JP7243401B2 - Management device, picking system and management method - Google Patents

Description

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

In the past, in response to customer orders (orders), at a distribution center or distribution center that delivers products (items) that are stored in inventory, a list of customer orders from inventory products stored on product shelves, etc. There is a work called picking work in which a worker collects products listed in an order 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. For such picking work, there has been a demand for reducing the burden on workers and improving work efficiency.

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, there is room for improvement in terms of efficiently performing the picking work by the automatic guided vehicle and the worker (shortening the time for the entire picking work).

SUMMARY OF THE INVENTION It is an object of the present invention to improve the efficiency of picking work, in other words, to shorten the time required for the entire picking work.

In order to solve the above-described problems and achieve the object, the present invention provides a management apparatus for managing article picking work by X workers and M autonomous vehicles, wherein the M autonomous vehicles are: For each of the above, a target item group is obtained as a set of items that are likely to be picked in the next picking operation, and the X number of workers and the item that have the shortest picking time for the target item group are obtained. By finding the combination of , the picking assigned item for the next picking operation and the worker who picks the picking assigned item are determined from the target item group. However, X and M are integers, and one of X and M is 2 or more.

ADVANTAGE OF THE INVENTION According to this invention, it is effective in the ability to improve the efficiency of picking work, in other words, to shorten the time of the whole picking work.

FIG. 1 is a block diagram of the configuration of a picking system according to an 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 showing a functional configuration example exhibited by the management device. FIG. 6 is a diagram showing the data flow between the list creating section and the data holding section. FIG. 7 is a sequence diagram schematically showing the flow of picking work in the picking system. FIG. 8 is a diagram showing an example of a warehouse layout. FIG. 9 is a diagram showing data of the warehouse layout shown in FIG. FIG. 10 is a diagram showing the calculation result of the movement distance between WPs where the AGV moves. FIG. 11 is a diagram showing the calculation result of the moving distance between WPs that the picking worker moves. FIG. 12 is a diagram showing an example of combinations for assigning picking workers to products. FIG. 13 is a flow chart schematically showing the process of assigning the Nth picking worker to the AGV. FIG. 14 is a diagram showing an example of calculation of all combinations of loading times of the first calculation target product group by the picking operator. FIG. 15 is a diagram illustrating an example of a combination that associates a picking worker with a product in the second computation target group. FIG. 16 is a diagram illustrating an example of a combination that associates a picking worker with a product in the third computation target group. FIG. 17 is a diagram showing an example of a picking worker's action plan list. FIG. 18 is a diagram showing an example of order data. FIG. 19 is a diagram showing an example of order processing order of AGV. FIG. 20 is a diagram showing an example of an AGV stop position list. FIG. 21 is a diagram showing an example of a product picking list by AGV. FIG. 22 is a diagram showing an example of order data. FIG. 23 is a diagram showing an example of order processing order of AGV. FIG. 24 is a diagram showing an example of an AGV stop position list. FIG. 25 is a diagram showing an example of a first calculation target product group. FIG. 26 is a diagram showing an example of an AGV stop position list. FIG. 27 is a diagram showing working hours of a picking operator. FIG. 28 is a diagram showing the work time of the picking operator and the AGV from the start of picking to the completion of loading the product on the AGV. FIG. 29 is a diagram showing the first allocated product. FIG. 30 is a diagram showing an example of a picking worker's action plan list. FIG. 31 is a diagram showing working hours of a picking operator. FIG. 32 is a diagram showing the work time of the picking operator and the AGV from the start of picking to the completion of loading the product on the AGV. FIG. 33 is a diagram showing the first allocated product. FIG. 34 is a diagram showing an example of a picking worker's action plan list.

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

FIG. 1 is a block diagram showing the configuration of a picking system 100 according to an 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 type of self-driving vehicle that can run automatically without human intervention. The AGV 2 itself does not need to be able to load the cargo, and the AGV 2 that runs autonomously and a vehicle such as a trolley or a basket car that loads the cargo may constitute an unmanned guided vehicle. 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 start button of the operation unit 22 for notifying the completion of the work by the picking operator is pressed while the AGV 2 is temporarily stopped for product loading, etc., the AGV 2 shifts to the next operation. 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.

(Regarding 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 unit 111 functioning as a worker determination unit, an information input/output unit 112, an operation management unit 113, and a data holding unit 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 . The information input/output unit 112 also writes an AGV patrol plan list, which is the result of the picking simulation performed by the list creation unit 111, to the AGV data management 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 management unit 114b, which will be 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.

The operation management unit 113 notifies the list creation unit 111 to update (recreate) the action plan list of the picking workers that determines the picking workers each time the start button depression of the operation unit 22 of the AGV 2 is detected.

