JP6895826B2 - Pick-up control device and pick-up control program - Google Patents

Description

The present invention relates to a collection control device and a collection control program that control the collection of articles.

In recent years, various devices have been used for collecting goods in warehouses and the like. An example of using the device is an automated warehouse. In an automated warehouse, a plurality of types of articles are stored in a plurality of storage locations (for example, shelves) by a stacker crane, a belt conveyor, or the like. Then, when there is collection request information, goods corresponding to the collection request information are collected from each of the plurality of storage locations by a stacker crane, a belt conveyor, or the like.

Patent Document 1 discloses an example of a technique related to such an automated warehouse. In the technique disclosed in Patent Document 1, guide rails extending vertically and horizontally are provided in the warehouse. Then, the moving trolley moves along the guide rail to collect the articles stored on the shelves.

Japanese Unexamined Patent Publication No. 2014-62001

By constructing the automated warehouse as described above, the worker can collect the goods without transporting the goods. However, in order to construct an automated warehouse, it is necessary to prepare a shelf dedicated to the automated warehouse and lay a guide rail for traveling guidance of a stacker crane or a moving trolley. Therefore, a lot of costs are incurred in constructing an automated warehouse.

Therefore, for example, if it is possible for a human and a robot to cooperate with each other to collect goods, for example, a human takes out the goods from the shelves and a robot that automatically travels moves the taken out goods. For example, equipment such as shelves in an existing warehouse can be used as it is, and costs can be reduced.

The present invention has been made in view of the above circumstances, and is a collection control device capable of giving appropriate work instructions to humans and robots in order for humans and robots to cooperate in collecting cargo. , And a pickup control program.

According to the first aspect of the present invention, a collection control device (for example, a collection control device described later) that controls for collecting a plurality of types of articles stored in a plurality of storage locations (for example, a shelf 60 described later). 10), the collection request information including the type of the article to be collected, the information about the transport device (for example, the robot 30 described later) that moves between the storage locations and transports the article, and the storage. Creating a work plan for creating a work plan for collecting goods according to the collection request information based on information on a loading worker (for example, a worker 50 described later) for loading the article into the transport device at a place. An instruction output means (for example,) that outputs a means (for example, a work plan creation unit 12 described later) and a work instruction based on the work plan created by the work plan creation means to the transport device and the loading worker. , A pickup control device including the instruction output unit 13) described later is provided.

According to the second aspect of the present invention, a collection control device (for example, a collection control device described later) that controls for collecting a plurality of types of articles stored in a plurality of storage locations (for example, a shelf 60 described later). A collection control program that functions as a computer as 10), and is a collection request information including the types of articles to be collected, and a transport device (for example, a robot described later) that moves between the storage locations to transport the articles. Based on the information regarding 30) and the information regarding the loading worker (for example, the worker 50 described later) who loads the article into the transport device at the storage location, the collection is performed according to the collection request information. A work plan creation means for creating a work plan (for example, a work plan creation unit 12 described later) and a work instruction based on the work plan created by the work plan creation means are given to the transport device and the loading worker. A pickup control program for operating the computer as a pickup control device including an instruction output means (for example, an instruction output unit 13 described later) is provided.

According to the present invention, it is possible to give appropriate work instructions to humans and robots in order for humans and robots to cooperate in collecting cargo.

It is a block diagram which shows the basic structure of the whole embodiment of this invention. It is a block diagram which shows the basic structure of the pickup control apparatus in embodiment of this invention. It is a block diagram which shows the basic structure of the worker terminal in embodiment of this invention. It is a block diagram which shows the basic structure of the robot in embodiment of this invention. It is a schematic diagram which shows typically the structure of the robot in embodiment of this invention. It is a schematic diagram which shows the application example of the Embodiment of this invention. It is a flowchart which shows the basic operation of embodiment of this invention. It is a table which shows the pickup request information in 1st example and 2nd example for explaining the process by embodiment of this invention. It is a table which shows the work instruction to the robot in 1st example for explaining the process by embodiment of this invention. It is a table which shows the work instruction to the worker in 1st example for explaining the process by embodiment of this invention. It is a table which shows the work process in 1st example for demonstrating the process by embodiment of this invention. It is a schematic diagram which shows the moving image of the robot in 1st example for demonstrating the process by embodiment of this invention. It is a table which shows the work instruction to the robot in 2nd example for explaining the process by embodiment of this invention. It is a table which shows the work instruction to the worker in the 2nd example for explaining the process by embodiment of this invention. It is a table which shows the work process in 2nd example for demonstrating the process by embodiment of this invention. It is a schematic diagram which shows the moving image of the robot in 2nd example for demonstrating the process by embodiment of this invention.

