JP7183643B2 - Management device, picking system and picking management method - Google Patents

Description

The present invention relates to a management device, a picking system, and a picking management method.

In the past, in response to orders from customers (orders), at a distribution center or distribution center that sorts and delivers products that are stored in inventory, an order that is a list of orders from customers from inventory products stored on product shelves There is a work called picking work in which a worker collects products described in a list.

In the picking work described above, a plurality of workers take out and collect the products listed in the order list one by one while pushing carts (carriages) that are manually pushed. As for such picking work, there has been a demand for improvement in work efficiency as the burden on workers increases.

Therefore, in recent years, in the picking operation, a technique has been disclosed in which products picked by a worker are loaded and transported on a plurality of automatic guided vehicles (AGVs: Automatic Guided Vehicles) (for example, Patent Literature 1). When the automatic guided vehicle is ready to load the product, it outputs an instruction regarding the product to be picked by the operator on a screen installed on the automatic guided vehicle. Since the worker only needs to take out the displayed product without pushing the manual cart, the worker can concentrate on taking out the product. By dividing the work between the automatic guided vehicle and the worker in this way, the picking work can be made more efficient.

According to the conventional picking system, it has a route calculation means for calculating the shortest route, a route instruction means for instructing the route to workers and automatic guided vehicles, and a schedule calculation section for scheduling the order list so that it can be processed in the shortest time. A worker works in parallel with the transport vehicle.

However, according to the conventional picking system, when there is a difference in the scheduled work (earlier than planned or delayed), it reduces the waiting time of workers and realizes more efficient picking work. , there is room for improvement.

SUMMARY OF THE INVENTION It is an object of the present invention to provide a management device, a picking system, and a picking management method capable of reducing the waiting time of workers and realizing more efficient picking work. and

In order to solve the above-described problems and achieve the object, the present invention provides a management device for managing picking work by a plurality of self-driving vehicles and a plurality of workers, wherein the picking work is performed for one picking order. Each picking work in the one picking order is performed by assigning an appropriate worker from the plurality of workers , and before starting the picking work, the autonomous vehicle A patrol plan for the autonomous vehicle that records the movement route of the autonomous vehicle based on the storage position of the item described in the picking order assigned to the traveling vehicle; creating an action plan for the plurality of workers recording assignments to each picking work by the completion of the picking work , and each time the plurality of workers complete each picking work in the picking order, The action plan is updated based on the positions of the plurality of workers.

ADVANTAGE OF THE INVENTION According to this invention, there exists an effect that a worker's waiting time can be reduced and a more efficient picking operation can be implement|achieved.

FIG. 1 is a block diagram showing the configuration of the picking system according to the first embodiment. FIG. 2 is a diagram showing a configuration example of an AGV. FIG. 3 is a diagram illustrating a configuration example of a worker terminal; FIG. 4 is a block diagram illustrating an example of a hardware configuration of a management device; FIG. 5 is a block diagram of a functional configuration example of the management device. FIG. 6 is a sequence diagram schematically showing the flow of picking work in the picking system. FIG. 7 is a diagram showing an example of a combination that associates a picking worker with a product. FIG. 8 is a diagram showing an example of creating a picking worker's action plan list. FIG. 9 is a diagram showing another creation example of the picking worker's action plan list. FIG. 10 is a diagram showing an example of a warehouse layout. FIG. 11 is a diagram exemplifying the WP, product name, and order quantity corresponding to the position in the warehouse where the product is stored for each product in each order list. FIG. 12 is a diagram showing an example of the AGV, the movement speed of the picking worker, and the product picking time. FIG. 13 is a diagram showing an example of the patrolling order of the product positions of each picking worker obtained from the patrolling route calculation. FIG. 14 is a graph showing an example of a picking worker's movement obtained from the patrol route calculation. FIG. 15 is a diagram showing an example of the processing order of the order list. FIG. 16 is a diagram showing an example of an AGV patrol plan list. FIG. 17 is a diagram showing an example of the movement order of each picking worker to the product storage position based on the action plan list of each picking worker. FIG. 18 is a graph showing an example of movements of a picking operator. FIG. 19 is a graph showing an example of AGV motion. FIG. 20 is a diagram exemplifying the correspondence relationship between each picking worker and the AGV that loads the product. FIG. 21 is a graph showing an example of movements of a picking operator. FIG. 22 is a graph showing an example of AGV motion. FIG. 23 is a diagram showing an example of management information related to AGV. FIG. 24 is a graph showing an example of the movements of the picking worker when updating the action plan list of the picking worker each time the picking work of the product is completed. FIG. 25 is a graph showing an example of the movement of the AGV when updating the picker's action plan list each time the picking work for a product is completed. FIG. 26 is a diagram exemplifying the correspondence relationship between each picking worker and the AGV that loads the product. FIG. 27 is a block diagram showing the configuration of the picking system according to the second embodiment.

Exemplary embodiments of a management device, a picking system, and a picking management method will be described in detail below with reference to the accompanying drawings.

(First embodiment)
FIG. 1 is a block diagram showing the configuration of a picking system 100 according to the first embodiment. As shown in FIG. 1, the picking system 100 includes an automatic guided vehicle (AGV) 2, a worker terminal 3 owned by a picker, and a management device 1 that manages the AGV 2 and the worker terminal 3. , provided.

(About AGV2)
AGV2 is a self-driving vehicle that can run automatically without human driving operation as a kind of self-driving vehicle. The AGV 2 itself does not have to be able to load a load, and an unmanned guided vehicle may be configured by a vehicle such as a trolley or a basket car that loads the load and the AGV 2 that runs independently. As the guidance method of AGV2, there are two guidance methods (electromagnetic guidance type, optical guidance type, magnetic guidance type, image recognition type, etc.) that guide according to a predetermined detection target (metal wire, magnetic tape, optical tape, marker, etc.). , and an autonomous running system that can run autonomously without using magnetic tape for guidance. In this embodiment, an autonomous driving system is adopted in which an arbitrary stop position can be set.

The AGV 2 is composed of one or more units. Each AGV 2 receives patrol route information from the management device 1 . Each AGV 2 automatically moves and stops according to the received patrol route information.

Here, FIG. 2 is a diagram showing a configuration example of the AGV 2. As shown in FIG. As shown in FIG. 2, the AGV 2 carries a box 21 such as a container for loading merchandise (goods). The AGV 2 has an operation unit 22 which is a user interface with mechanical buttons and a tablet. The AGV 2 also includes a sensor 23 such as a gyroscope, an acceleration sensor, and a rangefinder. The AGV 2 also incorporates a wireless interface (I/F) 24 for wireless communication with the management device 1 .

In addition, as shown in FIG. 2, the AGV 2 includes an AGV controller 25 that controls the AGV 2 . The AGV controller 25 controls movement of the AGV 2 and also controls communication with the management device 1 via the wireless interface 24 .

