JP7084257B2 - Picking support system and support method - Google Patents

Description

The present invention relates to a picking support system and a support method.

In the warehouse or factory, picking work is performed by workers. In the picking operation, the worker collects the items specified by the order from the items stored in the warehouse and sorts them to the shipping destination. Conventionally, a worker walks around in a warehouse where a large number of shelves for storing goods are arranged, and takes out a predetermined item corresponding to an order from the shelf and collects it.

On the other hand, in the picking system that has become widespread in recent years, the shelves are automatically transported to the operator by an automatic guided vehicle, and the worker takes out the articles from the shelves. Patent Document 1 discloses a technique for picking a target article or a shelf in which a target article is stored by transporting the target article or a shelf in which the target article is stored by an automatic guided vehicle to a place where a worker is present.

In Patent Document 2, in a distribution warehouse, receipt of a request to retrieve an inventory item, selection of an arbitrary inventory station that meets the request, selection of an inventory holder, and movement of the selected inventory holder to the selected inventory station. A picking technique having a step of selecting a mobile drive unit for causing the picking is disclosed.

U.S. Pat. No. 8,805,573 Japanese Patent No. 5377961

In Patent Document 1, each part of a series of picking operations such as selection of shelves, selection of delivery vehicle, and selection of delivery destination is only individually selected, and the optimum selection cannot be made from the whole. That is, the technique of Patent Document 1 merely accumulates individual optimum selections from a short-sighted perspective, and does not realize the optimum selection in the entire warehouse.

Similarly, Patent Document 2 only discloses a technique of selecting a picking station and then selecting a transport vehicle, and is a technique of accumulating the optimum selection each time, and the entire picking work is performed. It does not realize the optimum choice in anticipation of.

The present invention has been made in view of the above problems, and an object of the present invention is to provide a picking support system and a support method capable of improving work efficiency.

In order to solve the above problems, in the picking support system according to the present invention, a combination detection unit that detects a combination pattern including a plurality of different functional elements related to picking work, and each detected combination pattern are based on a predetermined evaluation standard. It is equipped with an evaluation unit for evaluation.

According to the present invention, it is possible to detect and evaluate a combination pattern including a plurality of different functional elements related to a picking operation. As a result, the combination pattern can be selected based on the evaluation result, so that the overall optimum picking work can be realized.

An overall schematic diagram of the picking support system according to this embodiment. An explanatory diagram showing the state of the warehouse to which the picking support system is applied. Functional configuration diagram of the picking support system. Flow chart of picking support method. A state management table that manages the state of the warehouse. A table showing the combination of shelves and transport vehicles. A table that manages the time it takes for a shelf to move. A table that manages the time required for a carrier to arrive at a shelf. A table that manages the time it takes for a shelf to arrive at a work station. A table that manages the combination of storage shelves and transport vehicles and evaluation indexes. An explanatory diagram showing how the overall optimum picking work is performed. An explanatory diagram showing a state of a warehouse to which a picking support system is applied according to the second embodiment. Functional configuration diagram of the picking support system. A table that manages the combination of storage shelves, sorting shelves, and transport vehicles, and evaluation indexes. A table that manages the time until the storage shelves and sorting shelves can be moved. A table that manages the time required for a carrier to arrive at a storage shelf or sorting shelf. A table that manages the time it takes for a storage or sorting shelf to arrive at a work station. A table that manages the combination of storage shelves, sorting shelves, transport vehicles that transport storage shelves, transport vehicles that transport sorting shelves, and evaluation indexes. A screen that presents to the user a combination of storage shelves, sorting shelves, transport vehicles that transport storage shelves, and transport vehicles that transport sorting shelves, and their evaluation indexes. An explanatory diagram showing a state of a warehouse to which a picking support system is applied according to the third embodiment. An explanatory diagram showing a state of a warehouse to which a picking support system is applied according to a fourth embodiment. A table that manages storage shelves, automatic guided vehicles that transport storage shelves, pallets, combinations of unmanned forklifts that transport pallets, and their evaluation indexes.

Hereinafter, embodiments of the present invention will be described with reference to the drawings. The picking support system according to this embodiment has made it possible to realize the optimum picking work from the possibilities of the whole work. That is, in the present embodiment, when the functional elements can be arbitrarily selected from a plurality of functional elements related to the picking work, the overall optimum combination can be selected. That is, in the present embodiment, individual optimum selection is made for each layer for each function of the picking work (for example, a layer of a transport target, a layer of a transport vehicle that transports the transport target, and a layer of a transport destination of the transport target). Instead of doing this, choose the best one when considering all layers.

As shown in FIG. 1, the picking support system 1 is applied to, for example, a facility such as a distribution warehouse 1 for storing and sorting articles.

The warehouse 100 is provided with a plurality of functional elements FA, FB, and FC related to picking work. Here, the functional element is an element that realizes a function included in a series of picking operations. The first functional element FA is a transport device such as an automated guided vehicle or an unmanned forklift. The second functional element FB is a transport object such as a storage shelf, a sorting shelf, and a pallet. The third functional element FC is, for example, a work place, a picking robot, or the like, which is the destination of the object to be transported.

The picking support system 1 includes a control device 200 for controlling a control target (a transport object, a transport device, an installation object of a transport destination (destination), etc.) of the warehouse 100. All or part of the above-mentioned functional elements are subject to control by the control device 200.

The control device 200 includes, for example, an information management unit 201, a combination detection unit 202, an evaluation unit 203, a selection unit 204, and an output unit 205.

The information management unit 201 is a function for managing predetermined information regarding picking work. The predetermined information includes, for example, control target information regarding a control target (functional element) in the warehouse 100 and order information.

The order information is information that specifies the type and quantity of goods to be taken out from the warehouse 100 and to be delivered. The information management unit 201 can acquire order information from an order processing server, an inventory management system, or the like (not shown).

The control target information includes, for example, information for managing a transport target, information for managing a transport device, and information for managing a transport destination. The information for managing the object to be transported is information for managing the position, speed, and the like of the shelf or the like which is the object to be transported, and the storage shelf management table 21 described later in FIG. 5 is an example thereof. The information for managing the transport device is information for managing the position, speed, and the like of the automatic guided vehicle that is the transport device, and the transport vehicle management table 22 described later is an example thereof. The information for managing the transport destination is information for managing the position and state of the transport destination (work place) which is the destination of the transport target or the picking robot installed at the transport destination, and is the work station management table described later. 23 is an example. Further, the control target information may include information for managing a storage destination (sorting shelf) for accommodating the target article taken out from the transport target.

