WO2022185616A1 - Warehousing management system, and control device for cargo-handling vehicles - Google Patents

Warehousing management system, and control device for cargo-handling vehicles Download PDF

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Publication number
WO2022185616A1
WO2022185616A1 PCT/JP2021/040624 JP2021040624W WO2022185616A1 WO 2022185616 A1 WO2022185616 A1 WO 2022185616A1 JP 2021040624 W JP2021040624 W JP 2021040624W WO 2022185616 A1 WO2022185616 A1 WO 2022185616A1
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Prior art keywords
unit
task
temporary storage
information
truck
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PCT/JP2021/040624
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French (fr)
Japanese (ja)
Inventor
達矢 小野
誠也 伊藤
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株式会社日立製作所
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Publication of WO2022185616A1 publication Critical patent/WO2022185616A1/en

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    • BPERFORMING OPERATIONS; TRANSPORTING
    • B65CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65GTRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02Storage devices
    • B65G1/04Storage devices mechanical
    • B65G1/137Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed
    • GPHYSICS
    • G06COMPUTING; CALCULATING OR COUNTING
    • G06QINFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
    • G06Q10/00Administration; Management
    • G06Q10/08Logistics, e.g. warehousing, loading or distribution; Inventory or stock management
    • GPHYSICS
    • G16INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR SPECIFIC APPLICATION FIELDS
    • G16YINFORMATION AND COMMUNICATION TECHNOLOGY SPECIALLY ADAPTED FOR THE INTERNET OF THINGS [IoT]
    • G16Y10/00Economic sectors
    • G16Y10/40Transportation

Definitions

  • the present invention relates to a warehousing management system and a control device for cargo handling vehicles used in the warehousing management system.
  • WMS Warehouse Management System
  • Patent Document 1 describes a transport system that assists in transporting packages by truck.
  • identification information of packages stored in a storage rack in a truck for transporting packages is read, stored package information is sent to a truck management server, and a package transportation plan is created in the truck management server. Then, a technique for instructing the track is described.
  • Patent Document 1 describes reading the identification information of a package in a truck vehicle. Eliminates the need to manually check for items to be purchased.
  • the present application includes a plurality of means for solving the above problems, and one example thereof is a warehousing management system for managing the warehousing operation of products transported by truck vehicles, wherein the warehouse is: This is applied to a truck berth having a temporary storage area for temporarily storing products unloaded from a truck vehicle and a storage area for storing the products temporarily stored in the temporary storage area.
  • the configuration of the warehousing management system is based on the identification information of the truck vehicle or the information from the cargo management unit of the truck vehicle, the information from the transportation product identification unit that identifies the cargo product information of the truck vehicle, and the information from the temporary storage cargo detection unit.
  • the temporary storage area cargo registration unit registers the inventory information in the temporary storage area of the warehouse in the temporary storage area empty area storage unit, and the temporary storage area empty situation is grasped based on the temporary storage area empty area storage unit. If there is space, a task execution order planning section that instructs the execution of the truck unloading task and the destination temporary storage area information, and a task transmission that sends the instructions from the task execution order planning section to the cargo handling vehicle in the warehouse. and
  • FIG. 1 is a configuration diagram showing an example of a warehousing management system according to an embodiment of the present invention
  • FIG. FIG. 2 is a block diagram showing a configuration example of warehousing processing from a truck berth to a temporary storage site of the warehousing management system according to an embodiment of the present invention
  • FIG. 3 is a block diagram showing a configuration example of warehousing processing from a temporary storage site to a storage space in a warehouse of the warehousing management system according to an embodiment of the present invention
  • It is a figure which shows the example of a data structure of the truck load management system based on the example of one Embodiment of this invention.
  • FIG. 5 is a diagram showing an example of data in a temporary storage space empty area storage unit according to an embodiment of the present invention. It is a figure which shows the example of a data structure of the truck unloading task based on one embodiment of this invention. It is a figure which shows the example of the data structure of the warehousing task which concerns on one embodiment of this invention.
  • FIG. 9A is a diagram showing an example of a truck unloading task (FIG. 9A) and an example of a warehousing task (FIG.
  • FIG. 9B transmitted by a task transmitting unit according to an embodiment of the present invention
  • 4 is a flow chart showing an example of the flow of processing in a warehousing management system according to an embodiment of the present invention
  • 4 is a flowchart showing an example of the flow of processing when a cargo handling vehicle according to an embodiment of the present invention receives a truck unloading task
  • 4 is a flow chart showing an example of the flow of processing when a cargo handling vehicle according to an embodiment of the present invention receives a warehousing task
  • It is a block diagram which shows the modification of the warehousing management system based on one embodiment of this invention.
  • 1 is a block diagram showing a hardware configuration example when a warehousing management system according to an embodiment of the present invention is configured by a computer;
  • FIG. 1 shows an example of the overall configuration of the warehousing management system of this example.
  • the warehousing management system of this example is a system for managing warehousing of commodities (goods) in a distribution warehouse that stores commodities (goods), and includes a warehousing management device 20 .
  • the physical distribution warehouse includes a warehouse management device 50 separate from the warehousing management device 20, and the warehouse management device 50 performs inventory management of products in the distribution warehouse.
  • the warehouse management device 50 is also called a warehouse management system (WMS).
  • WMS warehouse management system
  • a truck vehicle 63 is used to carry in products to the distribution warehouse in this example. The loading of products onto the truck vehicle 63 is managed by the shipping management device 10 .
  • the distribution warehouse has a truck berth where the truck vehicle 63 arrives and a temporary storage area where the products unloaded from the truck vehicle 63 are temporarily stored at the truck berth.
  • the products placed in the temporary storage area are transported to the product storage space of the distribution warehouse.
  • Transportation of products from these truck berths to the temporary storage space and transportation of products from the temporary storage space to the product storage space are performed by unmanned cargo handling vehicles 70 .
  • the unmanned cargo handling vehicle 70 of this example is a forklift that automatically operates. In some cases, the products unloaded from the truck vehicle 63 at the truck berth are directly transported to the product storage space in the distribution warehouse by the unmanned cargo handling vehicle 70 .
  • the shipping instruction unit 11 instructs the worker who performs the shipping work to ship the product. work to be loaded on the carrier of the In addition, the shipping instruction unit 11 instructs the worker to ship the product, and at the same time instructs the shipping notification unit 12 to notify the warehouse management device 50 of the product shipment.
  • the shipment notification unit 12 notifies the arrival information input unit 52 of the warehouse management device 50 of the shipment.
  • the receipt information input unit 52 of the warehouse management device 50 notifies the package management unit 53 of the receipt of the product whose shipment has been notified.
  • a product code reading unit 14 is installed at a location where the truck vehicle 63 passes during shipping.
  • the product code reading unit 4 receives radio waves from tags attached to products 62 or pallets 61 placed on a truck vehicle 63, or reads codes written on the products 62 or pallets 61 to obtain product information. It acquires and supplies the acquired product information to the loaded product recognition unit 13 .
  • the loaded commodity recognition unit 13 recognizes the commodity shipped by the truck vehicle 63 based on the commodity information acquired by the commodity code reading unit 14 .
  • the information on the shipped products recognized by the loaded product recognition unit 13 is transmitted to the truck load management unit 51 of the warehouse management device 50 .
