WO2021152800A1

WO2021152800A1 - Task assignment system, task assignment method, and task assignment program

Info

Publication number: WO2021152800A1
Application number: PCT/JP2020/003553
Authority: WO
Inventors: 誠治志垣; 佐藤　誠司
Original assignee: Ｇｒｏｕｎｄ株式会社
Priority date: 2020-01-30
Filing date: 2020-01-30
Publication date: 2021-08-05

Abstract

A task assignment system 1 includes: a terminating station group assignment means that assigns, on the basis of order information, a terminating station group to an order including order information related to shipping of products located in a warehouse; an order sorting means that, on the basis of the locations of the products, sorts orders to which a same terminating station group is assigned in a sequence whereby the products can be collected by a shortest route to generate an order-list-by-group; a task assignment means that divides the order-list-by-group and assigns each divided order-list-by-group as a task; and a terminating station assignment means that assigns the terminating stations to the tasks.

Description

Task allocation system, task allocation method, and task allocation program

The present invention relates to a task allocation system for allocating tasks to self-propelled robots moving in a distribution warehouse, a task allocation method, and a task allocation program.

In recent years, at logistics sites such as distribution warehouses, self-propelled robots have been used to transport goods from a picking area where goods such as goods are placed to a work area for packing and shipping goods. .. The self-propelled robot transports the articles picked up by the operator according to the order from the huge number of articles dispersed in the picking area to the work area (see, for example, Patent Document 1).

JP-A-2018-106277

In order to process and ship a huge number of orders with a limited number of self-propelled robots, the tasks assigned to each self-propelled robot are assigned to the number, size, weight, and order priority of the items to be ordered. It is necessary to allocate appropriately according to the attributes of the order such as the packing method.

The present invention has been made in view of the above circumstances, and task allocation makes it possible to streamline the transportation of goods by appropriately allocating tasks to a plurality of self-propelled robots according to the contents of an order. An exemplary task is to provide a system, a task allocation method, and a task allocation program.

In order to solve the above problems, the present invention has the following configurations.
(1) Same as the terminal station group allocation means for assigning the terminal station group to which the terminal station capable of handling the shipment of the product belongs to the order including the order information regarding the shipment of the product placed in the warehouse based on the order information. An order that generates an order list for each group by rearranging the orders to which the terminal station group is assigned in the order in which the products can be collected by the shortest route based on the arrangement of the products in the warehouse. The sorting means, the task allocating means for dividing the order list for each group and allocating each of the divided order lists for the group as a task, and the terminal station belonging to the terminal station group assigned to the order included in the task. A task allocation system comprising a terminal station allocation means for allocating the task to the task.

(2) Same as the terminal station group allocation process in which the terminal station group to which the terminal station capable of handling the shipment of the product belongs is assigned to the order including the order information regarding the shipment of the product placed in the warehouse based on the order information. An order that generates an order list for each group by rearranging the orders to which the terminal station group is assigned in the order in which the products can be collected by the shortest route based on the arrangement of the products in the warehouse. A sorting process, a task allocation process that divides the order list for each group and allocates each of the divided order lists for each group as a task, and a terminal station belonging to the terminal station group assigned to the order included in the task. A task allocation method, comprising a terminal station allocation process for allocating the task to the task.

(3) The terminal station group allocation means, which allocates the terminal station group to which the terminal station capable of handling the shipment of the product belongs, based on the order information, to the order including the order information regarding the shipment of the product placed in the warehouse. An order sequence that generates an order list for each group by rearranging the orders to which the terminal station group is assigned in the order in which the products can be collected by the shortest route based on the arrangement of the products in the warehouse. The replacement means, the task allocating means for dividing the group-based order list and allocating each of the divided group-based order lists as tasks, and the terminal stations belonging to the terminal station group assigned to the orders included in the task are described. Terminal station assignment means to assign to tasks,
A task allocation program that makes your computer work as a computer.

Further objects or other features of the present invention will be manifested by preferred embodiments described below with reference to the accompanying drawings.

According to the present invention, a task allocation system, a task allocation method, and a task allocation that enable efficient transportation of goods by appropriately allocating tasks to a plurality of self-propelled robots according to the contents of an order. A program can be provided.

Schematic diagram showing the overall configuration of the distribution warehouse Schematic diagram showing a self-propelled robot AMR Explanatory diagram of the operation of the self-propelled robot AMR in the distribution warehouse Flow diagram showing the processing of the task allocation system 1 Flow chart showing processing of task allocation system 1 (continued from FIG. 4A) Flow chart showing processing of task allocation system 1 (continued from FIG. 4B) An example of received order list L1 An example of order list L2 by group An example of order list L2 by group (continued from FIG. 6A) An example of product database DB1 An example of package size / basket size correspondence table DB2 An example of order list L3 by task An example of order list L3 by task (continued from FIG. 8) An example of order list L3 by task (continued from FIG. 9) An example of the terminal station database DB3 An example of the order list L4 assigned to the terminal station An example of the order list L4 assigned to the terminal station (continued from FIG. 11) An example of the order list L4 assigned to the terminal station (continued from FIG. 12) Schematic diagram showing an example of a picking instruction screen Schematic diagram showing an example of an exception handling screen Flow diagram showing the processing of the alternative terminal station presence / absence judgment submodule Flow diagram showing the processing of the task in progress judgment submodule

[Embodiment 1]
Hereinafter, the task allocation system 1 according to the first embodiment will be described in order with reference to the drawings. FIG. 1 is a schematic view showing the overall configuration of a distribution warehouse.

In the first embodiment, the distribution warehouse includes at least a warehouse management system 9, a task allocation system 1, a plurality of self-propelled robots AMR, and a plurality of terminal stations. The distribution warehouse is divided into at least a product picking area and a terminal station area. A large number of shelves are arranged in the product picking area, and a worker (human) picks the products arranged on those shelves. The picked product is transported to the terminal station area by a self-propelled robot AMR or a worker, and is delivered to any of a plurality of terminal station TSs arranged in the terminal station area. Workers perform picking work based on, for example, the display screen of an information and communication terminal such as a handy terminal HT, the display screen of a display device such as a display installed in a distribution warehouse, and the instructions displayed on a paper-based instruction slip. It can be carried out.