With such a configuration, the AGV 2 with the box 21 mounted thereon moves and stops within the warehouse, which is a distribution center or a delivery center, according to the patrol route information instructed by the management device 1 . When the AGV 2 detects that the picker has pressed the button of the operation unit 22 that notifies the completion of the work, the AGV 2 moves to the next operation while the AGV 2 is temporarily stopped for product loading or the like. After completing a series of loading operations, the AGV 2 unloads the box 21 in the inspection and packing process, and repeats the operation of restarting.

(Worker terminal 3)
Here, FIG. 3 is a diagram showing a configuration example of the worker terminal 3. As shown in FIG. As shown in FIG. 3, the worker terminal 3 includes a display unit 31 that displays instructions for work to be performed by the picking worker. The operator terminal 3 also includes a code reading unit 32 that reads product identification codes such as barcodes and QR codes (registered trademark) for collation (inspection) of products simultaneously with product picking, and a code reading unit 32 that reads product identification codes such as barcodes and QR codes (registered trademark) for checking (inspecting) products, and an input unit 33 such as a button or a touch panel for inputting. Moreover, the worker terminal 3 incorporates a wireless interface (I/F) 34 that performs wireless communication with the management device 1 .

The worker terminal 3 takes in the work instruction information from the management device 1 . The worker terminal 3 receives, as work instruction information, the name of the product to be picked, the position and quantity of the product, the movement route to the position of the product, the ID of the AGV 2 that loads the product, and the target expected picking completion time ( Target completion time) and other information is displayed so that the picking operator can easily make a decision.

In this way, by notifying the worker terminal 3 of the work instruction indicating the target expected picking completion time (target completion time) for the work, the picking worker's target expected picking completion time (target Completion time) can be grasped, so there is an effect that the difference between the work plan and the actual result is reduced, and there is an effect that it is possible to perform ancillary work such as garbage disposal because there is free time.

3(a) shows a display example of text information on the display unit 31, and FIG. 3(b) shows a display example of a graphical route to the product position on the display unit 31. FIG. The text information shown in FIG. 3(a) is a list indicating the positions, product names, and quantities of products to be picked by the worker. Further, as shown in FIG. 3B, by graphically displaying the patrol route on the display unit 31, the worker can move in the shortest distance.

(Management device 1)
Here, FIG. 4 is a block diagram showing an example of the hardware configuration of the management device 1. As shown in FIG. The management device 1 is configured by a PC (Personal Computer), a server, or the like. As shown in FIG. 4, the management device 1 includes a control device 11 such as a CPU (Central Processing Unit) or a GPU (Graphics Processing Unit), and a main storage device such as a ROM (Read Only Memory) or a RAM (Random Access Memory). 12, an auxiliary storage device 13 such as a HDD (Hard Disk Drive) or SSD (Solid State Drive), a display device 14 such as a display, an input device 15 such as a keyboard and a mouse, and a communication device 16 such as a communication interface. , and has a hardware configuration using a normal computer.

The control device 11 executes various programs stored in the main storage device 12 and the auxiliary storage device 13 to control the overall operation of the management device 1 and realize various functional units to be described later.

The program executed by the management device 1 of the present embodiment is a file in an installable format or an executable format, and can be stored in a computer such as a CD-ROM, a flexible disk (FD), a CD-R, a DVD (Digital Versatile Disk), or the like. may be recorded on a recording medium readable by .

Further, the program executed by the management device 1 of this embodiment may be stored in a computer connected to a network such as the Internet, and may be provided by being downloaded via the network. Also, the program executed by the management device 1 of the present embodiment may be configured to be provided or distributed via a network such as the Internet.

The communication device 16 has a wired interface and a wireless interface. A wireless interface is an interface for wireless communication with the AGV 2 and the worker terminal 3 . Since many general worker terminals 3 are equipped with Wi-Fi (registered trademark), the use of a wireless LAN facilitates the configuration.

The wired interface is an interface for communicating with the order receiving system 4, the warehouse management system (WMS: Warehouse Management System) 5, and the administrator terminal 6 shown in FIG. A wired interface is used for LAN communication.

The order receiving system 4 is a system that manages an order list (picking order) of products from customers. For example, the management device 1 acquires an order list from the order receiving system 4 connected by LAN via the wired interface of the communication device 16 .

The WMS 5 is a system for managing product inventory information indicating product inventory status and product position information indicating the storage position of products in a warehouse or the like. For example, the management device 1 acquires product inventory information and product position information from the WMS 5 connected by LAN via the wired interface of the communication device 16 .

The administrator terminal 6 is an information processing device such as a PC (Personal Computer) or a tablet terminal. The administrator terminal 6 receives input of the number of picking workers and the number of AGVs 2 from the site administrator. In addition, the manager terminal 6 receives input of work start and stop from the site manager. Furthermore, the manager terminal 6 displays the operation status of the picking work. For example, the management device 1 acquires the number of picking workers and the number of AGVs 2 from the manager terminal 6 connected by LAN via the wired interface of the communication device 16 .

Next, a description will be given of the functions that the management device 1 exhibits when the control device 11 of the management device 1 executes programs stored in the main storage device 12 and the auxiliary storage device 13 . It should be noted that description of conventionally known functions is omitted here, and the characteristic functions exhibited by the management apparatus 1 of the present embodiment will be described in detail.

Some or all of the functions exhibited by the management device 1 may be configured using a dedicated processing circuit such as an IC (Integrated Circuit).

FIG. 5 is a block diagram showing a functional configuration example exhibited by the management device 1. As shown in FIG. As shown in FIG. 5 , the management device 1 includes a list creation section 111 , an information input/output section 112 , an operation management section 113 and a data holding section 114 .

The list creation unit 111 performs a picking simulation from the order list acquired from the order receiving system 4, and the AGV patrol plan list, which is the patrol route information of the AGV 2, and the picking operator who determines the picking operator who loads the product on each AGV 2. Create an action plan list.

The information input/output unit 112 writes information from the AGV 2 and the worker terminal 3 to the data holding unit 114 . Further, the information input/output unit 112 writes the AGV patrol plan list, which is the result of the picking simulation in the list creation unit 111, to the AGV data holding unit 114a, which will be described later. The information input/output unit 112 writes the action plan list of the picking worker, which is the result of the picking simulation in the list creation unit 111, to the worker data holding unit 114b described later.

The operation management unit 113 gives instructions to the AGV 2 and the worker terminal 3 possessed by the picking worker according to the AGV patrol plan list and the action plan list.

Every time the operation management unit 113 detects that the button of the operation unit 22 of the AGV 2 has been pressed, the operation management unit 113 notifies the list creation unit 111 to update (recreate) the picking worker action plan list that determines the picking worker.