The combination detection unit 202 is a function that comprehensively detects a combination pattern including one functional element of each layer based on the order information. The combination detection unit 202 may cover the combination pattern for each functional element existing in the entire area of the warehouse 100, or may cover the combination pattern for each functional element existing in the partial area 101A of the warehouse 100. May be good.

The evaluation unit 203 is a function of evaluating all of the combination patterns detected by the combination detection unit 202 according to a predetermined evaluation standard. The evaluation unit 203 evaluates each combination pattern using the time required for the picking operation as an evaluation standard. In the examples described later, the evaluation result is referred to as an evaluation index (or utility value).

The selection unit 204 is a function of selecting one combination pattern from all the combination patterns based on the evaluation result (evaluation index) of the evaluation unit 203. The selection unit 204 can automatically select the combination pattern with the best evaluation result. The selection unit 204 may present a list of all combination patterns including the evaluation result to the user or another device, and select any one combination pattern according to an instruction from the user or another device.

The output unit 205 is a function of outputting the selected combination pattern to the user interface unit 206 such as a display. Further, the output unit 205 outputs a control signal to each functional element constituting the selected combination pattern. Upon receiving the control signal, the transport device FA moves toward the designated transport target FB and transports the transport target FB to the designated work place FC. When display devices and the like are provided in the work place or the shelf, those display devices can also display a message or an image based on the control signal received from the output unit 205.

The outline of the combination pattern detection method and evaluation will be described. In the example shown in FIG. 1, there are two elements each in the layer of the transport device, the layer of the transport object, and the layer of the work place. Therefore, the number of combination patterns is 8 (8 = 2 ^ 3). On the lower side of FIG. 1, eight combination patterns are shown as pattern numbers # 1 to # 8.

The evaluation unit 203 calculates the time related to the picking work of each combination pattern # 1 to # 8 as an evaluation index. The selection unit 204 selects one combination pattern from the combination patterns # 1 to # 8 based on the evaluation index. In the example of FIG. 1, it is shown that the first combination pattern # 1 is selected.

Here, the time related to the picking work as an evaluation index may be obtained as the time required for transportation until the predetermined object FB is transported to the predetermined work place FC, and further, the target article may be obtained from the object FB to be transported. It may be obtained as the time until the picking work is completed by taking out. In addition, an index other than time may be adopted as an evaluation index. For example, energy consumption, ease of taking out the target article, or the like may be used as an evaluation index.

The output unit 205 transmits a control signal according to the selected combination pattern # 1 (FA1 → FB1 → FC1) to the transfer device FA1. The output unit 205 can also output a control signal to the conveyed object FB1 and the work place FC1 if necessary. The control signal may be a voltage signal, a current signal, or the like, or may be data stored in a communication packet.

The output unit 205 can also display the configuration contents and the evaluation index of all the combination patterns on the user interface unit 206. Alternatively, the output unit 205 may transmit the configuration contents and evaluation indexes of all the combination patterns to other devices (not shown). Instead of automatically selecting any one combination pattern from all the combination patterns by the selection unit 204, the combination pattern may be selected according to an instruction from the user or another device.

The control device 200 described above may be configured by using, for example, a computer including an arithmetic unit, a memory, an auxiliary storage device, an input / output circuit, a communication circuit, and a user interface device (all not shown). can. Functions 201 to 206 as the picking support system 1 are realized by executing a predetermined computer program called by the arithmetic unit in the memory. The control device 200 may be composed of a single computer or may be composed of a plurality of computers. Further, the control device 200 can be provided in a server on the communication network to realize the control device 200 as a so-called cloud computing system. In this case, the control device 200 can support the picking operation of one or more warehouses 100 at a place away from the warehouse 100.

According to the present embodiment configured as described above, the combination patterns of all the functional elements related to the picking work of the warehouse 100 are detected, and each detected combination pattern is evaluated according to a predetermined evaluation standard. Therefore, the user can evaluate the combination pattern of the picking work based on the overall configuration of the picking work of the warehouse 100.

According to the present embodiment, since any one combination pattern is selected based on the evaluation result of each combination pattern, the most appropriate picking work can be selected in the overall configuration of the warehouse 100 regarding the picking work. ..

The first embodiment will be described with reference to FIGS. 2 to 11. FIG. 2 shows an outline of the picking work performed in the warehouse 100. The warehouse 100 is set with a storage area 101 for storing goods and a work area 102 for performing picking work (hereinafter, also referred to as sorting work).

A plurality of storage shelves DS are arranged in the storage area 101. The storage shelf DS is an example of "object to be transported". Each storage shelf DS stores one or more types of articles (target articles). A plurality of transport vehicle ACs are arranged in the storage area 101. The transport vehicle AC, which is an example of the “transport device”, is controlled by the operation management device 230, which will be described later.

In this embodiment, each storage shelf DS and each transport vehicle AC are separated, and the combination of both is given a degree of freedom. As a result, it is possible to flexibly formulate a transport plan for the shelves, and further improve the workability of maintenance work such as inspection and replacement of the transport vehicle AC. Despite these advantages, at least a portion of the carrier AC may be associated with a particular shelf. For example, the transport vehicle AC may be fixedly attached to the lower part of the shelf, or a control for always allocating a specific transport vehicle AC to a specific shelf may be executed.

The transport vehicle AC moves from the operation management device 230 to the designated storage shelf DS. When the transport vehicle AC sneaks directly under the storage shelf DS, the storage shelf DS is lifted directly above by a jack mechanism (not shown) provided on the upper surface of the transport vehicle AC. The transport vehicle AC moves to the designated work station among the work stations WST1 and WST2 in the work area 102 while keeping the storage shelf DS lifted. For the sake of explanation, when the work stations WST1 and WST2 are not distinguished, they are referred to as the work station WST. The work station WST is an example of a "work place," "destination," and "destination."