The warehouse management system 9 is connected to the main configurations in the distribution warehouse so as to be communicable with each other, and information processing capable of directly or indirectly managing products, self-propelled robot AMR, workers, etc. in the distribution warehouse. It is a terminal. The warehouse management system 9 is an information processing terminal including at least a central processing unit (CPU) 91, a storage device (SU) 92, and a communication device 93. The central processing unit 91 executes the processing based on the program stored in the storage device 92, so that various functions of the warehouse management system 9 are realized.

The communication device 93 has a function of acquiring product order information from an EC site or the like from outside the distribution warehouse, for example, via the Internet. Further, the communication device 93 is connected to the converter 2 of the task allocation system 1 so as to be able to communicate with each other. The communication device 93 may also be connected to a plurality of handy terminal HTs, a display device, a printing device for instruction slips, and the like so as to be able to communicate with each other. In the first embodiment, the communication inside and outside the distribution warehouse is not limited to the communication of the communication device 93, and may be a wired communication, a wireless LAN, or other short-range wireless communication. Further, in the first embodiment, not only the communication of the communication device 93 but also various communications may be encrypted by various encryption means.

The storage device 92 stores the inventory status of the products in the distribution warehouse together with the position information of each product. The position information of each product can be, for example, a shelf with a symbol or a number and its arrangement in the shelf, position coordinates in the distribution warehouse, a relative position from a reference point in the distribution warehouse, and the like. ..

<Task allocation system 1>
The task allocation system 1 includes a terminal station group allocation module as a terminal station group allocation means, an order sorting module as an order sorting means, a task allocation module as a task allocation means, and a terminal station as a terminal station allocation means. The allocation module is provided at least, and the order acquisition module as an order acquisition means is provided.
A product package determination module as a product package determination means and a task execution module as a task execution means may be further provided. The task allocation system 1 is composed of a converter 2, a batch optimization processing server 3, and an AMR management server 4. The converter 2, the batch optimization processing server 3, and the AMR management server 4 are connected to each other so as to be able to communicate with each other.

The task allocation system 1 according to the first embodiment realizes a task allocation method including a terminal station group allocation process, an order sorting process, a task allocation process, and a terminal station allocation process corresponding to each of the above means. can do.

In the task allocation system 1 according to the first embodiment, at least one of the central processing unit 21 of the converter 2, the central processing unit 31 of the batch optimization processing server 3, and the central processing unit 41 of the AMR management server 4 has a task allocation program. It can be executed and each means of the task allocation system 1 can be realized.

The converter 2 is an information processing terminal including at least a central processing unit (CPU) 21, a storage device (SU) 22, and a communication device 23. Various functions of the converter 2 are realized by the central processing unit 21 executing the process based on the program stored in the storage device 22. The communication device 23 is connected to the warehouse management system 9, the batch optimization processing server 3, and the AMR management server 4 so as to be able to communicate with each other. The converter 2 can realize a function as an order acquisition means. A keyboard, mouse, or the like as an input device may be connected to the converter 2, or a display, a dashboard, or the like as a display device may be connected to the converter 2.

The batch optimization processing server 3 is an information processing terminal including at least a central processing unit (CPU) 31, a storage device (SU) 32, and a communication device 33. The central processing unit 31 executes the processing based on the program stored in the storage device 32, so that various functions of the batch optimization processing server 3 are realized. The communication device 33 is connected to the converter 2 so as to be able to communicate with each other. The batch optimization processing server 3 can realize functions as a terminal station group allocation means, a sorting means, a task allocation means, and a terminal station allocation means. A keyboard, mouse, or the like as an input device may be connected to the converter 2 or a display, a dashboard, or the like as a display device may be connected to the batch optimization processing server 3.

The AMR management server 4 is an information processing terminal including at least a central processing unit (CPU) 41, a storage device (SU) 42, and a communication device 43. The central processing unit 41 executes the process based on the program stored in the storage device 42, so that various functions of the AMR management server 4 are realized. The communication device 43 is connected to the converter 2 and the plurality of self-propelled robots AMR so as to be able to communicate with each other. The AMR management server 4 can realize a function as a task execution means. A keyboard, mouse, or the like as an input device may be connected to the converter 2 or a display, a dashboard, or the like as a display device may be connected to the AMR management server 4.

It is preferable that each means of the task allocation system 1 is allocated to the converter 2, the batch optimization processing server 3, and the AMR management server 4 so as to realize each function as described above, from the viewpoint of processing efficiency. The allocation of each function is not limited to the above. For example, the task allocation system 1 may be configured such that a single server is responsible for all functions, and other than the converter 2, the batch optimization processing server 3, and the AMR management server 4, the task allocation system 1 is mutually connected to these servers. Another server connected so as to be able to communicate may be connected to configure the task allocation system 1.

Programs that realize the above-mentioned various functions, various databases, and the like may be stored in the storage device of the server that executes the process or the storage device of each terminal itself, and are connected to the storage device of another server connected so as to be able to communicate with each other. It may have been done.

<Self-propelled robot AMR>
The self-propelled robot AMR is a robot capable of autonomously traveling in a distribution warehouse based on an instruction from the AMR management server 4. FIG. 2 is a schematic view showing a self-propelled robot AMR. As shown in FIG. 2A, the self-propelled robot AMR includes a central processing unit (CPU) 51, a storage device (SU) 52, a communication device 53, a drive unit 54 such as a motor, and a battery (FIG. 2). (Not shown), a wheel 55, a sensor 56 for detecting surrounding conditions such as obstacles, a loading unit 57 on which a basket 61 for accommodating products is mounted, and a display device 59. In FIG. 2 (A), the internal configuration that cannot be seen from the outside is shown by a dotted line. The central processing unit 51, the storage device 52, the communication device 53, the drive unit 54, the sensor 56, and the display device 59 are connected to each other so as to be able to communicate with each other. The self-propelled robot AMR receives an instruction from the AMR management server 4 by the communication device 53, and the central processing unit 51 executes the process based on the program stored in the storage device 53. The function can be realized. By providing the sensor 56, the self-propelled robot AMR can detect obstacles and the like around the self-propelled robot AMR during self-propelled traveling, and can travel or stop so as not to come into contact with the obstacles and the like. The communication device 53 is not particularly limited as long as it can wirelessly communicate with a management server such as the AMR management server 4.