Next, an embodiment of the present invention will be described in detail with reference to the drawings.

<Structure of the entire embodiment>
First, the collection system 1 according to the present embodiment will be described with reference to FIG. The collection system 1 includes a collection control device 10, n worker terminals 20, m robots 30, and a network 40. Here, n and m are arbitrary natural numbers. That is, the number of the worker terminals 20 and the robot 30 included in the collection system 1 is not particularly limited and may be any number.

The pickup control device 10, n worker terminals 20, and m robots 30 are connected to each other via a network 40 so as to be able to communicate with each other. There is no limitation on the communication standard for such communication, and communication can be performed in accordance with any communication standard. Further, the network 40 may be, for example, a LAN (Local Area Network) laid on the site, or may include a public network such as the Internet.
The collection system 1 is used in, for example, warehouses, factories, distribution centers, port cargo facilities, and the like. In the following description, the description will be made on the assumption that it will be used in a warehouse.

The outline of the collection system 1 will be described. In the collection system 1, when the collection request information is received, the collection control device 10 first creates a work plan for the worker terminal 20 and the robot 30 to smoothly perform the work, and the work is based on the created work plan. The instruction is output to the worker terminal 20 and the robot 30.
Then, the robot 30 moves to the shelf where the goods are stored based on the work instruction from the pickup control device 10. On the destination shelf, a human worker takes out the products stored on the shelf based on the work instruction from the collection control device 10 and loads them into the robot 30. When all the products corresponding to the collection request information are loaded on the robot 30 by repeating these operations, the robot 30 moves to the shipping work area.
In the collection system 1, humans and robots can cooperate in collecting goods in this way.
The above is the outline of the collection system 1.

Next, with reference to FIGS. 2, 3 and 4, a functional block provided for each of the pickup control device 10, n worker terminals 20, and m robots 30 to perform the above processing will be described. To do.

<Functional block included in the pickup control device 10>
As shown in FIG. 2, the pickup control device 10 includes a communication unit 11, a work plan creation unit 12, and an instruction output unit 13.
The communication unit 11 is a portion in which the collection control device 10 communicates with each worker terminal 20 and each robot 30 via the network 40.
The work plan creation unit 12 is a part that creates a work plan for each worker terminal 20 and each robot 30 to perform work appropriately, and outputs the created work plan to the instruction output unit 13.

The work plan is created based on the collection request information. This collection request information is transmitted from a warehouse management system (not shown) such as WMS (Warehouse Management System) connected to the network 40 to the work plan creation unit 12. For example, WMS creates pickup request information in response to a customer's order from an EC (Electronic Commerce) site, and transmits this pickup request information to the work plan creation unit 12. In addition, the WMS performs a vehicle allocation process for delivering the collected goods when the goods are collected based on the collection request information.
Since the functions and configurations of the WMS are well known to those skilled in the art, detailed description of the WMS will be omitted here. The method of creating a work plan by the work plan creation unit 12 will be described later with reference to FIG.

The instruction output unit 13 creates a work instruction for the worker terminal 20 and a work instruction for the robot 30 based on the work plan created by the work plan creation unit 12. Then, the instruction output unit 13 transmits the created work instruction to the worker terminal 20 and the robot 30, respectively.

Here, the work instruction for each of the worker terminals 20 and the work instruction for each robot 30 are created in different modes suitable for each of the worker terminal 20 and the robot 30. For example, the work instruction to the worker terminal 20 is created as text data, image data, voice data, or the like for instructing the worker to work. On the other hand, the work instruction to the robot 30 is created as control data for causing the robot 30 to perform the work. Also, the contents of work instructions are different. The specific contents of the work instruction will be described later with reference to FIGS. 9 and 10.

<Functional block included in the worker terminal 20>
As shown in FIG. 3, the worker terminal 20 includes a communication unit 21, an output unit 22, and an operation reception unit 23.
The communication unit 21 is a portion in which the worker terminal 20 communicates with the pickup control device 10 and the like via the network 40.

The output unit 22 is a unit that outputs the work instruction received from the instruction output unit 13 of the pickup control device 10 to the operator. When the work instruction is text data or image data, the output by the output unit 22 is performed by displaying these. In this case, the output unit 22 is realized by the display. If the work instruction is voice data, it is output by voice output. In this case, the output unit 22 is realized by the speaker.
The worker can appropriately perform the work according to the work plan based on the work instruction output by the output unit 22.

The operation receiving unit 23 is a part that receives an operation from an operator. For example, when the worker takes out the product from the shelf and loads the product on the robot 30 based on the work instruction, the operator inputs an operation indicating that one work is completed to the operation reception unit 23. The operation reception unit 23 receives this and transmits to the pickup control device 10 that one work has been completed by the operator. As a result, for example, the work plan creation unit 12 of the pickup control device 10 can grasp the progress status of the work actually being performed.