  • the warehousing management device 20 includes a vehicle recognition unit 21, a berth vehicle management unit 22, a temporary storage area instruction unit 23, an unloaded product recognition unit 24, a transportation product identification unit 25, a temporary storage site luggage detection unit 26, and a temporary storage site luggage registration unit 27. , a task management unit 31 and a task transmission unit 32 .
  • the vehicle recognition unit 21 recognizes the arrival of the truck vehicle 63 based on the signal received from the truck vehicle 63 by the vehicle signal reception unit 41 installed in the truck berth of the distribution warehouse, and obtains the information of the truck vehicle 63 that has arrived. to the berth vehicle management unit 22 .
  • the berth vehicle management unit 22 acquires information about the arrival of the truck vehicle 63, it instructs the transportation product identification unit 25 to identify the product that the truck vehicle 63 is transporting.
  • the berth vehicle management unit 22 instructs the temporary storage area instructing unit 23 about the temporary storage areas of the truck vehicles 63 that have arrived.
  • the temporary storage area instructing unit 23 instructs the temporary storage area cargo registration unit 27 to register the temporary storage area of the cargo of the truck vehicle 63 that has arrived.
  • the unloaded product recognition unit 24 unloads products 62 unloaded from the truck vehicle 63 or based on information from the product code reading unit 42 that receives radio waves from tags attached to the pallets 61 and reads codes. Recognize products. Then, the unloaded commodity recognition unit 24 supplies the recognized commodity information to the transported commodity identification unit 25 .
  • the transported product identification unit 25 identifies the commercial method to be transported to the temporary storage site based on the cargo information of the truck vehicle 63 supplied from the berth vehicle management unit 22 and the unloaded product information recognized by the unloaded product recognition unit 24, Information on the specified product is supplied to the temporary storage site package registration unit 27 .
  • the temporary storage site baggage detection unit 26 detects the availability of the temporary storage site based on the signal from the sensor 43 installed in the temporary storage site. As the sensor 43, for example, a monitoring camera can be applied.
  • the temporary storage site availability information detected by the temporary storage site package detection unit 26 is supplied to the temporary storage site package registration unit 27 .
  • the temporary storage site package registration unit 27 supplies the temporary storage site availability status supplied from the temporary storage site package detection unit 26 and the unloaded product information supplied from the transportation product identification unit 25 to the task management unit 31 .
  • the temporary storage site package registration unit 27 may transmit the information on the received product identified by the transport product identification unit 25 to the package management unit 53 of the warehouse management device 50 .
  • the task management unit 31 generates a task for transporting the unloaded product to an empty area of the temporary storage area based on the availability of the temporary storage area and information on the unloaded product, and transmits the generated task from the task transmission unit 32 unmanned. It is transmitted to the cargo handling vehicle 70 .
  • the task transmission unit 32 transmits tasks using a network such as a wireless LAN (local area network). The same network is also used for other tasks transmitted and received by the warehouse management system of this example.
  • the task transmitted by the task transmission unit 32 includes information specifying the truck vehicle 63 that has arrived at the truck berth and information on the temporary storage area of the product unloaded from the truck vehicle 63 .
  • the unmanned cargo handling vehicle 70 is provided with a control device comprising each processing unit shown in FIG. That is, the unmanned cargo handling vehicle 70 includes a task receiving section 71 and receives tasks from the task transmitting section 32 .
  • the task information received by the task receiving unit 71 is supplied to the travel route planning unit 72 .
  • the travel route planning unit 72 plans the travel route from the truck vehicle 63 arriving at the truck berth to the temporary storage site based on the instruction of the task, and notifies the travel instruction unit 73 of the planned travel route information.
  • the traveling instruction unit 73 instructs the unmanned cargo handling vehicle 70 to travel unmanned.
  • the travel instruction here also includes control of the forks of the unmanned cargo handling vehicle 70, which is a forklift. Based on this travel instruction, the unmanned cargo handling vehicle 70 unloads the pallet 61 loaded with the product 62 from the truck vehicle 63 arriving at the truck berth, and transports the unloaded pallet 61 to the temporary storage site.
  • FIG. 2 shows an example of the configuration of the warehousing process for commodities from the truck berth to the temporary storage site.
  • the vehicle information acquisition unit 22a acquires information on the truck vehicle 63 that has arrived based on the information from the vehicle recognition unit 21, and sends the acquired information on the truck vehicle 63 to the berth. It is stored in the vehicle storage unit 22b.
  • the information of the truck vehicle 63 of the truck berth stored in the berth vehicle storage unit 22 b is sent to the transported product identification unit 25 .
  • the goods to be transported identification unit 25 compares the information from the truck load management unit 51 of the warehouse management device 50, determines the load of the truck vehicle 63 of the truck berth, and stores it in the task storage unit 28 in the temporary storage site load registration unit 27.
  • the unloading task of the determined cargo is stored.
  • the task storage unit 28 includes a truck unloading task storage unit 28a and a warehousing task storage unit 28b.
  • An unloading task instructing unloading from the truck vehicle 63 is stored in the truck unloading task storage unit 28a.
  • the tasks stored in the task storage unit 28 are erased by instructions from the truck unloading task completion operating unit 27c based on the task completion record from the unmanned cargo handling vehicle 70 received by the task completion record receiving unit 33.
  • the task information stored in the task storage unit 28 is read by the task management unit 31, and the task execution order planning unit 31a of the task management unit 31 plans the execution order of the tasks.
  • the task execution order planning unit 31a is supplied with the information of the temporary storage space empty area stored in the temporary storage space empty area storage unit 27b of the temporary storage space cargo registration unit 27, and the incoming task is assigned to a temporary storage space with an available space. Transport is ordered.
  • the temporary storage site vacant area information stored in the temporary storage site vacant area storage unit 27b is registered by the temporary storage site vacant area registration unit 27a based on the information detected by the temporary storage site cargo detection unit 26.
  • the task receiver 71 of the unmanned cargo handling vehicle 70 receives the truck unloading task.
  • the task received by the task receiving section 71 is supplied to the travel route planning section 72 and the fork control section 77 via the vehicle control section 74 .
  • the travel route planning unit 72 creates a travel plan from the truck berth in the distribution warehouse to the temporary storage area empty area, instructs the travel instruction unit 73 with the created travel plan, and causes the unmanned cargo handling vehicle 70 to start automatically traveling.
  • the fork control unit 77 performs fork control for unloading the pallet 61 from the truck vehicle 63 and fork control for unloading the pallet 61 to the temporary storage site based on the truck unloading task.
  • the unmanned cargo handling vehicle 70 also includes a self-position estimation unit 78 to estimate the vehicle position within the distribution warehouse.
  • the self-position estimator 78 estimates the self-position from the outputs of sensors and cameras mounted on the unmanned cargo handling vehicle 70 .
  • Information on the self-position estimated by the self-position estimating section 78 is supplied to the travel route planning section 72, and processing is performed to match the planned travel route with the self-position.
  • the self-location information estimated by the self-location estimation unit 78 is also supplied to the temporary storage unloading location storage unit 75 .
  • the temporary storage unloading location storage unit 75 acquires the self-position when the pallet 61 is unloaded to the temporary storage location from the self-position estimation unit 78 in accordance with an instruction from the vehicle control unit 74, and stores the acquired temporary storage unloading location as It is stored in the temporary storage unloading location storage unit 75a.
  • the vehicle control unit 74 instructs unloading to the empty area of the temporary storage area instructed by the warehousing task, and the temporary storage unloading location storage unit 75 actually carries out unmanned cargo handling in the empty area.