The loading unit 57 is loaded with a basket 61 for accommodating products picked by workers. In FIG. 2 (A), four baskets 61 (A1 to A4) of basket size “A” are mounted on the self-propelled robot AMR. In FIG. 2B, the self-propelled robot AMR is equipped with three baskets 62 (B1 to B3) having a basket size “B”. In FIG. 2C, two baskets 63 (C1 and C2) having a basket size of “C” are mounted on the self-propelled robot AMR. In FIG. 2 (D), one basket 64 (D1) having a basket size “D” is mounted on the self-propelled robot AMR. The basket size of the basket on which the self-propelled robot AMR can be mounted is not limited to one type, and baskets of different basket sizes can be mixedly loaded as long as the mounting space allows. The baskets 61 to 64 may have at least a part of the side surface open (the opening is not shown) so that the worker can easily store the product.

The display device 59 is not particularly limited as long as it can display the image data created by the AMR management server 4, the central processing unit 51, etc. as an image. The display device 59 may be, for example, a liquid crystal monitor or the like. The image displayed on the display device 59 can be, for example, a product loading instruction screen for the worker, an input screen for the worker to record an exceptional event such as a product shortage or damage, or the like. .. The image displayed on the display device 59 will be described later.

Next, the operation of the self-propelled robot AMR in the distribution warehouse will be described. FIG. 3 is an explanatory diagram of the operation of the self-propelled robot AMR in the distribution warehouse. The self-propelled robot AMR to which no task is assigned is waiting for an instruction from the AMR management server 4 in the standby area in the distribution warehouse. In FIG. 3, for convenience of explanation, the self-propelled robot AMRs waiting in the standby area are numbered 1 to 8 in the order of waiting for task assignment.

In FIG. 3, workers (humans) are not shown. In the product picking area, the workers are appropriately arranged to visually check the stop of the self-propelled robot AMR, the display contents of the display device 59 of the self-propelled robot AMR, and information such as the handy terminal HT possessed by the worker. It can be moved according to the display screen of the communication terminal, the display screen of the display device such as a display installed in the distribution warehouse, and the instruction displayed on the instruction slip of the paper medium. The workers may be appropriately distributed in the product picking area at predetermined intervals, on product shelves, and the like. In addition to the instructions to the workers, the current positions of the self-propelled robots AMR may be displayed on the various display screens described above.

A task is assigned to the self-propelled robot AMR1 which is one of the self-propelled robots AMR by the AMR management server 4, and when the self-propelled robot AMR1 receives an instruction, the task is displayed on the display device 59 of the self-propelled robot AMR1. The contents of are displayed. The content of the task includes the size and quantity of the basket to be mounted on the self-propelled robot AMR1. A worker in the vicinity of the self-propelled robot AMR1 mounts the basket on the self-propelled robot AMR1 according to the size, quantity, etc. of the basket displayed on the display device 59. After properly mounting the basket, the worker presses the "loading complete" button displayed on the display device 59. When the appropriate basket is loaded and the "loading complete" button is pressed, the self-propelled robot AMR1 starts moving.

In FIG. 3, a task including a large product is assigned to the self-propelled robot AMR1, and one basket 64 (D1) having a basket size "D" is mounted. The self-propelled robot AMR1 appropriately mounted with the basket 64 moves into the product picking area and moves to the picking point III where the product assigned as a task is arranged. At the picking point III, the self-propelled robot AMR1 causes the display device 59 to display a loading instruction screen for the worker. Based on the loading instruction, the worker picks the designated product and stores it in the basket 64 of the self-propelled robot AMR1. When the worker presses the "picking complete" button in the loading instruction screen of the display device 59 after the accommodation is completed, the self-propelled robot AMR1 starts moving to the next picking point.

Since there is no product to be picked next in the task assigned to the self-propelled robot AMR1 in FIG. 3, the self-propelled robot AMR1 does not move to the next picking point, but instead moves to the terminal station area. Move to the terminal station TS2 assigned by the task. At the terminal station TS2, the worker collects the basket 64 containing the goods. At this time, on the display screen of the display device 59 of the self-propelled robot AMR1, a "collection completed" button is displayed together with the content of the task. When the worker presses the "collection completed" button, the task assigned to the self-propelled robot AMR1 is completed, and the self-propelled robot AMR1 moves to the standby area.

In FIG. 3, the self-propelled robot AMR2 is assigned a task including three small or medium-sized products, and three baskets 62 (B1 to B3) having a basket size “B” are mounted on the upper, middle, and lower stages. NS. The self-propelled robot AMR2 appropriately equipped with three baskets 62 moves into the product picking area and moves to the picking point I where the product assigned as a task is arranged. Upon moving to the picking point I, the self-propelled robot AMR2 causes the display device 59 to display a loading instruction screen for the worker. The worker picks the designated product based on the instruction on the loading instruction screen and stores the designated product in the lower basket 62 (B1) of the self-propelled robot AMR2. When the worker presses the "picking complete" button in the loading instruction screen of the display device 59 after the accommodation is completed, the self-propelled robot AMR2 starts moving to the next picking point II.

Similarly, at the picking point II, when the loading instruction screen is displayed on the display device 59, the worker picks the designated product, stores it in the basket 62 (B2) in the middle stage, and presses the "picking complete" button. , The self-propelled robot AMR2 further moves to the next picking point IV. Similarly, at the picking point IV, the loading instruction screen is displayed on the display device 59, the worker picks the designated product, stores it in the upper basket 62 (B3), and presses the “picking completed” button. .. Since there is no product to be picked next in the task assigned to the self-propelled robot AMR2, the self-propelled robot AMR2 moves to the terminal station TS1 assigned by the task in the terminal station area.

At the terminal station TS1, the worker collects the three baskets 62 containing the products. At this time, on the display screen of the display device 59 of the self-propelled robot AMR2, a "collection completed" button is displayed together with the content of the task. When the worker presses the "collection completed" button, the task assigned to the self-propelled robot AMR2 is completed, and the self-propelled robot AMR2 moves to the standby area.

At the terminal station TS, the collected products in the basket are packed based on the contents of the task. The packed product is then shipped to each destination. Each of the multiple terminal stations TS is unique, such as a terminal station that can handle the packing of large items, a terminal station that can handle gift wrapping, and a terminal station that can handle packing with a specific packing material (box). It may have a function. For example, in FIG. 3, the terminal station TS2 is a terminal station capable of packing a large-sized product.

As a general rule, one basket is assigned to one order. That is, as a general rule, the products included in one order are stored in one basket, and the products contained in the basket are packed together. As a result, it is possible to prevent products of other orders from being mixed in, and it is possible to improve the efficiency of packaging.