The positioning unit 24 is a part that positions the current position of the worker terminal 20. In this embodiment, it is assumed that the worker carries and uses the worker terminal 20, so that the current position of the worker terminal 20 is the current position of the worker. Positioning of the current position is performed by, for example, GPS (Global Positioning System). However, if the warehouse is indoors, GPS positioning is difficult, so for example, BLE (Bluetooth (registered trademark) Low Energy), Wi-Fi (registered trademark), UWB (Ultra Wide Band), etc. are used. Positioning should be performed by compliant communication. In this case, for example, a plurality of BLE-compliant communication devices are distributed and arranged in the warehouse. Then, positioning can be performed by receiving the beacon or the like transmitted by this communication device by the positioning unit 24.

The positioning unit 24 transmits the current position of the positioned worker terminal 20 (that is, the current position of the worker) to the pickup control device 10. As a result, for example, the work plan creation unit 12 of the pickup control device 10 can grasp the current position of the worker corresponding to each of the n worker terminals 20.

<Functional block provided by robot 30>
As shown in FIG. 4, the robot 30 includes a communication unit 31, a drive control unit 32, a state detection unit 33, and a positioning unit 34.
The communication unit 31 is a portion in which the robot 30 communicates with the pickup control device 10 and the like via the network 40.

The drive control unit 32 controls the drive of the drive unit (described later with reference to FIG. 5) of the robot 30 based on the work instruction received from the instruction output unit 13 of the pickup control device 10. As a result, the robot 30 appropriately moves along the movement path according to the work plan. In this case, the moving speed of the robot 30 may be controlled. The movement speed may be controlled by the robot 30 autonomously based on the state detected by the state detection unit 33, which will be described later, or based on the work plan.

The state detection unit 33 is a part that detects information about the state of the robot 30. The state detection unit 33 is realized by a plurality of sensors and the like. When the state detection unit 33 detects an obstacle in the movement path of the robot 30, for example, the state detection unit 33 outputs to that effect to the drive control unit 32. The drive control unit 32 can avoid obstacles according to the detection result. Further, the state detection unit 33 detects, for example, an abnormality (for example, a failure or a low battery level remaining) in the robot 30 and transmits it to the pickup control device 10. As a result, for example, the work plan creation unit 12 of the pickup control device 10 can grasp that an abnormality has occurred in the robot 30.
Further, the work plan creation unit 12 may create a work plan according to the occurrence of an abnormality of the robot 30. For example, when the remaining battery level is low, as a work plan for the robot 30 having a low battery level, the moving distance of the robot 30 may be shortened, or charging may be performed at an appropriate place in the factory. It is also possible to include a process of making the remaining battery level sufficient at a station or the like (for example, a process of replacing the battery, a process of charging the battery, or the like).

Further, the state detection unit 33 detects, for example, when a product is loaded on the robot 30 by an operator, outputs the product to the drive control unit 32, or transmits the product to the collection control device 10. As a result, the drive control unit 32, which has stopped moving and waited for the loading of the product, restarts the movement as if the loading of the product is completed. Further, as a result, for example, the work plan creation unit 12 of the collection control device 10 can grasp the progress status of the work actually being performed.

The positioning unit 34 is a part for positioning the current position of the worker terminal 20. Since the function of the positioning unit 34 is the same as the function of the positioning unit 24 described above, a duplicate description will be omitted.

<Realization of functional blocks>
The functional blocks included in the pickup control device 10, the worker terminal 20, and the robot 30 have been described above.
In order to realize these functional blocks, each of the pickup control device 10, the worker terminal 20, and the robot 30 is provided with an arithmetic processing unit such as a CPU (Central Processing Unit). In addition, each of the pickup control device 10, the worker terminal 20, and the robot 30 has an auxiliary storage device such as an HDD (Hard Disk Drive) that stores various control programs such as application software and an OS (Operating System), and calculations. It also has a main storage device such as a RAM (Random Access Memory) for storing data temporarily required for the processing device to execute a program.

Then, in each of the pickup control device 10, the worker terminal 20, and the robot 30, the arithmetic processing unit reads the application software and the OS from the auxiliary storage device, and deploys the read application software and the OS to the main storage device. Performs arithmetic processing based on application software and OS. In addition, various hardware included in each device is controlled based on the calculation result. As a result, the functional block of the present embodiment is realized. That is, this embodiment can be realized by the cooperation of hardware and software.

