guided vehicle slips directly under the storage shelves that store the goods. Then, the automatic guided vehicle lifts up the whole by lifting the step plate of the lowest height of the storage shelf, and transports the vehicle with the legs of the storage shelf floating. The worker waits for the storage shelves to be transported at the picking station where the goods are taken out. At this time, if the shelf surface on which the items to be collected are stored and the shelf surface accessible at the picking station are different, the automatic guided vehicle needs to rotate the storage shelf in a lifted state and align the orientation. It becomes. Patent Document 1 discloses a method in which an automatic guided vehicle rotates a storage shelf by traveling while changing the traveling direction within a predetermined region.

Special Table 2009-541174

By the way, the method disclosed in Patent Document 1 has the following problems. When an automatic guided vehicle in a running state rotates a storage shelf, it is necessary to secure at least a site area for the storage shelf to rotate along the traveling track of the automatic guided vehicle. Therefore, the site area required for the rotation operation becomes large, and the storage efficiency of the article decreases. In order to maintain the storage efficiency of the warehouse, it is desirable that the floor area occupied by the site required for the rotation operation of the storage shelves is small.

The present invention has been made in view of such a background, and an object of the present invention is to improve the storage efficiency of articles.

In order to solve the above-mentioned problems, the present invention is an operation management system that manages the operation of one or more transport vehicles that carry each of the plurality of storage shelves in a storage area where a plurality of storage shelves are stored. The storage device comprises a processor, a storage device connected to the processor, and a communication interface connected to the processor and transmitting instructions for controlling the one or more transport vehicles. Holds layout information, the layout information includes information on the position of each storage shelf, the orientation of each storage shelf, and the position of one or more transport vehicles, and the positions of the plurality of storage shelves. Is specified by the coordinates of a plurality of rectangular grids in which one of the storage shelves can be placed, and the processor determines the orientation of the storage shelf to be moved at the current location and the destination at the destination based on the layout information. If the orientation does not match, the direction of rotation and the angle of rotation for changing the orientation of the storage shelf to be moved from the orientation at the current location to the orientation planned at the destination are determined, and among the plurality of grids. From the current location of the storage shelf to be moved to the destination so as to include at least one rotatable lattice that is a lattice in which there are no obstacles that hinder the rotation of the storage shelf on the storage shelf. The movement path is searched, the storage shelf to be moved is transported from the current location to the destination via the searched route, and in the at least one rotatable lattice, the said in the determined rotation direction. It is characterized in that the transport vehicle is controlled so as to rotate at a determined rotation angle.

Other solutions will be described as appropriate in the embodiments.

According to one embodiment of the present invention, the rotation operation can be performed with the minimum site area, the site area where the storage shelves for articles can be arranged can be increased, and the article storage efficiency of the system can be improved. Issues, configurations and effects other than those mentioned above will be clarified by the description of the following examples.

It is an overall schematic view of the transport system which concerns on embodiment of this invention. It is explanatory drawing of the detail of the work station of the transport system which concerns on embodiment of this invention. It is a functional block diagram which shows the whole structure of the transport system which concerns on embodiment of this invention. It is a block diagram which shows the hardware configuration example of the operation management apparatus which concerns on embodiment of this invention. It is explanatory drawing of the coordinates which can rotate in the transport system which concerns on embodiment of this invention. It is a flowchart which shows the process which the operation management apparatus which concerns on embodiment of this invention generates the movement route of the automatic guided vehicle. It is explanatory drawing of an example of transportation in the transportation system which concerns on embodiment of this invention. It is explanatory drawing of the size of the automatic guided vehicle which does not hinder the rotation operation of the storage shelf even in the adjacent grid in the transport system which concerns on embodiment of this invention. It is explanatory drawing which shows the flow of the operation which the automatic guided vehicle rotates a storage shelf in the transport system which concerns on embodiment of this invention. It is explanatory drawing which shows another example of the flow of operation which the automatic guided vehicle rotates a storage shelf in the transport system which concerns on embodiment of this invention.

Next, an embodiment (referred to as “embodiment”) for carrying out the present invention will be described in detail with reference to the drawings as appropriate.

FIG. 1 is an overall schematic view of a transport system according to an embodiment of the present invention.

The warehouse W has a work area W1 and a storage area W2 for goods. A plurality of storage shelves DS are arranged in the storage area W2. Each storage shelf DS stores one or more types of articles. And in the storage area W2, there are a plurality of automatic guided vehicles AC. Here, the automatic guided vehicle AC has a function of transporting the storage shelf DS.

The floor surface of the storage area W2 is divided by, for example, a two-dimensional grid, and the WMS3 and the operation management device 403 shown in FIG. 3 described later are automatically adjusted according to the coordinate values of the center of each grid (that is, the rectangular compartment). It manages the positions of the transport vehicle AC and the storage shelf DS. In addition, it may be managed by the vertex coordinate value instead of the center coordinate value of the lattice. In addition, each grid has a coordinate marker including the coordinate values of the grid. The coordinate marker is, for example, a barcode (including a two-dimensional code) attached or applied on a grid. The barcode is information including the coordinate values of the grid.

Further, in the work area W1, a plurality of work stations WSi including those indicated by the symbols WS1 and WS2 exist. Here, i is a work station WS number and is an integer satisfying 1 ≦ i ≦ n. n is an integer of 1 or more and indicates the total number of work stations WS. In this example, n = 2. For example, when the work station WSi is not distinguished, for example, when the description common to any work station WSi is given, the work station WS is appropriately referred to. The work station WSi has a gate Gij, a terminal Ti, and a sorting shelf SSi. Here, i is the work station WS number. Further, j of the gate Gij is an integer satisfying 1 ≦ j ≦ m, and is a number of the gate G installed in each work station WS. In this embodiment, m = 2.

That is, each work station WSi is provided with one terminal Ti, a sorting shelf SSi, and m gates G. When the individual gate Gij, terminal Ti, and sorting shelf SSi are not distinguished, they are appropriately referred to as gate G, gate Gij, terminal T, terminal Ti, sorting shelf SS, or sorting shelf SSi. The gate Gij is the arrival point of the storage shelf DS. One gate Gij corresponds to one storage shelf DS. On the terminal Ti, a list of sorting destinations of goods (correspondence information between the goods and the sorting shelf section of the sorting shelf SSi) and the like are displayed.

The sorting shelf SSi provided in the work station WSi is a shelf on which articles picked from the storage shelf DS via the gate Gij are placed. Here, i of the worker Mi is the number of the work station WS, and is an integer satisfying 1 ≦ i ≦ n. n is an integer of 1 or more and indicates the total number of work stations WS. In this example, n = 2. When the worker Mi is not distinguished, it is appropriately referred to as the worker M or the worker Mi.

The automatic guided vehicle AC transports the storage shelf DS according to the following procedure. First, the automatic guided vehicle AC moves to the position of the designated storage shelf DS. The automatic guided vehicle AC sneaks directly under the designated storage shelf DS, and when it receives lift-up instruction information from the operation management device 403 shown in FIG. 3, it is stored by a jack mechanism (not shown) provided on the upper surface of the automatic guided vehicle AC. Lift the shelf DS directly above. After that, the automatic guided vehicle AC moves to the designated work station WS in the work area W1 while lifting the storage shelf DS. Upon arriving at the work station WS, the automatic guided vehicle AC lowers the storage shelf DS to the floor. When the picking work by the worker M is completed, the automatic guided vehicle AC lifts the storage shelf DS again and returns the storage shelf DS to its original position.