  • the specific coordinates at which the vehicle 70 unloaded are stored in the temporary storage unloading location storage unit 75a.
  • the warehousing task indicates an empty area where the pallet can be placed at least in part, and the unmanned cargo handling vehicle 70 actually unloads the empty area in the temporary storage area unloading location storage unit 75a. is stored.
  • the unmanned cargo handling vehicle 70 also includes a product information acquisition unit 80 that acquires information read by the product code reading unit 42 , and the product information acquisition unit 80 causes the loaded product information storage unit 79 to store the product information.
  • the loaded product information stored by the loaded product information storage unit 79 is sent to the task completion record transmission unit 76, and the task completion record transmitted from the task completion record transmission unit 76 is added with the product information.
  • the task completion result transmitted from the task completion result transmission unit 76 is received by the task completion result reception unit 33 of the warehousing management device 20 and sent to the truck unloading task completion operation unit 27c.
  • the task management unit 31 When the task management unit 31 recognizes that there is no empty area in the temporary storage area from the information stored in the temporary storage area empty area storage unit 27b, the task management unit 31 unloads the product from the truck vehicle 63 and transports it directly to the storage area in the warehouse. give instructions. In this case, the task management unit 31 issues a warehousing task, the pickup point of the warehousing task becomes the truck berth, and the unloading point becomes the storage area in the warehouse.
  • FIG. 3 shows an example of the configuration of the warehousing process for commodities from the temporary storage area to the storage space in the warehouse.
  • the task storage unit 28 of the warehousing management device 20 includes a warehousing task storage unit 28b, and the warehousing task stored in the warehousing task storage unit 28b is added with the empty area information stored in the temporary storage space vacant area storage unit 27b. .
  • the warehousing task stored in the warehousing task storage unit 28b is read by the task management unit 31, and the task execution order planning unit 31a of the task management unit 31 causes the warehousing destination acquisition unit 31b to determine the warehousing destination.
  • the warehousing destination acquiring unit 31b acquires information on the warehousing destination that stores the corresponding product in the storage area of the distribution warehouse from the warehouse management device 50, and adds the warehousing destination information to the warehousing task.
  • the warehousing task to which the warehousing destination information has been added by the warehousing destination acquisition unit 31 b is transmitted from the task transmission unit 32 to the unmanned cargo handling vehicle 70 .
  • the unmanned cargo handling vehicle 70 carries out processing for warehousing based on the warehousing task.
  • the task receiver 71 of the unmanned cargo handling vehicle 70 receives the warehousing task.
  • the warehousing task received by the task receiving section 71 is supplied to the travel route planning section 72 and the fork control section 77 via the vehicle control section 74 .
  • the travel route planning unit 72 creates a travel plan from the temporary storage site to the storage destination, instructs the travel instruction unit 73 with the created travel plan, and causes the unmanned cargo handling vehicle 70 to start automatically traveling.
  • the fork control unit 77 also performs fork control for transporting the pallet 61 from the temporary storage area based on the warehousing task, and fork control for unloading the pallet 61 to the product storage area in the warehouse based on the warehousing task. I do.
  • the travel route planning unit 72 instructs the travel instruction unit 73
  • the instruction is given while referring to the self-position estimated by the self-position estimation unit 78.
  • the cargo information registration unit 81 causes the loaded product information storage unit 79 to store the product information of the transported cargo. Then, when the transportation of the product to the storage area by the warehousing task is completed, the task completion record transmitting unit 76 transmits the task completion record.
  • the task completion result transmitted from the task completion result transmitting unit 76 is received by the task completion result receiving unit 33 of the warehousing management device 20 and sent to the warehousing task completion operating unit 27d.
  • the warehousing task completion operation unit 27d deletes the corresponding warehousing task stored in the task storage unit 28 and notifies the warehouse management device 50 of the completion of transportation of the product to the storage area.
  • FIG. 4 shows an example of a data structure transmitted by the truck vehicle 63 and received by the product code reader 14 and the vehicle signal receiver 41 shown in FIG.
  • the information transmitted by the truck vehicle 63 includes, as shown in FIG. 4, a vehicle identification ID that identifies the truck vehicle 63, a cargo ID, and detailed cargo information. Information for identifying the product and details such as the delivery destination are added to the detailed cargo information.
  • FIG. 5 shows an example of information stored in the berth vehicle storage unit 22b (FIG. 2).
  • the berth vehicle storage unit 22b stores a berth ID indicating each truck berth prepared in the distribution warehouse, berth position information indicating the coordinate position in the warehouse of the berth ID, and truck vehicles parked at the truck berth.
  • a vehicle identification ID indicating 63 is included.
  • FIG. 6 shows an example of information on a temporary storage site empty area stored by the temporary storage site empty area storage unit 27b (FIGS. 2 and 3).
  • the temporary storage area empty area information includes a temporary storage area ID indicating each area of the temporary storage area, division information indicating the coordinate position of the area in the warehouse, and empty status information.
  • the availability information indicates whether or not the relevant temporary storage site is available.
  • FIG. 7 shows an example of the data structure of the truck unloading task stored in the truck unloading task storage unit 28a (FIG. 2).
  • a truck unloading task includes a task ID, a vehicle identification ID indicating a truck vehicle that is to be unloaded, a cargo ID, detailed cargo information, and an assigned destination carrier ID.
  • the vehicle identification ID, cargo ID, and cargo detail information are obtained from the truck vehicle information (FIG. 4).
  • the assigned transport vehicle ID is the ID of the unmanned material handling vehicle 70 that executes the truck unloading task, and is assigned by the task management unit 31, for example.
  • FIG. 8 shows an example of the data structure of the warehousing task stored in the warehousing task storage unit 28b (FIGS. 2 and 3).
  • the warehousing task includes a task ID, a cargo ID, detailed cargo information, a temporary storage area ID, the location coordinates where the product is temporarily stored, and the assigned destination carrier ID. The placement coordinates are added when the product is temporarily placed in the temporary storage area.
  • FIG. 9A and 9B show examples of tasks transmitted by the task transmission unit 32.
  • FIG. FIG. 9A shows an example of sending a truck unloading task.
  • the truck unloading task includes a task ID, a task type indicating truck unloading, a scooping point for unloading the product from the truck, information on the unloading location, and information on the unloading point.
  • the pick-up point is the coordinate information of the berth position.
  • the unloading location indicates a temporary storage area or a storage area in a warehouse.
  • the information of the unloading point is the coordinate information of the unloading area of the temporary storage site or the coordinate information of the storage area.
  • FIG. 9B shows an example of sending a warehousing task.
  • the warehousing task includes a task ID, a task type indicating warehousing, a scooping point for unloading the product from a temporary storage area or truck, information on the unloading location, and information on the unloading point.
  • the pick-up point is the coordinate information of the temporary storage area or berth position.
  • the unloading location indicates a storage area within the warehouse.
  • the information of the unloading point is the coordinate information of the storage area.
  • FIG. 10 is a flow chart showing the flow of processing in the warehousing management device 20.
  • the warehousing management device 20 determines whether or not the truck vehicle 63 or the goods loaded on the truck vehicle 63 have been recognized (step S11). In step S11, if there is no recognition of the truck vehicle 63 or recognition of the cargo (NO in step S11), the determination in step S11 is repeated.