In addition, based on the time when the start button of the operation unit 22 of the AGV 2 is pressed, the operation management unit 113 determines the estimated time of completion of picking (target completion time) of the created action plan list and the actual completion time of the picking work. Detect differences. Although the details will be described later, every time the start button of the operation unit 22 of the AGV 2 is pressed, the operation management unit 113 creates an action plan list for the list creation unit 111 according to the positions of each AGV 2 and each picking worker. be recreated.

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.

Here, FIG. 6 is a diagram showing the data flow between the list creating unit 111 and the data holding unit 114. As shown in FIG. Referring to FIG. 6, data to be transferred between the list creating unit 111 and the data holding unit 114 and how to handle the data will be described.

The data holding unit 114 has an AGV data management unit 114a, a worker data management unit 114b, a warehouse data management unit 114c, an order data management unit 114d, and an inventory data management unit 114e. Further, the worker data management unit 114b has a worker property management unit 114b-1 and a work instruction management unit 114b-2. The AGV data management unit 114a has an AGV characteristic management unit 114a-1 and a travel instruction management unit 114a-2.

The AGV data management unit 114a (the AGV characteristic management unit 114a-1) holds information on the AGVs 2 (number of vehicles, moving speed, AGVID) in the RAM of the main storage device 12. FIG. The AGV data management unit 114a (driving instruction management unit 114a-2) stores the driving instruction to the AGV 2 (AGV patrol plan list) in the RAM of the main storage device 12. FIG.

The worker data management unit 114b (worker characteristic management unit 114b-1) stores information on picking workers (number of people, walking speed, product pick-up time, worker ID) in the RAM of the main storage device 12. FIG. The worker data management unit 114b (work instruction management unit 114b-2) stores work instructions to the worker terminal 3 (picking worker's action plan list) in the RAM of the main storage device 12. FIG.

The warehouse data management unit 114c stores in the RAM of the main storage device 12 the layout information and the position information of the shelves in the warehouse where the products are stored. Specifically, the warehouse data management unit 114c stores, in the RAM of the main storage device 12, the WP name, X coordinates, Y coordinates, connection destination WP name, distance from the connection destination WP name, and the like, which will be described later.

The order data management unit 114d stores order data such as an order ID, product name, required quantity, and order processing order in the RAM of the main storage device 12. FIG.

The inventory data management unit 114e stores inventory data such as product name, inventory quantity, storage location name, and WP name corresponding to the storage location name in the RAM of the main storage device 12. FIG.

The list creating unit 111 reads the order ID, product name, required quantity, and order processing order from the order data managing unit 114 d into the RAM of the main storage device 12 .

The list creating unit 111 reads into the RAM of the main storage device 12 the product storage location name called on-site from the inventory data management unit 114e and the WP name corresponding to the storage location name. WP is the meeting point of the picking worker or inspection/packing worker and the AGV2.

The list creation unit 111 creates order data by combining the data read from the order data management unit 114d and the inventory data management unit 114e. The order data consists of an order ID, product name, required quantity, storage location name, and WP name. The data group having the same order ID is defined as one order data. The order ID is an ID assigned to each customer who placed the order or to each delivery destination. In the picking operation, each time a product group of one order data is collected, the product group is sent to the inspection and packing process.

The list creation unit 111 uses the warehouse layout information (WP name, X coordinate, Y coordinate, connection destination WP name, distance from the connection destination WP name, and ) is read into the RAM of the main storage device 12 from the warehouse data management unit 114c.

The list creating unit 111 transfers the number of picking workers, walking speed, product picking time, and worker ID, which are used for calculation of the action plan simulation of the picking workers, from the worker characteristic management unit 114b-1 to the main memory. 12 RAM.

The list creation unit 111 stores the number of AGVs 2, the moving speed, and the AGVID, which are used for the simulation of the patrol plan of the AGV 2 and the simulation of the picking worker's action plan, from the AGV property management unit 114a-1 to the RAM of the main storage device 12. Record.

The list creation unit 111 writes the results of the picking worker action plan simulation to the picking worker action plan list of the work instruction management unit 114b-2. The picker's action plan list includes the name of the product to be picked by the picker, the required number of the product, the storage location name, the WP that merges with the AGV 2, the AGVID that loads the product, the picker's travel time, the product , the time to wait for the arrival of AGV2.

The list creation unit 111 writes the result of the AGV 2 patrol plan simulation to the AGV patrol plan list of the travel instruction management unit 114a-2. The AGV itinerary list is a list of AGV 2 stop positions.

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. 7 is a sequence diagram schematically showing the flow of picking work in the picking system 100. As shown in FIG. As shown in FIG. 7, the site manager operates the WMS 5 from the manager terminal 6 to start the picking work (step S1). As a result, from the WMS 5, the order form data to be picked in the current picking work and all product data included in the order form are read into the management device 1.例文帳に追加

The management device 1 assigns an order ID to each order form, and generates order data (order list) by adding a WP that merges with the AGV 2 to product data in the order form (step S2). Order data is generated for the number of orders to be picked in the current picking operation.