In addition, based on the time when the button of the operation unit 22 of the AGV 2 was pressed, the operation management unit 113 determines the difference between the expected picking completion time (target completion time) in the created action plan list and the actual picking work completion time. to detect. Although the details will be described later, each time the button of the operation unit 22 of the AGV 2 is pressed, the operation management unit 113 regenerates the action plan list to the list creation unit 111 according to the positions of each AGV 2 and each picking worker. let it be created.

The operation management unit 113 supplies the worker terminal 3 with the product name, product position, quantity, and estimated time to complete picking (target completion time) for the next work from the updated action plan list. Notify the work instructions that indicate

In addition to these work instructions, the operation management unit 113 notifies the worker terminal 3 of a route image to the destination.

The data holding unit 114 has an AGV data holding unit 114a, a worker data holding unit 114b, and a warehouse data holding unit 114c.

The AGV data holding unit 114a holds travel instructions to the AGV 2 (AGV patrol plan list) and information on the AGV 2 in the auxiliary storage device 13. FIG.

The worker data holding unit 114 b holds work instructions to the worker terminal 3 (picking worker action plan list) and picking worker information in the auxiliary storage device 13 .

The warehouse data holding unit 114c holds, in the auxiliary storage device 13, rack layout information and rack position information in the warehouse where products are stored.

Next, the flow of the picking work in the picking system 100 mainly composed of the management device 1 will be briefly described.

Here, FIG. 6 is a sequence diagram schematically showing the flow of picking work in the picking system 100. As shown in FIG. As shown in FIG. 6, the site manager operates the WMS 5 from the manager terminal 6 to start the picking work (step S1). Thereby, WMS5 outputs an order list with respect to the management apparatus 1 (step S2).

The management device 1 performs processing for distributing the order list to a plurality of AGVs 2 (step S3). The management device 1 determines which order list each AGV 2 processes in what order.

The management device 1 creates an AGV patrol plan list for each order list (step S4). The management device 1 transmits the AGV patrol plan list to each AGV 2 according to the processing order of the order list of the AGV 2 (step S5). AGV2 starts running respectively according to the AGV itinerary list.

In addition, the management device 1 creates a picking worker action plan list (personnel assignment combination) for determining the picking worker who takes out the products to be loaded on each AGV 2 (step S6). The management device 1 notifies the worker terminal 3 of the picker of the product information obtained from the action plan list of the picker and the information on the AGV 2 to be loaded (step S7).

After picking up the product and loading it onto the AGV 2, the picking operator presses the button of the operation unit 22 of the AGV 2 to notify the management device 1 (step S8).

The management device 1 repeats steps S6 to S8.

When the management device 1 determines that the picking work for all the products in one order list is completed, it notifies the manager terminal 6 of the completion of the work for one order list (step S9).

The AGV 2, which has completed the picking work for all the products in one order list, moves to the position of the inspector/packer. On the other hand, based on steps S7 and S8, the picking operator moves to the position of the next product to be taken out and works.

When the AGV 2 stops, the inspector/packer replaces the box 21 loaded with the product with the empty box 21 and presses the button on the operation unit 22 of the AGV 2 . The inspection/packing worker issues a completion notice to the WMS 5 after the work. WMS5 updates inventory data based on the notification of completion.

If an unprocessed order list remains, the management device 1 creates an AGV patrol plan list for the AGV 2 that patrols products for each order list (step S4). The management device 1 transmits the AGV patrol plan list to each AGV 2 according to the processing order of the order list of the AGV 2 (step S5). AGV2 starts running respectively according to the AGV itinerary list.

When there is no unprocessed order list left, that is, when the picking work for all the order lists is completed, the management device 1 notifies the worker terminal 3 of the end of the picking work (step S10). Then, the picking worker performs a work end operation on the worker terminal 3 and notifies the management device 1 (step S11) to end the picking work.

Next, the creation of an AGV patrol plan list and a picker action plan list for picking work in the picking system 100 will be described in detail.

(Preparation of AGV patrol plan list)
First, creation of the AGV patrol plan list by the list creation unit 111 of the management device 1 in step S4 of FIG. 6 will be described. The list creation unit 111 of the management device 1 creates an AGV patrol plan list as patrol routes of the AGV 2 by patrol route calculation based on the order list.

The following points are prerequisites for preparing the AGV patrol plan list.
- AGV2 should not overtake other AGV2s in consideration of narrow aisles in the warehouse.
- Since one AGV2 is assigned to one item in one order list, do not change the route (loaded item) of the AGV2.

In addition, WayPoint (or WP) numbers are provided in front of product storage positions and next-process inspection/packaging positions as rack layout information held by the warehouse data holding unit 114c. WayPoint numbers are assigned in order of passage through the warehouse.

The AGV patrol plan list indicating the patrol route of the AGV 2 is assumed to go through in ascending order of the WayPoint numbers of the storage positions of the products described in the order list.

In the present embodiment, the premise is that the AGV 2 patrols the warehouse in a single stroke for the sake of a simple example. However, the patrol route is not limited to a patrol route drawn in a single stroke.

(Preparation of action plan list for picking workers)
Next, the creation of the picking worker's action plan list (personnel assignment) by the list creation unit 111 of the management apparatus 1 in step S6 of FIG. 6 will be described.

The AGV2 moves to the product position according to the order of the product patrolling according to the AGV patrol plan list. Here we describe how the most suitable picker picks the items requested by AGV 2 so that the entire order list can be processed in the shortest amount of time.

Here, FIG. 7 is a diagram showing an example of a combination that associates a picking worker with a product. For example, as shown in FIG. 7, assume that the AGV 2 passes 10 commodities, and two picking workers A and B load the 10 commodities onto the AGV 2 .

First, consider a case where either picking operator A or picking operator B loads the AGV 2 for each product. In other words, when 2 people collect 10 products, the efficiency of minimizing the time AGV 2 waits for the picking worker and minimizing the movement waiting time of other AGV 2 that cannot overtake from the combination of 2 to the 10th power. Often it is necessary to find a combination that the picker and AGV2 can work with.

The problem of which commodities should be taken and which commodities should not be taken among 10 commodities is the so-called ``0-1 knapsack problem'', which is one of the problems subject to discussion about the difficulty of calculation. Applicable. For example, even when the number of picking workers is three or more, it corresponds to the general "knapsack problem" in which any number of the same products can be picked. In the case of m products and n picking workers, there are n to the power of m combinations. You can find combinations.

Next, the creation of the AGV patrol plan list and the picker action plan list for the picking work in the picking system 100 will be described with a specific example.

In the specific example described below, attention will be paid to the processing of 6 orders (order list of 6 sheets) out of 100 orders (order list of 100 sheets) that are processed in one day. In the specific example described below, it is assumed that there are 18 products (6 order lists for 3 products) and 3 picking workers, and there are "3 to the 18th power combinations of personnel assignments for the products. "exist.