  • step S11 if there is recognition of the truck vehicle 63 or recognition of the loaded product (YES in step S11), the transported product identification unit 25 identifies the loaded product of the truck vehicle 63 (step S12).
  • the temporary storage site cargo registering unit 27 determines whether or not there is a vacancy for temporarily storing the goods in the temporary storage site (step S13).
  • step S13 if there is an empty temporary storage area for temporarily storing cargo (YES in step S13), the temporary storage area cargo registration unit 27 determines a specific location in the empty area as a temporary storage area (step S14). .
  • the task management unit 31 issues a truck unloading task from the truck berth to the temporary storage site, and the task transmission unit 32 transmits the truck unloading task to the unmanned cargo handling vehicle 70 (step S15).
  • the task completion record receiving unit 33 determines whether or not it has received a task completion from the unmanned cargo handling vehicle 70 (step S16). When task completion is not received in step S16 (NO in step S16), the task completion record receiving unit 33 waits until task completion is received.
  • the temporary storage site package registration unit 27 registers the temporary storage site of the product based on the information on the location of the temporary storage site included in the received task completion record (step S17). ). Then, the truck unloading task completion operating unit 27c registers the end of the truck unloading task stored in the task storage unit 28 (step S18).
  • the truck unloading task completion operation unit 27c inquires of the warehouse management device 50 about the destination of the goods unloaded to the temporary storage area (step S19). Based on the inquiry result, the task management unit 31 issues a warehousing task for transporting the goods unloaded to the temporary storage area to the designated warehousing destination, and the task transmission unit 32 transmits the warehousing task to the unmanned cargo handling vehicle 70. (step S20).
  • the task completion record receiving unit 33 determines whether or not it has received a task completion from the unmanned cargo handling vehicle 70 (step S21). When task completion is not received in step S21 (NO in step S21), the task completion record receiving unit 33 waits until task completion is received. When task completion is received in step S21 (YES in step S21), the warehousing task completion operation unit 27d causes the warehouse management device 50 to register the location information of the warehousing destination included in the received task completion record ( Step S22), the warehousing process in the warehousing management device 20 is terminated.
  • step S13 if there is no vacancy in the temporary storage area to temporarily store the goods (NO in step S13), the processes from step S14 to step S18 are omitted, and the process proceeds to step S19 to inquire about the storage destination of the goods. . Then, in the warehousing task in step S20, the task management unit 31 issues a warehousing task from the truck berth to the warehousing destination, and the goods unloaded from the truck vehicle 63 are directly stocked.
  • FIG. 11 is a flow chart showing the flow of processing when the unmanned cargo handling vehicle 70 receives a truck unloading task.
  • the task receiving section 71 determines whether or not the task receiving section 71 has received a truck unloading task (step S31).
  • the task receiving unit 71 waits until the truck unloading task is received.
  • step S31 If the truck unloading task is received in step S31 (YES in step S31), the travel route planning unit 72 plans the travel route from the truck berth to the designated area of the temporary storage site based on the information of the truck unloading task. Plan (step S32). Then, the travel route planning unit 72 gives a travel instruction based on the planned travel route to the travel instruction unit 73, and instructs the fork control unit 77 from the vehicle control unit 74 to perform scooping and unloading. Fork control is executed (step S33).
  • the temporary storage unloading location storage unit 75 determines the unloading location from its own location, and stores the unloading location in the temporary storage unloading location storage unit 75a (step S34). Then, the task completion record transmitting unit 76 transmits the task completion record (step S35). Product information and unloading location information are added to this task completion record.
  • FIG. 12 is a flowchart showing the flow of processing when the unmanned cargo handling vehicle 70 receives a warehousing task.
  • the task receiving section 71 determines whether or not the task receiving section 71 has received a warehousing task (step S41). If the warehousing task is not received in step S41 (NO in step S41), the task receiving unit 71 waits until the warehousing task is received.
  • step S42 determines whether or not the warehousing task is warehousing from the temporary storage site. In the case of warehousing from the temporary storage site in step S42 (YES in step S42), the travel route planning unit 72 plans a travel route from the temporary storage site to the storage area based on the information of the warehousing task (step S43). If it is determined in step S42 that the vehicle is not entering from the temporary storage area (NO in step S42), the travel route planning unit 72 plans a travel route from the truck berth to the storage area based on the information of the warehousing task (step S44). .
  • the travel route planning unit 72 issues a travel instruction based on the planned travel route to the travel instruction unit 73, and the fork control unit 77 from the vehicle control unit 74. is instructed to execute fork control for scooping and unloading (step S45).
  • the vehicle control unit 74 determines the unloading location from the self-position at the time of unloading, and stores the unloading location in the loaded product information storage unit 79 (step S46). Then, the task completion record transmitting unit 76 transmits the task completion record (step S47). Product information and unloading location information are added to this task completion record.
  • the warehousing management system of this example when warehousing products to a distribution warehouse, the temporary storage of products using a temporary storage area and the control of warehousing from the temporary storage area are linked and automated. It is possible to achieve simplification of warehouse management work. In addition, when there is no vacancy in the temporary storage site, it is possible to directly issue a warehousing task and transport the goods from the truck berth to the warehouse by the unmanned cargo handling vehicle 70, enabling appropriate operation according to the situation of the temporary storage site. Become.
  • the warehousing management device 20 manages the temporary storage area
  • the registration of an area with a vacant temporary storage area is performed on an area-by-area basis. made it easy.
  • the location where the products are temporarily stored is the data of the actual unloading location
  • the management of the products placed in the temporary storage area can be done in detail for each pallet or product. , you will be able to manage inventory appropriately.
  • the warehousing management device 20 manages the temporary storage site, the vacant area only needs to be at least partly vacant, which simplifies the management of the vacant area.
  • the warehousing management device 20 issues a truck unloading task and a warehousing task.
  • the truck unloading task and the warehousing task may be performed according to instructions from the warehouse management device 50 .
  • FIG. 13 shows an example of the system configuration in this case.
  • an instruction from the temporary storage area instruction unit 23 in the warehouse management device 20' and detection information from the temporary storage area cargo detection unit 26 are sent to the cargo management unit 53 in the warehouse management device 50'.
  • the cargo management unit 53 may instruct the task management unit 31 to issue a truck unloading task or a warehousing task.
  • whether or not the temporary storage area is empty may be determined by the package management unit 53 in the warehouse management device 50'.
  • Other parts of the warehousing management device 20' and the warehouse management device 50' are configured in the same manner as the warehousing management device 20 and the warehouse management device 50 shown in FIG.
  • the unmanned cargo handling vehicle 70 is controlled by the warehouse management device 50', and the unmanned cargo handling vehicle 70 cooperates with other work such as shipping work from the warehouse. be able to do it.
  • the warehouse management device 50 itself constitutes a warehousing management system. A task may be sent to the unmanned cargo handling vehicle 70 .
  • the warehousing management device 20 provided in the warehousing management system of this example can be configured by a computer.
  • FIG. 14 shows an example of hardware configuration when the warehousing management apparatus 20 is configured by a computer.
  • the computer functioning as the warehousing management device 20 includes a CPU (Central Processing Unit) 20a, a ROM (Read Only Memory) 20b, and a RAM (Random Access Memory) each connected to a bus. ) 20c. Furthermore, the computer includes a nonvolatile storage 20d, a network interface 20e, an input/output unit 20f, and a display device 20g.