Next, the management device 1 performs a process of equally distributing the order data (order list) to the plurality of AGVs 2 (step S3). In this embodiment, the order data group arranged in the order of date and time input to the WMS 5 is equally divided by the number of AGVs 2 . For example, when allocating 100 pieces of order data to two AGVs 2, the management device 1 allocates the order data inputted to the WMS 5 from the first order data to the fiftieth order data to the first AGV 2. , 51st to 100th order data are assigned to the second AGV 2 .

The management device 1 generates the route of the AGV 2 for picking the product for each order data from the AGV 2 patrol plan simulation, and arranges the route in order of order processing (step S4). The management device 1 arranges the order processing order in the order of earliest date and time input to the WMS 5, as in step S3. This creates an itinerary list for AGV2.

The picking operator or inspection/packing operator presses the start button of the operation unit 22 of the AGV 2 (step S5). It should be noted that the place where the start button of the operation unit 22 is pressed at the beginning of the picking operation is the start position of the AGV 2 .

The AGV 2 refers to the next stop position from the AGV 2 patrol plan list recorded in the management device 1, and starts traveling toward that stop position (step S6).

In response to the notification that the start button of the operation unit 22 of each AGV 2 has been pressed, the management device 1 performs a "worker action plan simulation" to determine the picking worker who picks up the product to be picked by the AGV 2 ( step S7).

Immediately after the picking worker is determined (immediately after the AGV 2 starts traveling), the management device 1 supplies the worker terminal 3 possessed by the determined picking worker with product information to be picked next and AGV information on which the product is to be loaded. WP information is notified (step S8).

The picking operator moves to the product position, picks the product, loads the box 21 such as a container of the AGV 2, and then presses the start button of the operation unit 22 of the AGV 2 (step S9).

Steps S6 to S9 are repeated until the collection of the products of all the order data is completed.

After collecting all the products in the order data, the AGV 2 moves to the position of the inspector/packer and delivers the products that have been picked (step S10).

When the AGV 2 stops, the inspector/packer replaces the box 21 such as a container loaded with goods with the box 21 such as an empty container, and then presses the start button of the operation unit 22 of the AGV 2 (step S5). Steps S6 to S9 are then repeated in order to collect the product of the next order data.

When the collection of the products of all the order data is completed, the management device 1 notifies the worker terminal 3 of the completion of the picking work (step S11). After seeing the notification, the picking worker ends the picking work.

In this embodiment, each time the start button of the operation unit 22 of the AGV 2 is pressed, workers are assigned to unloaded products in all order data. No problem in calculation. For example, the computation time to assign pickers to 1000 items is less than 1 second.

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. 7 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.
- Since one AGV2 is assigned to one order list, do not change the route (loaded product) of the AGV2.

In addition, WayPoints are provided in front of product storage positions and next-process inspection/packaging positions as rack layout information held by the warehouse data management unit 114c. Numbers are assigned to the established WayPoints in the order they pass through the warehouse, and each WayPoint is named as a WayPoint name.

The AGV patrol plan list indicating the patrol route of the AGV 2 is assumed to go through in ascending order of the WayPoint names of the product storage positions described in the order list. In this specification, WayPoint names are expressed as WP-0, WP-1, and so on.

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 creating unit 111 of the management apparatus 1 in step S7 of FIG. 7 will be described.

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

Here, FIG. 8 is a diagram showing an example of the layout of the warehouse. As shown in FIG. 8, in the layout of the warehouse of this embodiment, nine storage racks for storing products are installed, and an environment with an inspection and packing area is considered. Such rack layout information in the warehouse is held in the warehouse data management unit 114c.

The picking operator or inspection/packing operator and the AGV 2 join at the WP. The picking operator and the AGV 2 can stop at six WPs (WP-0, WP-1, . . . , WP-5) around the storage shelf.

Here, FIG. 9 is a diagram showing data of the warehouse layout shown in FIG. The list creating unit 111 manages the warehouse layout data shown in FIG. 9 on the RAM of the main storage device 12 . The warehouse layout data includes, for each WP name, the values of the X coordinate and the Y coordinate with the lower left corner of the warehouse layout in FIG. ,have. In this embodiment, the distance to the WP name of the connection destination is calculated using the Manhattan distance, but any method for calculating the distance does not matter.

It is assumed that AGV 2 can only travel clockwise around the storage rack. The list creation unit 111 calculates the movement distance between the WPs that the AGV 2 moves for all combinations. FIG. 10 is a diagram showing the calculation result of the movement distance between WPs where the AGV 2 moves.