The automatic guided vehicle AC of the present embodiment can move forward by a translational motion, and further changes the traveling direction by rotating the automatic guided vehicle AC itself in the horizontal direction while staying on one grid. be able to. Further, the automatic guided vehicle AC has a turntable TT that rotates the lifted storage shelf DS in the horizontal direction. Therefore, the automatic guided vehicle AC can independently change the traveling direction and the orientation of the storage shelf DS. For example, the automatic guided vehicle AC can change only the orientation of the storage shelf DS without changing the traveling direction of the automatic guided vehicle AC by rotating the turntable TT. Alternatively, the automatic guided vehicle AC can change the direction of the storage shelf DS in the same manner as the traveling direction by changing the traveling direction without rotating the turntable TT. Alternatively, the automatic guided vehicle AC changes only the traveling direction without changing the direction of the storage shelf DS by rotating the turntable TT in the direction opposite to the change in the traveling direction when changing the traveling direction. You can also.

FIG. 2 is a detailed explanatory view of a work station WSi of a transfer system according to an embodiment of the present invention.

In FIG. 2, the storage shelf DS transported by the automatic guided vehicle AC arrives at the work station WSi, and the worker Mi picks the articles stored in the storage shelf DS via the gate Gi2 and puts them on the sorting shelf SSi. Indicates the state in which the storage work is being performed.

The sorting shelf SSi may be provided with a plurality of stages in the vertical direction, and each stage may be divided into a plurality of rows in the horizontal direction. For example, the worker Mi stores the articles picked from the storage shelf DS in the corresponding sorting shelf SSi section according to the list displayed on the terminal Ti. Each compartment of the sorting rack SSi is identified by, for example, column and column numbers. Each compartment may be labeled with a number that identifies it. In that case, the worker Mi identifies the storage destination by referring to the displayed number. Alternatively, each compartment may be provided with a display device indicating whether or not it is a storage destination for the article. In that case, the display device of the storage destination section of the next picked article operates according to the list displayed on the terminal Ti and the progress of the picking work, and the worker Mi refers to the display. You may store the picked article.

In addition, although only one item of goods may be stored in one storage shelf DS, in general, a plurality of items of goods are stored. Specifically, each storage shelf DS may have a plurality of storage compartments, and one item of goods may be stored in one storage compartment. The storage section is an area in which articles can be stored in the storage shelf DS, and is also called a frontage. For example, one storage shelf DS is divided into a plurality of compartments in the vertical direction, and each compartment is further divided into a portion close to one side surface of the storage shelf DS and a portion close to the other side surface, and further. Each part may be divided into a plurality of compartments in the left-right direction, and each compartment may be treated as one storage compartment.

For example, the inside of the storage shelf DS shown in FIG. 2 is divided into four compartments, each of which is divided into a portion close to the side surface facing the gate Gi2 and a portion close to the opposite side surface. Each part of each shelf may be further divided into a plurality of compartments in the left-right direction. The portion of the storage shelf DS near each side surface is also referred to as a shelf surface in the following description. When one shelf surface faces the gate Gi2 as shown in FIG. 2, the worker Mi can pick the articles stored in the storage section of the shelf surface, but the storage of the other shelf surface. Items stored in parcels cannot be picked. In order to pick the articles stored in the storage section of the other shelf surface, it is necessary to rotate the storage shelf DS by 180 ° and turn the other shelf surface toward the gate Gi2.

(Example of transport system)
FIG. 3 is a functional block diagram showing the overall configuration of the transport system according to the embodiment of the present invention.

The transport system 400 includes a WMS (Warehouse Management System) 401, an order management device 402, an operation management device (control unit) 403, an automatic guided vehicle AC (automated guided vehicle A), a terminal Ti, and a gate control device (illustrated). Omitted) and a gate Gij. The WMS 401 is communicably connected to the order management device 402 and the operation management device 403. The order management device 402, the operation management device 403, the automatic guided vehicle AC, the terminal Ti, and the gate control device Gc are connected to each other so as to be able to communicate with each other via the network 410. At least, the automatic guided vehicle AC is connected to the operation management device 403 so as to be able to wirelessly communicate via the network 410.

The WMS 401 controls the order management device 402 and the operation management device 403. Specifically, the WMS 401 transmits the order and storage storage data to the order management device 402. The order is information including the item name, the number of items to be picked, and the delivery destination. The warehousing data in the storage shelf is data related to the storage shelf DS in which the goods are stored. Specifically, the warehousing data in the storage shelves includes, for example, the article name and quantity of the articles stored in each storage shelf DS, the identification information of the storage shelf DS in which the articles are stored, and the articles are stored. Includes location information of the storage compartment (for example, identification information of the shelf surface to which the storage compartment belongs, division stage, and division row).

Further, the WMS 401 links the processing by the order management device 402 and the processing by the operation management device 403. For example, when the WMS 401 receives a notification from the order management device 402 that the picking work of the article is completed by the worker M (see FIG. 1), the WMS 401 instructs the operation management device 403 to return the storage shelf DS to its original position.

The operation management device 403 manages the operation of the automatic guided vehicle AC (for example, the transportation of the storage shelf DS by the automatic guided vehicle AC). The automatic guided vehicle AC has a reading device such as a visible light camera or an infrared camera at the bottom of the vehicle body, and scans the floor surface while moving. For example, if the coordinate marker on the floor is a barcode, the reading device is a barcode reader. Then, when passing through the grid with the coordinate markers, the automatic guided vehicle AC acquires the coordinate values by scanning the barcode indicating the coordinate values of the grid. The automatic guided vehicle AC transmits the acquired coordinate values to the operation management device 403. As a result, the operation management device 403 manages the current position of each automatic guided vehicle AC.

FIG. 4 is a block diagram showing a hardware configuration example of the operation management device 403 according to the embodiment of the present invention.

The operation management device 403 of the present embodiment can be realized by the hardware of the computer 500 shown in FIG. The computer 500 includes a processor 501, a storage device 502, an input device 503, an output device 504, and a communication interface (communication IF) 505. The processor 501, the storage device 502, the input device 503, the output device 504, and the communication IF 505 are connected by the bus 506.

Processor 501 controls computer 500. The storage device 502 serves as a working area for the processor 501. Further, the storage device 502 is a non-temporary or temporary recording medium for storing various programs and data. Examples of the storage device 502 include a ROM (Read Only Memory), a RAM (Random Access Memory), an HDD (Hard Disk Drive), and a flash memory.

The operation management program 507 and the layout information 508 are stored in the storage device 502 of the computer 500 used as the operation management device 403 of this embodiment. The processing executed by the operation management device 403 in the present embodiment is actually executed by the processor 501 controlling the input device 503, the output device 504, the communication interface 505, and the like as necessary according to the operation management program 507.

The layout information 508 includes at least information regarding the arrangement of various objects existing in the storage area W2. For example, the layout information 508 is stored in the position of each storage shelf DS in the storage area W2, the orientation of each storage shelf (that is, which shelf surface faces which direction), and each storage section of each storage shelf. Information such as an article, the position of each automatic guided vehicle AC, the position of the gate G, the direction of the gate G, and the route on which the automatic guided vehicle AC that lifted up the storage shelf DS can move may be included.

