JPWO2022208634A5 - - Google Patents
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Claims (20)
前記第１のエリアと異なる高さに位置する第２のエリアから、前記第１のエリアに第１の搬送物を搬送するエリア間搬送機と、
前記第１のエリアのうちのバッファ区画以外に配置されている第２の搬送物を搬送する第１の搬送タスクより、前記エリア間搬送機により前記第１のエリアに搬送され前記バッファ区画に配置された前記第１の搬送物を搬送する第２の搬送タスクを、優先的に前記搬送装置に割り当てる制御装置と、
を備え、
前記第１のエリアの前記バッファ区画は、前記エリア間搬送機により前記第１のエリアに搬送された搬送物が一時的に置かれる区画である、
搬送システム。 a conveying device that conveys an article placed in the first area;
an inter-area conveyor that conveys a first article to the first area from a second area located at a height different from that of the first area;
From the first transport task of transporting the second transported object arranged in the first area other than the buffer section , it is transported to the first area by the inter-area transporter and placed in the buffer section. a control device that preferentially assigns a second transport task for transporting the first transported object to the transport device;
with
The buffer section of the first area is a section in which the goods conveyed to the first area by the inter-area conveyor are temporarily placed.
transport system.
前記制御装置は、前記一つ又は複数の搬送装置による搬送に関する情報と前記エリア間搬送機による搬送に関する情報とを含んだ情報である搬送管理情報に基づいて、前記第１のエリアに配置されている第２の搬送物を搬送する第１の搬送タスクより、前記エリア間搬送機により前記第１のエリアに搬送された前記第１の搬送物を搬送する第２の搬送タスクを、優先的に前記搬送装置に割り当てる、
請求項１に記載の搬送システム。 one or more transport devices comprising the transport device;
The control device is arranged in the first area based on transportation management information including information on transportation by the one or more transportation devices and information on transportation by the inter-area transportation machine. the second transport task transporting the first transported object transported to the first area by the inter-area transporter is given priority over the first transport task transporting the second transported object transported to the first area assigning to said transport device;
A transport system according to claim 1 .
前記一つ又は複数の搬送装置による搬送に関する情報と前記エリア間搬送機による搬送に関する情報とを含んだ情報である搬送管理情報に基づいて、渋滞の発生が予測されるか否かを判定し、
当該判定の結果が真の場合、前記一つ又は複数の搬送装置の制御として優先制御を行い、
前記渋滞とは、前記第１のエリア以外のエリアから前記第１のエリアに前記エリア間搬送機により搬送されたが搬送装置により搬送されていない待機状態の搬送物の数が前記エリア間搬送機について所定数に達しているために前記第１のエリア以外のエリアから前記第１のエリアへのＮ以上の搬送物（Ｎは自然数）が前記エリア間搬送機の外及び中のいずれか又は両方において待機状態となることであり、
前記優先制御とは、前記第１のエリアに配置されている搬送物の搬送よりも、前記第１のエリア以外のエリアから前記第１のエリアへ搬送され前記第１のエリアにて待機状態の少なくとも一つの搬送物の搬送を、優先する制御である、
請求項２に記載の搬送システム。 The control device
Determining whether or not the occurrence of congestion is predicted based on transportation management information that is information including information on transportation by the one or more transportation devices and information on transportation by the inter-area transportation machine,
If the result of the determination is true, priority control is performed as control of the one or more transport devices,
The congestion means that the number of objects in a standby state that have been transported from an area other than the first area to the first area by the inter-area transport machine but are not transported by the transport apparatus is a predetermined number for the inter-area transport machine. N or more items (N is a natural number) to be conveyed from areas other than the first area to the first area because the number has been reached are waiting outside and/or inside the inter-area carrier. is to be in the state of
The priority control means that, rather than transporting a transported object placed in the first area, a transported object transported from an area other than the first area to the first area and placed in a standby state in the first area is transported. A control that gives priority to the transportation of at least one transported object,