When the transport vehicle AC arrives at the designated work station WST from the operation management device 230, the transport vehicle AC lowers the storage shelf DS to the floor. Sorting shelves for articles stored in the storage shelf DS SSFi (i is an integer satisfying 1 ≦ i ≦ n. n is an integer of 2 or more and indicates the total number of work station WSTs. In this example, n = 2. When the work of transferring to (sorting work, picking work) is completed, the transport vehicle AC lifts the storage shelf DS again and moves. The carrier AC either returns the storage shelf DS to its original position or moves the storage shelf DS to another work station WST.

In the work area 102, a plurality of work stations WSTi (i is an integer satisfying 1 ≦ i ≦ n. n is an integer of 2 or more and indicates the total number of work stations WST. In this example, n = 2. .) There is.

The work station WST is a gate Gij (j is an integer satisfying 1 ≦ j ≦ m. M is an integer of 2 or more and indicates the total number of gates per work station WST. In this example, m = 2. ), A sorting shelf SSFi, and a terminal PCi. Hereinafter, it may be abbreviated as sorting shelf SSF, terminal PC, and gate G.

The gate G is the entrance of the work station WST and is the arrival point (destination) of the storage shelf DS. One gate G corresponds to one storage shelf DS. In this embodiment, each work station WST can accept a plurality of storage rack DSs. As a result, the replacement time of the storage shelf DS can be shortened as compared with the case where only one storage shelf DS can be accepted, so that the efficiency of the picking work can be improved.

The terminal PC is a computer that displays information from the order management device 220 and is operated by the worker Wi (hereinafter, may be abbreviated as the worker W). The terminal PC may be a physical computer terminal installed in the work station WST, or may be a virtual terminal projected by the headset worn by the worker W.

In this embodiment, the case where the worker W manually takes out the target article Gd from the storage shelf DS in the work station WST is taken as an example, but instead of this, a picking robot or the like is used to remove the target article Gd from the storage shelf DS. The target article Gd may be automatically taken out.

FIG. 3 shows a control configuration of the picking support system 1. The picking support system 1 has, for example, at least one control device 200, a plurality of transport vehicle ACs, a plurality of terminal PCs, a plurality of gates G, and a plurality of storage shelves DS.

The control device 200 includes, for example, a warehouse management system 210, an order management device 220, and an operation management device 230. Hereinafter, the warehouse management system 210 is referred to as a WMS (Warehouse Management System). The devices 210, 220, and 230 may be configured as separate devices and connected to each other via a network so that bidirectional communication is possible. Alternatively, the functions of the devices 210 to 230 may be provided in one physical computer. Alternatively, the order management device 220 and the operation management device 230 may be provided in parallel, and the WMS 210 may coordinate and control the order management device 220 and the operation management device 230.

The WMS 210 is communicably connected to the order management device 220. The order management device 220 is communicably connected to the operation management device 230. The order management device 220, the operation management device 230, each transport vehicle AC, each terminal PCi, and each gate Gij are communicably connected via the communication network CN. Each carrier AC is connected to the communication network CN via a wireless communication device (not shown). As a result, each transport vehicle AC is connected to the operation management device 230 via the communication network CN so as to be bidirectionally communicable. At least a part of each gate Gij or at least a part of each terminal PCi may be wirelessly connected to the communication network CN.

The WMS 210 controls the order management device 220. For example, the WMS 210 transmits, for example, order information and storage shelf data to the order management device 220. The order information is information including the article name, the quantity, and the delivery destination of the article. The storage shelf data is data related to the storage shelf DS in which goods are stored. The order management device 220 controls the operation management device 230. For example, when the order management device 220 receives the notification of the end of the sorting work from the work station WST, the order management device 220 instructs the operation management device 230 to return the storage shelf DS to the original position.

FIG. 4 is a flowchart of the picking support method. In the picking support process of this embodiment, the combination pattern of the storage shelf DS and the transport vehicle AC on which the next target article is mounted is determined before the picking work currently being executed is completed (S21, S22) (S21, S22). S23, S24, S25), the storage shelf DS on which the following target articles are loaded is transported to the work station WST (S26). As a result, the storage shelf DS can be delivered to the work station WST without interruption, and the target article matching the order information can be quickly taken out.

In the figure, the "combination pattern" may be abbreviated as "combination". Further, in the following description, the "combination pattern" may be abbreviated as "combination".

As shown in FIG. 4, in the terminal PC of the work station WST, the work completion estimated time (remaining time of work) estimated to be required to complete the current sorting work from the storage shelf DS to the sorting shelf SSF is a predetermined threshold value. It is monitoring whether it is below The ThE (S21). When the work completion estimated time becomes equal to or less than the threshold value The (S21: YES), the terminal PC notifies the order management device 220 (S22).

The work completion estimated time can be appropriately determined based on, for example, the number of articles related to the sorting work from the storage shelf DS to the sorting shelf SSF, the number of types of articles, the number of sorting destinations, and the like. Instead of notifying the order management device 220 when the work is completed, the order management device 220 may be notified before the sorting work is completed. This makes it possible to further improve the efficiency of picking work.

The order management device 220 is a storage shelf DS and a transport vehicle for transporting to the work station WST based on unprocessed order information, storage shelf information (storage shelf management table 21), and transport vehicle information (transport vehicle management table 22). A combination pattern with AC is comprehensively generated (S23). Further, the combination pattern may be comprehensively detected in consideration of the sorting shelf SSF. In this case, the pattern of the combination of the storage shelf DS, the transport vehicle AC, and the sorting shelf SSF is detected.

Here, in this embodiment, after one storage shelf DS on which the target article specified in the order information is mounted is determined according to some judgment criteria, the transport vehicle AC to which the storage shelf DS should be conveyed is determined by some other. It should be noted that all possible combination patterns are detected (generated) first, rather than being determined according to the criteria. After first detecting all the combination patterns, one combination pattern is selected from those combination patterns.

The order management device 220 calculates an evaluation index for each combination pattern (S24), and selects one combination pattern based on the evaluation index (S25).

The order management device 220 instructs the operation management device 230 to control the transport vehicle AC based on the combination pattern selected in step S25 (S26).

FIG. 5 is an example of the information management table 20 managed by the information management unit 201. The information management table 20 is an example of the above-mentioned controlled object information. The information management table 20 includes, for example, a storage shelf management table 21, a transport vehicle management table 22, a work station management table 23, and a sorting shelf management table 24.