The input device 503 inputs data. The input device 503 includes, for example, a keyboard, a mouse, a touch panel, a numeric keypad, a scanner, and the like. The output device 504 outputs data. The output device 504 includes, for example, a display and a printer. The communication IF 505 connects to the network 410 and transmits / receives data.

The WMS 401, the order management device 402, and each terminal Ti can also be realized by the computer 500 as described above. However, the WMS 401, the order management device 402, and the storage device 502 of each computer 500 used as each terminal Ti stores programs and data necessary for realizing the respective functions.

When the operation management device 403 receives the transport instruction information of the storage shelf DS from the order management device 402 via the WMS 401, the operation management device 403 sets the storage shelf DS for storing the goods to be delivered and the sorting shelf division of the delivery destination of the goods to be delivered. Identify the work station WSi that has the sorting shelf SSi. Then, the specified storage shelf DS is acquired, and the route information to the specified work station WSi is generated. In the instruction to acquire the storage shelf DS, the operation management device 403 is the closest to the specified storage shelf DS among the automatic guided vehicle AC, for example, the automatic guided vehicle AC that does not currently transport any storage shelf DS. Route information is transmitted to the automatic guided vehicle AC, and instructions are given to move according to the route information.

When the automatic guided vehicle AC acquires the storage shelf DS to be delivered and then transports it to the work station WSi, the direction in which the worker Mi at the work station WSi picks the article and the storage shelf stored in the storage area M2. If the orientations of the DSs do not match, even if the storage shelf DS is moved in front of the gate Gi as shown in FIG. 2 while maintaining the orientation, the shelf surface on which the picking target article faces the gate Gi. Picking cannot be performed because it is not stored in (stored on other shelves). Therefore, the automatic guided vehicle AC rotates the storage shelf DS in the middle of the route from the position where the storage shelf DS is stored to the position where the picking work is performed, and aligns the shelf surface in the direction of being picked at the work station. There is a need.

Therefore, in the present embodiment, in the process of transporting the storage shelf DS to the work station WSi, which requires the rotation operation of the storage shelf DS by the automatic guided vehicle AC, the operation management device 403 enables route search and operation management.

First, in the present embodiment, the coordinate group capable of rotating the storage shelf DS is defined in advance as a plurality of candidate coordinates and recorded in the operation management device 403. For example, the layout information 508 may include information on such a coordinate group.

FIG. 5 is an explanatory diagram of coordinates capable of rotational operation in the transport system according to the embodiment of the present invention.

For example, the storage area W2 is divided into a square grid with a side length of L, and the long side on the site plane of the storage shelf DSi (if the shape of the storage shelf DSi on the site plane is square, any of them). (One side) When the LDS is in the range of the equation (1), the rotating storage shelf DSi is in contact with the grid of the center coordinate CC of rotation and overhangs four adjacent grids.

L / √2 <LDS ≤ L (1)

The rotation range RR shown in FIG. 5 is a range in which the rotating storage shelf overhangs during rotation, and overlaps with a part of four grids adjacent to the grid of the center coordinate CC. Therefore, if another storage shelf DSj exists at any of the four coordinates adjacent to the center coordinate CC, the storage shelves collide with each other when the storage shelf DSi at the center coordinate CC is rotated, and the rotation operation is hindered. Therefore, the center is such that the distance from the center is within the range of the above equation (1) and there is no obstacle, specifically, for example, the coordinates of the grid where the movement paths of the automatic transport vehicle AC intersect in the XY directions. The coordinates of the grid that can realize the situation where there are no obstacles such as other storage shelves DSj at the four coordinates adjacent to the coordinate CC are specified in advance as the coordinates that are candidates for the center of rotation. This makes it possible to rotate the storage shelf DS without colliding with other storage shelf DS or the like.

All the coordinates that allow the rotation operation of the storage shelf DS may be set as the coordinates of the candidate for the rotation center, but some of the coordinates that allow the rotation operation are set as the coordinates of the candidate for the rotation center, and a predetermined condition is set. The setting may be changed according to the situation. For example, a plurality of coordinates that are candidates for the rotation center of the storage shelf DS can be set with time change as follows. That is, when the operation management device 403 searches for a route including the rotation operation of the storage shelf DS, all that can be candidates for the rotation center of the storage shelf DS specified in advance in the storage area W2 (that is, the rotation operation is possible). From the coordinates of, the coordinates that are candidates for the actual center of rotation are set to switch at regular intervals. By providing such a time change, the rotation schedules of a large number of automatic guided vehicles AC are concentrated on some of the rotating coordinates, and the effect of alleviating the congestion of the route can be obtained.

For example, the coordinates of I locations (I is an integer of 2 or more) that can be candidates for the rotation center of the storage shelf DS specified in advance are grouped with the coordinates of J locations (J is an integer of 1 or more smaller than I). It may be divided into a group of coordinates of the remaining IJ points, and one of the groups may be treated as a candidate coordinate of the actual center of rotation depending on the time zone. At this time, the number of groups may be 3 or more, and some of the coordinates included in each group may overlap.

Alternatively, a condition for randomly selecting J location may be set when selecting the coordinates that can be rotation candidates at I location in the actual route search of the automatic guided vehicle.

Alternatively, as will be described later, the number of automatic guided vehicles AC that are scheduled to perform the rotation operation (that is, reserve the rotation operation there) is laid out for each coordinate capable of performing the rotation operation. It may be included in the information 508. Then, the coordinates whose number reaches the upper limit may be excluded from the coordinates of the candidate for the center of rotation.

By switching the rotation candidates as described above, it is possible to prevent the rotation operation of the storage shelf DS from being concentrated on specific coordinates.

The coordinates of the rotation center of the storage shelf DS can be determined based on, for example, the following determination method. For example, when there are a plurality of candidate coordinates, the operation management device 403 takes into consideration the movement performance of the automatic guided vehicle AC, and takes the shortest time from the current location (for example, the grid in the storage area W2 where the storage shelf DS is stored). You may select the candidate coordinates of the rotation center of the storage shelf DS that can be reached with. This makes it possible to select coordinates that can be rotated in the shortest time without going through an extra movement path. At this time, the selection condition of the candidate coordinates is set in advance, for example, the weight for the translation of the automatic guided vehicle, the weight for the rotation operation, or the weight for the coordinates where another automatic guided vehicle exists, and the layout of the storage area W2 is graphed. It is also possible to calculate the weight by the route search replaced with the structure and select the coordinates of the rotation candidate of the storage shelf DS from which the minimum weight can be obtained.

Alternatively, the operation management device 403 can move to the coordinates of the arrival destination of the automatic guided vehicle AC (for example, the coordinates of the grid where the gate Gi where picking is performed) in the shortest time, and the candidate coordinates of the rotation center of the storage shelf DS. May be selected. As a result, it is possible to reduce unnecessary movement routes as in the case where the arrival time from the current location is the shortest.

As yet another example, the operation management device 403 determines the movement route from the current location of the automatic guided vehicle AC to the destination so as to minimize the time required for movement, for example, and the rotation center included in the route. It is also possible to select one from the candidate coordinates. At this time, if there are a plurality of coordinates of the candidate for the rotation center of the storage shelf DS included in the route, the candidate with the shortest movement distance from the current location or the destination is selected, and the candidate with the shortest movement time is selected. , Random selection, or selection conditions such as no rotation schedule by another automatic guided vehicle AC (or the minimum number thereof) can be provided.