  • a CPU Central Processing Unit
  • ROM Read Only Memory
  • RAM Random Access Memory
  • the CPU 20a is an arithmetic processing unit that reads out from the ROM 20b and executes the program code of the software that implements the functions of each processing unit in the warehousing management device 20.
  • the RAM 20c is temporarily written with variables, parameters, etc. generated during the arithmetic processing.
  • a large-capacity information storage unit such as a HDD (Hard Disk Drive) or SSD (Solid State Drive) is used, and program data and detailed data in the warehouse (track berth and temporary storage site data etc.) and data of the unmanned cargo handling vehicle 70 are stored.
  • a NIC Network Interface Card
  • the input/output unit 20f performs transmission/reception of signals from the vehicle signal reception unit 41, tasks, and the like.
  • the display device 20g displays the operation status of the unmanned cargo handling vehicle 70, the transportation status of goods, and the like.
  • the display device 20g may display whether or not the temporary storage site is vacant.
  • Information such as programs for realizing each processing function in this case can be placed in a recording medium such as a memory, an IC card, an SD card, an optical disc, or the like, in addition to the non-volatile storage 20d such as an HDD or SSD.
  • the warehousing management apparatus 20 may be implemented by hardware such as an FPGA (Field Programmable Gate Array) or an ASIC (Application Specific Integrated Circuit) instead of being configured by the computer shown in FIG.
  • FPGA Field Programmable Gate Array
  • ASIC Application Specific Integrated Circuit
  • FIGS. 1, 2, 3 and 13 only those control lines and information lines that are considered necessary for explanation are shown, and not all control lines and information lines on the product are shown. not necessarily. In practice, it may be considered that almost all configurations are interconnected.
  • the unmanned cargo handling vehicle 70 As the unmanned cargo handling vehicle 70, a cargo handling vehicle other than a forklift (for example, an AGV: Automatic Guided Vehicle) may be used.
  • the unmanned cargo handling vehicle 70 that automatically operates transports products.
  • a truck unloading task or a warehousing task is sent to the cargo handling vehicle, and based on the task, a part of the It may be performed automatically.

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Abstract

The present invention comprises: a task management unit that identifies vehicle cargo product information on the basis of vehicle identification information or information from a vehicle cargo management unit and generates truck unloading tasks; a temporary storage package registration unit that registers, in a temporary storage vacant area memory unit, information related to the presence of packages in the temporary storage area of a warehouse, on the basis of the information from a temporary storage package detection unit; a task execution sequence planning unit that ascertains the availability of the temporary storage area on the basis of the temporary storage vacant area memory unit and, if the temporary storage area is vacant, indicates the execution of the truck unloading task and destination temporary storage area information; and a task transmission unit that transmits instructions from the task execution sequence planning unit to cargo-handling vehicles in the warehouse.

Description

入庫管理システム及び荷役車両の制御装置Inventory management system and cargo handling vehicle control device
 本発明は、入庫管理システム、及びその入庫管理システムに使用する荷役車両の制御装置に関する。 The present invention relates to a warehousing management system and a control device for cargo handling vehicles used in the warehousing management system.
 近年、販売前の商品を保管する倉庫において、倉庫管理システム(Warehouse Management System:以下WMSと称する)を利用して、商品の在庫管理を行うようにしている。WMSを利用することで、倉庫業務の効率化が図れる。 In recent years, in warehouses where products are stored before they are sold, the Warehouse Management System (hereinafter referred to as WMS) is used to manage product inventory. By using WMS, it is possible to improve the efficiency of warehouse operations.
 このように、倉庫の保管スペースに入庫した商品の管理については、WMSにより自動化を行うことが従来から提案されているが、倉庫に商品を搬入する入庫業務については自動化が進んでいない。 In this way, it has been proposed to automate the management of products stored in the storage space of the warehouse using WMS, but automation of the warehousing work of bringing products into the warehouse has not progressed.
 特許文献1には、トラックで荷物を搬送する際の支援を行う搬送システムについての記載がある。この特許文献1には、荷物を搬送するトラック内の収納棚に収容される荷物の識別情報を読取り、トラック管理サーバに収容荷物情報を送信し、トラック管理サーバにて、荷物の搬送計画を作成して、トラックに指示を行う技術が記載されている。 Patent Document 1 describes a transport system that assists in transporting packages by truck. In this patent document 1, identification information of packages stored in a storage rack in a truck for transporting packages is read, stored package information is sent to a truck management server, and a package transportation plan is created in the truck management server. Then, a technique for instructing the track is described.
特開2000-144428号公報JP-A-2000-144428
 倉庫の入庫業務には、倉庫のトラックバースに到着したトラック車両の荷台から、フォークリフト等の荷役車両で商品を取り出し、取り出した商品を倉庫の保管スペースまで搬送する業務が必要になる。ここで、通常は、トラックバースでトラック車両から取り出した商品、又はその商品を載せたパレットを、倉庫内の仮置場に一旦置き、仮置場でそれぞれの商品の最終的な入庫先を確認して、各商品を倉庫内の適切な保管スペースに入庫させている。 For the warehouse warehousing work, it is necessary to remove the products from the loading platform of the truck that has arrived at the warehouse truck berth with a cargo handling vehicle such as a forklift, and transport the removed products to the warehouse storage space. Here, usually, the products taken out from the truck vehicle at the truck berth, or the pallets with the products on them, are temporarily placed in a temporary storage area in the warehouse, and the final storage destination of each product is confirmed at the temporary storage area. , stocking each product in the appropriate storage space in the warehouse.
 従来、このようなフォークリフトを使用した入庫作業は、作業員によって行われており、フォークリフトの運転や、仮置場での商品の確認等に多大な手間がかかっている。
 ここで、特許文献1には、トラック車両内の荷物の識別情報を読取ることが記載され、このようにして読み取った識別情報を、倉庫の入庫を管理するシステムが取得することで、倉庫に入庫する商品を手作業で確認する必要がなくなる。
Conventionally, such warehousing operations using forklifts have been performed by workers, and it takes a lot of time and effort to operate the forklifts, check the products at the temporary storage site, and the like.
Here, Patent Document 1 describes reading the identification information of a package in a truck vehicle. Eliminates the need to manually check for items to be purchased.
 しかしながら、入庫する商品そのものの識別が出来たとしても、トラック車両から仮置場までのフォークリフトによる搬送は作業員による手動運転で行う必要である。このため、結局は、仮置場において、搬送された商品やパレットと、トラック車両側からの識別情報を照合する作業が必要であり、より高度な自動化が望まれている。 However, even if the goods to be stored can be identified, it is necessary for workers to manually operate the forklift from the truck to the temporary storage site. For this reason, in the end, it is necessary to collate the transported goods and pallets with the identification information from the truck vehicle side at the temporary storage site, and a higher degree of automation is desired.
 したがって、倉庫に到着した商品の入庫業務の適切な自動化が行える入庫管理システム、及びその入庫管理システムに使用する荷役車両の制御装置が望まれていた。 Therefore, there has been a demand for a warehousing management system that can appropriately automate the work of warehousing of products that have arrived at the warehouse, and a control device for cargo handling vehicles used in the warehousing management system.