The storage shelf management table 21 manages the position, speed, and the like of the storage shelf DS. The transport vehicle management table 22 manages the position, speed, and the like of the transport vehicle AC. The work station management table 23 manages the position and the like of the work station to which the storage shelf DS is transported. The sorting shelf management table 24 manages the position and the like of the target article Gd taken out from the storage shelf DS by the worker W or the picking robot in the sorting shelf SSF.

FIG. 6 shows an example of a table 30 showing a combination of the storage shelf DS and the transport vehicle AC. The table 30 shows the result of generating the combination pattern of the storage shelf DS and the transport vehicle AC to be transported to the work station WST.

The table 30 includes, for example, a combination number 301, a storage shelf identification information 302, and a transport vehicle identification information 303 for transporting the storage shelf. In the figure, "identification information" is omitted, and "storage shelf 302" and "transport vehicle 303 for transporting the storage shelf" are displayed. The same applies hereinafter. In the following, the identification information may be abbreviated as "ID". In the figure, "ID" is abbreviated.

The combination number 301 is information for identifying the combination pattern. The storage shelf ID 302 is information for specifying the storage shelf DS related to the combination. The transport vehicle ID 303 for transporting the storage shelves is information for specifying the transport vehicle AC for transporting the storage rack DS according to the combination.

Return to FIG. In this embodiment, the order management device 220 calculates an evaluation index for each combination pattern of the generated storage shelf DS and the transport vehicle AC (S24).

An example of the information used for calculating the evaluation index will be described with reference to FIGS. 7 to 9. Table 31 in FIG. 7 shows the estimated time until the storage shelf DS can be moved to the work station WST. The table 31 includes, for example, a storage shelf ID 311 and an estimated time 312 before it can be moved. The storage shelf ID 311 is information for specifying the target storage shelf DS. The estimated time 312 indicates the time until the storage shelf DS specified by the storage shelf ID 311 can be moved to the work station WST.

In the example of FIG. 1, the contents of the table 31 in the case of transporting the storage shelf DS to the work station WST2 will be described.

Since the storage shelf DS1 shown in FIG. 1 already exists in the work station WST2, the estimated movement time is “0 seconds”. It is assumed that the storage shelf DS2 shown in FIG. 1 is currently used for sorting work at the work station WST1. The time until the storage shelf DS2 can be moved to the work station WST2 is estimated to be "10 seconds" based on the number of articles in the remaining sorting work and the like. Since the storage shelf DS3 shown in FIG. 1 is currently waiting in the storage area 101, the time until it becomes movable is estimated to be "0 seconds".

FIG. 8 is a table 32 showing an estimated time required for the transport vehicle AC to move to the position of the storage shelf DS. The table 32 includes, for example, a transport vehicle ID 321 and a time required to arrive at the target storage shelf 322. The transport vehicle ID 321 is information that identifies the transport vehicle AC. The time required to arrive at the target storage shelf 322 is an estimated value of the time required for the specified transport vehicle AC to arrive at the target storage shelf DS.

The estimated time until the transport vehicle AC arrives at the target storage shelf DS can be appropriately estimated according to the distance between the transport vehicle AC and the target storage shelf DS, for example. For example, when the transport vehicle AC is transporting the target storage shelf DS, the time until the transport vehicle AC arrives at the target storage shelf DS is “0 seconds”. If the carrier AC is transporting another storage shelf that is different from the target storage shelf, the carrier AC will take another storage during the estimated time it takes for the carrier AC to move to the target storage shelf DS position. Includes the time required to complete the transfer of the shelves. When the transport vehicle AC transports another storage shelf to the work station WST and waits for the completion of the sorting work at the work station WST, the time required for the completion of the sorting work is also included.

The contents of the table 32 will be described with reference to the example of FIG. As shown in FIG. 1, the transport vehicle AC2 is transporting the storage shelf DS4. Therefore, the estimation of the time required for the transport vehicle AC2 to move to the positions of the storage shelves DS1 to DS3 includes the time required for the transport vehicle AC2 to finish the transport of the storage shelves DS4.

FIG. 9 is a table 33 showing an estimated time required to move the storage shelf DS to the work station WST. The table 33 includes, for example, a storage shelf ID 331 and an estimated time required for the storage shelf DS to move to the work station WST 332.

The storage shelf ID 331 is information for specifying the target storage shelf DS. The required estimated time 332 is an estimated value of the time required for the target storage shelf to reach the mobile station WST. The estimated travel time 332 can be appropriately calculated according to the distance between the target storage shelf DS and the work station WST.

An example of transporting the storage shelf DS to the work station WST2 will be described with reference to FIG. 1. Since the storage shelf DS1 is already in the work station WST2, the estimated time is "0 seconds". The storage shelf DS2 is waiting for the completion of the sorting work at the other work station WST1. Therefore, the time required for the storage shelf DS2 to move to the work station WST2 is estimated to be the time required to complete the sorting work currently being executed and the time required to move the storage shelf DS2 from the work station WST1 to the work station WST2. It is taken into account and the result is estimated to be "60 seconds".

The table 30A shown in FIG. 10 is obtained by adding the value 304 of the evaluation index to the table 30 described with reference to FIG. The evaluation index can be calculated by using the information described in FIGS. 7 to 9. The evaluation index is calculated as an estimated value of the time required for the combination with each storage shelf DS carrier AC (or the combination including the work station WST and the sorting shelf SSF) to start the sorting work at the work station WST. be able to. In addition, instead of the time required for the start of the sorting work, the time required for the end of the sorting work may be used.

Here, the evaluation index can also be calculated as a simple sum of the estimated times described in FIGS. 7 to 9. On the other hand, in this embodiment, the evaluation index is calculated more precisely than the simple sum of the estimated times described in FIGS. 7 to 9.