On the other hand, the picker has no particular restrictions on movement, and can move clockwise or counterclockwise. In addition, the AGV 2 and the picking operator can overtake other AGVs 2 or other picking operators, and multiple vehicles or multiple operators can stop at the same position. The list creation unit 111 calculates all combinations of the picking worker's shortest movement distances between WPs. FIG. 11 is a diagram showing the calculation result of the moving distance between WPs that the picking worker moves.

Next, assignment of picking workers to products will be described.

FIG. 12 is a diagram showing an example of combinations for assigning picking workers to products. For example, as shown in FIG. 12, when each of three AGVs 2 (2-1, 2-2, 2-3) picks five products, a total of 15 products are picked by picking operator A. Assignment of pickers to all commodities when two pickers B load three AGVs 2 (2-1, 2-2, 2-3) will be described. In the example shown in FIG. 12, AGV 2-1 picks products P1, P4, P7, P10, and P13, AGV 2-2 picks products P2, P5, P8, P11, and P14, and AGV 2-3 picks products P2, P5, P8, P11, and P14. picks P3, P6, P9, P12 and P15 as products. In other words, the products in the order data assigned to AGV2-1 are P1, P4, P7, P10, and P13, and the products in the order data assigned to AGV2-2 are P2, P5, P8, P11, and P14. , AGV2-3 are P3, P6, P9, P12 and P15.

Here, FIG. 13 is a flow chart schematically showing the flow of assignment of the Nth picking worker to the AGV by the list creating unit 111. In FIG. Note that the product group is referred to as the N-th calculation target product group. N indicates the number of 15 commodities in which the assignment of picking workers is determined.

First, the flow of assigning the first picking worker will be described.

As shown in FIG. 13, the list creation unit 111 first records the initial positions of the two pickers and the three AGVs 2 as WP-0 in the main storage device 12 (step S101).

Next, the list creation unit 111 selects all AGVs 2 (2-1, 2-2, 2-3) and creates a group of products to be calculated, which is a set of products that are likely to be picked in the next picking operation. is obtained and recorded in the main storage device 12 (step S102).

According to the example shown in FIG. 12, when the picking operation is started (the two picking workers and the three AGVs 2 are at the initial positions), the products that may be picked in the next picking operation are identified. The product group to be calculated as a set is the product group P1, P2, and P3 that are first picked by each AGV2 (2-1, 2-2, 2-3). In this specification, the calculation target product group is a set of product groups that are likely to be picked first, and the product group that is likely to be picked second is a set. The target product group is referred to as the second calculation target product group .

Next, the list creation unit 111 combines and calculates the times from the start of the picking work to the completion of loading the products of the product group onto the AGV 2 for all the picking workers (step S103).

More specifically, the list creation unit 111 determines the elapsed time of the picking worker from the start of picking of the already assigned products to the loading of the AGVs 2 (2-1, 2-2, 2-3), and Elapsed time of each AGV2 (2-1, 2-2, 2-3) until the product to which the worker is assigned is loaded is obtained. At the start of picking work, no picking worker is assigned to any product, so the elapsed time of all picking workers and the elapsed time of all AGV2 (2-1, 2-2, 2-3) are , 0 [s].

Here, FIG. 14 is a diagram showing an example of calculation of all combinations of loading times of the first calculation target product group by the picking operator. As shown in FIG. 14, the time from when the picking worker starts moving at WP-0 to when the products of the first calculation target product group are loaded onto the AGV2 (2-1, 2-2, 2-3) is Calculate all combined times. Then, the elapsed time of each picking worker calculated in advance is added to each time of all the combinations.

Subsequently, the list creation unit 111 determines the combination of the picking worker and the product that can be loaded most quickly among the times of all combinations considering the elapsed time of each picking worker as the assignment of the picking worker ( step S104). Among the N-th calculation target product group, which is a set of product groups to be picked N-th, the product that the picker can load onto the AGV 2 (either of 2-1, 2-2, or 2-3) the earliest is selected as the first product. It is written as N-assigned product.

For example, if picker A loads P2 onto AGV2 (2-2) the earliest among P1, P2, and P3 that make up the first calculation target product group, the first assigned product is P2. .

Next, the list creation unit 111 assigns the picking worker A as the worker who picks P2, updates the positions of the picking worker A and AGV2 (2-2) to the WP with P2, and (step S105).

The processing of steps S102 to S105 is repeated until a picking operator is assigned to all products (Yes in step S106).

Next, the flow of assigning the second picking worker will be described.

As shown in FIG. 13, the list creation unit 111 selects all AGVs 2 (2-1, 2-2, 2-3) and creates a group of commodities to be calculated as a set of commodities to be picked in the next picking operation. is obtained and recorded in the main storage device 12 (step S102).