Hereinafter, the functions of each module of the task allocation system 1 according to the present invention will be described with reference to the flowchart. Here, a task allocation system 1 in a distribution warehouse that accepts orders from a plurality of EC sites, picks up products placed in the warehouse based on the order information, and ships them to a designated shipping destination will be described. 4A, 4B, and 4C are flow charts showing the processing of the task allocation system 1.

<Order acquisition module>
The order acquisition module has a function of acquiring order information from the warehouse management system (WMS) 9. The function of the order acquisition module can be realized by the converter 2.

The order from the EC site arrives at the warehouse management system (WMS) 9 and is stored in, for example, the storage device 92. The order acquisition module acquires the stored order information from the warehouse management system 9 (s01). The order information acquired by the order acquisition module includes the information as shown in FIG. FIG. 5 is an example of the received order list L1.

In the received order list L1 of FIG. 5, the order No. For "O0001", the ordering party (EC site) is "Company X", and the packaging designation by Company X is "None". Here, the packing designation means the designation of packing materials such as cardboard boxes used when shipping products by a specific orderer (EC site). For example, order No. For "O0009", the ordering party (EC site) is "Company Y", and the packaging designation by Company Y is "Yes". Therefore, the order No. The "O0009" product will be packed using a cardboard box designated by Company Y.

Order No. As for "O0001", the product with the product ID "A001" is ordered with the quantity "1", the priority "P1", and the gift designation "none". Here, the priority means the priority of the order processing specified for each order. For example, order No. "O0010" has a priority of "P2", which is lower than the order of priority "P1". Therefore, the order of priority "P1" is the order No. It will be prioritized over "O0010". In addition, gift designation is an option specified for each order. For example, order No. Since "O0008" is designated as a gift, it will be packed and shipped after being wrapped for gifts. Other orders will be shipped without any special wrapping, as the gift designation is "None".

<End station group allocation module>
The terminal station group assignment module has a function of allocating and classifying terminal station groups based on the order information included in each order of the received order list L1. The function of the terminal station group allocation module can be realized by the converter 2.

When the converter 2 acquires the order information, the terminal station group assignment module allocates the terminal station group based on the order information included in each order in the received order list L1 (s02).

The assignment of the terminal station group to each order is determined according to, for example, the package size of the products included in each order, whether or not the packaging is specified, whether or not the gift is specified, the priority, and the like. 6A and 6B are examples of the order list L2 for each group, and are the order lists for each group classified into the terminal station groups TSa, TSb, TSc, and TSd. For example, in FIG. 6A, in the group-based order list L2 classified into the terminal station group TSa, the terminal station group "TSa" is assigned to each order.

In the order list of the terminal station group TSb, orders including products with a large package size are classified. For example, order No. Since "O0002" includes the product "A003" having a package size of "L", it is classified into the terminal station group TSb. The order No. The product "A002" included in "O0002" has a package size of "M", but is included in the same order as the product "A003", and is therefore classified in the terminal station group TSb. The terminal stations included in the terminal station group TSb are provided with materials, packing equipment, and the like capable of packing products with a large package size, and can efficiently process orders including products with a large package size.

Orders for which gift designation is specified are classified in the order list of the terminal station group TSc. For example, order No. Since "O0008" is designated as a gift, it is classified into the terminal station group TSc. The terminal stations included in the terminal station group TSc are assigned materials for gift wrapping, wrapping equipment, workers skilled in gift wrapping, and the like, and can efficiently process orders including gift wrapping.

In the order list of the terminal station group TSd, orders with a packing designation of "Yes" are classified. For example, order No. “O0009” is classified into the terminal station group TSd because the packing designation by the ordering party “Company Y” is “Yes”. In the terminal station included in the terminal station group TSd, packing materials of company Y are arranged, and orders of company Y can be processed efficiently.

Each terminal station may be included in one terminal station group, or may be included in a plurality of terminal station groups.

<Product package judgment module>
The product package determination module is an order that includes a product with a package weight that exceeds the loadable weight of the self-propelled robot AMR, or a package size that cannot be accommodated in the maximum basket that the self-propelled robot AMR can mount. It has a function to at least determine whether the order includes products. The product package determination module can be realized by the optimization processing server 3.

The product package determination module acquires the information of the received order list L1 from the converter 2 and determines whether each order includes a product having a package weight exceeding the loadable weight of the self-propelled robot AMR (s03). ). When the order includes a product having a package weight exceeding the loadable weight of the self-propelled robot AMR, the batch optimization processing server 3 returns the order to the warehouse management system 9 (s06). In this case, the warehouse management system 9 transmits order information to the handy terminal HT, and a worker carrying the handy terminal HT can pick products. Here, the batch optimization processing server 3 determines whether or not the package weight of the product exceeds the loadable weight of the self-propelled robot AMR, or whether or not one product exceeds the loadable weight by itself. Is preferable. When the total package weight of multiple products exceeds the loadable weight of the self-propelled robot AMR, the problem of the loadable weight of the self-propelled robot AMR can be solved by dividing the order as described later. Can be resolved.

If the order does not include products with a package weight that exceeds the loadable weight of the self-propelled robot AMR, the batch optimization processing server 3 cannot accommodate each order in the maximum basket that the self-propelled robot AMR can load. It is determined whether the order includes a product of a size (s04). When the order includes a package size product that cannot be accommodated in the maximum basket of the self-propelled robot AMR, the batch optimization processing server 3 returns the order to the warehouse management system 9 (s06). In this case, the warehouse management system 9 transmits order information to the handy terminal HT, and a worker carrying the handy terminal HT can pick products. Here, the batch optimization processing server 3 determines whether the package size of the product cannot be accommodated in the maximum basket of the self-propelled robot AMR, or whether one product alone exceeds the capacity of the maximum basket. It is preferable to judge. If multiple products cannot be stored in the maximum basket of the self-propelled robot AMR, the problem of not being able to store the products in the maximum basket of the self-propelled robot AMR can be solved by dividing the order as described later. Can be done.