For example, in FIG. 7, the estimated time until the storage shelf DS2 becomes movable is “10 seconds”. In FIG. 8, the estimated time required for the transport vehicle AC1 to move to the position of the storage shelf DS2 is “40 seconds”. Therefore, when the transport vehicle AC1 moves to the position of the storage shelf DS2, it can be estimated that the work of the sorting shelf DS2 at the work station WST1 is completed. Therefore, in this case, the estimated time "10 seconds" until the storage shelf DS2 becomes movable does not need to be considered as an evaluation index. Therefore, in this embodiment, instead of simply summing up the estimated time at each stage, the actual required time is estimated and used as an evaluation index. That is, in this embodiment, the time that is absorbed by the required time in the other stages due to the processing of the plurality of stages in parallel is excluded from the calculation target of the evaluation index. Thereby, in this embodiment, an accurate evaluation index can be calculated, and a delivery plan of the transport vehicle AC (a transport plan of the storage shelf DS) can be created more accurately.

The method of calculating the evaluation index is not limited to the above example. For example, a machine learning technique may be used to learn an estimation model for estimating an evaluation index from past actual values of picking work and simulation data, and the estimation result by the learning model may be used as an evaluation index.

Each terminal PC that displays information from the order management device 220 and accepts the operation of the worker W has a function of presenting the combination pattern of the storage shelf DS and the transport vehicle AC to the worker W and the instruction of the worker W. A function for determining a combination pattern may be provided. At that time, the terminal PC may also display the evaluation index of each combination pattern. As a result, the worker W of each work station WST can grasp the outline of the transportation status in the warehouse 100.

Return to FIG. The order management device 220 selects one combination pattern having the smallest evaluation index from the combination patterns shown in the table 30A of FIG. 10 (S25). In the example of FIG. 10, the combination pattern having the combination number 301 of "1" has the smallest evaluation index "15". Therefore, the combination pattern in which the combination number 301 is "1" is selected.

The order management device 220 instructs the operation management device 230 to carry the vehicle based on the combination pattern selected in step S25 (S26). The operation management device 230 instructs the transport vehicle AC designated by the selected combination pattern to transport the storage shelf DS specified by the combination pattern to the predetermined work station WST.

An example of the effect of this embodiment will be described with reference to FIG. In FIG. 11, there are one transport vehicle AC and two storage shelves DS1 and DS2, and the case of transporting to one work station WST will be described as an example. It is assumed that the storage shelves DS1 and DS2 are loaded with the target articles specified in the order information. It is assumed that the storage shelf DS2 is closer to the work station WST than the storage shelf DS1, and the storage shelf DS1 is closer to the transport vehicle AC than the storage shelf DS2.

FIG. 11 includes a first combination pattern P1 and a second combination pattern P2. The first combination pattern P1 is a pattern in which the transport vehicle AC transports the storage shelf DS1 to the work station WST. The evaluation indexes of the first combination pattern P1 are the estimated time t1 required for the transport vehicle AC to move to the storage shelf DS1 and the estimated time t2 required for the storage rack DS1 to be transported to the work station WST by the transport vehicle AC. Is the total of. The evaluation index of the first combination pattern P1 is 25 seconds (t1 = 5 seconds, t2 = 20 seconds).

The second combination pattern P2 is a pattern in which the transport vehicle AC transports the storage shelf DS2 to the work station WST. The evaluation indexes of the second combination pattern P2 are the estimated time t3 required for the transport vehicle AC to move to the storage shelf DS2 and the estimated time t4 required for the storage rack DS2 to be transported to the work station WST by the transport vehicle AC. Is the total of. The evaluation index of the first combination pattern P2 is 30 seconds (t1 = 20 seconds, t2 = 10 seconds).

If the overall situation regarding the picking work in the warehouse 100 is as described above, in this embodiment, the first combination pattern P1 having the smallest evaluation index is selected. On the other hand, in the case of the comparative example in which each functional element related to the picking work in the warehouse 100 is selected one by one, the storage shelf DS2 closest to the work station WST is selected, so that the picking work is started in this embodiment. It will be delayed compared to the case of. In the comparative example, since the functional elements are selected one by one in a short-sighted manner so as to be individually optimized, it is difficult to obtain an overall optimum combination pattern, and the work efficiency is low.

According to the present embodiment configured as described above, since a plurality of functional elements (DS, AC, WST) related to picking work in the warehouse 100 can be configured as so-called holons having autonomy, a transport environment or picking can be performed. It is possible to respond quickly and flexibly to changes in the work environment.

That is, in this embodiment, the combination of the transport target DS having the target article specified in the order information and the transport device AC for transporting the transport target DS is comprehensively detected in the warehouse 100, and a predetermined value is obtained. Each combination pattern is evaluated according to the evaluation criteria of, and one combination pattern is selected according to the evaluation results. Thereby, according to this embodiment, each functional element DS, AC in the warehouse 100 related to the picking work can be evaluated as a whole, and the optimum combination pattern can be selected as a whole.

According to this embodiment, as compared with the case where the storage shelf DS and the transport vehicle AC are individually selected, the entire series of operations from the selection of the storage shelf DS to the transport by the transport vehicle AC is selected to be optimal. Therefore, the efficiency of picking work can be improved.

The second embodiment will be described with reference to FIGS. 12 to 19. Hereinafter, the differences from the first embodiment will be mainly described. In the picking support system 1A of this embodiment, the storage shelf DS and the sorting shelf SS are included as "transport objects". The sorting shelf SS is a shelf for accommodating the target article taken out from the storage shelf DS, and is configured in the same manner as the storage shelf DS. Like the storage shelf DS, the sorting shelf SS is transported in the warehouse 100 by the transport vehicle AC.

FIG. 12 shows an outline of the picking work performed in the warehouse 100A. A storage area 101 and a work area 102 are set in the warehouse 100A. In the storage area 101, a plurality of storage shelves DS and a plurality of sorting shelves SS are arranged.

The transport vehicle AC moves from the operation management device 230 to the designated storage shelf DS or sorting shelf SS. When the transport vehicle AC sneaks directly under the storage shelf DS or the sorting shelf SS, the storage shelf DS or the sorting shelf SS is lifted directly above by the jack mechanism provided on the upper surface of the transport vehicle AC. The transport vehicle AC moves to the designated work station WST in the work area 102 while lifting the storage shelf DS or the sorting shelf SS.