Here, FIG. 15 is a diagram showing an example of a combination that associates a picking worker with a product in the second computation target group. According to the example shown in FIG. 15, the first allocated product is P2, so the second calculation target product group, which is the product group that is likely to be picked second, is P1, P3, and P5. More specifically, product P1 is picked first by AGV2-1, product P3 is picked first by AGV2-3, and product P5 is picked second by AGV2-2.

In the next step S103, the list creating unit 111 calculates all the times from the start of the picking work to the completion of loading the products of the product group onto the AGV 2 for all the picking workers by combining them (step S103). For example, it takes N [s] for picker A to finish loading P2 onto AGV2 (2-2). Then, the elapsed time of each picking worker is N [s] for picking worker A and 0 [s] for picking worker B. Also, the elapsed time of each AGV2 (2-1, 2-2, 2-3) is 0 [s] for AGV2 (2-1, 2-3) and N [s] for AGV2 (2-2). Become.

Then, the list creation unit 111 combines all the times from the WP where the picking worker is to the completion of loading each product of the second calculation target product group to the AGV 2 (2-1, 2-2, 2-3). to calculate. The standing position of the picking operator A is the place where P2 is located, and the stopping position of the picking operator B is the starting position.

Then, the list creation unit 111 calculates the elapsed time of each picking worker, which has been calculated in advance, for each combination of times, N [s] for picking worker A and 0 [s] for picking worker B. Add

Next, the list creating unit 111 determines the combination of the picking worker and the product that can be loaded most quickly among the times of all combinations considering the elapsed time of each picking worker as the assignment of the picking worker (step S104). For example, if picker B loads P1 onto AGV2(2-1) the earliest, the second assigned product is P1.

Next, the list creation unit 111 assigns the picking worker B as the worker who picks P1, updates the positions of the picking worker B and AGV2 (2-1) to the WP with P1, and (step S105).

Then, the processing of steps S102 to S105 is repeated until a picking operator is assigned to all products (Yes in step S106).

Here, FIG. 16 is a diagram showing an example of a combination that associates a picking worker with a product in the third computation target group. According to the example shown in FIG. 16, the second allocated product is P1, so the third calculation target product group, which is the product group that is likely to be picked third, is P3, P4, and P5. More specifically, product P3 is picked first by AGV2-3, product P4 is picked second by AGV2-2, and product P5 is picked second by AGV2-2.

The subsequent processing is the same as the determination of the first allocated product, the determination of the second allocated product, the determination of the worker who picks the first allocated product, and the determination of the worker who picks the second allocated product. In this way, the processes of steps S102 to S105 are repeated, and when the list creation unit 111 allocates the picking operator to all products (Yes in step S106), the process proceeds to step S107.

The list creating unit 111 writes the action plan list of the picking worker to the worker data managing unit 114b (step S107), and terminates.

Here, FIG. 17 is a diagram showing an example of a picking worker's action plan list. As shown in FIG. 17, the action plan list for the picking worker is associated with the picking worker who picks, and includes the name of the product to be picked by the picking worker, the required number of items to be picked, and the storage position in the order of the product to which the picking worker is assigned. , the patrol position (WP) where the picking worker and the AGV 2 meet, the AGVID of the merging AGV 2, the movement time of the picking worker, the picking time of the picking worker, the waiting time for the picking worker to wait for the AGV 2 at the meeting point, is recorded.

Here, the operation of the AGV 2 and the picking worker on the picking worker's action plan simulation will be described.

<Operation of AGV 2 on picking worker's action plan simulation>
Here, FIG. 18 is a diagram showing an example of order data, and FIG. 19 is a diagram showing an example of order processing order of AGV2. For example, FIG. 18 is a list of 6 order data. Two commodities P1 and P2 whose order ID is Order-1 form one order data. Also, the order processing order of the AGV 2 shown in FIG. 19 is the order of order data picked by the AGV 2 .

The list creating unit 111 reads the order data list shown in FIG. 18 and the order processing order of the AGV 2 shown in FIG. Then, the list creation unit 111 reads the order data list shown in FIG. 18 and the order processing order of the AGV 2 shown in FIG. 19 for the AGV 2 patrol plan simulation.

The list creation unit 111 generates a product route for each order data as an AGV 2 patrol plan simulation, and outputs a stop position list of the AGV 2 in which the routes are arranged in order of order processing.

Here, FIG. 20 is a diagram showing an example of the stop position list of AGV2(2-1). As shown in FIG. 20, the patrol plan list of AGV2 includes WP-0 in the inspection/packing area of AGV2. record on the picking list of FIG. 21 is a diagram showing an example of a product picking list by AGV2.

In the picking operator's action plan simulation, AGV2 (2-1) moves at a speed of 0.5 [m/s] from WP-0, which is in front of the inspection/packing area, according to the patrol plan list shown in FIG. Start.