Product information is stored in the product database as shown in FIG. FIG. 7 is an example of the product database DB1. In FIG. 7, the product with the product ID “A001” has the product name “●●●”, its package size is “S”, and its package weight is “W1”. Here, the package size means the size (volume) of the product package. For example, when the package of a product is a rectangular parallelepiped, it can be classified according to the total of width, depth, and height (total of three sides). For example, it can be classified as "S", "M", "L", "XL" and the like. The package size "XL" cannot be accommodated in any of the baskets that can be mounted on the self-propelled robot AMR. In the received order list L1 of FIG. 5, since the order "O0005" includes the product "A004" whose package size is "XL", the order "O0005" is returned to the warehouse management system 9 and carries the handy terminal HT. Will be transported to the terminal station by the workers.

Package weight means the weight of the product package (weight including the product and the package). For example, it can be classified into "W1", "W2", and "W3" according to the package weight of the product. The package weight "W3" exceeds the loadable weight of the self-propelled robot AMR. In the received order list L1 of FIG. 5, since the order "O0006" includes the product "B003" whose package content is "W3", the order "O0006" is returned to the warehouse management system 9 and the handy terminal HT is displayed. It will be transported to the terminal station by the carrying worker.

Even if the package size is a size that can be accommodated in a basket that can be mounted on a self-propelled robot AMR, it may not fit in the basket if the number of products is large. In this case, the order can be divided into a plurality of orders so that the number of orders can be accommodated in the basket. That is, one order can be processed using a plurality of baskets. Similarly, even if the loadable weight of the self-propelled robot AMR is not exceeded by itself, if the loadable weight of the self-propelled robot AMR is exceeded because there are multiple products included in the order, one self-propelled robot AMR is used. The order can be divided so that the total weight of the products to be loaded on the traveling robot AMR is less than or equal to the loadable weight.

When dividing an order based on the number of pieces, it is preferable that the number of orders after the division is the minimum. This allows the number of baskets used to process the split order to be kept smaller and the picking efficiency to be maintained.

When dividing the order based on the number of pieces, the package size / basket size correspondence table DB2 as shown in FIG. 8 can be referred to. In the package size / basket size correspondence table DB2 of FIG. 8, which basket size can accommodate the products of the package sizes "S", "M", "L", and "XL" according to the number of the products. It is shown. For example, order No. "O0007" includes "100" products having a package size of "M", and none of the products can be contained in a single basket. From the package size / basket size correspondence table DB2 of FIG. 8, it can be seen that 20 products of the package size “M” can be stored in the basket of the basket size “D”. Since the basket size "D" is the maximum basket size that can be mounted on the self-propelled robot AMR, the order No. is the smallest number of orders. To divide "O0007", order No. It can be seen that it is most efficient to divide "O0007" into five orders in which the number of products is 20 each. Although not shown, a basket of basket size "D" cannot accommodate 21 or more products of package size "M". In FIG. 8, when the product cannot be stored in any of the baskets, it is indicated by “-”.

<Order sorting module>
The order sorting module has a function of sorting orders for each classified terminal station group in an order that enables efficient picking based on product placement information in the product picking area. Each function of the order sorting module can be realized by the batch optimization processing server 3.

The order sorting module performs an order sorting process for sorting orders for each classified terminal station group, and creates an order list L2 for each group (s05).

The order sorting process is a process of sorting orders in the order in which picking can be executed by the shortest route based on the arrangement of the products included in each order in the product picking area within each classified terminal station group. Is. In the order sorting process, when picking products of a plurality of orders, the order of the orders is rearranged so that the moving distance (moving path) of the self-propelled robot AMR is the shortest. A conventionally known calculation method can be used for calculating the shortest path. The order sorting process is executed by the batch optimization processing server 3. For example, in the order list of the terminal station group TSa, the order No. "O0004" is the order No. by the order sorting process. The picking order comes before "O0003".

<Task allocation module>
The task allocation module has a function of dividing the group-based order list L2 sorted by the order sorting module and allocating each of the divided group-based order lists L2 to each self-propelled robot AMR as a task. Further, the task allocation module may have a function of determining the type and number of baskets to be mounted on each self-propelled robot AMR. Each function of the task allocation module can be realized by the batch optimization processing server 3.

The task allocation module should classify each order into tasks for each self-propelled robot AMR based on each group-specific order list L2 compiled for each terminal station group, and mount the task on each self-propelled robot AMR. Determine the type and number of baskets (s07). Hereinafter, the processing by the above task allocation module is referred to as a task allocation processing. A task ID is assigned to each order in the order list L2 for each group according to the task, and a basket to which the picked product is to be put is also assigned. If a plurality of assigned baskets can be mounted on the self-propelled robot AMR, the basket number can also be assigned.

9A, 9B, and 9C are examples of the task-specific order list L3. In the task-specific order list L3 of FIGS. 9A, 9B, and 9C, "task ID" and "basket" information is added to each order information of the group-specific order list L2. For example, order No. The task ID "T0001" is assigned to "O0001", and the basket into which the product should be put is "A1".

The task allocation process is a process of allocating orders, optimizing the type and number of baskets for one self-propelled robot AMR, and minimizing the number of self-propelled robot AMRs. A conventionally known calculation method can be used for the task allocation process, and the optimization calculation can also be performed using artificial intelligence (AI) that has learned past achievements. As for the order of allocating orders, it is preferable to extract orders from the upper ranks of the orders sorted by the above-mentioned order sorting process so as to have an optimum combination. As a result, it is possible to achieve both picking on the shortest path and the optimum combination of orders.

<End station allocation module>
The terminal station assignment module has a function of assigning a terminal station to each order (task). The terminal station assigned here is a terminal station belonging to the terminal station group assigned by the terminal station group assignment module. The terminal station assignment module may have a function of confirming that each terminal station group has a terminal station having a status of "OPEN" before assigning a terminal station to each order (task). Each function of the terminal station allocation module can be realized by the AMR management server 4.

The terminal station assignment module determines whether or not there is a terminal station with the status "OPEN" in the terminal station included in the terminal station group assigned to each order information (s08). The status information of "OPEN" or "CLOSE" of the terminal station is stored in the terminal station database DB3 as shown in FIG. FIG. 10 is an example of the terminal station database DB3. If there is no terminal station with the status "OPEN" in the assigned terminal station group, the task is left unprocessed, and after waiting for a predetermined time, the determination of s08 is executed again (s09). Here, the predetermined time of waiting is not particularly limited, and may be after a predetermined time such as a few seconds or a few minutes has elapsed, may be the timing of updating system information, or may be a predetermined time. good.