 上記課題を解決するために、例えば請求の範囲に記載の構成を採用する。
 本願は、上記課題を解決する手段を複数含んでいるが、その一例を挙げるならば、トラック車両により搬送される商品の倉庫への入庫業務を管理する入庫管理システムであって、記倉庫は、トラックバースでトラック車両から荷卸した商品を仮置する仮置場エリアと、仮置場エリアに仮置された商品が入庫される保管エリアとを有するものに適用される。
 入庫管理システムの構成としては、トラック車両の識別情報又はトラック車両の積荷管理部からの情報を基に、トラック車両の積荷商品情報を特定する運搬商品特定部と、仮置場荷物検知部からの情報を基に、倉庫の仮置場エリアの在荷情報を仮置場空エリア記憶部に登録する仮置場荷物登録部と、仮置場空エリア記憶部を基に仮置場空き状況を把握し、仮置場に空きがある場合に、トラック荷卸しタスクの実行と、搬送先仮置場エリア情報を指示するタスク実行順計画部と、タスク実行順計画部からの指示を、倉庫内の荷役車両に送信するタスク送信部と、を備える。
In order to solve the above problems, for example, the configurations described in the claims are adopted.
The present application includes a plurality of means for solving the above problems, and one example thereof is a warehousing management system for managing the warehousing operation of products transported by truck vehicles, wherein the warehouse is: This is applied to a truck berth having a temporary storage area for temporarily storing products unloaded from a truck vehicle and a storage area for storing the products temporarily stored in the temporary storage area.
The configuration of the warehousing management system is based on the identification information of the truck vehicle or the information from the cargo management unit of the truck vehicle, the information from the transportation product identification unit that identifies the cargo product information of the truck vehicle, and the information from the temporary storage cargo detection unit. Based on this, the temporary storage area cargo registration unit registers the inventory information in the temporary storage area of the warehouse in the temporary storage area empty area storage unit, and the temporary storage area empty situation is grasped based on the temporary storage area empty area storage unit. If there is space, a task execution order planning section that instructs the execution of the truck unloading task and the destination temporary storage area information, and a task transmission that sends the instructions from the task execution order planning section to the cargo handling vehicle in the warehouse. and
 本発明によれば、倉庫でのトラックバースから仮置場への入庫業務を自動化することができる。
 上記した以外の課題、構成及び効果は、以下の実施形態の説明により明らかにされる。
According to the present invention, it is possible to automate the warehousing operation from the truck berth in the warehouse to the temporary storage site.
Problems, configurations, and effects other than those described above will be clarified by the following description of the embodiments.
本発明の一実施の形態例に係る入庫管理システムの例を示す構成図である。1 is a configuration diagram showing an example of a warehousing management system according to an embodiment of the present invention; FIG. 本発明の一実施の形態例に係る入庫管理システムのトラックバースから仮置場までの入庫処理の構成例を示すブロック図である。FIG. 2 is a block diagram showing a configuration example of warehousing processing from a truck berth to a temporary storage site of the warehousing management system according to an embodiment of the present invention; 本発明の一実施の形態例に係る入庫管理システムの仮置場から倉庫内の保管スペースまでの入庫処理の構成例を示すブロック図である。FIG. 3 is a block diagram showing a configuration example of warehousing processing from a temporary storage site to a storage space in a warehouse of the warehousing management system according to an embodiment of the present invention; 本発明の一実施の形態例に係るトラック積荷管理システムのデータ構成例を示す図である。It is a figure which shows the example of a data structure of the truck load management system based on the example of one Embodiment of this invention. 本発明の一実施の形態例に係るバース車両記憶部のデータ例を示す図である。It is a figure which shows the data example of the berth vehicle memory|storage part concerning one embodiment of this invention. 本発明の一実施の形態例に係る仮置場空エリア記憶部のデータ例を示す図である。FIG. 5 is a diagram showing an example of data in a temporary storage space empty area storage unit according to an embodiment of the present invention; 本発明の一実施の形態例に係るトラック荷卸しタスクのデータ構造の例を示す図である。It is a figure which shows the example of a data structure of the truck unloading task based on one embodiment of this invention. 本発明の一実施の形態例に係る入庫タスクのデータ構造の例を示す図である。It is a figure which shows the example of the data structure of the warehousing task which concerns on one embodiment of this invention. 本発明の一実施の形態例に係るタスク送信部が送信するトラック荷卸しタスクの例(図9A)及び入庫タスクの例(図9B)を示す図である。FIG. 9A is a diagram showing an example of a truck unloading task (FIG. 9A) and an example of a warehousing task (FIG. 9B) transmitted by a task transmitting unit according to an embodiment of the present invention; 本発明の一実施の形態例に係る入庫管理システムでの処理の流れの例を示すフローチャートである。4 is a flow chart showing an example of the flow of processing in a warehousing management system according to an embodiment of the present invention; 本発明の一実施の形態例に係る荷役車両がトラック荷卸しタスクを受信した場合の処理の流れの例を示すフローチャートである。4 is a flowchart showing an example of the flow of processing when a cargo handling vehicle according to an embodiment of the present invention receives a truck unloading task; 本発明の一実施の形態例に係る荷役車両が入庫タスクを受信した場合の処理の流れの例を示すフローチャートである。4 is a flow chart showing an example of the flow of processing when a cargo handling vehicle according to an embodiment of the present invention receives a warehousing task; 本発明の一実施の形態例に係る入庫管理システムの変形例を示す構成図である。It is a block diagram which shows the modification of the warehousing management system based on one embodiment of this invention. 本発明の一実施の形態例に係る入庫管理システムをコンピュータで構成した場合のハードウェア構成例を示すブロック図である。1 is a block diagram showing a hardware configuration example when a warehousing management system according to an embodiment of the present invention is configured by a computer; FIG.
 以下、本発明の一実施の形態例(以下、「本例」と称する)を、添付図面を参照して説明する。 An embodiment of the present invention (hereinafter referred to as "this example") will be described below with reference to the accompanying drawings.
[入庫管理システムの全体構成]
 図1は、本例の入庫管理システムの全体構成の例を示す。
 本例の入庫管理システムは、商品(物品)を保管する物流倉庫において、その倉庫への商品の入庫を管理するシステムであり、入庫管理装置20を備える。また、物流倉庫は、入庫管理装置20とは別に倉庫管理装置50を備え、倉庫管理装置50が物流倉庫内の商品の在庫管理などを行う。倉庫管理装置50は、倉庫管理システム(WMS)とも称される。
 また、本例の物流倉庫への商品の搬入は、トラック車両63により行われる。トラック車両63への商品の荷積みは、出荷管理装置10で管理される。
[Overall configuration of inventory management system]
FIG. 1 shows an example of the overall configuration of the warehousing management system of this example.
The warehousing management system of this example is a system for managing warehousing of commodities (goods) in a distribution warehouse that stores commodities (goods), and includes a warehousing management device 20 . In addition, the physical distribution warehouse includes a warehouse management device 50 separate from the warehousing management device 20, and the warehouse management device 50 performs inventory management of products in the distribution warehouse. The warehouse management device 50 is also called a warehouse management system (WMS).
In addition, a truck vehicle 63 is used to carry in products to the distribution warehouse in this example. The loading of products onto the truck vehicle 63 is managed by the shipping management device 10 .