For example, the operation management device 403 records the rotation schedule of the storage shelf DS that has already been determined for the coordinates that can be candidates for the rotation center of the storage shelf DS that has been set in advance, and for example, until the arrival of the automatic transport vehicle AC. When there are a plurality of candidate coordinates of the rotation center of the storage shelf DS that minimizes the time, the condition may be set so as to select the coordinates with the smaller number of planned rotations. For example, when the layout information 508 includes the coordinates of the candidate for the center of rotation, the layout information 508 may further include the number of storage shelves DS scheduled to perform the rotation operation at the coordinates of each candidate. As a result, it is possible to prevent the rotation operation of the storage shelves of the plurality of automatic guided vehicles AC from being biased to the same coordinates, and to eliminate the congestion and reduce the time required for transporting the storage shelves.

Further, for example, when the automatic guided vehicle AC lifts up the storage shelf DSi to be transported in the storage area W2, other storage shelves DSj and the automatic guided vehicle AC must exist in the surrounding four grids adjacent to the lifted coordinates. For example, it is possible to rotate the storage shelf DS (in the grid where the lift-up was performed) immediately after the lift-up. In this case, the coordinates of the storage shelf DSi lifted up by the automatic guided vehicle AC may be determined as the coordinates of the center of rotation.

FIG. 6 is a flowchart showing a process in which the operation management device 403 according to the embodiment of the present invention generates a movement route of the automatic guided vehicle AC.

The process shown in FIG. 6 is a specific example of the process described as described above. First, the operation management device 403 searches for a route in which the automatic guided vehicle AC transports the storage shelf DS from the current location to the destination (S601). For example, the current location may be a grid in which the storage shelf DS in the storage area W2 is stored, and the destination may be a grid adjacent to the gate where the picking work of the articles stored in the storage shelf DS is performed. , And vice versa. For example, the layout information 508 includes map information indicating the position where each storage shelf DS is stored, the position of each gate Gi, and the arrangement of the grid on which the storage shelf DS can travel in the storage area W2, and includes the operation management device. The 403 may perform a route search using the map information so that the travel time estimated by a known route search method is the shortest. The same applies to the route search of S606 and S607 described later. The estimated travel time is an example of the cost used for the route search, and a cost other than the travel time may be used. The same applies to the route search described below.

Further, in S601, the operation management device 403 determines whether or not it is necessary to rotate the storage shelf DS to be transported, and if necessary, its angle. In this case, the layout information 508 includes information on the articles stored in each storage section of each storage shelf DS.

For example, when the current location is a grid in which the storage shelf DS in the storage area W2 is stored and the destination is a grid in front of the gate where the picking work of the articles stored in the storage shelf DS is performed, the operation management Based on the layout information 508, the device 403 determines whether or not the orientation of the shelf surface to which the storage section in which the picking target article is stored matches the orientation of the gate Gi adjacent to the grid of the destination. However, if they do not match, it may be determined that rotation is necessary, and further, the rotation angle required to match their orientations may be determined.

Alternatively, the current location is the grid in front of the gate where the picking work of the goods stored in the storage shelf DS to be transported is performed, and the destination is the grid in which the storage shelf DS is stored (that is, when the picking work is completed). When the storage shelf DS is a lattice to be returned), and among the articles stored in the storage shelf DS, the next picked item and the gate Gi on which the picking operation is performed are determined. Based on the layout information 508, the operation management device 403 determines whether or not the orientation of the shelf surface to which the storage section in which the next picking target article is stored matches the orientation of the gate Gi where the next picking is performed. If they do not match, it may be determined that rotation is necessary, and further, the rotation angle required to match their orientations may be determined.

When it is determined in S601 that rotation is necessary, the operation management device 403 refers to the layout information 508 and determines whether or not the coordinates of the candidate for the center of rotation are on the route searched in S601 ( S602). If there are one or more coordinates of the rotation center candidate in the searched route, whether or not the operation management device 403 can determine one of the one or more candidates as the coordinates of the rotation center that actually rotates. (S604). For example, when the number of storage shelves DS scheduled to rotate at the coordinates of the candidate for the center of rotation exceeds a predetermined upper limit, the operation management device 403 cannot determine the coordinates as the coordinates of the center of rotation that actually rotates. You may judge. When it is determined in S604 that any one or more candidates can be determined as the coordinates of the rotation center that actually rotates, the operation management device 403 uses one of them as the coordinates of the rotation center that actually rotates. Determine (S604).

In S602, when it is determined that there is no coordinate of the rotation center candidate in the searched path, and in S604, any one or more candidates cannot be determined as the coordinates of the rotation center that actually rotates. If it is determined that, the operation management device 403 selects one of the coordinates of the candidate rotation center that can be determined as the coordinates of the rotation center that actually rotates, and uses the selected coordinates as the intermediate location, and is intermediate from the current location. The route search to the ground is performed (S605).

Here, as described above, the operation management device 403 may select, for example, the coordinates closest to the current location (specifically, for example, the shortest estimated travel time) among the coordinates of a plurality of candidate rotation centers. The coordinates closest to the destination may be selected, the coordinates with the smallest number of storage rack DSs to be rotated there may be selected, or the coordinates may be selected based on a combination thereof. .. For example, among a predetermined number of coordinates whose proximity to the current location is higher, the coordinate with the smallest number of storage shelf DSs to be rotated may be selected.

Next, the operation management device 403 searches for a route from the intermediate point to the destination (S606).

For example, when the coordinates closest to the current location are selected from the coordinates of a plurality of candidate rotation centers, the route with the shortest estimated travel time from the selected coordinates to the destination is searched for in S606. When the coordinates closest to the destination are selected from the coordinates of the candidates of the plurality of rotation centers, the route with the shortest estimated travel time from the current location to the selected coordinates is searched for in S606. As a result, the shortest route from the current location to the destination via the selected coordinates is searched for.

When it is determined in S602 that there are one or more coordinates of the candidate for the center of rotation, the operation management device 403 determines that the route searched in S601 has no coordinates of the candidate for the center of rotation in S602. In this case, the route searched in S605 and S606 is generated as the movement route of the automatic guided vehicle AC (S607).

After that, the operation management device 403 transports the storage shelf DS to be transported via the movement path generated in S607, and further rotates the required angle at the coordinates of the candidate rotation center determined in S604 or S605. An instruction to control the vehicle is transmitted to the automatic guided vehicle AC (S608).

The specific method for performing such control is arbitrary. For example, the operation management device 403 collectively transmits information such as a movement route, a position for rotation in the route, a rotation direction, and a rotation angle to the automatic guided vehicle AC, and the automatic guided vehicle AC uses the information to perform other information. The storage shelf DS may be transported so as not to collide with a transport vehicle or the like. Alternatively, the operation management device 403 can identify the grid to which the automatic guided vehicle next enters along the generated movement route, and can enter the grid (for example, another storage shelf DS and other automatics in the grid). If there is no automatic guided vehicle AC or the like), instructions for entering the grid may be sequentially transmitted. In principle, the operation of the automatic guided vehicle AC in this embodiment is controlled by the operation management device 403 regardless of whether or not it is specified, but a part of the operation is autonomous without the instruction from the operation management device 403. It may be done as a target.