If there is a terminal station with the status "OPEN" in the assigned terminal station group, the batch optimization processing server 3 has the status "OPEN" included in the terminal station group assigned to each order or task. Allocate a terminal station (s10). When there are a plurality of terminal stations with the status "OPEN", the allocation method is not particularly limited, but it is preferable to allocate the products evenly, for example, by round-robin so that the products are not concentrated on a specific terminal station.

11A, 11B, and 11C are examples of the terminal station assigned order list L4. In the terminal station assigned order list L4 of FIGS. 11A, 11B, and 11C, the information of the “terminal station” is added to each order information of the task-specific order list L3. For example, order No. The terminal station "TS1" is assigned to "O0001".

The AMR management server 4 assigns each task of the terminal station assigned order list L4 to an arbitrary self-propelled robot AMR, and transmits the information of the terminal station assigned order list L4 of the task to the self-propelled robot AMR (s11). ).

<Task execution module>
The task execution module has various functions for causing the self-propelled robot AMR to execute a task. Various functions for causing the self-propelled robot AMR to execute a task include, for example, a task information transmission function for transmitting task information to the self-propelled robot AMR to which the task is assigned, and a basket of each self-propelled robot AMR. A task management function that manages loading and picking completion information, a movement instruction function that instructs each self-propelled robot AMR to move to the next destination according to the progress of tasks in each self-propelled robot AMR, and each self-propelled robot. Display content instruction function that instructs each self-propelled robot AMR to display the content to be displayed on the display device 59 according to the progress of the task in the robot AMR. Judgment function, exception processing screen display instruction function that sends an instruction to display the exception processing screen to the corresponding self-propelled robot AMR when an exception event occurs, information input by the worker from the exception processing screen, Examples include an exception handling information acquisition function acquired from the self-propelled robot AMR, a status confirmation function for confirming the status of the terminal station assigned to each task, and the like. Each function of the task execution module can be realized by the converter 2, the batch optimization server 3, and the AMR management server 4 in cooperation with each other.

Hereinafter, the case where the task ID “T0002” is assigned to the self-propelled robot AMR1 will be described by taking the operation of the self-propelled robot AMR1 as an example with reference to FIG. 4C.

First, the self-propelled robot AMR1 acquires the information of the task "T0002" from the AMR management server 4 while waiting in the standby area. The self-propelled robot AMR1 displays the information of the basket to be mounted on the display device 59 based on the information of the task "T0002" based on the instruction by the display content instruction function of the task execution module. In the case of the task "T0002", there are two baskets "B" ("B1" and "B2"). A worker (human) in the vicinity of the self-propelled robot AMR1 loads two baskets "B" on the loading platform of the self-propelled robot AMR1 based on the information of the display device 59. When the loading of the basket is completed, the worker presses the "loading completed" button displayed on the display device 59 of the self-propelled robot AMR1 based on the instruction by the display content instruction function of the task execution module. When the self-propelled robot AMR1 receives the signal of pressing the "loading completed" button, the self-propelled robot AMR1 transmits the loading completed signal to the AMR management server 4. The AMR management server 4 transmits a move instruction to the picking place of the order "O0004" to the self-propelled robot AMR1 based on the task management function and the move instruction function. Based on this movement instruction, the self-propelled robot AMR1 starts moving to the picking place of the order "O0004". When the AMR management server 4 knows that the self-propelled robot AMR1 is already equipped with two baskets "B", the process of displaying the basket information of the above-mentioned display device 59, the basket. The step of loading, the step of pressing the "loading complete" button, and the like can be omitted.

When the self-propelled robot AMR1 arrives near the picking location of the product "C001" of the order "O0004", the AMR management server 4 transmits an instruction to be displayed on the display device 59 of the self-propelled robot AMR1 to the self-propelled robot AMR1. do. Specifically, the AMR management server 4 transmits information for instructing the self-propelled robot AMR1 to load one product "C001" into the basket "B1". Based on this information, the self-propelled robot AMR1 causes the display device 59 to display a picking instruction.

FIG. 12 is a schematic diagram showing an example of a picking instruction screen. In the picking instruction screen of FIG. 12, the task information display unit 71 at the upper end shows the number of orders "1/2" (the first of the total number of orders 2 in the task), the product position information, and the picking target as task information. Information on the product name "■■■" and the product ID "C001" is displayed. Further, a product image and a thumbnail thereof are displayed on the product image display unit 72 in the lower row. In FIG. 12, the product image 1 is selected and enlarged. On the basket position display unit 73, the arrangement of the basket mounted on the self-propelled robot AMR1 is displayed together with the basket numbers "B1", "B2" and the like. In the picking instruction screen of FIG. 12, the basket "B1" is highlighted because it is a picking instruction to put the product "C001" into the basket "B1". The highlighting method is not particularly limited, but for example, only the basket portion can be displayed in color, displayed with a shadow, or enlarged. In FIG. 12, the highlighting of the basket “B1” is highlighted in gray, and the background of the entire picking instruction screen is also displayed in the same color. As a result, it is possible to prevent the worker (human being) from making a mistake in the basket into which the product is put. On the picking instruction screen of FIG. 12, an exception handling button 74 and a picking completion button 75 are arranged. The picking completion button 75 causes the self-propelled robot AMR1 to acquire a picking completion signal by pressing the picking completion button 75 when the worker (human) has completed picking the product instructed on the picking instruction screen and putting the product into the basket. be able to.

Based on the picking instruction, the worker near the picking place of the product "C001" puts one product "C001" into the basket "B1" and presses the picking completion button 75 arranged on the picking instruction screen. When the picking completion button 75 is pressed, the self-propelled robot AMR1 transmits information that the picking of the product “C001” is completed to the AMR management server 4. The AMR management server 4 transmits a move instruction to the picking place of the order "O0003" to the self-propelled robot AMR1 based on the task management function and the move instruction function. Based on this movement instruction, the self-propelled robot AMR1 starts moving to the picking place of the product "B001" included in the order "O0003". When the AMR management server 4 receives the picking completion information of the product "C001", the AMR management server 4 records the picking completion of the product "C001" of the task "T0002".

When the self-propelled robot AMR1 arrives near the picking location of the product "B001" of the order "O0003", the AMR management server 4 transmits an instruction to be displayed on the display device 59 of the self-propelled robot AMR1 to the self-propelled robot AMR1. do. Specifically, the AMR management server 4 transmits information for instructing the loading of one product "B001" into the basket "B2" to the self-propelled robot AMR1. Based on this information, the self-propelled robot AMR1 causes the display device 59 to display a picking instruction.