 物流倉庫は、トラック車両63が到着するトラックバースと、そのトラックバースでトラック車両63から荷卸しした商品を一時的に置く仮置場とを有する。仮置場に置かれた商品は、物流倉庫の商品保管スペースに搬送される。これらのトラックバースから仮置場への商品の搬送と、仮置場から商品保管スペースへの商品の搬送は、無人荷役車両70により行われる。本例の無人荷役車両70は、自動運転が行われるフォークリフトである。また、トラックバースでトラック車両63から荷卸しした商品は、無人荷役車両70によって直接、物流倉庫内の商品保管スペースに搬送する場合もある。 The distribution warehouse has a truck berth where the truck vehicle 63 arrives and a temporary storage area where the products unloaded from the truck vehicle 63 are temporarily stored at the truck berth. The products placed in the temporary storage area are transported to the product storage space of the distribution warehouse. Transportation of products from these truck berths to the temporary storage space and transportation of products from the temporary storage space to the product storage space are performed by unmanned cargo handling vehicles 70 . The unmanned cargo handling vehicle 70 of this example is a forklift that automatically operates. In some cases, the products unloaded from the truck vehicle 63 at the truck berth are directly transported to the product storage space in the distribution warehouse by the unmanned cargo handling vehicle 70 .
 まず、出荷管理装置10の構成について説明すると、トラック車両63による倉庫への搬送を管理する出荷管理装置10は、出荷指示部11と出荷通知部12と荷積み商品認識部13とを有する。
 出荷指示部11は、出荷作業を行う作業員に対して商品の出荷を指示し、この指示を端末などで確認した作業員は、指示された商品62を載せられたパレット61を、トラック車両63の荷台に搭載する作業を行う。
 また、出荷指示部11は、作業員に対して商品の出荷を指示すると同時に、出荷通知部12に対して、商品の出荷を倉庫管理装置50に通知する指示を行う。
 出荷通知部12は、倉庫管理装置50の入荷情報入力部52に出荷を伝える。倉庫管理装置50の入荷情報入力部52では、出荷が伝えられた商品の入荷を、荷物管理部53に伝える。
First, the configuration of the shipment management device 10 will be described.
The shipping instruction unit 11 instructs the worker who performs the shipping work to ship the product. work to be loaded on the carrier of the
In addition, the shipping instruction unit 11 instructs the worker to ship the product, and at the same time instructs the shipping notification unit 12 to notify the warehouse management device 50 of the product shipment.
The shipment notification unit 12 notifies the arrival information input unit 52 of the warehouse management device 50 of the shipment. The receipt information input unit 52 of the warehouse management device 50 notifies the package management unit 53 of the receipt of the product whose shipment has been notified.
 また、出荷時にトラック車両63が通過する箇所には、商品コード読取部14が設置される。この商品コード読取部4は、トラック車両63に載せられた商品62又はパレット61に取り付けられたタグからの電波の受信、又は商品62又はパレット61に記載されたコードの読取りを行って商品情報を取得し、取得した商品情報を荷積み商品認識部13に供給する。荷積み商品認識部13は、商品コード読取部14が取得した商品情報に基づいて、トラック車両63で出荷された商品を認識する。
 荷積み商品認識部13が認識した出荷商品の情報は、倉庫管理装置50のトラック積荷管理部51に伝送される。
A product code reading unit 14 is installed at a location where the truck vehicle 63 passes during shipping. The product code reading unit 4 receives radio waves from tags attached to products 62 or pallets 61 placed on a truck vehicle 63, or reads codes written on the products 62 or pallets 61 to obtain product information. It acquires and supplies the acquired product information to the loaded product recognition unit 13 . The loaded commodity recognition unit 13 recognizes the commodity shipped by the truck vehicle 63 based on the commodity information acquired by the commodity code reading unit 14 .
The information on the shipped products recognized by the loaded product recognition unit 13 is transmitted to the truck load management unit 51 of the warehouse management device 50 .
 次に、入庫管理装置20の構成について説明する。
 入庫管理装置20は、車両認識部21、バース車両管理部22、仮置エリア指示部23、荷卸し商品認識部24、運搬商品特定部25、仮置場荷物検知部26、仮置場荷物登録部27、タスク管理部31、及びタスク送信部32を備える。
Next, the configuration of the warehousing management device 20 will be described.
The warehousing management device 20 includes a vehicle recognition unit 21, a berth vehicle management unit 22, a temporary storage area instruction unit 23, an unloaded product recognition unit 24, a transportation product identification unit 25, a temporary storage site luggage detection unit 26, and a temporary storage site luggage registration unit 27. , a task management unit 31 and a task transmission unit 32 .
 車両認識部21は、物流倉庫のトラックバースに設置された車両信号受信部41がトラック車両63から受信した信号に基づいて、トラック車両63が到着したことを認識し、到着したトラック車両63の情報をバース車両管理部22に伝える。
 バース車両管理部22は、トラック車両63の到着の情報を取得すると、運搬商品特定部25に対してそのトラック車両63が運搬している商品の特定を指示する。また、バース車両管理部22は、到着したトラック車両63の荷物の仮置エリアを仮置エリア指示部23に対して行う。
 仮置エリア指示部23は、仮置場荷物登録部27に対して、到着したトラック車両63の荷物の仮置エリアの登録作業を指示する。
The vehicle recognition unit 21 recognizes the arrival of the truck vehicle 63 based on the signal received from the truck vehicle 63 by the vehicle signal reception unit 41 installed in the truck berth of the distribution warehouse, and obtains the information of the truck vehicle 63 that has arrived. to the berth vehicle management unit 22 .
When the berth vehicle management unit 22 acquires information about the arrival of the truck vehicle 63, it instructs the transportation product identification unit 25 to identify the product that the truck vehicle 63 is transporting. Further, the berth vehicle management unit 22 instructs the temporary storage area instructing unit 23 about the temporary storage areas of the truck vehicles 63 that have arrived.
The temporary storage area instructing unit 23 instructs the temporary storage area cargo registration unit 27 to register the temporary storage area of the cargo of the truck vehicle 63 that has arrived.
 荷卸し商品認識部24は、トラック車両63から荷卸しした商品62又はパレット61に取り付けられたタグからの電波の受信やコードの読取りなどを行う商品コード読取部42からの情報に基づいて荷卸し商品を認識する。そして、荷卸し商品認識部24は、認識した商品情報を運搬商品特定部25に供給する。
 運搬商品特定部25は、バース車両管理部22から供給されるトラック車両63の積荷情報と荷卸し商品認識部24が認識しった荷卸し商品情報に基づいて、仮置場に運搬する商法を特定し、特定した商品の情報を仮置場荷物登録部27に供給する。
The unloaded product recognition unit 24 unloads products 62 unloaded from the truck vehicle 63 or based on information from the product code reading unit 42 that receives radio waves from tags attached to the pallets 61 and reads codes. Recognize products. Then, the unloaded commodity recognition unit 24 supplies the recognized commodity information to the transported commodity identification unit 25 .
The transported product identification unit 25 identifies the commercial method to be transported to the temporary storage site based on the cargo information of the truck vehicle 63 supplied from the berth vehicle management unit 22 and the unloaded product information recognized by the unloaded product recognition unit 24, Information on the specified product is supplied to the temporary storage site package registration unit 27 .