When the transport vehicle AC arrives at the designated work station WST from the operation management device 230, the storage shelf DS or the sorting shelf SS is lowered to the floor. When the work of transferring the articles stored in the storage shelf DS to the sorting shelf SS (sorting work) is completed, the transport vehicle AC lifts the storage shelf DS or the sorting shelf SS again and moves them. The carrier AC either returns the storage shelf DS or sorting shelf SS to its original position, or moves the storage shelf DS or sorting shelf SS to another work station WST.

The gate G is the arrival point of the storage shelf DS and the sorting shelf SS. One gate G corresponds to one storage shelf DS or sorting shelf SS. Of the gates G installed in the work station WST, a predetermined gate corresponds to the storage shelf DS, and the other predetermined gate corresponds to the sorting shelf SS. For example, in the case of the work station WST1, the gates G11 and G12 correspond to the storage shelf DS, and the gate G13 corresponds to the sorting shelf SS.

Each work station WST can accept a plurality of storage shelves DS and one sorting shelf SS. As a result, the replacement time of the storage shelf DS can be shortened as compared with the case where only one storage shelf DS and the sorting shelf SS can be accepted, so that the efficiency of the picking work can be improved. Further, during the picking work from the storage shelf DS arriving at one of the gates G for the plurality of storage shelves to the sorting shelf SS, the storage shelf DS used for the next picking work is accepted by the other gate G. Can be left. As a result, picking work to different sorting shelves SS can be continuously performed, and work efficiency is improved.

FIG. 13 is an explanatory diagram showing a control configuration of the picking support system 1A. The picking support system 1 includes at least one control device 200, a plurality of transport vehicle ACs, a plurality of terminal PCs, a plurality of gates G, a plurality of storage shelves DS, and a plurality of sorting shelves SS (see FIG. 12). Has. As described above, not only the gate corresponding to the storage shelf DS but also the gate corresponding to the sorting shelf SS is installed in the work station WST.

The picking support method is the same as the process described in FIG. The picking support method of this embodiment is different from that of the first embodiment in that in step S23, a combination pattern in consideration of the sorting shelf SS is generated. That is, in this embodiment, the storage shelf DS on which the target article is mounted, the transport vehicle AC that transports the storage shelf DS to the predetermined gate of the work station WST, and the target article taken out from the storage shelf DS based on the order information. Comprehensively generate a combination pattern including a sorting shelf SS for accommodating the above and a transport vehicle AC for transporting the sorting shelf SS to another predetermined gate of the work station WST.

The table 40 of FIG. 14 shows a combination pattern of the storage shelf DS, the sorting shelf SS, and the transport vehicle AC used for transporting each shelf. This table 40 shows the result of generating a combination of the storage shelf D, the sorting shelf SS, and the transport vehicle AC to be transported to the work station WST.

The table 40 includes, for example, a combination number 401, a storage shelf ID 402, a sorting shelf ID 403, a transport vehicle ID 404 for transporting the storage shelf DS, and a transport vehicle ID 405 for transporting the sorting shelf SS.

The combination number 401 is information for identifying the combination pattern. The storage shelf ID 402 is information for specifying the storage shelf DS related to the combination. The sorting shelf ID 403 is information for specifying the sorting shelf SS related to the combination. The ID 404 of the transport vehicle for transporting the storage shelf DS is information for specifying the transport vehicle AC for transporting the storage shelf DS according to the combination. The ID 405 of the transport vehicle for transporting the sorting rack SS is information for specifying the transport vehicle AC for transporting the sorting rack SS related to the combination.

The order management device 220 of the picking support system 1A calculates an evaluation index for all the combination patterns shown in FIG. Although not shown, this evaluation step corresponds to step S24 in FIG.

Information used for calculating the evaluation index will be described with reference to FIGS. 15 to 17. Table 41 in FIG. 15 represents the estimated time until the storage shelf DS and the sorting shelf SS can be moved to the work station WST. The table 41 includes, for example, a shelf ID 411 and an estimated time 412 until it becomes movable. The shelf ID 411 is information for specifying the target shelf DS, SS. The estimated time 412 indicates the time until the shelves DS and SS specified by the shelf ID 411 can be moved to the work station WST.

The table 41 will be described with reference to the example of FIG. A case of transporting the storage shelf DS and the sorting shelf SS to the work station WST2 will be described.

Since the storage shelf DS1 and the sorting shelf SS1 shown in FIG. 15 already exist in the work station WST2, the estimated movement time is “0 seconds”. The storage shelf DS2 shown in FIG. 15 is currently used for sorting work at the work station WST1. Therefore, the time until the storage shelf DS2 can be moved to the work station WST2 is estimated to be "10 seconds" based on the number of unprocessed sorting works and the like. Since the storage shelves DS3 and the sorting shelves SS2 shown in FIG. 15 are currently waiting in the storage area 101, the time until they can be moved is estimated to be "0 seconds".

FIG. 16 is a table 42 showing the estimated time required for the transport vehicle AC to move to the position of the storage shelf DS or the position of the sorting shelf SS. The table 42 includes, for example, a carrier ID 421 and a time required to arrive at the target shelf 422. The transport vehicle ID 421 is information that identifies the transport vehicle AC. The time required to arrive at the target shelf 422 is an estimated value of the time required for the specified carrier AC to arrive at the target shelves DS and SS.

The estimated time until the carrier AC arrives at the target shelf can be appropriately estimated according to the distance between the carrier AC and the target shelf, for example. When the transport vehicle AC is transporting the target shelf, the time until the transport vehicle AC arrives at the target shelf is "0 seconds". If the carrier AC is transporting another shelf that is different from the target shelf, the carrier AC will complete the transfer of the other shelf during the estimated time it takes for the carrier AC to move to the target shelf position. Including the time required. When the transport vehicle AC transports another shelf to the work station WST and waits for the completion of the sorting work at the work station WST, the time required for the completion of the sorting work is also included.

The table 42 will be described with reference to the example of FIG. As shown in FIG. 12, the transport vehicle AC2 is transporting the storage shelf DS4. Therefore, the estimation of the time required for the transport vehicle AC2 to move to the positions of the shelves DS1 to DS3, SS1 and SS2 includes the time required for the transport vehicle AC2 to finish the transport of the storage shelf DS4.