The list creating unit 111 of the management device 1 of the picking system 100 finds a combination that minimizes the completion time of the picking work from among these combinations by a genetic algorithm (GA). In addition, when the list creation unit 111 of the management device 1 of the picking system 100 recalculates the picking worker's action plan list (personnel assignment combination) during the picking work, the picking worker already instructs the list to be taken out. Calculation of the picker's action plan list (combination of personnel assignment) is performed for the remaining products excluding the selected products. The combination of personnel assignments is "3 to the power of (18-the number of commodities that have been instructed to the picking workers)".

Here, the details of the procedure for obtaining a combination that minimizes the picking operation time using a genetic algorithm (GA) will be described.

FIG. 8 is a diagram showing an example of creating a picking worker's action plan list. As shown in FIG. 8, the AGV 2 patrols the storage positions of a total of six products, product 1 to product 6, and picking workers A, B, and C share the work and load each product on the AGV 2. shall be

In the example shown in FIG. 8, there are "3 to the 6th power", that is, 729 combinations of which picker is in charge of which product. The list creation unit 111 of the management device 1 uses a genetic algorithm (GA) to find a good result from among a small number of combinations instead of finding the optimum combination from all possible combinations, By repeatedly creating combinations similar to , a good combination can be found in a faster computation time than the full search.

The list creation unit 111 of the management device 1 creates four combinations in the example shown in FIG. Among the four combinations, "combination 2" has the shortest possible completion time.

FIG. 9 is a diagram showing another creation example of the picking worker's action plan list. In FIG. 9, as in FIG. 8, the AGV 2 patrolls the storage positions of a total of six products, product 1 to product 6, and picking workers A, B, and C share the work and deliver each product to the AGV 2. shall be loaded.

The list creation unit 111 of the management device 1 creates four combinations in the example shown in FIG. Among the four combinations, "combination 3" has the shortest possible completion time.

The list creating unit 111 of the management device 1 can find a good combination by repeating the combination process described above an arbitrary number of times. In this embodiment, the action plan list (combination of personnel assignments) of the picking workers is created using a genetic algorithm (GA), but the present invention is not limited to this.

(Collaborative picking work between picker and AGV2)
Next, the method and effects of cooperative picking work by the picking operator and the AGV 2 will be described.

Here, FIG. 10 is a diagram showing an example of the layout of the warehouse. As shown in FIG. 10, in this embodiment, nine shelves for storing products are installed. Such rack layout information in the warehouse is held in the warehouse data holding unit 114c. The picking operator and the AGV 2 stop at the position WP in front of the shelf and take out the desired product. In FIG. 10, two types of position names, WP-0 and WP-10, are assigned to the inspection/packing area in order to illustrate the movement of the picking operator and the AGV 2. WP-0 and WP-10 shall be at the same position.

Here, consider the case of processing 6 orders (order list is 6 sheets) as a picking operation.

FIG. 11 is a diagram exemplifying the WP, product name, and order quantity corresponding to the position in the warehouse where the product is stored for each product in each order list. As shown in FIG. 11, for example, the products to be picked with the order list ID (O1) are located at WP-2, WP-5, and WP-9. In addition, the quantity of "Product 1" to be picked by WP-2 is 3, the quantity of "Product 4" to be picked by WP-5 is 3, and the quantity of "Product 8" to be picked by WP-9 is 1. As mentioned above, the AGV 2 goes through in ascending order of the WayPoint number, so each order list in FIG. Products that do so are listed on the right side.

The management device 1 transmits a patrol route as an AGV patrol plan list to each AGV 2 . Each AGV 2 travels in the warehouse according to a patrol route as an AGV patrol plan list.

The picking worker moves at a speed (Vworker), and the AGV 2 moves at a slower speed (Vagv) than the picking worker (Vworker>Vagv). As described above, in order to facilitate the explanation of the effects of the present embodiment, it is assumed that the aisle width of the warehouse is narrow and that the AGV 2 cannot overtake another AGV 2 during movement.

When the picking operator arrives at the product storage positions (WP-1 to WP-9) displayed on the operator terminal 3, the picker takes out the product and waits for the arrival of the AGV 2 that requested the product. The product picking time is expressed as Tpick.

When the AGV 2 arrives at the storage position of the desired product described in the order list, the AGV 2 stops at the storage position of the product until the product is loaded by the picking operator and the button of the operation unit 22 is pressed.

AGV 2 heads to the inspection/packing area (WP-0 or WP-10) when the last item on the order list is loaded by the picker. When the AGV 2 arrives at the inspection/packaging area (WP-0 or WP-10), the inspection/packaging operator replaces the box 21 containing the product with an empty box 21 .

After the AGV 2 is replaced with an empty box 21, the inspection/packing worker presses a button on the operation unit 22 of the AGV 2, thereby receiving the next order list patrol route calculation result from the management device 1. As soon as possible, it starts traveling to the position of the next product.

Here, in order to explain the method and effect of the picking work using the AGV2, the following two kinds of explanations will be given.
1. When the picking operation is performed by the picking operator alone without using the AGV 2.2. When performing picking work in cooperation with a picking operator using AGV2

Furthermore, 2. The following two types of explanations are provided for the case where there is a discrepancy between the picking worker's action plan list and the actual results during the implementation of the picking.
2-1. Continue the picking operation according to the results of the pre-computed personnel allocation creation.
2-2. At the timing when the picking worker presses the button of the operation unit 22 of the AGV 2, the picking worker's action plan list (personnel allocation combination) is recalculated.

In this embodiment, a case will be described in which a delay occurs in the work and a discrepancy occurs between the action plan list of the picking worker and the actual results. A similar procedure can be used to handle a discrepancy between the picker's action plan list and the actual result due to the work being completed earlier than planned.

FIG. 12 is a diagram showing an example of the moving speed of the AGV 2 and the picking operator, and the product picking time. In the example of FIG. 12, the movement speed of the AGV2: Vagv is 0.5 m/sec, the movement speed of the worker in the picking work in cooperation with the AGV2: Vworker is 1.0 m/sec, and the product pick-up work time: Tpick is 3 sec, and the moving speed of the picking worker who pushes the trolley to put the product: Vworker' is 0.8 m/sec. In the picking work coordinated with AGV2, the picking worker does not need to push the trolley. faster than '(Vworker>Vworker'). It is assumed that a picking worker cannot overtake a picking worker who pushes another cart while moving while pushing the cart.

<1. When picking work is performed by picking workers only>
Here, the processing of 6 orders (order list of 6 sheets) out of 100 orders (order list of 100 sheets), which is one day's work, will be focused on and explained. Also, the number of picking workers is assumed to be five.

FIG. 13 is a diagram showing an example of the patrolling order of the product positions of each picking worker obtained from the patrolling route calculation. Each picking worker receives the order list from the management device 1 to the worker terminal 3 and starts picking work.