3. The transport system according to claim 2.
前記制御装置は、
前記一つ又は複数の搬送装置による搬送に関する情報と前記エリア間搬送機による搬送に関する情報とを含んだ情報である搬送管理情報に基づいて、渋滞の発生が予測されるか否かを判定し、
当該判定の結果が真の場合、前記一つ又は複数の搬送装置の制御として優先制御を行い、
前記渋滞とは、前記第１のエリア以外のエリアから前記第１のエリアに前記エリア間搬送機により搬送されたが前記搬送装置により搬送されていない状態である第１の待機状態の前記搬送物の数が所定の数に達しているために、前記エリア間搬送機によって前記第１のエリア以外のエリアから前記第１のエリアへ搬送される一つ以上の他の前記搬送物が、前記エリア間搬送機の外において前記エリア間搬送機による搬送が開始するまで、又は、前記エリア間搬送機の中において前記エリア間搬送機による搬送が完了するまで、待機状態となることであり、
前記優先制御とは、前記第１の待機状態である少なくとも一つの前記搬送物の搬送を、前記第１のエリアに配置されている他の前記搬送物の搬送よりも優先する制御である、
請求項２に記載の搬送システム。 The inter-area carrier transports the article placed in an area other than the first area among a plurality of areas each located at different heights, including the first area, from the area to the first area. 1 area can be transported,
The control device is
Determining whether or not the occurrence of congestion is predicted based on transportation management information that is information including information on transportation by the one or more transportation devices and information on transportation by the inter-area transportation machine,
If the result of the determination is true, priority control is performed as control of the one or more transport devices,
The congestion refers to the number of objects in a first standby state, which is a state in which the inter-area carrier transported from an area other than the first area to the first area but not transported by the transport device. has reached a predetermined number, one or more of the other objects transported from an area other than the first area to the first area by the inter-area transport machine a standby state until the inter-area transporter starts transporting outside the machine or until the inter-area transporter completes transporting inside the inter-area transporter;
The priority control is a control that prioritizes transportation of at least one of the objects in the first standby state over transportation of other objects placed in the first area.
3. The transport system according to claim 2.
前記制御装置は、前記一つ又は複数の搬送装置による搬送に関する情報と前記エリア間搬送機による搬送に関する情報とを含んだ情報である搬送管理情報に基づいて、前記第１のエリア以外のエリアから前記第１のエリアに前記エリア間搬送機により搬送されたが搬送装置により搬送されていない待機状態の搬送物の数が前記エリア間搬送機について第一の数に達しているか判定し、当該判定の結果が真の場合、前記第１のエリアに配置されている第２の搬送物を搬送する第１の搬送タスクより、前記エリア間搬送機により前記第１のエリアに搬送された前記第１の搬送物を搬送する第２の搬送タスクを、優先的に前記搬送装置に割り当てる、
請求項２に記載の搬送システム。 one or more transport devices comprising the transport device;
The control device, based on the transport management information, which is information including information related to transport by the one or more transport devices and information related to transport by the inter-area transport machine, from areas other than the first area Determining whether the number of objects in a standby state that have been transported to the first area by the inter-area transport machine but are not transported by the transport device has reached a first number for the inter-area transport machine, and the result of the determination is true, the first transport transported to the first area by the inter-area transport machine is selected from the first transport task for transporting the second transport placed in the first area. Preferentially assigning a second transport task of transporting an object to the transport device;
3. The transport system according to claim 2.
・前記搬送タスクと前記搬送装置との割当て関係、
・前記エリア間搬送機によって前記第１のエリアに搬送されたが前記搬送装置により搬送されていないために前記第１のエリアにて待機状態の搬送物又はその数、
・少なくとも一つの前記搬送タスクについて、当該搬送タスクに従う前記搬送物と当該搬送タスクに従い搬送が開始される予定の日時、及び、
・前記エリア間搬送機によって前記第１のエリア以外のエリアから前記第１のエリアに前記搬送物が搬送される予定の日時、
請求項３に記載の搬送システム。 The transport management information includes information representing:
an assignment relationship between the transport task and the transport device;
- Conveyed items or the number thereof that are in a standby state in the first area because they have been transported to the first area by the inter-area transport machine but have not been transported by the transport device;
- For at least one of the transport tasks, the goods to be transported according to the transport task and the date and time when transport is scheduled to start according to the transport task, and
the date and time when the transported product is scheduled to be transported from an area other than the first area to the first area by the inter-area transporter;