As hardware, the pickup control device 10 can be realized by, for example, a server device, a personal computer, or the like. Further, the worker terminal 20 can be realized by, for example, a handy terminal, a smartphone, a tablet type terminal, or the like. The robot 30 can be realized by various robots, for example, but if the robot 30 is realized by a self-propelled robot, it is not necessary to lay a guide rail for traveling guidance in the warehouse.

<Structure of robot 30>
Next, the structure of the robot 30 will be described with reference to FIG. As shown in FIG. 5, the robot 30 includes a first storage unit 35, a second storage unit 36, and a drive unit 37 as structural parts.
The robot 30 has an arbitrary number of storage units (two of the first storage unit 35 and the second storage unit 36 in the present embodiment) for the operator to load the product, and the storage unit has a volume and a volume. The maximum load capacity is determined based on the weight and other factors. In addition, the maximum load weight of the entire robot 30 is also determined.

In addition, an order for a maximum of M pieces can be placed in one storage unit within the range of the maximum load capacity. However, when operating with the setting of M ≧ 2, it is necessary to sort the products collected by the robot 30 in the shipping work area according to the shipping instruction.
In this embodiment, M = 1 is set for the sake of brevity. That is, in the present embodiment, one robot 30 has two storage units, and only one order of products can be stored in one storage unit.

<Implementation example of this embodiment>
Next, with reference to FIG. 6, an example of the warehouse layout and the initial arrangement of the workers when the present embodiment is implemented in the warehouse, and the information grasped by the work plan creation unit 12 will be described. ..
In the example of FIG. 6, shelves 60 from the first shelf 60-1 to the twelfth shelf 60-12 are shown as shelves for storing products. Different products are stored on these shelves 60. For example, the first product is stored in the first shelf 60-1. In some cases, a plurality of types of products may be stored on one shelf 60. For example, two products, a first product and a second product, are stored on the fourth shelf 60-4.

The work plan creation unit 12 included in the pickup control device 10 grasps the arrangement of these shelves 60 (that is, the position information of each of the shelves 60) in order to create the work plan. In addition, the work plan creation unit 12 also grasps various information about the warehouse such as the position of the shipping work area AR described later, the range in which the worker can move, and the range in which the robot can move. This information is set for the work plan creation unit 12 at the start of use of the present embodiment.

In addition, the work plan creation unit 12 also knows which type of product is stored on which shelf 60 in order to create the work plan. Such information is notified from, for example, 20 to the work plan creation unit 12 when the shelf 60 is installed or when the product is stored on the shelf 60.
Further, in the example of FIG. 6, robots 30-1 and robots 30-2 are shown. The robot 30-1 and the robot 30-2 patrol each shelf 60 according to the work instruction by the drive control unit 32 performing the control according to the work instruction.

The work plan creation unit 12 keeps track of the number of robots, the number of storage units for each of the robots 30, the number of orders that may be stored in the storage unit described above, and the like in order to create a work plan. When the robot 30 is installed, for example, the robot 30 notifies the work plan creation unit 12 of this information.

Further, in the example of FIG. 6, the workers from the worker 50-1 to the worker 50-7 are illustrated as the workers. Each worker 50 carries a worker terminal 20. Then, each worker 50 performs the picking work according to the work instruction output from the output unit 22 of the worker terminal 20. Specifically, the product is moved to the shelf 60 designated by the work instruction, the product specified by the work instruction is taken out, and the taken out product is loaded into the storage unit of the robot 30 designated by the work instruction.
Refer to FIGS. 3 and 4 for the fact that the work plan creation unit 12 also grasps the current position information of each robot 30 and each worker 50, the progress status of the work, etc. in order to create the work plan. And as described above.

Further, in the example of FIG. 6, a shipping work area AR is provided. The robot 30 stores all the products specified in the work instruction in the storage unit, and when the collection is completed, the robot 30 moves to the shipping work area AR. In the shipping work area AR, the product stored in the storage unit of the robot 30 is taken out for each order by the shipping work person or the device for shipping work (not shown), and the shipping work preparation such as packing is performed.

The example of the warehouse layout and the initial arrangement of the workers, and the information grasped by the work plan creation unit 12 regarding this have been described above. The work plan creation unit 12 creates a work plan based on the grasped information and the collection request information.

<Creating a work plan>
Specifically, all the products specified in the collection request information are collected for each order, and a work plan is created so that the time required to complete the collection is the shortest.
For that purpose, as a basic idea, it is necessary to make a movement route so that each moving robot 30 can go around the shelf 60 for storing all the products to be collected with the shortest possible movement amount. However, there are actually other factors as well.