When the AGV 2 (2-1) arrives at the next WP and joins the picking worker, the picking worker loads the product in a box 21 such as a container, and the operation unit 22 of the AGV 2 (2-1) starts. get the button pressed. Then, AGV2 (2-1) whose start button is pressed starts moving to the next WP.

In the picking operator's action plan simulation, the time from when the AGV 2 joins the picking operator to when the picking operator presses the start button is ignored.

When the AGV2 finishes moving the WPs of all the products in the order data, it moves to WP-0. When the AGV 2 arrives at WP-0, the inspection/packing operator in the inspection/packing area replaces the box 21 such as a container with an empty box 21, and waits for the start button to be pressed. Then, when the start button is pressed, the AGV 2 starts moving to the next WP.

In the picking operator's action plan simulation, the time from the arrival of the AGV 2 to WP-0 until the inspection/packing operator presses the start button is ignored.

<Movement of the picking worker on the action plan simulation of the picking worker>
A picking worker has a worker terminal 3, and instruction information for the product to be picked next is output to the worker terminal 3. - 特許庁The product instruction information output to the worker terminal 3 includes the product name, storage position, and ID of the AGV 2 that loads the picked product.

In the picker's action plan simulation, the picker moves in the warehouse at 1.0 [m/s] according to the instruction information output to the worker terminal 3 and takes out the instructed product. Also, it is assumed that the picking worker takes 2 [s] from arriving at the product storage position to taking out the product.

Subsequently, when the picking operator finishes taking out the instructed merchandise, he joins the AGV 2 at the WP, loads the picked merchandise into a box 21 such as a container of the AGV 2, and presses the start button of the operation part 22. - 特許庁

Note that in the picking worker's action plan simulation, the time required for the picking worker to move from the product storage position of the instruction information to the WP is ignored. Also, the time from when the picking worker and the AGV 2 meet at the WP to when the picking worker finishes loading the product in the box 21 on the AGV 2 is ignored. However, if the picker arrives at the WP but the AGV2 does not arrive, the waiting time until the AGV2 arrives is calculated. Further, if the AGV 2 arrives at the WP but the picker does not arrive, the waiting time until the picker arrives is calculated.

Subsequently, when the picking operator presses the start button of the operation unit 22 of the AGV 2, the next instruction is output to the operator terminal 3, and the picking operator performs the next picking work according to the instruction.

In the picking operator action plan simulation, after the start button of the operation unit 22 of the AGV 2 is pressed, the following instruction is output to the operator terminal 3, and the picking operator moves according to the instruction. Note that the time until the picking worker starts moving is ignored.

When the picking operator finishes loading the products of all the order data on the AGV 2 and the AGV 2 transports the box 21 such as the container for which the AGV 2 has collected the last order data to the inspection/packing area, the picking work is completed.

The list creating unit 111 calculates the picking worker's action plan list until the end of the picking work by the above-described algorithm, and records the picking worker's action plan list in the work instruction management unit 114 b of the management device 1 .

(Example of cooperative picking work between picker and AGV2)
Next, the method and effects of cooperative picking by the picker and the AGV 2 will be described with a specific example during picking.

A case where the number of AGVs 2 is three and the number of picking workers is two will be described below.

Here, FIG. 22 is a diagram showing an example of order data, and FIG. 23 is a diagram showing an example of order processing order of the AGV2. For example, in the order data list shown in FIG. 22, AGV2(2-1) traverses the WP of the product Order-1. In addition, AGV2 (2-2) circulates the WP of the product that is Order-2. Furthermore, AGV2(2-3) traverses the WP of the product that is Order-3.

Picking operator A or picking work that minimizes picking work time for each product picked by each of AGV2 (2-1), AGV2 (2-2), and AGV2 (2-3) The procedure for calculating the allocation of Person B will now be described.

First, a procedure for creating a list of stop positions to be patrolled by the AGV 2 will be described.

(First item)
The list creating unit 111 loads the order data list shown in FIG. 22 and the order processing order of the AGV 2 shown in FIG.

Next, the list creation unit 111 arranges the stop positions of the same order ID in the order in which the AGV 2 moves clockwise from the order data list, and finally creates a position list to move to WP-0. After creating the stop position list for all the order IDs, the list creating unit 111 arranges the position list in order of order processing of the AGV 2 . Finally, the list creation unit 111 records the position list to which the initial position WP-0 is added as the first stop position of the AGV 2 (2-1) in the AGV stop position list on the RAM of the main storage device 12. do. Here, FIG. 24 is a diagram showing an example of an AGV stop position list.