Each picking operator moves to the product and picks up the product in accordance with the circulation order of the product storage positions in FIG. 13 obtained from the calculation of the circuit route.

After collecting all the products listed in the order list, each picking worker delivers the products to the inspection/packing worker via the inspection/packing area (WP-0, WP-10). After the AGV 2 is replaced with the empty box 21, the inspector/packer presses the button on the operation unit 22 of the AGV 2, and if there is still an unprocessed order list, the next order list is displayed. As soon as the operator terminal 3 receives the patrol route calculation result from the management device 1, it starts traveling to the position of the next product. If there is no unprocessed order list, it remains in the inspection/packing area (WP-0, WP-10).

Here, FIG. 14 is a graph showing an example of the movement of the picking worker obtained from the patrol route calculation. In the graph shown in FIG. 14, the vertical axis represents the position corresponding to FIG. 10, and the horizontal axis represents time. In the graph shown in FIG. 14, the WP on the vertical axis is set at intervals of 1 m, and the time scale on the horizontal axis is set at intervals of 10 seconds. In addition, the plotted circles in the graph shown in FIG. 14 represent the time when the picking operator placed the product on the AGV2.

As for how to read the graph shown in FIG. 14, the part of the graph extending parallel to the horizontal axis is the state where the picking worker stays at a certain WP, and the part of the graph extending diagonally up and down is the picking state. The worker is moving to another WP, and the absolute value of the slope represents the moving speed.

For example, in a plan in which a picking worker (worker ID 1) is in charge of the order list O1, he moves in the order of WP-2, WP-5, and WP-9 while moving in the warehouse, and picks up the product at the product storage position. I do. As shown in FIG. 14, when the picking work is performed only by the picking worker, the time to complete the picking work for 6 orders (6 order lists) is between T4 and T5.

<2. When performing picking work in cooperation with a picking worker using AGV2>
When three picking workers and five AGVs 2 work together to perform picking work: 1. Explain that even if the number of picking workers is reduced from the five picking workers explained in , the work can be completed in the same amount of time.

First, as described above, the list creation unit 111 performs a picking simulation based on the order list acquired from the order receiving system 4, and performs the picking work for taking out the products so that the work time for completing the picking work for all the order lists is minimized. create an AGV itinerary list showing the person's action plan list (combination of personnel assignments) and the AGV2 itinerary.

FIG. 15 is a diagram showing an example of the processing order of the order list, and FIG. 16 is a diagram showing an example of the AGV patrol plan list. The processing order of the order list shown in FIG. 15 is set so that the order list to be processed for each AGV2 is ordered. Also, in the AGV patrol plan list shown in FIG. 16, patrol positions are set for each AGV2. The AGV 2 receives the AGV patrol plan list shown in FIG. 16 and travels according to the received AGV patrol plan list.

Also, the picking worker's worker terminal 3 receives the picking worker's action plan list. As described above, the picker's action plan list includes the name of the product to be picked, the position of the product, the quantity, and the estimated picking completion time (target completion time).

FIG. 17 is a diagram showing an example of the movement order of each picker to the product storage positions (WP-1 to WP-9) based on the picker's action plan list. When the picking worker completes one picking work based on the picking worker's action plan list, the picker moves to the shelf position (WP) where the next product to be picked is stored.

Here, the movement of the picking worker will be described by focusing on the movement of the picking worker a.

FIG. 18 is a graph showing an example of movements of a picking operator. The circular plots in the graph shown in FIG. 18 represent the times when the picking operator placed the product on the AGV2. Also, the numbers written near the circled plots are the ID numbers of the AGVs 2 that load the products.

FIG. 19 is a graph showing an example of the movement of AGV2. The circle plot in the graph shown in FIG. 19 indicates that AGV2 begins to move to the next target position.

In FIGS. 18 and 19, as in FIG. 14, the vertical axis is the position corresponding to FIG. 10, the horizontal axis is time, the WP on the vertical axis is 1 m intervals, and the time interval on the horizontal axis is 10 seconds. and The view of the graph is also the same as in FIG. 14, and the portion of the graph extending parallel to the horizontal axis indicates that the picking worker or AGV 2 remains at the WP, and the graph extends diagonally up and down. The part shows the state in which the picking worker is moving to another WP, and the absolute value of the slope represents the moving speed.

18 and 19 are based on the processing order of the order list shown in FIG. 15, the AGV patrol plan list shown in FIG. 16, and the picker action plan list shown in FIG.

First, the picking operator a will be described with reference to FIGS. 18 and 19. FIG.

1. Based on the picker's action plan list, the picker a moves from the initial position WP-0 (10) to the product position WP-2 and picks up the product.

2. As is clear from FIG. 19, when the picking operator a moves to the commodity position WP-2, the AGV2 of ID2, which is the AGV2 to load the commodity, has not yet arrived at WP-2. Therefore, the picking operator a waits until the AGV2 of ID2 arrives at WP-2 after finishing picking up the product.

3. When the AGV2 of ID2 arrives at WP-2, the picking operator a loads the product on the AGV2 of ID2 and presses the button of the operation section 22 of the AGV2 of ID2 to start running the AGV2 of ID2. When the button of the operation unit 22 of the AGV 2 of ID2 is pressed, the operation management unit 113 sends the worker terminal 3 of the picking worker a the products stored at the next work position WP-3 and WP-3. You will receive a work order with name, quantity to be picked, and estimated picking completion time (target completion time). Based on this notification, the picking operator a moves to the commodity position of WP-3 and takes out the commodity.

4. As is clear from FIG. 19, when the picking operator a moves to the product position WP-3, the AGV2 of ID3, which is the AGV2 to load the product, has not yet arrived at WP-3. Therefore, the picking operator a waits until the AGV2 with ID3 arrives. When the AGV 2 of ID3 arrives, the product is loaded on the AGV 2 of ID3, and the button of the operation section 22 is pressed to start the AGV 2 of ID3 to travel to the position of the next product. When the button of the operation unit 22 of the AGV 2 of ID3 is pressed, the operation management unit 113 sends the worker terminal 3 of the picking worker a the products stored at the next work position WP-2, WP-2. You will receive a work order with name, quantity to be picked, and estimated picking completion time (target completion time).

5. Based on the notification from the worker terminal 3, the picking worker a moves to the commodity position of WP-2 and takes out the commodity. 2. mentioned above. to 4. Similarly, when the picking worker a moves to the commodity position WP-2, the AGV2 of ID4, which is the AGV2 to load the commodity, has not arrived at WP-2. After finishing, wait until AGV2 with ID4 arrives at WP-2. When the ID4 AGV2 arrives at WP-2, the picking operator a loads the product on the ID4 AGV2 and then presses the button on the operation unit 22 to start the ID4 AGV2 to move to the next product position. When the button of the operation unit 22 of the AGV 2 of ID4 is pressed, the operation management unit 113 sends the worker terminal 3 of the picking worker a the products stored at the next work position WP-3 and WP-3. You will receive a work order with name, quantity to be picked, and estimated picking completion time (target completion time).