Further, in FIG. 12, the transport vehicle AC1 holds the sorting shelf SS1 and stands by at the work station WST2. Therefore, the estimated time for the transport vehicle AC1 to move to the position of the sorting shelf SS1 is "0 seconds", but the time required for the transport vehicle AC1 to move to the positions of the storage shelves DS1 to DS3 and SS2 can be estimated. The estimated time until the sorting work of the sorting shelf SS1 is completed is included.

FIG. 17 is a table 43 showing an estimated time required to move the shelves DS and SS to the work station WST. The table 43 includes, for example, a shelf ID 431 and an estimated time required for the shelves DS and SS to move to the work station WST 432. The shelf ID 431 is information that identifies the target shelves DS and SS. The required estimated time 432 is the estimated time required for the target shelves DS and SS to reach the mobile station WST.

The estimated travel time 432 can be appropriately calculated according to the distance between the target shelves DS, SS and the work station WST. In the example of FIG. 12, since the storage shelf DS1 and the sorting shelf SS1 are already in the work station WST2, the estimated time is “0 seconds”. Since the storage shelf DS2 is waiting for the completion of the sorting work at the other work station WST1, the estimated time required for the completion of the sorting work and the time required for moving from the work station WST1 to the work station WST2 are taken into consideration. However, it is estimated to be "60 seconds".

The table 40A shown in FIG. 18 is obtained by adding the value 406 of the evaluation index to the table 40 described with reference to FIG. By using the information of FIGS. 15 to 17, the evaluation index is an estimated value of the time required for the combination of each storage shelf DS, the sorting shelf SS, and the transport vehicle AC to start the sorting work at the work station WST. It is calculated.

The evaluation index can be calculated as a simple sum of the estimated times described in FIGS. 15 to 17, and as described in the first embodiment, the time required for one operation and the time required for another operation are used. If the shorter time is hidden by the longer time when is performed in parallel, the shorter time is excluded from the calculation of the estimated time.

The order management device 220 of the picking support system 1A selects one combination pattern having the smallest evaluation index from the combination patterns shown in the table 40A. Although not shown, this selection step corresponds to step S25 in FIG. In the example of FIG. 18, the combination pattern with the combination number 401 of "2" is selected because it has the smallest evaluation index "30".

Then, the order management device 220 instructs the operation management device 230 to carry out based on the selected combination pattern. Although not shown, this transfer instruction step corresponds to step S26 in FIG.

FIG. 19 is an example of the combination pattern display screen 500 called by the worker W on the terminal PC. The screen 500 displays a list of the combination pattern of the shelves DS, SS and the transport vehicle AC, and the evaluation index.

That is, the screen 500 has a transport order 501 based on the evaluation index, a storage shelf ID 502, a sorting shelf ID 503, a transport vehicle ID 504 for transporting the storage shelf DS, a transport vehicle ID 505 for transporting the sorting shelf SS, and an evaluation index 506. By operating the scroll bar 507 at the right end of the screen, the operator W can also confirm the combination pattern having a lower transport order.

This embodiment configured in this way also has the same effect as that of the first embodiment. Further, in this embodiment, instead of the fixed sorting shelf SSF, the warehouse 100A having the sorting shelf SS transported to the work station WST by the transport vehicle AC can also be applied.

The third embodiment will be described with reference to FIG. The picking support system 1B of this embodiment is applied to a warehouse 100B using an unmanned forklift AF.

FIG. 20 is an explanatory diagram showing an outline of picking work performed in the warehouse 100B. In the warehouse 100B, a storage area 101 for storing goods and a shipping berth 102B for performing shipping work are set.

In the storage area 101, a plurality of shelves PR for storing a plurality of pallet DPs as "objects to be transported" are arranged. Each pallet DP is stored in the shelf PR with the target article loaded. A plurality of unmanned forklift AFs are arranged in the storage area 101. The unmanned forklift AF is an example of a "transport device" and is controlled by an operation management device 230.

In this embodiment, each pallet DP and each unmanned forklift AF are separated, and the combination of the two is given a degree of freedom. As a result, the transport plan of the pallet DP can be flexibly formulated, and the workability of maintenance work such as inspection and replacement of the unmanned forklift AF is improved. Despite these advantages, at least part of the unmanned forklift AF may be associated with a particular pallet DP. For example, the unmanned forklift AF may be stopped while holding the pallet DP, or a control for always allocating a specific unmanned forklift AF to a specific pallet DP may be executed.

The unmanned forklift AF moves from the operation management device 230 to the shelf PR in which the designated pallet DP is stored. The unmanned forklift AF takes out the pallet DP carrying the article from the shelf PR. The unmanned forklift AF moves to the designated work station WST in the shipping berth 102B while holding the pallet DP.

When the unmanned forklift AF arrives at the designated work station WST from the operation management device 230, the pallet DP is lowered to the floor. The article loaded on the pallet DP is loaded onto the truck TRi (i is an integer satisfying 1 ≦ i ≦ n. n is an integer of 2 or more and indicates the total number of work stations WST. In this example, n = 2). When the loading work is completed, the unmanned forklift lifts the pallet DP again and moves. The unmanned forklift AF either returns the pallet DP to its original position or moves the pallet DP to another work station WST.

A plurality of work stations WST are set in the shipping berth 102B. The work station WSTi is a pallet storage Pij (j is an integer satisfying 1 ≦ j ≦ m. M is an integer of 2 or more and indicates the total number of pallet storage P per work station WST. In this example, m = 2), a track TR, and a terminal PC. At the work station WST, the worker W picks the goods to be shipped. The picked goods are loaded onto the truck TR and shipped.

The pallet storage area P is the arrival point of the pallet DP. One pallet storage P corresponds to one pallet DP. In this embodiment, each work station WST can accept a plurality of pallet DPs. As a result, the replacement time of the pallet DP can be shortened as compared with the case where only one pallet DP can be accepted, so that the efficiency of the picking work can be improved.

By replacing the shelf DS of the first embodiment described above with the pallet DP and the transport vehicle AC with the unmanned forklift AF, the same effects as those of the first embodiment can be obtained.

A fourth embodiment will be described with reference to FIGS. 21 and 22. FIG. 21 shows an outline of the picking work performed in the warehouse 100C. The picking support system 1C of this embodiment is applied to a warehouse 100C in which different types of transport objects DS and DP and different types of transport devices AC and AF coexist.