For example, when a plurality of robots 30 cannot pass each other in the same passage, it is necessary to prevent such a passing from occurring. Further, it is necessary to consider not only the time for each worker 50 to load the product on the robot 30 but also the time for taking out the product from the shelf 60. For example, even if the robot 30 moves to the shelf 60 before each worker 50 removes the product from the shelf 60, the robot 30 must wait until each worker 50 removes the product from the shelf 60.

Further, even if a plurality of robots 30 arrive at the same shelf 60 at the same time, the workers 50 are loaded in order, so that any robot 30 must stand by in front of the shelf 60. However, waiting is not always a problem, and there are cases where the total moving distance is shorter when waiting intentionally than when avoiding waiting and moving to a distant shelf 60.

Further, in the present embodiment, since the robot 30 has a plurality of storage units, it is possible to store a plurality of ordered products at one time. That is, the selection of the movement route that each robot 30 can take is more complicated than the case where each robot 30 has only one storage unit and stores a product of one order at a time.

The work plan creation unit 12 creates an optimized work plan based on these factors. For example, create a work plan that minimizes the time to complete pickup. Any algorithm can be used for this. As an example of the algorithm for creating this work plan, it is regarded as a scheduling problem which is a kind of combinatorial optimization problem, and it is solved by an approximate solution method such as a local search method or a tabu search method, or it is modeled as a mathematical planning problem. There is a method of solving with a general-purpose mathematical programming solver.
In this embodiment, a plurality of work plans are created. Then, for each of the created plurality of work plans, the time required to complete the collection when each worker 50 and each robot 30 collect the cargo according to the work instruction based on the work plan is calculated.

For this calculation, the movement speed of the robot 30 and the like are set in advance in the work plan creation unit 12. The robot 30 can calculate the time required to move the robot 30 from the shelf 60 on which the robot 30 is located to another shelf 60 based on the moving speed or the like. The moving speed of the robot 30 may be variable. In this case, for example, based on various information about the warehouse, such as the range in which the worker 50 can move or the range in which only the robot 30 can move, the worker can move in the range where only the robot 30 can move. The moving speed may be controlled together with the moving path of the robot 30 so that the robot 30 can move faster than the movable range and the time required to complete the collection is the shortest. In addition, the work plan creation unit 12 also sets the time required for the worker 50 to load the product.

The work plan creation unit 12 calculates the time required to complete the collection when each worker 50 and each robot 30 collect the cargo according to the work instruction based on the set required time information of each work. ..
Then, the work plan creation unit 12 selects the work plan that takes the shortest time to complete the calculated collection as the work plan for actually creating the action instruction. Then, the work plan creation unit 12 outputs the selected work plan to the instruction output unit 13.

As a result, the instruction output unit 13 can issue a work instruction so as to minimize the time required to complete the collection. Then, each worker 50 and each robot 30 perform the work based on the work instruction, so that the cargo can be collected in a short time. Thereby, for example, the working time of each worker 50 and the working time of each robot 30 can be shortened. Alternatively, the work can be completed with a smaller number of workers 50 or a smaller number of robots 30.
That is, according to the present embodiment, since the human and the robot cooperate to collect the cargo, it is possible to give an appropriate work instruction to the human and the robot.

As described above, when the work is actually performed, the work plan creation unit 12 receives a notification from each worker terminal 20 and each robot 30 that the work is actually completed. Therefore, the work plan creation unit 12 can know the time required for each work when the work is actually performed.

Therefore, the work plan creation unit 12 may correct the preset required time information described above based on the required time of each work when the work is actually performed. By repeating such correction, the accuracy of the calculation of the work plan creation unit 12 can be improved, and the time required to complete the collection can be calculated with a value closer to reality.

<Operation of the embodiment>
Next, the operation of this embodiment will be described with reference to FIG. 7.
In step S11, the work plan creation unit 12 determines whether or not the collection request information has been received. If the pickup request information is not received, it is determined as No in step S11, and the determination is repeated at a predetermined cycle. On the other hand, when the pickup request information is received, it is determined as Yes in step S11, and the process proceeds to step S12.

In step S12, in order to create a work plan, the work plan creation unit 12 from each worker terminal 20 and each robot 30 to the current worker terminal 20 (corresponding worker 50) and each robot 30. Acquire the current position as the placement position at the start of work.

In step S13, the work plan creation unit 12 creates a plurality of work plans. The details of the creation method are as described above. In addition, the work plan creation unit 12 calculates the time required to complete the collection for each of the created plurality of work plans, and creates the work plan with the shortest calculated time to actually create the action instruction. It is output to the instruction output unit 13 as a work plan.