6. Based on the notification from the worker terminal 3, the picking worker a moves to WP-3. As in 2 to 5 described above, when the picking operator a moves to the product position WP-3, the AGV2 of ID5, which is to load the product, has not yet arrived at WP-3. Therefore, the picking operator a waits until the AGV 2 with ID5 arrives. When the AGV 2 of ID5 arrives, the product is loaded on the AGV 2 of ID5, and the button of the operation unit 22 of the AGV 2 of ID5 is pressed to start running the AGV 2 of ID5. When the button of the operation unit 22 of the AGV 2 of ID5 is pressed, the operation control unit 113 sends the worker terminal 3 of the picking worker a the products stored at the next work positions WP-1 and WP-1. You will receive a work order with name, quantity to be picked, and estimated picking completion time (target completion time). Based on this notification, the picking worker a moves to WP-1. 2. mentioned above. to 5. Similarly, when the picking operator a moves to the commodity position WP-1, the AGV2 of ID1, which is the AGV2 to load the commodity, has not yet arrived at WP-1. Therefore, the picking operator a waits until the AGV2 with ID1 arrives. When the AGV2 of ID1 arrives, the product is loaded on the AGV2 of ID1, and the button of the operation unit 22 of the AGV2 of ID2 is pressed to make the AGV2 of ID1 start traveling, and the work of the picking operator a ends.

Next, with reference to FIGS. 18 and 19, the patrol of the AGV 2 in the warehouse will be described with a focus on the movement of the AGV 2 of ID1.

1. The AGV2 of ID1 traverses the order list O3 in the order of WP-1, WP-4, and WP-9, which are product positions. Also, the order list O6 is circulated in the order of WP-1, WP-4, and WP-9, which are product positions. AGV2 of ID1 starts from WP-0, moves to WP-1 and stops. As is clear from FIG. 18, when the picking worker b arrives at WP-1, he has not yet arrived at WP-1. Therefore, the AGV 2 of ID1 waits until the picking operator b finishes taking out the product, loads the product on the AGV 2 of ID1, and presses the button of the operation unit 22 .

2. AGV2 of ID1 starts moving to WP-4 when the button of the operation unit 22 is pressed. As is clear from FIG. 18, the picking worker c has already finished taking out the goods when he arrives at WP-4. AGV2 of ID1 is loaded with goods by picking operator c, and when the button of operation unit 22 is pushed, AGV2 moves to WP-9.

When the AGV2 of ID1 arrives at WP-4, the picking worker c has already finished taking out the product, so the time that the AGV2 of ID1 stays at WP-4 is very short. Stop times are not expressed.

3. As is clear from FIG. 18, when AGV2 of ID1 arrives at WP-9, picking worker c has already taken out the product. Since the picking worker c has loaded the products, the picking work for the products corresponding to the order list O3 is completed. Therefore, after the product is loaded and the button of the operation unit 22 is pressed by the picking operator c, the product moves to the inspection/packing area of WP-0 (WP-10). After the AGV2 with ID1 is replaced with the empty box 21, the inspection/packing operator presses the button on the operation unit 22 of the AGV2 with ID1, and the next order list O6 that the AGV2 with ID1 is in charge of is started. .

4. The AGV2 of ID1 moves from the inspection/packing area of WP-0 (WP-10) to the first product position WP-1 on the order list O6 and stops there. As is clear from FIG. 18, the picking worker a has not yet arrived at WP-1 when he arrives at WP-1. Therefore, the AGV 2 of ID1 waits until the picking operator a loads the product on the AGV 2 of ID1 and presses the button of the operation unit 22 . When the picking operator a loads the product on the AGV2 of ID1 and presses the button of the operation unit 22, the AGV2 of ID1 moves to the next product position WP-4. As is clear from FIG. 18, the picker b has already taken out the goods to be loaded on the AGV2 of ID1 by the time he arrives at WP-4. AGV2 of ID1 is loaded with products by picking operator b, and when the button of operation unit 22 is pressed, AGV2 moves to the next product position WP-9.

5. As is clear from FIG. 18, when the product arrives at WP-9, the goods at WP-9 have also been taken out by the picking operator c. The picking operation of the products corresponding to the order list O6 is completed when the products are loaded by the picker c. Therefore, when the AGV 2 with ID 1 is loaded with products by the picking operator c and presses the button of the operation unit 22, it moves to the inspection/packing area of WP-0 (WP-10). After the AGV 2 of ID1 is replaced with the empty box 21, the inspection/packing operator presses the button of the operation unit 22 of the AGV 2 of ID1. Since there is no order list to be processed next to order list O6, AGV2 with ID1 terminates the work.

As described above, according to the examples shown in FIGS. 18 and 19, the completion time of the cooperative picking work of the picker and AGV2 is the time when the AGV2 with ID1 finishes the order list O6, T4 and T5. completed between Therefore, even if the number of picking workers is reduced from 5 to 3, by using 5 AGVs 2, the picking work can be efficiently completed in the same work time.

Here, FIG. 20 is a diagram exemplifying the correspondence relationship between each picking worker and the AGV 2 that loads the products. In the example shown in FIG. 20, the picking operator a puts the product at the product position WP-2 on the AGV2 of ID2 as the first picking operation, and places the product at the product position WP-3 as the second picking operation. is placed on AGV2 of ID3, the product at product position WP-2 is placed on AGV2 of ID4 as the third picking operation, and the product at product position WP-3 is placed on AGV2 of ID5 as the fourth picking operation. , the product at the product position WP-1 is placed on the AGV2 of ID1 as the fifth picking operation.

Now, let us consider a case where the picking worker b reloads the products while the picking worker and the AGV 2 cooperate to perform the picking work.

<2-1. When picking work using AGV2 continues without changing the picker's action plan list>

FIG. 21 is a graph showing an example of the movement of the picking operator, and FIG. 22 is a graph showing an example of the movement of the AGV2. 21 and 22 are based on the processing order of the order list shown in FIG. 15, the AGV patrol plan list shown in FIG. 16, and the picking worker action plan list shown in FIG. 17, similar to FIGS. there is 18 and 19, and FIGS. 21 and 22, the processing order of the order list, the AGV patrol plan, and the action plan are the same, and a change in work time can be understood by comparing the two.

As shown in FIGS. 21 and 22, for AGV2 of ID4 which arrived at WP-5, picking operator b reloaded the products because the loaded products were about to collapse. As a result, a delay occurs, and in the picker's action plan list created before the start of the picking work, as shown in FIGS. , it will end after T3. In this case, not only is the AGV2 of ID4 delayed, but also the AGV2 of ID5, which cannot overtake the AGV2 of ID4. Specifically, as shown in FIG. 22, AGV2 with ID5 is on standby at WP4 until AGV2 with ID4 moves.