Based on the picking instruction, the worker near the picking place of the product "B001" puts one product "B001" into the basket "B2" and presses the picking completion button 75 arranged on the picking instruction screen. When the picking completion button 75 is pressed, the self-propelled robot AMR1 transmits information that the picking of the product “B001” is completed to the AMR management server 4.

In FIG. 12, the exception handling button 74 is used by a worker when the product for which picking is instructed on the picking instruction screen is out of stock, when the product is damaged, or when there is another problem in picking. Press. When the exception handling button 74 is pressed, the self-propelled robot AMR1 can acquire an exception event occurrence signal. When the self-propelled robot AMR1 acquires the exception event occurrence signal, it transmits it to the AMR management server 4. When the AMR management server 4 determines that the exception event occurrence signal has been received (s13), it generates exception processing screen information and transmits it to the self-propelled robot AMR1 (s14).

When the self-propelled robot AMR1 acquires the exception handling screen information, the self-propelled robot AMR1 displays the exception handling screen information on the display device 59. FIG. 13 is a schematic diagram showing an example of an exception handling screen. In the exception handling screen of FIG. 13, the exception handling menu 76 is displayed on top of the above-mentioned picking instruction screen. In the exception handling menu 76, a shortage button, a product damage button, another button, and a back button are displayed. The worker presses any of these buttons according to the type of exception event and records the exception event. The recorded (pressed) exception event information is transmitted from the self-propelled robot AMR1 to the AMR management server 4 (s15), and the information in the product inventory database of the warehouse management system 9 is updated. If the exception event occurrence signal is not received in the determination of s13, the AMR management server 4 advances the process to s16.

In s16, the AMR management server 4 determines whether the task has been completed. If the task has not been completed, the AMR management server 4 returns the process to s12. In the determination of s16, if the task has been completed, the AMR management server 4 confirms the status of the terminal station assigned to the task (s17). When the assigned terminal station is OPEN, the AMR management server 4 instructs the self-propelled robot AMR1 to move to the terminal station. If the assigned terminal station is CLOSE, the terminal station belonging to the same terminal station group as the terminal station and having the status of OPEN is reassigned (s18). Next, the AMR management server 4 instructs the self-propelled robot AMR1 to move to the reassigned terminal station. After that, the self-propelled robot AMR1 moves to the terminal station and causes the display device 59 to display the collection completion screen (not shown). When the worker collects the basket and presses the "collection completed" button on the collection completion screen, the self-propelled robot AMR1 transmits the collection completion information to the AMR management server 4 and moves to the vicinity of the departure point. When the AMR management server 4 receives the collection completion information from the self-propelled robot AMR1, it determines that the self-propelled robot AMR1 is a self-propelled robot AMR to which no task is assigned, and records the next task as an assignable state. ..

[Modification 1]
Hereinafter, as a modification 1 of the task allocation system 1 according to the first embodiment, the task allocation system 100 in which the task allocation system 1 further includes a terminal station management means will be described. The functions, configurations, etc. not mentioned in the following description of the present modification are the same as the functions, configurations, etc. of the task allocation system 1 according to the first embodiment, and the same codes are used. I will do it.

<End station management module 1>
The task allocation system 100 has a terminal station management module 1 as a terminal station management means. When the terminal station management module 1 is instructed to close the terminal station, the terminal station management module 1 determines whether or not there is another terminal station that belongs to the terminal station group to which the terminal station belongs and has a status of OPEN. It has an alternative terminal station presence / absence determination submodule. The function of the alternative terminal station presence / absence determination submodule can be realized by the converter 2.

In the terminal station database DB3 shown in FIG. 10, the case where the terminal station TS4 is instructed by CLOSE will be described with reference to FIG. FIG. 14 is a flow chart showing the processing of the alternative terminal station presence / absence determination submodule. When the alternative terminal station presence / absence determination submodule receives the CLOSE instruction to close the terminal station (s51), whether or not there is another terminal station belonging to the terminal station group to which the terminal station belongs and having a status of OPEN. Is determined (s52). The terminal station TS5 exists in the terminal station group TSb to which the terminal station TS4 belongs. However, since the status of the terminal station TS5 is "CLOSE", the alternative terminal station presence / absence determination submodule notifies an error to the CLOSE instruction of the terminal station TS4 and ends the process (s54). If the status of the terminal station TS5 is "OPEN", the alternative terminal station presence / absence determination submodule accepts the CLOSE instruction of the terminal station TS4, changes the status of the terminal station TS4 to CLOSE (s53), and processes. To finish.

The CLOSE instruction is transmitted to the converter 2 in order for the operator of the distribution warehouse or the like to adjust the number of terminal stations whose status is OPEN according to the shipment amount of products and the number of workers. Will be sent if you do. The method of transmitting the CLOSE instruction to the converter 2 is an input device (keyboard, mouse, etc.) connected to the converter 2, an information processing terminal (handy terminal HT, smartphone, etc.) connected to the converter 2 so as to be able to communicate with each other. You may.

[Modification 2]
Hereinafter, as a modification 2 of the task allocation system 1 according to the first embodiment, the task allocation system 200 in which the task allocation system 1 further includes a terminal station management means will be described. The functions, configurations, etc. not mentioned in the following description of the present modification are the same as the functions, configurations, etc. of the task allocation system 1 according to the first embodiment, and the same codes are used. I will do it.

<End station management module 2>
When the terminal station management module 2 receives a CLOSE instruction to close the terminal station, the terminal station management module 2 determines whether or not the terminal station is the terminal station assigned to the task in progress. It has a sub-module and a sub-module for determining the presence / absence of an alternative terminal station described in the first modification. The function of the in-progress task presence / absence determination submodule can be realized by the converter 2 and the AMR management server 4.

In the terminal station database DB3 shown in FIG. 10, the case where the terminal station TS4 is instructed by CLOSE will be described with reference to FIG. FIG. 15 is a flow chart showing the processing of the ongoing task presence / absence determination submodule. Upon receiving the CLOSE instruction to close the terminal station (s61), the task in progress determination submodule determines whether the terminal station is the terminal station assigned to the task in progress (s62). ). If the terminal station is not the terminal station assigned to the task in progress, the task in progress determination submodule advances the process to s64 described later. When the terminal station is the terminal station assigned to the task in progress, the process proceeds in s63 by the alternative terminal station presence / absence determination submodule in the above-described modification 1. The alternative terminal station presence / absence determination submodule notifies an error in response to the CLOSE instruction of the terminal station TS4, and ends the process (s65). If the status of the terminal station TS5 is "OPEN", the alternative terminal station presence / absence determination submodule accepts the CLOSE instruction of the terminal station TS4, changes the status of the terminal station TS4 to CLOSE (s64), and processes. To finish.