If it is determined in S601 that rotation is not necessary, S602 to S606 are omitted.

In the present embodiment, when the automatic guided vehicle AC switches the traveling direction, it stops once at the coordinate center of the mesh and rotates the vehicle body in the direction in which the traveling direction is scheduled. When the angle of rotation of the storage shelf DS and the switching angle of the automatic guided vehicle AC in the traveling direction match, the automatic guided vehicle AC and the storage shelf DS are not rotated respectively, but are rotated at once while being fixed. It is possible.

FIG. 7 is an explanatory diagram of an example of transportation in the transportation system according to the embodiment of the present invention.

For example, as shown in FIG. 7, when the route from the current location of the automatic transport vehicle AC to the destination is determined and the route includes a plurality of candidate coordinates of the rotation center of the storage shelf DS, the vehicle body of the automatic transport vehicle AC itself. The coordinate TAC that needs to be rotated 90 ° counterclockwise may be determined as the coordinates of the center of rotation that actually rotates.

In this case, by rotating the vehicle body of the automatic guided vehicle AC while maintaining the arrangement with the storage shelf DS on which the automatic guided vehicle AC is lifted up, the storage shelf can also be rotated in the desired direction at the same time. is there. By realizing the simultaneous rotation operation of the vehicle body of the automatic guided vehicle AC and the storage shelf DS, the time required for the operation of rotating only the storage shelf DS, the rotation center required for the automatic guided vehicle AC to rotate the storage shelf DS. It is possible to reduce the time required for the stop operation at the coordinates and the restart operation after the rotation operation, and improve the transfer efficiency of the storage shelf DS.

Here, a specific example shown in FIG. 7 will be described. FIG. 7A is a plan view of the storage area W2 (that is, a view looking down from above). The storage area W2 contains 72 grids generated by dividing into 9 in the X direction and 8 in the Y direction. Each grid is identified by its coordinates. In the example of FIG. 7A, each grid is identified by a combination of X-coordinate values 0-8 and Y-coordinate values 0-7, as displayed on the left and lower sides of the storage area W2. For example, the grid in the lower left corner of the figure is also referred to as a grid (0,0) using these coordinate values.

In this description, the direction in the horizontal plane in the storage area W2 may be expressed by the direction in the drawing for convenience. For example, the direction from the grid (0,0) to the grid (1,0) may be described as the right direction in the figure, and the direction from the grid (0,0) to the grid (0,1) may be described as the upward direction in the figure. is there.

The storage shelf DS is placed on the lattice with the hatching that rises to the right. The unhatched grid is used as a route on which the automatic guided vehicle AC (with a storage shelf DS if necessary) travels. That is, there is no storage shelf DS on the grid that is not hatched, except for those being transported by the automatic guided vehicle AC.

The lattice (for example, lattice TAC) hatched in the left-right direction is a lattice used as a path on which the automatic guided vehicle AC travels, and is a candidate for the rotation center of the storage shelf DS.

The hatched grids (8, 1) on the vertical and horizontal grids are grids on which picking work is performed from the storage shelf DS. In this example, the gate G is on the right side of the grid (8, 1) out of the four sides in the figure. Therefore, when the storage shelf DS to be picked is placed on the grid (8, 1), the shelf surface to which the storage section in which the goods to be picked are stored belongs is directed to the right in the drawing in order to enable the picking work. Need to turn to.

In the example of FIG. 7A, when an attempt is made to pick an article stored in the storage shelf DS placed on the grid (1, 6), the automatic guided vehicle AC uses the storage shelf DS as the current location of the grid ( Transport from 1,6) to the destination grid (8,1). For example, a movement path from the grid (1,6) to the grid (8,1) via the grid (2,6) and the grid (2,1) (that is, the grid TAC) is searched.

In this example, in the storage shelf DS placed on the grid (1,6), the shelf surface to which the storage section in which the item to be picked is stored belongs is shown in the downward direction in the drawing as shown by vertical hatching. It is suitable. Since it is necessary to orient the shelf surface in the grid (8, 1) to the right in the drawing as described above, the orientation of the storage shelf DS at the current location and the orientation of the storage shelf DS planned at the destination match. It is judged not to. Further, it is determined that the storage shelf DS needs to be rotated 90 ° counterclockwise in order to change the orientation from the current location to the intended orientation at the destination.

In the searched route, (2,5), (2,1) and (5,1) are included as the coordinates of the candidate of the rotation center. In any of these, the rotation determined as described above is performed.

Here, the first example in which the rotation operation is determined to be performed on the grid (2, 5) and the second example in which the rotation operation is determined to be performed on the grid (2, 1) will be described.

In the first example, the automatic guided vehicle AC equipped with the storage shelf DS first moves from the grid (1,6) to the grid (2,6) and shows the traveling direction on the grid (2,6). Change to the downward direction of the inside (that is, the direction of the grid (2, 5)). Since the grids (2, 6) are not the grids that are determined to rotate (the grids are not capable of rotating in the first place), the automatic carrier AC should rotate itself 90 ° clockwise in the horizontal direction. The direction of travel is changed by, and the turntable TT (not shown in FIG. 7) is rotated 90 ° counterclockwise. As a result, the orientation of the storage shelf DS is not changed, and only the orientation of the automatic guided vehicle AC is changed.

Next, the automatic guided vehicle AC moves to the grid (2, 5). Here, the automatic guided vehicle AC changes the direction of the storage shelf DS without changing the traveling direction of the automatic guided vehicle AC by rotating the turntable TT counterclockwise by 90 °. As a result, the shelf surface to which the storage section in which the goods to be picked are stored belongs faces to the right in the drawing.

After that, the automatic guided vehicle AC travels straight to the grid (2, 1), where the traveling direction is changed to the right direction in the figure. At this time, the orientation of the storage shelf DS is not changed as in the case of the above-mentioned grids (2, 6). After that, the automatic guided vehicle AC moves straight to the grid (8, 1) where the picking work is performed. When the storage shelf DS reaches the grid (8, 1) as a result of the rotation operation performed on the grid (2, 5), the orientation of the shelf surface to which the storage compartment in which the goods to be picked are stored belongs is the grid. Since it matches the direction of the gate G in (8, 1), the picking operation can be performed.

In the second example, the automatic guided vehicle AC equipped with the storage shelf DS first moves from the grid (1,6) to the grid (2,6) and shows the traveling direction on the grid (2,6). Change to the downward direction inside. This change is made in the same way as in the first example. After that, the automatic guided vehicle AC goes straight to the grid (2, 1) and moves. Here, the automatic guided vehicle AC rotates the traveling direction by 90 ° counterclockwise, and the storage shelf DS also rotates 90 ° counterclockwise. Since these rotation directions and rotation angles are the same, these rotations can be simultaneously performed by the rotation of the automatic guided vehicle AC itself (see FIG. 7B).

After that, the automatic guided vehicle AC moves straight to the grid (8, 1) where the picking work is performed. When the storage shelf DS reaches the grid (8, 1) as a result of the rotation operation performed on the grid (2, 1), the orientation of the shelf surface to which the storage compartment in which the goods to be picked are stored belongs is the grid. Since it matches the direction of the gate G in (8, 1), the picking operation can be performed.