4. The transport system according to claim 3.
・前記搬送管理情報を基に、前記第１のエリア以外のエリアから前記第１のエリアへ搬送され前記第１のエリアにて待機状態の前記搬送物の前記搬送タスクを優先的に実行可能な前記搬送装置としての条件を満たす前記搬送装置である対象搬送装置を、最適搬送装置として決定すること、
・当該決定された最適搬送装置に、前記第１のエリアにて待機状態の前記搬送物の前記搬送タスクを割り当てること、
請求項３に記載の搬送システム。 The priority control includes:
- Based on the transport management information, the transport task of the object transported from an area other than the first area to the first area and waiting in the first area can be preferentially executed. Determining a target transport device, which is the transport device that satisfies the conditions as the transport device, as the optimum transport device;
- assigning the transport task of the transported object in a standby state in the first area to the determined optimal transport device;
4. The transport system according to claim 3.
前記優先制御において、前記搬送管理情報を基に、第１の条件を満たす前記搬送装置である第１の対象搬送装置が特定された場合、当該第１の対象搬送装置を前記最適搬送装置と決定し、
前記第１の条件は、
・搬送タスクが割り当てられておらず、
・前記渋滞が発生する前に、前記第１のエリア以外のエリアから前記第１のエリアへ搬送され前記第１のエリアにて待機状態の搬送物を搬送することが可能である、
ことであり、
前記第１の対象搬送装置が、前記第１のエリア以外のエリアから前記第１のエリアへ搬送され前記第１のエリアにて待機状態の搬送物の搬送タスクが前記制御装置により割り当てられたことに応答して、当該搬送タスクを実行する、
請求項７に記載の搬送システム。 The control device is
In the priority control, when a first target transport device that is the transport device that satisfies the first condition is specified based on the transport management information, the first target transport device is determined as the optimum transport device. death,
The first condition is
・The transport task is not assigned,
- Before the traffic jam occurs, it is possible to transport an object that is transported from an area other than the first area to the first area and is in a standby state in the first area.
is that
The first target transport device is assigned by the control device a task of transporting an object that has been transported from an area other than the first area to the first area and is in a standby state in the first area. perform the transport task in response to
A transport system according to claim 7 .
前記優先制御において、前記第１の対象搬送装置が特定されないが、前記搬送管理情報を基に、第２の条件を満たす前記搬送装置である第２の対象搬送装置が特定された場合、当該第２の対象搬送装置を前記最適搬送装置と決定し、
前記第２の条件は、
・前記渋滞が発生する前に、割り当てられた搬送タスクに従い目的位置へ搬送物を搬送して当該目的位置から当該搬送物を前記第１のエリアにおける当該搬送物についての該当位置へ搬送することが完了し、
・前記渋滞が発生する前に、当該該当位置へ搬送物を搬送した後で、前記第１のエリア以外のエリアから前記第１のエリアへ搬送され前記第１のエリアにて待機状態の搬送物を搬送することが可能であることであり、
前記第２の対象搬送装置は、
前記第１のエリア以外のエリアから前記第１のエリアへ搬送され前記第１のエリアにて待機状態の前記搬送物の前記搬送タスクが前記制御装置により割り当てられたことに応答して、前記該当位置へ前記搬送物を搬送した後に、当該搬送タスクを実行する、
請求項８に記載の搬送システム。 The control device is
In the priority control, if the first target transport device is not specified, but the second target transport device that satisfies the second condition is specified based on the transport management information, the second target transport device is specified. determining the target conveying device of 2 as the optimum conveying device;
The second condition is
- Before the traffic jam occurs, it is possible to transport the transported object to a target position according to the assigned transport task, and transport the transported object from the target position to the corresponding position for the transported object in the first area. Completed,
・Before the traffic jam occurs, after the transported object is transported to the corresponding position, the transported object is transported from an area other than the first area to the first area and is on standby in the first area. is capable of transporting
The second target transport device,
in response to the transfer task being assigned by the control device to the transfer task of the transfer object which has been transferred from an area other than the first area to the first area and is in a standby state in the first area; executing the transport task after transporting the transport to a location;
A transport system according to claim 8 .