FIG. 22 is an example of a table 50A that manages a combination pattern of a transport object and a transport device and an evaluation index. The table 50A includes, for example, a combination number 501, a storage shelf ID 502, a transport vehicle ID 503, a pallet ID 504, an unmanned forklift ID 505, and an evaluation index value 506.

The combination number 501 is a combination pattern number. The storage shelf ID 502 is information for specifying the storage shelf DS. The transport vehicle ID 503 is information that identifies the transport vehicle AC. The palette ID 504 is information for specifying the palette DP. The unmanned forklift ID 505 is information that identifies the unmanned forklift AF.

The picking support system 1C of this embodiment can also support the picking work basically according to the method shown in FIG. That is,

The order management device 220 transports the transport object DS, DP, and the transport device AC to the work station WST based on the unprocessed order information, the transport object management information, and the transport device management information (none of which are shown). , A combination pattern with AF is comprehensively generated (S23).

The order management device 220 calculates an evaluation index for each combination pattern (S24), and selects one combination pattern based on the evaluation index (S25). Finally, the order management device 220 instructs the operation management device 230 to control the transfer devices AC and AF based on the combination pattern selected in step S25 (S26).

If the target article specified in the order information to be processed exists in any storage shelf DS or any pallet DP, the storage shelf DS, the pallet DP, the transport vehicle AC for transporting the storage shelf DS, and the transport vehicle AC. The combination pattern is comprehensively detected for all the functional elements with the unmanned forklift AF that conveys the pallet DP. If the pallet containing the target article can be transported to the work station WST by the unmanned forklift AF rather than transporting the storage shelf DS containing the target article to the work station WST by the automatic guided vehicle AC, the pallet can be started earlier. And the unmanned forklift AF combination pattern is selected.

This embodiment configured in this way also has the same effect as that of the first embodiment. Further, in this embodiment, it can be applied to a warehouse 100C having a heterogeneous transport environment having different types of transport objects DS, DP and different types of transport devices AC, AF, and the efficiency of picking work can be improved. Can be improved.

The present invention is not limited to the above-described embodiment. Those skilled in the art can make various additions and changes within the scope of the present invention. In the above-described embodiment, the configuration is not limited to the configuration example shown in the attached drawings. The configuration and processing method of the embodiment can be appropriately changed within the range of achieving the object of the present invention.

For example, a picking robot may perform the picking work instead of the worker. In this case, the combination pattern may be generated including the picking robot. When the picking robot is included in the generated combination pattern, for example, by using the difference between the picking speed by the picking robot and the picking speed by the operator as an evaluation index (utility value), the estimated time until the shelf becomes movable is used. Can be corrected.

Further, each component of the present invention can be arbitrarily selected, and the invention including the selected configuration is also included in the present invention. Further, the configurations described in the claims can be combined in addition to the combinations specified in the claims.

1,1A, 1B, 1C: Picking support system, 100, 100A, 100B, 100C: Warehouse, 200: Control device, 201: Information management unit, 202: Combination detection unit, 203: Evaluation unit, 204: Selection unit, 205 : Output unit, 206: User interface unit, 210: Warehouse management system (WMS), 220: Order management device, 230: Operation management device, DS: Storage shelf, DP: Pallet, SS, SSF: Sorting shelf, AC: Transport Car, AF: Unmanned forklift, WST: Work station, G: Gate, PC: Terminal

Claims (15)

In the picking support system that supports picking work
When the work completion estimated time estimated to be required to complete the current sorting work falls below a predetermined threshold value, a combination detection unit that detects a combination pattern including a plurality of different functional elements related to the picking work, and a combination detection unit.
A picking support system including an evaluation unit that evaluates each of the detected combination patterns based on a predetermined evaluation standard. A selection unit is further provided, which allows one of the combination patterns to be selected from the combination patterns based on the evaluation result by the evaluation unit.
The picking support system according to claim 1. The plurality of functional elements include at least one transport object having an article to be picked and a transport device for transporting the transport target.
The picking support system according to claim 1. There are a plurality of transport objects selected based on predetermined instruction information regarding the picking operation, and a plurality of transport devices.
The combination detection unit is
One transport target selected from the plurality of transport targets based on the predetermined instruction information, and the plurality of transport devices selected for transporting the selected transport target. Comprehensively detect the combination pattern with one transport device,
The picking support system according to claim 3. The combination detection unit comprehensively detects the combination pattern of the one transport object and the one transport device from the plurality of transport objects and the plurality of transport devices within a predetermined range. ,
The picking support system according to claim 4. The plurality of functional elements also include a work place which is a destination to which the transport object is transported by the transport device.
The picking support system according to claim 3. The predetermined evaluation criterion is the time required for the picking work.
The evaluation unit calculates the time required for the picking operation for each of the detected combination patterns.
The picking support system according to claim 1. The object to be transported is a shelf for accommodating the object to be transported.
The transport device is an automatic guided vehicle that transports the shelves.
The picking support system according to claim 3. The transport target is a storage shelf for storing the target article and a sorting shelf for transferring the target article from the storage shelf.
The transport device is an automatic guided vehicle that transports the storage shelves or the sorting shelves.
The picking support system according to claim 3. The object to be transported is a pallet for accommodating the object to be transported.
The transport device is an unmanned forklift that transports the pallets.
The picking support system according to claim 3. The object to be transported includes a plurality of types of objects to be transported.
The transport device includes a plurality of types of transport devices corresponding to the plurality of types of transport objects.
The picking support system according to claim 3. Further, an output unit for outputting each combination pattern detected by the combination detection unit is provided.
The picking support system according to claim 1. The output unit outputs the combination pattern detected by the combination detection unit in association with the evaluation result of each combination pattern by the evaluation unit.
The picking support system according to claim 12. Further, an instruction unit for outputting a predetermined instruction to each functional element included in the selected combination pattern is provided.
The picking support system according to claim 2. In the picking support method that supports picking work using a computer
The calculator
When the estimated work completion time estimated to be required to complete the current sorting work falls below a predetermined threshold value, a combination pattern containing a plurality of different functional elements related to the picking work is detected.
Each of the detected combination patterns is evaluated based on a predetermined evaluation standard, and is evaluated.
One of the combination patterns is selected from the combination patterns based on the evaluation result.
Picking support method.

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