As described above, when it is necessary to rotate the storage shelf DS in the middle of the movement path, the traveling direction of the automatic transport vehicle AC in the same direction and angle as the rotation direction and angle of the storage shelf DS in the movement path. When the coordinates of the candidate of the rotation center to be changed are included, the coordinates (the coordinates of the lattice TAC in the example of FIG. 7A) may be determined as the coordinates for actually performing the rotation operation.

As described above, the layout information 508 may include the number of automatic guided vehicle ACs reserved for rotation at each of the coordinates of the candidate rotation center. Specifically, for example, when it is decided to perform the rotation operation on the grid (2, 1) as in the second example, when it is decided, the rotation operation on the grid (2, 1) is performed. The number of reserved automatic guided vehicles AC may be increased by 1 and decreased by 1 when the rotation operation is completed. The operation management device 403 may determine, among the coordinates of the plurality of candidate rotation centers, the coordinates in which the number of automatic guided vehicle ACs reserved for the rotation operation is small as the coordinates for actually performing the rotation operation. .. For example, when the generated movement path includes the coordinates of a plurality of candidate rotation centers as in the example of FIG. 7, the coordinates with the minimum number of reservations may be selected. This prevents the occurrence of traffic congestion due to the concentration of rotational movements at specific coordinates.

In order to actually rotate the storage shelf DS with the coordinates of the center of rotation determined by the operation management device 403, there should be no other automatic guided vehicle AC holding the storage shelf DS at the four coordinates adjacent to the center coordinates vertically and horizontally. Need to be. In order to realize such timing, the automatic guided vehicle AC, for example, when it is about to move to the coordinates of the determined rotation center, stops once at the coordinates adjacent to it and is covered by the rotation of the storage shelf DS. There is no automatic guided vehicle AC that lifts up another storage shelf DS or other storage shelf DS at the coordinates and 4 coordinates adjacent to the top, bottom, left, and right, and another automatic guided vehicle AC that is scheduled to pass through those coordinates. You may wait until the operation management device 403 can confirm that there is no such thing.

After that, the operation management device 403 exclusively controls the coordinates of the determined rotation center and the four coordinates adjacent to the upper, lower, left, and right sides of the coordinate so that the other automatic transport vehicle AC does not invade, and automatically transports the storage shelf DS. Instruct the car AC to move to the coordinates of the center of rotation and to rotate the storage shelf DS. The exclusive control of the coordinates of the center of rotation and the four coordinates adjacent to the top, bottom, left, and right by the operation management device 403 is not performed collectively at the same timing, but each coordinate is vacant, or another automatic guided vehicle AC is scheduled to pass. It is also possible to carry out sequentially at the timing when it is confirmed that there is no such thing.

However, depending on the size relationship between the storage shelf DS and the automatic guided vehicle AC, none of the storage shelf DSs are transported to the coordinates adjacent to the coordinates of the candidate for the center of rotation where the storage shelf DS to be rotated is located. Even if there is an automatic guided vehicle AC, the rotation may not be hindered.

FIG. 8 is an explanatory diagram of the size of an automatic guided vehicle AC that does not hinder the rotational operation of the storage shelf DS even if it is in an adjacent grid in the transport system according to the embodiment of the present invention.

However, when the long side of the automatic guided vehicle AC (one side when the automatic guided vehicle AC is square) LA satisfies the equation (2) with respect to the length L of the long side shelf of the storage shelf DS. Even if another automatic guided vehicle AC that does not carry the other storage shelf DS exists at adjacent coordinates, the automatic guided vehicle AC that has reached the coordinates of the center of rotation rotates the storage shelf DS to perform the other automatic. The vehicle body of the automatic guided vehicle AC and the storage shelf DS do not collide.

LA <2L-√2L (2)

Therefore, the target for which the other automatic guided vehicle AC is exclusively controlled with respect to the rotation of the storage shelf DS is only when the other automatic guided vehicle AC holds the storage shelf DS, and does not hold the storage shelf DS. Other automatic guided vehicle ACs may be present at adjacent coordinates during the rotation operation.

By performing the exclusive control as described above, the storage shelf DS being transported can be rotated so as not to collide with another storage shelf DS or the automatic guided vehicle AC.

FIG. 9 is an explanatory diagram showing a flow of operation in which the automatic guided vehicle AC rotates the storage shelf DS in the transport system according to the embodiment of the present invention.

For example, if the shelf surface containing the articles required for picking at the work station WS is F1 and the direction in which the worker takes out the articles at the work station is F2, whether the storage shelf DS is rotated 90 ° clockwise Rcw. , Or 270 ° in the opposite direction. When the automatic guided vehicle AC can rotate the storage shelf DS in either direction, it is preferable to instruct to rotate the storage shelf DS by 90 ° clockwise Rcw, which takes a short time to operate.

FIG. 10 is an explanatory diagram showing another example of the flow of the operation in which the automatic guided vehicle AC rotates the storage shelf DS in the transport system according to the embodiment of the present invention.

As described with reference to FIGS. 7 (a) and 7 (b), the automatic guided vehicle AC needs to change the traveling direction on the rotatable grid, and the automatic guided vehicle AC carries the vehicle. If it is necessary to change the orientation of the storage shelves, and the rotation directions for those changes are the same, storage by changing the traveling direction of the automatic guided vehicle AC (without having to rotate the turntable TT). The orientation of the shelf DS can also be changed.

In the example of FIG. 10, when the automatic guided vehicle AC that conveys the storage shelf DS enters the grid (2,1) from the grid (2,0) and changes the traveling direction TD to the right in the figure. If the shelf surface F1 of the storage shelf DS also needs to be oriented to the right in the figure (that is, toward the shelf surface F2), the automatic guided vehicle AC is rotated 90 ° clockwise Rcw without rotating the turntable TT. You may. As a result, both the automatic guided vehicle AC and the storage shelf DS can be rotated in one operation.

If the automatic guided vehicle AC that is transporting the storage shelf DS cannot reach the coordinates that are scheduled to rotate (that is, the coordinates of the determined center of rotation) and the stopped state continues at other coordinates, it is involved in traffic congestion. In some cases. Therefore, if the operation management device 403 does not operate even after a certain period of time, the operation management device 403 can be expected to have the effect of eliminating the congestion by re-searching the coordinates that are candidates for the rotation center of the storage shelf DS. The re-search for the coordinates of the storage shelf DS scheduled to rotate is the search condition, that is, the shortest route or the shortest time from the current location or the lowland, except for the coordinates where the rotation operation of the main body and the storage shelf DS is scheduled. Coordinates, coordinates with few rotation schedules of the storage shelf DSj by another automatic transport vehicle ACj, and the like may be used.

When managing the movement schedules of a plurality of automatic guided vehicles AC in the operation management device 403, the coordinates of the storage shelf DS transported by one automatic guided vehicle AC are scheduled to rotate. When it becomes a planned passage route, one automatic guided vehicle AC stays at the relevant coordinates for a long time due to the rotation operation of the storage shelf DS, so that it does not become a source of traffic congestion, for example, the automatic guided vehicle AC only at the angle of turning of the vehicle body. It rotates with, and the remaining angles can be rotated at different coordinates.