前記優先制御において、前記第１の対象搬送装置及び前記第２の対象搬送装置が特定されないが、前記搬送管理情報を基に、第３の条件を満たす前記搬送装置である第３の対象搬送装置が特定された場合、当該第３の対象搬送装置を前記最適搬送装置と決定し、
前記第３の条件は、
・前記第１のエリアに配置されている他の前記搬送物の前記搬送タスクが割り当てられているが当該搬送物の搬送を開始しておらず、
・前記渋滞が発生する前に、前記第１のエリア以外のエリアから前記第１のエリアへ搬送され前記第１のエリアにて待機状態の搬送物を搬送することが可能であることである
前記第３の対象搬送装置は、
前記第１のエリア以外のエリアから前記第１のエリアへ搬送され前記第１のエリアにて待機状態の前記搬送物の前記搬送タスクが前記制御装置により割り当てられたことに応答して、前記第１のエリアに配置されている前記他の前記搬送物の前記搬送タスクに代えて、当該割り当てられた前記搬送タスクを実行する、
請求項９に記載の搬送システム。 The control device is
In the priority control, the first target transport device and the second target transport device are not specified, but based on the transport management information, the third target transport device is the transport device that satisfies the third condition. is identified, determine the third target transport device as the optimum transport device;
The third condition is
- the transport task for the other transported object placed in the first area has been assigned, but transport of the transported object has not started;
- Before the traffic jam occurs, it is possible to transport an object that has been transported from an area other than the first area to the first area and is in a waiting state in the first area. The third target transport device is
in response to assignment by the control device of the transport task of the transport object transported from an area other than the first area to the first area and standing by in the first area, executing the assigned transport task instead of the transport task of the other transported object arranged in one area;
10. A transport system according to claim 9.
請求項７に記載の搬送システム。 In the priority control, the target transport device is the transport device to which the transport task is not assigned.
A transport system according to claim 7 .
請求項７に記載の搬送システム。 In the priority control, the target transport device is a transport device that completes transporting the object to a target position according to the assigned transport task.
A transport system according to claim 7 .
請求項７に記載の搬送システム。 In the priority control, the target transport apparatus is a transport apparatus that is assigned the transport task of the other transport object placed in the first area but has not started transport of the transport object. ,
A transport system according to claim 7 .
当該搬送物の配置位置から前記エリア間搬送機へ搬送され当該エリア間搬送機により当該エリアから前記第１のエリアに搬送されるようになっており、
前記制御装置は、
前記優先制御において、前記対象搬送装置が特定されない場合、前記第１のエリア以外のエリアに配置されている前記搬送物の前記エリア間搬送機への搬送の処理順番を繰り下げる、
請求項７に記載の搬送システム。 The conveyed article arranged in an area other than the first area,
The conveyed article is conveyed from the arrangement position of the conveyed article to the inter-area conveying machine, and is conveyed from the area to the first area by the inter-area conveying machine,
The control device is
In the priority control, when the target transport device is not specified, the processing order of transporting the transported object placed in an area other than the first area to the inter-area transporter is moved down.
A transport system according to claim 7 .
複数の搬送物にそれぞれ対応した複数の搬送頻度を基に、前記複数の搬送物の各々について、当該搬送物の配置位置が存在するエリアを前記複数のエリアのいずれのエリアにするかを決定し、
前記搬送頻度は、前記複数の搬送物の各々について、前記第１のエリアにおける目的位置へ単位時間当たりに搬送物を搬送する頻度である、
請求項１に記載の搬送システム。 The control device is
Based on a plurality of transportation frequencies respectively corresponding to a plurality of articles to be conveyed, for each of the plurality of articles to be conveyed, it is determined which one of the plurality of areas is to be an area in which the arrangement position of the article to be conveyed is located. ,
The transport frequency is the frequency of transporting each of the plurality of transported objects to a target position in the first area per unit time.
A transport system according to claim 1 .
請求項１５に記載の搬送システム。 The control device determines an area other than the first area as an area where the arrangement position of the transported object with the relatively low transportation frequency exists.
16. The transport system of claim 15.
当該搬送物の配置位置から前記エリア間搬送機による積載開始位置へ搬送され、
当該エリア間搬送機は、前記積載開始位置に搬送された前記搬送物を積載し、当該エリアから前記第１のエリアに搬送するようになっており、
前記制御装置は、
前記搬送装置を含む一つ又は複数の搬送装置による搬送に関する情報と前記エリア間搬送機による搬送に関する情報とを含んだ情報である搬送管理情報に基づいて、前記第１のエリア以外のエリアにおける前記搬送物が当該エリアにおける前記積載開始位置へ到達する前に、前記エリア間搬送機を当該エリアに待機させる請求項１に記載の搬送システム。 The conveyed article arranged in an area other than the first area,
Conveyed from the arrangement position of the conveyed object to the loading start position by the inter-area conveying machine,
The inter-area conveying machine loads the conveyed article conveyed to the loading start position, and conveys the conveyed article from the area to the first area,
The control device is
In areas other than the first area, the 2. The transport system according to claim 1, wherein the inter-area transport machine is made to wait in the area before the object to be transported reaches the loading start position in the area.