In step S14, the instruction output unit 13 creates a work instruction based on the work plan input from the work plan creation unit 12, and causes each worker terminal 20 (corresponding worker 50) and each robot 30. Send the created work instruction to it. Each worker 50 and each robot 30 perform work according to this work instruction.

In step S15, the work plan creation unit 12 determines whether or not the collection work has been collected. As described above, the work plan creation unit 12 receives a notification from each worker terminal 20 and each robot 30 that the work is actually performed when the work is actually performed. The work plan creation unit 12 can determine whether or not the collection work has been collected based on this notification.
If the collection work is not completed, it is determined as No in step S15, and the determination is repeated at a predetermined cycle. On the other hand, when the collection work is completed, it is determined as Yes in step S15, and the process proceeds to step S16.

In step S16, the work plan creation unit 12 determines whether or not to change the arrangement position at the start of the next work. For example, in the work plan created in step S13 this time, when the work amount of a certain worker 50 is larger than that of another worker 50, the arrangement position at the start of the next work is changed. For example, in the case of the arrangement position as shown in FIG. 6, if a lot of loading work occurs on the first shelf 60-1 and the second shelf 60-2, the work amount of the worker 50-1 becomes another work. More than 50 people. In such a case, the work plan creation unit 12 determines that the arrangement position at the start of the next work is changed, becomes Yes in step S16, and the process proceeds to step S17.

On the other hand, if it is determined that the arrangement position at the start of the next work is not changed, the result is No in step S16, and this process ends.

In step S17, the work plan creation unit 12 changes the arrangement position at the start of work. For example, the arrangement position is changed so that the worker 50-1 is placed in front of the first shelf 60-1 and the worker 50-2 is placed in front of the second shelf 60-2. The changed arrangement position is transmitted to each worker terminal 20 (corresponding worker 50) by the instruction output unit 13. Each worker terminal 20 outputs this arrangement position from the output unit 22. Each worker 50 who refers to this moves to the arrangement position transmitted to the worker terminal 20.

Then, the work plan creation unit 12 creates a work plan based on the changed arrangement position at the time of the next work plan creation. As a result, the loading work on the first shelf 60-1 and the second shelf 60-2 is shared between the worker 50-1 and the worker 50-2. Therefore, it is possible to improve the problem that the amount of work of the worker 50-1 is larger than that of the other workers 50.

In addition, in the same idea as the above-mentioned change of the arrangement position, when there are many workers 50 in which work has not occurred, each worker 50 may be given a break time in order. ..
When step S17 ends, this process ends.
According to the operation described above, in the present embodiment, it is possible to give an appropriate work instruction to the human and the robot so that the human and the robot can collect the cargo in cooperation with each other.

<Examples 1 and 2>
Next, the creation of a work plan based on the collection request information according to the present embodiment and the reduction of the work time will be described with reference to FIGS. 8 to 16. Here, as specific examples, two specific examples, a first example and a second example, will be described as examples.

The first example is an example in which a work plan is created without considering shortening the time required to complete the collection. That is, it is an unfavorable example when the processing of the present embodiment is not performed.
On the other hand, the second example is an example in which the processing of the present embodiment as described above is performed and a work plan is created in consideration of shortening the time required to complete the collection. That is, it is a preferable example in which the processing of the present embodiment is performed.

First, with reference to FIG. 8, the collection request information in the present embodiment will be described.
The pickup request information received by the pickup control device 10 includes an order number for identifying an order, a designation of the type of goods to be picked up for each order, and a designation of the quantity of each product. In this example, the first order includes the designation of one first product and one second product. Further, the second order to the fourth order also include the designation that the first product is one and the second product is one.
The collection request information in FIG. 8 is common to the first example and the second example described below.

Next, the first example will be described. First, the work instruction for the robot 30 in the first example will be described with reference to FIG. Next, work instructions for each worker terminal 20 (corresponding worker 50) will be described with reference to FIG. These work instructions are created based on the pickup request information described with reference to FIG.

As shown in FIG. 9, work instructions are created for each robot 30. The work contents are moving to the designated shelf 60 and receiving the designated product.
For example, the first robot 30-1 is instructed to "move to the first shelf 60-1" as the first operation. On the other hand, the second robot 30-2 is similarly instructed to "move to the first shelf 60-1" as the first operation.

Then, when the first robot 30-1 receives the first product for the first order and the first product for the second order from the first worker 50-1 as the second and third operations. Instructed. On the other hand, the second robot 30-2 receives the first product for the third order from the first worker 50-1 as the second and third work, and receives the first product for the fourth order. Will be instructed to receive.
That is, the first robot 30-1 and the second robot 30-2 are instructed to perform the same work on the same shelf 60.