For example, when it is necessary to rotate the storage shelf DS by 180 °, there are coordinates of a plurality of rotation center candidates on the path of the automatic guided vehicle AC that conveys the storage shelf DS, and one of them is used. When it is necessary to change the traveling direction of the automatic guided vehicle AC by 90 °, the operation management device 403 sets the coordinates for changing the traveling direction of the automatic guided vehicle AC and one of the coordinates of other candidates for the center of rotation. The two coordinates obtained by combining the above may be determined as the coordinates of the center of rotation. In this case, the automatic transport vehicle AC also rotates the storage shelf DS by 90 ° when the traveling direction is changed by 90 ° (for example, by rotating the automatic transport vehicle AC itself in the horizontal direction while the turntable TT is fixed). The remaining 90 ° rotation (that is, the difference between the rotation angle of the storage rack and the change angle of the traveling direction of the automatic transport vehicle) may be performed at the coordinates of the other center of rotation.

An example of the dispersion of rotation as described above will be described with reference to FIG. 7A. In the storage shelf DS placed on the lattice (1,6), when the article to be picked is stored in the storage section on the shelf surface in the left direction in the drawing, the lattice (8,1) at which the picking operation is performed is performed. ), It is necessary to rotate the storage shelf DS by 180 °. At this time, for example, the automatic transport vehicle AC rotates the automatic transport vehicle AC and the storage shelf DS by 90 ° by changing the traveling direction in the grid (2, 1), and another rotatable grid (that is, the grid (2)). , 5) or grid (5, 1) may rotate the storage shelf DS by 90 ° by rotating the turntable TT, which provides the required 180 ° rotation with respect to the storage shelf DS. However, since the operation is distributed over a plurality of grids, the time for the automatic transport vehicle AC to stay on one grid is shortened, and congestion is prevented.

The automatic guided vehicle AC is stored by rotating the automatic guided vehicle AC and the storage shelf DS by 90 ° by changing the traveling direction on the grid (2, 1), and further rotating the turntable TT on the same grid. The shelf DS may be further rotated by 90 °. As a result, the rotation operation of the storage shelf DS is integrated into one grid.

When the picking work at the work station WS is completed and the automatic transport vehicle AC returns the storage shelf DS to the storage area W2 once (such transport is called shelving return), if the transport instruction of the storage shelf DS thereafter is used. If the relative positional relationship between the shelf surface for picking articles and the shelf surface of the storage shelf DS from the work station WS in that case is deterministic, the storage shelf DS is being transported during the return transfer. It is possible to rotate the storage shelf DS of the storage shelf DS so that the orientation of the storage shelf DS returned to the storage position is aligned in advance with the orientation required for future picking.

For example, in the example of FIG. 7A, the picking operation from the storage shelf DS conveyed to the grid (8, 1) may be completed, and the storage shelf DS may be temporarily returned to the grid (1, 6). At this time, the grid (8, 1) is the current location, and the grid (1, 6) is the destination. Here, the schedule of the next picking work to be performed on the storage shelf DS is known, and the shelf surface to which the storage section in which the article to be picked is stored belongs is the lattice where the current location is. In (8, 1), when facing to the left in the figure, the operation management device 403 rotates the storage shelf DS by 180 ° while transporting the storage shelf DS to the destination. , The automatic guided vehicle AC may be controlled so that the shelf surface faces to the right in the drawing. This eliminates the need to rotate the storage shelf DS when the next picking is performed.

In the above embodiment, the automatic guided vehicle AC can move in translation only in a predetermined direction (for example, in the front-rear direction), and in order to change the traveling direction, the automatic guided vehicle AC is moved in a state where the translation movement is stopped. It is necessary to rotate in the horizontal direction or rotate while making a translational motion. However, the present invention can also be applied to the case where an automatic guided vehicle AC capable of translational movement in any direction is adopted by using, for example, a so-called omni wheel or a mecanum wheel. That is, even when such an automatic guided vehicle AC is adopted, the operation management device 403 searches the storage shelf DS for a movement route including a rotatable grid in the same manner as in the above embodiment, and automatically performs the operation management device 403. The guided vehicle AC can be controlled to move its movement path and rotate the storage shelves with a rotatable grid.

The present invention is not limited to the above-mentioned examples, and includes various modifications. For example, the above-mentioned examples have been described in detail for a better understanding of the present invention, and are not necessarily limited to those having all the configurations of the description.

Further, each of the above configurations, functions, processing units, processing means and the like may be realized by hardware by designing a part or all of them by, for example, an integrated circuit. Further, each of the above configurations, functions, and the like may be realized by software by the processor interpreting and executing a program that realizes each function. Information such as programs, tables, and files that realize each function can be stored in non-volatile semiconductor memories, hard disk drives, storage devices such as SSDs (Solid State Drives), or computers such as IC cards, SD cards, and DVDs that are not readable. It can be stored in a temporary data storage medium.

In addition, the control lines and information lines are shown as necessary for explanation, and not all control lines and information lines are shown in the product. In practice, it can be considered that almost all configurations are interconnected.

1,1a Operation management device (control unit)
2 Order management device 3 WMS
A Transport vehicle AC automatic transport vehicle (storage shelf transport device)
DS storage shelf G, Gi gate Gc, CGci gate control device M, Mi Worker T Terminal TAC Automatic guided vehicle body switching coordinates F1, F2 Storage shelf shelf W Warehouse W1 Work area W2 Storage area WS, WSi Work station

Claims (15)