18 and 19, in the action plan list of the picking worker created before starting the picking work, the picking worker b moves to WP7 after performing the picking work to AGV2 of ID4 at WP5. Picking work is to be performed to AGV2 of ID5, and then the picking work is to be performed to AGV2 of ID1 after moving to WP4. Due to the delay in the picking operation to AGV2 of ID4 by picker b, the picking operation to AGV2 of ID5 by picker b was also delayed. Wait until you do your work.

Due to such a delay in picking operator b, AGV2 with ID1 is late in arriving at WP-9. Therefore, the picking worker c will wait for the arrival of the AGV2 of ID1 after taking out the product with WP-9, and the picking work will be completed after T5.

In this way, a delay in the picking operation causes a chain reaction of delays between another worker and the AGV 2 thereafter.

<2-2. In the case of updating the picker's action plan list each time the picking work is completed in the picking work using the AGV2>

In order to solve the chain-like occurrence of delays as described above, in the present embodiment, the picker completes the picking work according to the action plan list for the picker created before the start of work. It is designed to be updated each time.

More specifically, the management device 1 recalculates the picking worker's action plan list at the timing when the button of the operation unit 22 of the AGV 2 loaded with the product is pressed, and for all the picking workers, the next product to be taken out is calculated. to decide. Here, the current position of each picker is required to recalculate the picker's action plan list.

As described above, when the picking operator loads the product on the AGV 2, he pushes the button of the operation unit 22 provided on the loaded AGV 2 to start the AGV 2 to travel to the position of the next product. The position of the AGV 2 where the button of the operation unit 22 is pressed can be regarded as the current position of the picking operator who operated the operation unit 22 . Also, the picking operator reads the product identification code attached to the product with the code reading unit 32 of the operator terminal 3 when picking the product and loading it onto the AGV 2 . That is, since the picker picks up the product at the product storage position and loads it onto the AGV 2, the storage position associated with the product whose product identification code has been read may be regarded as the current position of the picker.

In this way, by using the position where the picking work was performed as the position information of the picking worker who performed the picking work, it is possible to obtain the position information of the picking worker even in a warehouse where GPS radio waves do not reach. can be done. Also, the positional information of the picking worker can be obtained without using a device such as GPS. Then, the operation management unit 113 of the management device 1 causes the list creation unit 111 to recalculate the picking worker's action plan list by regarding the position where the picking work was performed as the position of the picking worker who performed the picking work. Let

The management device 1 manages the information shown below for each AGV 2 . FIG. 23 is a diagram showing an example of management information related to AGV2. As shown in FIG. 23 , the management device 1 stores the estimated work completion time until the button of the operation unit 22 of all the AGVs 2 is pressed, the product position of the movement destination (target position), and the picking work to be joined. A person, a button ON/OFF flag for detecting that the button has been pressed, a product name, and a quantity are managed for each AGV2.

FIG. 23 shows the information about the product that each AGV 2 passes through first. Only worker b is assigned.

The completion time of the picking work in which other picking workers are involved is unknown until the button of the operation unit 22 of the AGV 2 is pressed. Therefore, when calculating the picking worker's action plan list, the time obtained by adding the movement time to the next product position and the product pick-up time Tpick to the calculation start time is taken as the expected work completion time.

Also, if there is a picker who has exceeded the estimated work completion time when calculating the action plan list for the picker, Tlong (Tlong > Tpick) is added to the estimated work completion time of that picker. add to Tlong in this embodiment is 6 to 9 seconds, which is two to three times as long as Tpick.

If the picking worker progresses according to the picking simulation performed before the picking work, the same plan is output even if the picking worker's action plan list is recalculated. If there is a discrepancy between the picking worker's action plan list and the actual results, the situation where the latest picking work was completed (the picking worker who performed the latest picking work pressed the corresponding button on the operation unit 22 of the AGV 2 Calculation of an action plan list for the optimal picker in the current situation) is performed.

Here, FIG. 24 is a graph showing an example of the movement of the picking worker when updating the action plan list of the picking worker each time the picking work of the product is completed, and FIG. It is a graph which shows an example of a motion of AGV2 when updating an action plan list.

24 and 25 show the order of processing of the order list shown in FIG. 15, the AGV patrol plan list shown in FIG. 16, and the behavior of the picking workers shown in FIG. 17, similar to FIGS. Plan list, based on. 18 and 19, FIGS. 21 and 22, and FIGS. 24 and 25 have the same processing order of the order list, AGV patrol plan, and action plan. I understand.

As shown in FIGS. 24 and 25, picking operator b reloaded the AGV2 with ID4 that had arrived at WP5 because the loaded products were about to collapse. As a result, a delay occurs, and in the picker's action plan list created before the start of the picking work, as shown in FIGS. , it ends after T3.

Here, when the picking worker b presses the button of the operation unit 22 of the AGV 2 of ID4, the operation management unit 113 of the management device 1 sets the position of the picking worker b to WP-5, and sets the position of the other picking worker b to WP-5. , causes the list creating unit 111 to recalculate the picking worker's action plan list based on the action plan list calculated immediately before.

Each picker's action plan list is changed by performing a recalculation of the picker's action plan list. On the worker terminal 3 of the picker b, WP-4, which is the next work position, the name of the product stored in WP-4, the quantity to be picked, and the expected picking completion time (target completion time) are displayed. Instructions will be given. As shown in FIGS. 24 and 25, the picking operator b moves to WP-4, picks up the product, and loads it onto the AGV 2 of ID1 waiting at WP-4. After that, the button of the operation unit 22 of the AGV 2 of ID1 is pressed to start running the AGV 2 of ID1. When the button of the operation unit 22 of the AGV 2 of ID1 is pressed, the operation management unit 113 sends the worker terminal 3 of the picking worker a the products stored at the next work positions WP-7 and WP-7. You will receive a work order with name, quantity to be picked, and estimated picking completion time (target completion time). Based on the notification from the operator terminal 3, the picking operator b moves to WP-7, takes out the product, and loads it on the AGV 2 of ID5 waiting at WP-7. After that, when the button of the operation unit 22 of the AGV 2 of ID5 is pressed to start running the AGV 2 of ID5, the work of the picking operator b is completed.

As is clear from comparing FIG. 21 and FIG. 24, in FIG. 21 where the action plan list of the picking worker is not changed, the picking work is moved to WP-7 after WP-5 in which the work was delayed. picking work to AGV2 of ID5, and then move to WP-4 to perform picking work to AGV of ID1. On the other hand, in FIG. 24, which updates the action plan list of the picking worker, as the picking work after WP-5 where the work was delayed, move to WP-4 and perform the picking work to AGV2 of ID1, After that, it moves to WP-7 and picks to AGV2 of ID5.