The list creation unit 111 calculates the travel time between moving WPs based on the AGV stop position list shown in FIG. Specifically, the list creating unit 111 reads the movement distance [m] between the WPs that the AGV 2 moves from FIG. 10, and records it in the AGV stop position list. Then, the read movement distance is divided by the AGV movement speed 0.5 [m/s] read from the RAM of the main storage device 12 to calculate the movement time between WPs. Then, the list creating unit 111 records the travel time between each WP of the AGV 2, which is the calculation result, in the AGV stop position list.

The list creation unit 111 determines which product is to be assigned to which picking operator, creates a circulation list of products by AGV, and records it in the RAM of the main storage device 12 .

Subsequently, the list creation unit 111 determines the product P1 for which AGV2(2-1) stops first, the product P3 for which AGV2(2-2) stops first, and the product P3 for which AGV2(2-3) stops first. A product and a picking operator who can finish loading the earliest are determined from the first calculation target product group which is a set of products P5 to be stopped at the time. Here, FIG. 25 is a diagram showing an example of the first calculation target product group.

Next, the list creation unit 111 calculates the initial positions WP of picking worker A, picking worker B, AGV2(2-1), AGV2(2-2), and AGV2(2-3). -0 is read from the RAM of the main memory 12;

FIG. 26 is a diagram showing an example of a stop position list of AGV2. Next, from FIG. 26, the list creating unit 111 determines that AGVID2-1 travels from WP-0 to WP-3 with a travel time of 6 [s] and AGV2(2-2) travels from WP-0 to WP-3. The travel time 8 [s] of AGVID2-2 moving from 0 to WP-4 and the travel time 2 [s] of AGVID2-3 moving from WP-0 to WP-1 by AGV2(2-3) are read.

Next, the list creation unit 111 calculates the travel time when each picking worker moves to WP-3 where product P1 is located, the travel time when it moves to WP-4 where product P3 is located, and the travel time when each picker moves to WP-4 where product P5 is located. The movement time when moving to WP-1 is recorded in the RAM of the main storage device 12. FIG.

Next, the list creating unit 111 reads the product picking time 2 [s] of the picker from the RAM of the main storage device 12 .

The list creation unit 111 also calculates the time required for each picking worker to finish loading the product into the box 21 on each AGV 2 and records the time in the RAM of the main storage device 12 . Here, FIG. 27 is a diagram showing working hours of a picking operator.

As shown in FIG. 27, both the picking operator A and the picking operator B have a waiting time of 1 [s] until they finish loading the product P1 into the box 21 on the AGV2(2-1). Similarly, both the picking operator A and the picking operator B have a waiting time of 4 [s] to finish loading the product P3 into the box 21 on the AGV2(2-2). On the other hand, neither picking operator A nor picking operator B has a waiting time to finish loading the product P5 into the box 21 on the AGV2(2-3).

Here, FIG. 28 is a diagram showing the work time of the picking operator and the AGV from the start of picking to the completion of loading the product on the AGV. As shown in FIG. 28, picker A and picker B can finish loading product P5 onto AGV2 (2-3) the earliest from the start of picking. If there are a plurality of picking worker candidates who can quickly finish stacking the product P5, the picking worker A whose worker ID of the picking worker has a lower subscript picks the product P5. Here, as a predetermined rule for determining the picking worker who performs picking, the suffix of the worker ID of the picking worker is smaller, but it is not limited to this.

Since it is decided that the picker A picks the product P5 first, the movement time until the product P5 of the picker B is loaded into the box 21 on the AGV2 (2-3) and the product removal time are Remove wait time.

Here, FIG. 29 is a diagram showing the first allocated product. As shown in FIG. 29, it is decided that picker A picks product P5 first. The product P5 selected from the first calculation target product group is called the first assigned product as the product to which the picking worker A is assigned.

Here, FIG. 30 is a diagram showing an example of a picking worker's action plan list. The list creation unit 111 joins the product name, required quantity, storage location name, patrol location, and the product name to be picked by the picker A to the action plan list of the picker shown in FIG. Record AGVID, travel time, pick-up time, wait time.

In addition, as shown in FIG. 29, the list creating unit 111 updates the stop positions of the picker A and AGV2(2-3) on the RAM of the main storage device 12 to WP-1 where the product P5 exists.

(Second item)
Next, product P1 that AGV2 (2-1) stops first, product P3 that AGV2 (2-2) stops first, and product P6 that AGV2 (2-3) stops second. A product and a picking operator who can finish loading the product the earliest are determined from among the second target product group which is a set.

From FIG. 26, the list creation unit 111 determines that AGVID2-1 travels from WP-0 to WP-3 for AGVID2-1, and that AGV2(2-2) travels from WP-0 to WP-3. Read the travel time 8 [s] of AGVID2-2 moving to -4 and the travel time 6 [s] of AGVID2-3 moving from WP-1 to WP-4 by AGV2(2-3).