An operation management system that manages the operation of one or more transport vehicles that carry each of the plurality of storage shelves in a storage area where a plurality of storage shelves are stored.
It has a processor, a storage device connected to the processor, and a communication interface connected to the processor and transmitting instructions for controlling the one or more transport vehicles.
The storage device holds layout information and
The layout information includes information on the position of each storage shelf, the orientation of each storage shelf, and the position of one or more transport vehicles.
The location of the plurality of storage shelves is specified by the coordinates of a plurality of rectangular grids on which one storage shelf can be arranged.
The processor
Based on the layout information, if the orientation of the storage shelf to be moved at the current location and the orientation planned at the destination do not match, the orientation of the storage shelf to be moved is scheduled from the orientation at the current location to the destination. Determine the rotation direction and rotation angle to change to the direction
The said storage shelf to be moved so as to include at least one of the plurality of lattices, which is a rotatable lattice in which there is no obstacle that hinders the rotation of the storage shelf on the lattice. Search for a movement route from your current location to the destination,
The storage shelf to be moved is transported from the current location to the destination via the searched route, and the rotation of the determined rotation angle in the determined rotation direction is performed on the at least one rotatable grid. An operation management system characterized by controlling the transport vehicle so as to perform the operation. The operation management system according to claim 1.
The rotatable grid is an operation management system characterized in that the distance from the center thereof is within a range of (√2) / 2 times the length of the long side of the storage shelf and there are no obstacles. The operation management system according to claim 1.
The operation management system, wherein the rotatable grid is the grid in which no other storage shelf exists in any of the four grids adjacent to the four sides. The operation management system according to claim 3.
The processor
With the transport vehicle transporting the storage rack to be moved, the transport vehicle is temporarily stopped before entering the rotatable grid on the searched route, and is transporting the storage rack to be moved. Is a carrier carrying the storage rack to be moved when there is no other carrier on the searched route in either the rotatable grid or the four grids adjacent to its four sides. Controls to enter the rotatable grid on the searched path,
When the transport vehicle carrying the storage shelf to be moved is in the rotatable grid on the searched route, the other transport vehicle is in the rotatable grid and on the searched route. An operation management system characterized by controlling so as not to enter any of the four grids adjacent to the four sides. The operation management system according to claim 4.
When the transport vehicle carrying the storage shelf to be moved is on the rotatable grid on the searched route, the other transport vehicle does not have the storage shelf and the transport vehicle is not equipped with the storage shelf. If the length of the long side of the other carrier is less than twice the length of the long side of the storage shelf minus √2 times the length of the long side of the storage shelf, the processor An operation management system characterized in that the other transport vehicle is controlled so as not to enter the rotatable grid on the searched route. The operation management system according to claim 4.
When the carrier carrying the storage rack to be moved stops for more than a predetermined time in any of the grids before reaching the rotatable grid on the searched route. , Search for a route from the grid on which the transport vehicle is stopped to reach the destination via another rotatable grid, and transport the storage shelf to be moved via the searched route. An operation management system characterized by controlling the transport vehicle. The operation management system according to claim 1.
The processor
Searching for the movement path including the plurality of the rotatable grids,
An operation management system characterized in that the determined rotation angle is divided into a plurality of parts, and the transport vehicle is controlled so as to rotate the divided rotation angles in each of the plurality of rotatable grids. The operation management system according to claim 7.
The transport vehicle has a turntable for rotating the mounted storage shelves.
The processor
In one of the plurality of rotatable grids included in the searched movement path, the traveling direction of the transport vehicle is changed, and the rotation determined from the angle of change of the traveling direction of the transport vehicle. When the angle is large, the traveling direction of the transport vehicle and the orientation of the storage shelf are changed by rotating the transport vehicle in a grid in which the traveling direction of the transport vehicle is changed, and the turn in another rotatable grid. By rotating the table, the transport vehicle is controlled so that the orientation of the storage shelf is changed by the angle of difference between the determined rotation angle and the angle of change in the traveling direction of the transport vehicle. Operation management system. The operation management system according to claim 1.
The transport vehicle has a turntable for rotating the mounted storage shelves.
The processor
When the traveling direction of the transport vehicle is not changed in the rotatable grid included in the searched route, when the transport vehicle reaches the rotatable grid, the translational motion of the transport vehicle is stopped, and the translation motion of the transport vehicle is stopped. An operation management system characterized in that the transport vehicle is controlled so as to change the orientation of the storage shelf by rotating a turntable. The operation management system according to claim 1.
The transport vehicle has a turntable for rotating the mounted storage shelves.
The processor
When the traveling direction of the transport vehicle is changed in the rotatable grid included in the searched route, and the direction of changing the traveling direction of the transport vehicle and the direction of changing the direction of the storage shelf are the same. When the transport vehicle reaches the rotatable lattice, the translational motion of the transport vehicle is stopped, and the transport vehicle is rotated in a direction in which the traveling direction is changed to change the orientation of the storage shelf. Control the transport vehicle so as to
In the rotatable grid included in the searched route, the traveling direction of the transport vehicle is changed, and the direction of changing the traveling direction of the transport vehicle and the direction of changing the direction of the storage shelf are the same, and When the angle for changing the direction of the storage shelf is larger than the angle for changing the traveling direction of the transport vehicle, the translational motion of the transport vehicle is stopped when the transport vehicle reaches the rotatable grid, and the translation motion is stopped. By rotating the transport vehicle in the direction in which the traveling direction is changed, and further rotating the turntable by the difference between the angle at which the traveling direction of the transport vehicle is changed and the angle at which the orientation of the storage shelf is changed. An operation management system characterized in that the transport vehicle is controlled so as to change the orientation of the storage shelf. The operation management system according to claim 1.
The processor
A movement route from the current location to the destination of the storage shelf to be moved is searched so that the estimated movement time is the shortest.
When the searched movement path does not include one or more of the rotatable grids, the rotatable grid that has the shortest estimated travel time from the current location or the estimated travel time to the destination is selected.
An operation management system characterized by searching for a movement route from the current location to the destination so as to pass through the selected grid and minimize the estimated travel time. The operation management system according to claim 1.
The layout information holds a part of all the rotatable grids in the storage area as candidates for a grid to be rotated.
The processor
A movement route from the current location to the destination of the storage shelf to be moved is searched so as to include at least one candidate of the grid to be rotated.
The carrier is controlled to perform the rotation in any of the grid candidates on which at least one rotation is performed.
An operation management system characterized in that the rotatable grid included in the grid candidates on which the rotation is performed based on a predetermined condition can be changed. The operation management system according to claim 1.
The layout information holds the number of transport vehicles that are scheduled to rotate in each rotatable grid.
When the searched movement path includes a plurality of the rotatable grids, the processor is used in a grid in which the number of transport vehicles scheduled to perform the rotation is small among the plurality of rotatable grids. An operation management system characterized in that the transport vehicle is controlled so as to perform the rotation. The operation management system according to claim 1.
The layout information further includes the articles stored in the respective storage shelves, the orientation of the side surface to which the storage compartment of the respective storage shelves in which the articles are stored belongs, and the picking of the articles from the respective storage shelves. Includes information on the orientation of the side to which the storage bin belongs, which is planned when
The current location of the storage shelf is a grid on which the storage shelf is placed before the picking work is performed, and the destination of the storage shelf is a grid on which the storage shelf is placed when the picking work is performed. ,
The storage shelf to be moved is a storage shelf in which articles to be picked are stored.
The processor refers to the orientation of the side surface of the moving target storage shelf located at the current location to which the storage section in which the article to be picked is stored belongs, and the moving target placed at the destination. If the orientation of the side surface to which the storage compartment to which the goods to be picked are stored, which is scheduled for the storage shelf, is different, the orientation of the storage shelf to be moved is changed from the former orientation to the latter orientation. An operation management system for determining the rotation direction and rotation angle of the storage shelf. It is an operation management method by an operation management system that manages the operation of one or more transport vehicles that carry each of the plurality of storage shelves in a storage area where a plurality of storage shelves are stored.
It has a processor, a storage device connected to the processor, and a communication interface connected to the processor and transmitting instructions for controlling the one or more transport vehicles.
The storage device holds layout information and
The layout information includes information on the positions of the plurality of storage shelves, the orientation of each storage shelf, and the positions of the one or more transport vehicles.
The location of the plurality of storage shelves is specified by the coordinates of a plurality of rectangular grids on which one storage shelf can be arranged.
The operation management method is
When the processor does not match the orientation of the storage shelf to be moved at the current location and the planned orientation at the destination based on the layout information, the orientation of the storage shelf to be moved is changed from the orientation at the current location to the purpose. The procedure for determining the rotation direction and rotation angle for changing to the planned orientation on the ground, and
The object from the current location of the storage shelf to be moved so as to include at least one of the plurality of lattices, which is a rotatable lattice in which there is no obstacle when the storage shelf is rotated in the lattice. The procedure for searching the movement route to the ground and
The storage shelf to be moved is transported from the current location to the destination via the searched route, and the rotation of the determined rotation angle in the determined rotation direction is performed on the at least one rotatable grid. An operation management method including a procedure for controlling the transport vehicle so as to be performed.