As shown in FIG. 10, work instructions are created for each worker 50. The product is taken out from the designated shelf 60 and the designated product is loaded into the designated storage unit on the designated robot 30.

For example, the first worker 50-1 is instructed to "take out the first product on the first shelf 60-1" as the first work. On the other hand, the third worker 50-3 is instructed to "take out the second product on the fourth shelf 60-4" as the first work.

Then, the first worker 50-1 is instructed as the second work, "loading the first product into the storage unit of the first order of the first robot 30-1". On the other hand, the third worker 50-3 is instructed as the second work, "loading the second product into the storage unit of the first order of the first robot 30-1". Although the description is omitted for convenience of illustration, it is also a work instruction whether the storage unit of each order (for example, the storage unit of the first order) is the first storage unit 35 or the second storage unit 36. Indicated by.

Next, the work process in the first example will be described with reference to FIG. This work process shows the process in which each worker 50 and each robot 30 perform work in chronological order based on the work instructions shown in FIGS. 9 and 10.
First, at time t1, the first robot 30-1 moves to the first shelf 60. In this case, the second robot 30-2 also tries to move to the first shelf 60. However, since the first robot 30-1 moves to the first shelf 60, the second robot 30-2 stands by in order to avoid a collision with the first robot 30-1.
On the other hand, the first worker 50-1 takes out the first product on the first shelf 60-1. Further, the third worker 50-3 takes out the second product on the fourth shelf 60-4.

Next, at time t2, the first worker 50-1 can pack the first product taken out at t1 into the first robot 30-1. However, since the first robot 30-1 does not move to the fourth shelf 60-4 until the time t5, the third worker 50-3 waits until the time t5.

As described above, in this first example, since the work plan creation unit 12 omits the process of creating the work plan that shortens the time required to complete the collection, the second robot 30-2 and the third work are particularly required. Waiting will occur at person 50-3. Therefore, it takes a long time to complete the collection.

FIG. 12 shows a moving image of the robot 30 when the work process is performed based on the first example. In FIG. 12, arrows indicate a first robot movement path and a second robot movement path. By referring to these routes, it can be seen that all the robots 30 are moving on a route that shortens the moving distance. However, as described with reference to FIG. 11, in the first example, since a large waiting time is generated, the time required to complete the collection becomes long.
From this, it can be seen that the work time cannot be shortened even if the work plan is simply created so that the movement path of the robot 30 is shortened.

Next, a second example will be described. In the second example, as described above, the work plan creation unit 12 creates a plurality of work plans, and in addition to the length of the movement path of the robot 30, the movement destination of each robot 30 and the state of the worker 50 In consideration of the above, the process of selecting a work plan that shortens the time required to complete the collection is performed. Therefore, the working time can be shortened as compared with the first example described above.

Next, a second example will be described. Here, the notation method of the work instruction in the second example shown in FIGS. 13 and 14 is the same as the expression method of the work instruction in the first example shown in FIGS. 9 and 10, so this point will be described. Is omitted.

In the second example, in order to prevent a large number of standbys from occurring as in the first example, a work instruction is given so that the first robot 30-1 and the second robot 30-2 do not move to the same shelf 60 at the same time. It has become. Therefore, even the worker 50 who has taken out the product from the shelf 60 can suppress the occurrence of waiting.

This point will be described with reference to the work process in the second example shown in FIG. This work process shows the process in which each worker 50 and each robot 30 perform work in chronological order based on the work instructions shown in FIGS. 13 and 14.

First, at time t1, each robot 30 and each worker 50 perform work without waiting. At the next time t2, each robot 30 and each worker 50 other than the first worker 50-1 can also perform the work without waiting. This is because the work instruction is such that the first robot 30-1 and the second robot 30-2 do not move to the same shelf 60 at the same time.

After that, the robot 30 sometimes waits for the worker 50 to take out the product, but as a whole, the number of waits is suppressed as compared with the first example.
Therefore, in the first example, it took time from time t1 to time t15 to complete the collection, but in the second example, the time required to complete the collection was shortened from time t1 to time t11. There is. In the first and second examples, a relatively simple collection request information is taken as an example for explanation, but when the collection request information becomes complicated, there are cases where the present embodiment is used and cases where the present embodiment is not used. It is possible that the time saved by will be greater.

Next, referring to FIG. 16, it can be seen that in the second example, the work instruction is such that the first robot 30-1 and the second robot 30-2 do not move to the same shelf 60 at the same time.

As described above, according to the present embodiment, in the embodiment, it is possible to minimize the time required to complete the collection in consideration of not only the work time of the robot but also the work time of the human being.
That is, according to the present embodiment, it is possible to give appropriate work instructions to the human and the robot in order for the human and the robot to cooperate in collecting the cargo.