Next, the list creation unit 111 determines the travel time when each picker moves to WP-3 where product P1 is located, the travel time when the picker moves to WP-4 where product P3 is located, and the travel time when each picker moves to WP-4 where product P6 is located. The movement time when moving to WP-4 is recorded in the RAM of the main storage device 12 .

Next, the list creating unit 111 reads the product picking time 2 [s] of the picker from the RAM of the main storage device 12 .

The list creation unit 111 also calculates the time required for each picking worker to finish loading the product into the box 21 on each AGV 2 and records the time in the RAM of the main storage device 12 . Here, FIG. 31 is a diagram showing working hours of a picking operator.

As shown in FIG. 31, picking operator B has a waiting time of 1 [s] in order for picking operator B to finish loading product P1 into box 21 on AGV2(2-1). Similarly, picking operator B has a waiting time of 4 [s] in order for picking operator B to finish loading product P3 into box 21 on AGV2(2-2). In addition, picking operator A has a waiting time of 1 [s] in order for picking operator A to finish loading product P6 into box 21 on AGV2(2-3). In addition, picking operator B has a waiting time of 5 [s] in order for picking operator B to finish loading product P6 into box 21 on AGV2(2-3).

Here, FIG. 32 is a diagram showing the work time of the picking operator and the AGV from the start of picking to the completion of loading the product on the AGV. As shown in FIG. 32, the picker B can finish loading the product P1 onto the AGV2 (2-1) the earliest from the start of picking.

Here, FIG. 33 is a diagram showing the first allocated product. As shown in FIG. 33, it is decided that picker B picks product P1 first. The product P1 selected from the first calculation target product group is called the first assigned product as the product to which the picking worker B is assigned.

Here, FIG. 34 is a diagram showing an example of a picking worker's action plan list. The list creation unit 111 stores AGVID, order ID, meeting point, product storage position, product name, number of picks, and worker for the action plan list of the picking worker shown in FIG. Record the ID, the worker's travel time, and the worker's waiting time.

Here, the case where the number of AGVs 2 is three and the number of picking workers is two has been described, but the present invention is not limited to this. However, although at least one AGV 2 is sufficient, a plurality of picking operators are required.

As described above, according to the present embodiment, all the AGVs 2 pick from the target article group, which is a set of articles to be picked in the next picking operation, during the picking operation time (the travel time to the meeting place with the AGV 2 and the picking operation time). By finding the combination of the picking worker and the item that minimizes the total time (total time including the picking time of the product) Since the worker who picks one item in the group of items is determined, each time one picking operation is completed, it is possible to calculate the assignment of subsequent picking workers based on the situation at that time. , the efficiency of the entire picking work can be improved. In other words, the time required for the entire picking operation can be shortened.

In addition, the combination of the number of AGVs 2 and the number of picking workers is the minimum unit of calculation, and by repeatedly performing this minimum unit of calculation for all the products (goods) to be picked, the work of the picking worker can be reduced to the picking work. It is possible to find the assignment of workers with the minimum waiting time in a short time, and as a result, it is possible to perform a work simulation before the picking work in a short time.

1 Management Device 2 Autonomous Vehicle 100 Picking System 111 Worker Determining Means

JP-A-2000-128319

Claims (6)

In a management device that manages article picking work by X workers and M autonomous vehicles,
For each of the M autonomous vehicles, find a target item group that is a collection of items that may be picked in the next picking operation,
By finding the combination of the X workers and the item that will minimize the picking time for the target item group, the picking assigned item for which the next picking operation will be performed from the target item group and the picking assigned item determine who will pick the
A management device characterized by:
However, X and M are integers, and one of X and M is 2 or more. The order in which the picking operation is performed for all the items to be picked, with the operation for finding the combination of the X workers and the item that minimizes the picking time for the target item group as the minimum unit of operation. and picking workers,
The management device according to claim 1, characterized by: In the combination of the X number of workers and the item that has the shortest picking time for the target item group, the work time of the combination of the first worker for the first item and the second work time for the first item If the work time by the combination of workers is the same, determine the worker to be combined with the first article according to a predetermined rule,
3. The management device according to claim 1 or 2, characterized in that: M autonomous vehicles,
a management device according to any one of claims 1 to 3;
A picking system comprising: In a management method for managing article picking work by X workers and M autonomous vehicles,
For each of the M autonomous vehicles, find a target item group that is a collection of items that may be picked in the next picking operation,
By finding the combination of the X workers and the item that will minimize the picking time for the target item group, the picking assigned item for which the next picking operation will be performed from the target item group and the picking assigned item determine who will pick the
A management method characterized by
However, X and M are integers, and one of X and M is 2 or more. The order in which the picking operation is performed for all the items to be picked, with the operation for finding the combination of the X workers and the item that minimizes the picking time for the target item group as the minimum unit of operation. and picking workers,
The management method according to claim 5, characterized by:

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