Although the preferred embodiments of the present invention have been described above, the present invention is not limited to these, and various modifications and changes can be made within the scope of the gist thereof. For example, the present invention shall include the following gist.

(Purpose 1) The task allocation system assigns a terminal station group to which a terminal station capable of handling the shipment of the product belongs based on the order information to an order including order information regarding the shipment of the product placed in the warehouse. Group allocation means and
Based on the arrangement of the products in the warehouse, the orders to which the same terminal station group is assigned are rearranged in the order in which the products can be collected by the shortest route to generate a group-based order list. Order sorting means and
A task allocation means that divides the order list for each group and allocates each of the divided order lists for each group as a task.
A terminal station assigning means for assigning a terminal station belonging to the terminal station group assigned to the order included in the task to the task, and
The purpose is to have.

According to this, it is possible to streamline the transportation of goods by appropriately allocating tasks to a plurality of self-propelled robots AMR according to the contents of the order.

(Purpose 2) The task allocation system determines that the size and / or weight of the product package of the product does not exceed the size and weight that can be loaded on the self-propelled robot that transports the product in the warehouse. When the size and / or the weight of the product package of the product does not exceed the size and weight that can be loaded on the self-propelled robot. , The task allocating means may allocate the task including the order including the product to the self-propelled robot.

(Purpose 3) In the task allocation system, the task allocation means determines the type and number of baskets loaded on the self-propelled robot and accommodating the products according to the product package size of the products. There may be.

(Purpose 4) The task allocation system further includes task execution means including instructing the self-propelled robot to move to the next destination based on the task according to the progress of the task. It may be a thing.

(Purpose 5) The task allocation method is to assign a terminal station group to which a terminal station that can handle the shipment of the product belongs based on the order information to an order including order information related to the shipment of the product placed in the warehouse. The group allocation process and the order to which the same terminal station group is assigned are sorted by group in the order in which the products can be collected by the shortest route based on the arrangement of the products in the warehouse. An order sorting process for generating an order list, a task allocation process for dividing the order list for each group and allocating each of the divided order lists for each group as a task, and the terminal assigned to the order included in the task. An object of the present invention is to have a terminal station allocation process of assigning terminal stations belonging to a station group to the task.

(Purpose 6) The task allocation program assigns a terminal station group to which a terminal station capable of handling the shipment of the product belongs based on the order information to an order including order information regarding the shipment of the product placed in the warehouse. Group allocation means, the orders to which the same terminal station group is assigned are sorted in the order in which the products can be collected by the shortest route based on the arrangement of the products in the warehouse, and the orders are ordered by group. To the order sorting means for generating a list, the task allocating means for dividing the order list for each group and allocating each of the divided order lists for each group as a task, and the terminal station group assigned to the order included in the task. The purpose is to make the computer function as a terminal station assigning means for assigning the terminal station to which the task belongs.

1: Task allocation system 2: Converter 3: Batch optimization processing server 4: AMR management server (RCS)
9: Warehouse management system (WMS)
21, 31, 41, 51, 91: Central processing unit (CPU)
22, 32, 42, 52, 92: Storage device (SU)
23, 33, 43, 53, 93: Communication device 54: Drive unit 55: Wheel 56: Sensor 57: Loading unit 59:

Display device

61, 62, 63, 64: Basket 71: Task information display unit 72: Product image display Part 73: Basket position display part 74: Exception handling button 75: Picking complete button 76: Exception handling menu L1: Received order list L2: Order list by group L3: Order list by task L4: Order list assigned to terminal station DB1: Product Database DB2: Package size / basket size correspondence table DB3: Terminal station database

Claims

A terminal station group allocation means for assigning a terminal station group to which a terminal station capable of handling the shipment of the product belongs to an order including order information regarding the shipment of the product placed in the warehouse, based on the order information.
Based on the arrangement of the products in the warehouse, the orders to which the same terminal station group is assigned are rearranged in the order in which the products can be collected by the shortest route to generate a group-based order list. Order sorting means and
A task allocation means that divides the order list for each group and allocates each of the divided order lists for each group as a task.
A terminal station assigning means for assigning a terminal station belonging to the terminal station group assigned to the order included in the task to the task, and
Has a task allocation system.
Further provided with a product package determining means for determining that the size and / or weight of the product package of the product does not exceed the size and weight that can be loaded on the self-propelled robot that transports the product in the warehouse.
When the product package determining means does not exceed the size and / or weight of the product package of the product that can be loaded on the self-propelled robot, the task allocating means determines the product. The task allocation system according to claim 1, wherein the task including the order including the above is assigned to the self-propelled robot.
The task allocation system according to claim 2, wherein the task allocation means is loaded on the self-propelled robot according to the product package size of the product, and determines the type and number of baskets in which the product is stored.
2. The described task allocation system.
A terminal station group allocation process for assigning a terminal station group to which a terminal station capable of handling the shipment of the product belongs to an order including order information regarding the shipment of the product placed in the warehouse, based on the order information.
Based on the arrangement of the products in the warehouse, the orders to which the same terminal station group is assigned are rearranged in the order in which the products can be collected by the shortest route to generate a group-based order list. Order sorting process and
A task allocation process that divides the order list for each group and allocates each of the divided order lists for each group as a task.
In the terminal station allocation process of assigning the terminal stations belonging to the terminal station group assigned to the order included in the task to the task,
A task allocation method that has.
A terminal station group allocation means for assigning a terminal station group to which a terminal station capable of handling the shipment of the product belongs to an order including order information regarding the shipment of the product placed in the warehouse, based on the order information.
Based on the arrangement of the products in the warehouse, the orders to which the same terminal station group is assigned are rearranged in the order in which the products can be collected by the shortest route to generate a group-based order list. Order sorting method,
A task allocation means that divides the order list for each group and allocates each of the divided order lists for each group as a task.
A terminal station assigning means for assigning a terminal station belonging to the terminal station group assigned to an order included in the task to the task.
A task allocation program that makes your computer work as a computer.