前記エリア間搬送機を、下記の（ｘ）及び（ｙ）を交互に行うよう制御する、
（ｘ）前記第１のエリア以外のエリアにおける前記搬送物を前記第１のエリアに搬送する、
（ｙ）前記第１のエリアにおける前記搬送物を前記第１のエリア以外のエリアに搬送する、
請求項１に記載の搬送システム。 The control device is
Controlling the inter-area transport machine to alternately perform (x) and (y) below;
(x) transporting the goods in an area other than the first area to the first area;
(y) transporting the goods in the first area to an area other than the first area;
A transport system according to claim 1 .
前記搬送装置は、前記第１のエリアに配置されている搬送物を搬送する装置であり、
前記エリア間搬送機は、前記第１のエリアと異なる高さに位置する第２のエリアから、前記第１のエリアに前記第１の搬送物を搬送する装置であり、
前記第１のエリアの前記バッファ区画は、前記エリア間搬送機により前記第１のエリアに搬送された搬送物が一時的に置かれる区画である、
搬送制御方法。 Transported to the first area by the inter-area transport machine and placed in the buffer section from the first transport task that transports the second transported article that is placed in the first area other than the buffer section assigning a second transport task for transporting the first object preferentially to the transport device;
The conveying device is a device for conveying an article placed in the first area,
The inter-area conveying machine is a device for conveying the first article to the first area from a second area located at a height different from that of the first area,
The buffer section of the first area is a section in which the goods conveyed to the first area by the inter-area conveyor are temporarily placed.
Conveyance control method.
前記インターフェース装置に接続されており、前記第１のエリアのうちのバッファ区画以外に配置されている第２の搬送物を搬送する第１の搬送タスクより、エリア間搬送機により前記第１のエリアに搬送され前記バッファ区画に配置された第１の搬送物を搬送する第２の搬送タスクを、優先的に前記搬送装置に割り当てるプロセッサと
を備え、
前記エリア間搬送機は、前記第１のエリアと異なる高さに位置する第２のエリアから、前記第１のエリアに前記第１の搬送物を搬送する装置であり、
前記第１のエリアの前記バッファ区画は、前記エリア間搬送機により前記第１のエリアに搬送された搬送物が一時的に置かれる区画である、
制御装置。 an interface device that communicates with a conveying device that conveys a conveyed object arranged in the first area;
A first transport task, which is connected to the interface device and which transports a second object arranged outside the buffer section in the first area, causes the inter-area transport machine to transport the first area. a processor that preferentially assigns to the transport device a second transport task of transporting a first object transported to and placed in the buffer compartment ;
The inter-area conveying machine is a device for conveying the first article to the first area from a second area located at a height different from that of the first area,
The buffer section of the first area is a section in which the goods conveyed to the first area by the inter-area conveyor are temporarily placed.
Control device.
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| PCT/JP2021/013411 WO2022208634A1 (en) | 2021-03-29 | 2021-03-29 | Conveyance system and method |
Publications (3)
| Publication Number | Publication Date |
|---|---|
| JPWO2022208634A1 JPWO2022208634A1 (en) | 2022-10-06 |
| JPWO2022208634A5 true JPWO2022208634A5 (en) | 2023-04-26 |
| JP7454746B2 JP7454746B2 (en) | 2024-03-22 |
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| JP2023509942A Active JP7454746B2 (en) | 2021-03-29 | 2021-03-29 | Conveying system and method |
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| WO (1) | WO2022208634A1 (en) |
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| JP2024110702A (en) * | 2023-02-03 | 2024-08-16 | 株式会社東芝 | Material processing plan generation method, warehouse system, and storage shelf |
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| JP4013590B2 (en) * | 2002-02-28 | 2007-11-28 | 株式会社ダイフク | Containment equipment |
| US7912574B2 (en) * | 2006-06-19 | 2011-03-22 | Kiva Systems, Inc. | System and method for transporting inventory items |
| JP6220406B2 (en) * | 2013-12-24 | 2017-10-25 | 株式会社日立製作所 | Picking system |
| US9809384B2 (en) * | 2014-11-24 | 2017-11-07 | Amazon Technologies, Inc. | Inventory system with efficient operator handling of inventory items |
| JP7041028B2 (en) * | 2018-09-10 | 2022-03-23 | 株式会社日立インダストリアルプロダクツ | Transport system and transport management equipment |
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