Further, although the above-described embodiment is a preferred embodiment of the present invention, the scope of the present invention is not limited to the above-described embodiment, and various modifications have been made without departing from the gist of the present invention. It can be implemented in the form.

For example, in the above description, the work plan creation unit 12 creates the work plan so that the time required to complete the collection is the shortest, but the work plan may be created based on other criteria. .. For example, the work plan may be created so that the moving distance of the worker 50 is the shortest. In this way, the burden on the worker 50 can be reduced.

Each of the devices and terminals included in the above-mentioned collection system can be realized by hardware, software, or a combination thereof. In addition, the collection method performed by each of the devices and terminals included in the above-mentioned collection system can also be realized by hardware, software, or a combination thereof. Here, what is realized by software means that it is realized by a computer reading and executing a program.

Programs can be stored and supplied to a computer using various types of non-transitory computer readable medium. Non-transient computer-readable media include various types of tangible storage media. Examples of non-temporary computer-readable media include magnetic recording media (eg, flexible disks, magnetic tapes, hard disk drives), magneto-optical recording media (eg, magneto-optical disks), CD-ROMs (Read Only Memory), CD- R, CD-R / W, semiconductor memory (for example, mask ROM, PROM (Programmable ROM), EPROM (Erasable PROM), flash ROM, RAM (random access memory)) are included. The program may also be supplied to the computer by various types of transitory computer readable medium. Examples of temporary computer-readable media include electrical, optical, and electromagnetic waves. The temporary computer-readable medium can supply the program to the computer via a wired communication path such as an electric wire and an optical fiber, or a wireless communication path.

1 Pickup system 10 Pickup control device 11 Communication unit 12 Work plan creation unit 13 Instruction output unit 20 Worker terminal 21 Communication unit 22 Output unit 23 Operation reception unit 30 Robot 31 Communication unit 32 Drive control unit 33 Status detection unit 34 Positioning unit 35 1st storage unit 36 2nd storage unit 37 Drive unit 50 Worker 60 Shelf AR Shipping work area

Claims (6)

A collection control device that controls the collection of multiple types of articles stored in multiple storage locations.
Collection request information including the types of articles to be collected, information on the storage location of each of the articles, and a transport device including the number of transport devices for transporting the articles by moving between the storage locations and the movable range. In order to perform collection according to the collection request information based on the information regarding the loading worker including the number of loading workers and the movable range for loading the article into the transportation device at the storage location. Work plan creation means to create a work plan for
It is a work instruction based on the work plan created by the work plan creating means, and includes the movement route of the transport device and the loading worker, the type of the article to be loaded by the loading worker, and the loading destination of the article. An instruction output means for outputting a work instruction including at least the designation of the transport device to the transport device and the loading operator.
A pickup control device equipped with. The work plan creation means is
A plurality of work plans are created, and for each of the created multiple work plans, the time required to complete the collection when the transport device and the loading worker collect the goods according to the work instructions based on the work plans. Calculate and
The instruction output means
A work instruction based on the work plan that takes the shortest time to complete the calculated collection is output to the transport device and the loading worker.
The pickup control device according to claim 1. The instruction output means according to claim 1 or 2, which outputs the work instruction to the transport device and the loading worker in different modes suitable for the transport device and the loading worker, respectively. The pickup control device described. The transport device includes a plurality of storage units.
The pickup control device according to any one of claims 1 to 3 , wherein the work instruction further specifies which storage unit of the loading destination transport device the article is to be loaded into. In the work plan creating means, as a result of arranging loading workers based on the work instructions and collecting the cargo by the transporting device and the loading workers, a large amount of work between the loading workers occurred. In this case, the arrangement position of the loading worker is changed so that the difference in the amount of work between the loading workers becomes small.
The pickup control device according to any one of claims 1 to 4 , wherein the instruction output means outputs the changed arrangement position to the loading operator. A collection control program that allows a computer to function as a collection control device that controls the collection of multiple types of articles stored in multiple storage locations.
Collection request information including the types of articles to be collected, information on the storage location of each of the articles, and a transport device including the number of transport devices for transporting the articles by moving between the storage locations and the movable range. In order to perform collection according to the collection request information based on the information regarding the loading worker including the number of loading workers and the movable range for loading the article into the transportation device at the storage location. Work plan creation means to create a work plan for
It is a work instruction based on the work plan created by the work plan creating means, and includes the movement route of the transport device and the loading worker, the type of the article to be loaded by the loading worker, and the loading destination of the article. An instruction output means for outputting a work instruction including at least the designation of the transport device to the transport device and the loading operator.
A pickup control program that causes the computer to function as a pickup control device.

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