Other workers will also be described with reference to FIGS. 24 and 25. FIG. When the picking work to AGV2 of ID4 of picking worker b in WP-5, where the work was delayed, was completed, picking worker a, who had finished the work, moved to WP-5 as shown in FIG. -0 (WP-10), the picking operation at WP-8 is instructed to the worker terminal 3 of the picker a due to the recalculation of the action plan list of the picking worker. be. The picking worker a moves from WP-0 (WP-10) to WP-8. As shown in FIGS. 24 and 25, the AGV2 of ID5, which is the AGV2 to load the goods, has not arrived when the picking worker a moves to WP-8. The picking operator a takes out the product and waits until the AGV2 with ID5 arrives. When the ID5 AGV2 arrives, the picking operator a loads the product on the ID5 AGV2. After that, when the button of the operation unit 22 of the AGV 2 of ID5 is pressed to start running the AGV 2 of ID5, the work of the picking operator a ends.

Also, after recalculation of the picker's action plan list, the picker c does not go to WP-8 and stays at WP-9. In the picking worker's action plan list before updating, the picking work to AGV 2 with ID 5, which was the work of picking worker c in WP-8, is the following in the picking worker's action plan list after updating: This is because, as mentioned above, the picking operator a has decided to perform the picking. The picking operator c takes out the product and waits until the AGV2 with ID1 arrives. When the AGV2 of ID1 arrives, the picking operator a loads the product on the AGV2 of ID1. After that, when the button of the operation unit 22 of the AGV 2 of ID1 is pressed to start running the AGV 2 of ID1, the work of the picking operator c is completed.

Here, FIG. 26 is a diagram exemplifying the correspondence relationship between each picking worker and the AGV 2 that loads the products. In the example shown in FIG. 26, as compared with the example shown in FIG. 20, the picking work for ID5 to AGV2 is added as the sixth picking work for picker a. For worker b, the fifth and sixth picking operations are interchanged. Worker c is no longer required to perform the sixth picking operation, and will perform the seventh picking operation as the sixth picking operation. That is, the picking worker's action plan list is updated.

Comparing FIGS. 21 and 22 and FIGS. 24 and 25, the picking completion time is later than T5 in FIGS. 24 and 25, in which the picking worker's action plan list is updated each time the picking worker completes the picking work of the product, the picking completion time is before T5.

That is, the picking completion time can be shortened by updating the picking worker's action plan list each time the picking worker completes the picking work of the product.

As described above, according to the present embodiment, even if there is a difference in the picking simulation performed before the picking work, and the simulation is delayed or earlier than the simulation, the picking worker can pick the product. By updating the picking worker's action plan list each time the work is completed, the situation where the latest picking work is completed (the picking worker who performed the latest picking work presses the corresponding button on the operation unit 22 of the AGV 2 By creating an action plan list for the most suitable picking workers for the situation at the time of picking, it is possible to allocate the most suitable workers to AGVs, resulting in reduced worker waiting times and improved work efficiency. can do. That is, there is an effect that work efficiency can be maintained at maximum efficiency.

(Second embodiment)
Next, a second embodiment will be described.

The management device 1 of the second embodiment differs from that of the first embodiment in that it uses an RDBMS (Relational DataBase Management System). Hereinafter, in the description of the second embodiment, the description of the same portions as those of the first embodiment will be omitted, and the portions different from those of the first embodiment will be described.

FIG. 27 is a block diagram showing the configuration of the picking system 100 according to the second embodiment. As shown in FIG. 27, the management device 1 of the picking system 100 according to the second embodiment uses the RDBMS20.

The RDBMS 20 is a method of representing one piece of data as a set of values of a plurality of attributes and storing data by enumerating the sets. The RDBMS 20 is shown in the form of a table with attributes as columns and sets as rows. The RDBMS 20 has a function of performing transaction processing that integrates a plurality of related processes and executes them without contradiction.

The data holding unit 114 of the management device 1 configures and stores the created AGV patrol plan list and picking worker's action plan list as the AGV instruction table and worker instruction table, respectively, in the RDBMS 20 . Also, the operation management unit 113 of the management device 1 transmits and receives information via the RDBMS 20 .

As described above, according to the present embodiment, when the number of AGVs 2 and worker terminals 3 increases, information communication between the management device 1 and many AGVs 2 and worker terminals 3 becomes unstable, and information Although problems such as delays may occur, by transmitting and receiving information through the RDBMS 20, the load on the management device 1 can be reduced and stable control can be performed.

REFERENCE SIGNS LIST 1 management device 2 self-driving vehicle 3 operator terminal 20 relational database system 100 picking system 111 list creation unit 113 operation management unit 114 data holding unit

JP-A-2000-128319

Claims (7)

In a management device that manages picking work by a plurality of self-driving vehicles and a plurality of workers,
The picking work is performed by allocating one autonomous vehicle to one picking order, and assigning an appropriate worker from the plurality of workers for each picking work in the one picking order,
a patrol plan for the autonomous vehicle that, prior to starting the picking operation, records a travel route of the autonomous vehicle based on storage locations of items listed in a picking order assigned to the autonomous vehicle; creating, for each of the plurality of workers, an action plan for the plurality of workers recording assignments to each picking work in the picking order by the time the picking work is completed ;
updating the action plan based on the locations of the plurality of workers each time the plurality of workers complete each picking task in the picking order;
A management device characterized by: updating the action plan with the position where the worker completed each picking work in the picking order as the position of the worker who performed the picking work;
The management device according to claim 1, characterized by: A worker terminal that conveys the action plan to the worker ,
3. The management device according to claim 1 or 2, characterized in that: further comprising a relational database system that holds the patrol plan and the action plan;
Sending and receiving information to and from the self-driving vehicle and the worker terminal through the relational database system;
4. The management device according to claim 3, characterized by: Notifying the worker terminal of an image of a route to a storage position of an item to be picked next in the picking order;
4. The management device according to claim 3, characterized by: a plurality of self-driving vehicles;
a plurality of worker terminals;
a management device according to any one of claims 1 to 5;
A picking system comprising: A picking management method for managing picking work by a plurality of self-driving vehicles and a plurality of workers,
The picking work is performed by allocating one autonomous vehicle to one picking order, and assigning an appropriate worker from the plurality of workers for each picking work in the one picking order,
a patrol plan for the autonomous vehicle that, prior to starting the picking operation, records a travel route of the autonomous vehicle based on storage locations of items listed in a picking order assigned to the autonomous vehicle; creating, for each of the plurality of workers, an action plan for the plurality of workers recording assignments to each picking task in the picking order until the completion of the picking task ;
updating the action plan based on the locations of the plurality of workers each time the plurality of workers complete each picking task in the picking order;
A picking management method comprising:

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