 仮置場荷物検知部26は、仮置場に設置されたセンサ43の信号に基づいて、仮置場の空き状況を検知する。センサ43としては、例えば監視カメラが適用可能である。仮置場荷物検知部26が検知した仮置場の空き状況の情報は、仮置場荷物登録部27に供給される。
 仮置場荷物登録部27は、仮置場荷物検知部26から供給される仮置場の空き状況と、運搬商品特定部25から供給される荷卸しした商品の情報とをタスク管理部31に供給する。なお、仮置場荷物登録部27は、運搬商品特定部25が特定した入荷商品の情報を、倉庫管理装置50の荷物管理部53に伝えてもよい。
The temporary storage site baggage detection unit 26 detects the availability of the temporary storage site based on the signal from the sensor 43 installed in the temporary storage site. As the sensor 43, for example, a monitoring camera can be applied. The temporary storage site availability information detected by the temporary storage site package detection unit 26 is supplied to the temporary storage site package registration unit 27 .
The temporary storage site package registration unit 27 supplies the temporary storage site availability status supplied from the temporary storage site package detection unit 26 and the unloaded product information supplied from the transportation product identification unit 25 to the task management unit 31 . Note that the temporary storage site package registration unit 27 may transmit the information on the received product identified by the transport product identification unit 25 to the package management unit 53 of the warehouse management device 50 .
 タスク管理部31は、仮置場の空き状況と荷卸しした商品の情報に基づいて、荷卸しした商品を仮置場の空エリアに搬送するタスクを生成し、生成したタスクをタスク送信部32から無人荷役車両70に送信する。タスク送信部32は、無線LAN(local area network)などのネットワークを使用してタスクを送信する。本例の入庫管理システムが送受信する他のタスクについても、同じネットワークが使用される。
 タスク送信部32が送信するタスクには、トラックバースに到着したトラック車両63を特定する情報と、そのトラック車両63から荷降ろしした商品の仮置場エリアの情報が含まれる。
The task management unit 31 generates a task for transporting the unloaded product to an empty area of the temporary storage area based on the availability of the temporary storage area and information on the unloaded product, and transmits the generated task from the task transmission unit 32 unmanned. It is transmitted to the cargo handling vehicle 70 . The task transmission unit 32 transmits tasks using a network such as a wireless LAN (local area network). The same network is also used for other tasks transmitted and received by the warehouse management system of this example.
The task transmitted by the task transmission unit 32 includes information specifying the truck vehicle 63 that has arrived at the truck berth and information on the temporary storage area of the product unloaded from the truck vehicle 63 .
 無人荷役車両70は、図1に示す各処理部からなる制御装置を備えるものである。すなわち、無人荷役車両70は、タスク受信部71を備え、タスク送信部32からのタスクを受信する。タスク受信部71が受信したタスクの情報は、走行経路計画部72に供給する。走行経路計画部72は、タスクの指示に基づいて、トラックバースに到着したトラック車両63から仮置場までの走行路を計画し、走行指示部73に計画した走行路の情報を伝える。
 走行指示部73は、無人荷役車両70の無人での走行を指示する。なお、ここでの走行指示には、フォークリフトである無人荷役車両70のフォークの制御も含まれる。
 この走行指示に基づいて、無人荷役車両70は、トラックバースに到着したトラック車両63から商品62が積まれたパレット61を荷卸しし、荷卸ししたパレット61を仮置場まで搬送する。
The unmanned cargo handling vehicle 70 is provided with a control device comprising each processing unit shown in FIG. That is, the unmanned cargo handling vehicle 70 includes a task receiving section 71 and receives tasks from the task transmitting section 32 . The task information received by the task receiving unit 71 is supplied to the travel route planning unit 72 . The travel route planning unit 72 plans the travel route from the truck vehicle 63 arriving at the truck berth to the temporary storage site based on the instruction of the task, and notifies the travel instruction unit 73 of the planned travel route information.
The traveling instruction unit 73 instructs the unmanned cargo handling vehicle 70 to travel unmanned. Note that the travel instruction here also includes control of the forks of the unmanned cargo handling vehicle 70, which is a forklift.
Based on this travel instruction, the unmanned cargo handling vehicle 70 unloads the pallet 61 loaded with the product 62 from the truck vehicle 63 arriving at the truck berth, and transports the unloaded pallet 61 to the temporary storage site.
[トラックバースから仮置場までの入庫処理の構成]
 図2は、トラックバースから仮置場までの商品の入庫処理の構成の例を示す。
 入庫管理装置20のバース車両管理部22は、車両情報取得部22aが、車両認識部21からの情報に基づいて、到着したトラック車両63の情報を取得し、取得したトラック車両63の情報をバース車両記憶部22bに記憶させる。
[Configuration of warehousing process from truck berth to temporary storage site]
FIG. 2 shows an example of the configuration of the warehousing process for commodities from the truck berth to the temporary storage site.
In the berth vehicle management unit 22 of the warehousing management device 20, the vehicle information acquisition unit 22a acquires information on the truck vehicle 63 that has arrived based on the information from the vehicle recognition unit 21, and sends the acquired information on the truck vehicle 63 to the berth. It is stored in the vehicle storage unit 22b.
 バース車両記憶部22bが記憶したトラックバースのトラック車両63の情報は、運搬商品特定部25に送られる。運搬商品特定部25では、倉庫管理装置50のトラック積荷管理部51からの情報と照合して、トラックバースのトラック車両63の積荷を判断し、仮置場荷物登録部27内のタスク記憶部28に判断した積荷の荷卸しタスクを記憶させる。タスク記憶部28は、トラック荷卸しタスク記憶部28aと入庫タスク記憶部28bとを備える。トラック車両63からの荷卸しを指示する荷卸しタスクは、トラック荷卸しタスク記憶部28aに記憶される。
 また、タスク記憶部28が記憶したタスクは、タスク完了実績受信部33が受信した無人荷役車両70からのタスク完了実績に基づいて、トラック荷卸しタスク完了操作部27cの指示で消去される。
The information of the truck vehicle 63 of the truck berth stored in the berth vehicle storage unit 22 b is sent to the transported product identification unit 25 . The goods to be transported identification unit 25 compares the information from the truck load management unit 51 of the warehouse management device 50, determines the load of the truck vehicle 63 of the truck berth, and stores it in the task storage unit 28 in the temporary storage site load registration unit 27. The unloading task of the determined cargo is stored. The task storage unit 28 includes a truck unloading task storage unit 28a and a warehousing task storage unit 28b. An unloading task instructing unloading from the truck vehicle 63 is stored in the truck unloading task storage unit 28a.
Further, the tasks stored in the task storage unit 28 are erased by instructions from the truck unloading task completion operating unit 27c based on the task completion record from the unmanned cargo handling vehicle 70 received by the task completion record receiving unit 33.
 タスク記憶部28が記憶したタスクの情報は、タスク管理部31に読み出され、タスク管理部31のタスク実行順計画部31aが、タスクの実行順を計画する。
 ここで、タスク実行順計画部31aには、仮置場荷物登録部27の仮置場空エリア記憶部27bが記憶した仮置場空エリアの情報が供給され、入庫タスクには空きがある仮置場への搬送が指示される。
 仮置場空エリア記憶部27bに記憶される仮置場空エリア情報は、仮置場荷物検知部26が検知した情報に基づいて、仮置場空エリア登録部27aにより登録される。
The task information stored in the task storage unit 28 is read by the task management unit 31, and the task execution order planning unit 31a of the task management unit 31 plans the execution order of the tasks.
Here, the task execution order planning unit 31a is supplied with the information of the temporary storage space empty area stored in the temporary storage space empty area storage unit 27b of the temporary storage space cargo registration unit 27, and the incoming task is assigned to a temporary storage space with an available space. Transport is ordered.
The temporary storage site vacant area information stored in the temporary storage site vacant area storage unit 27b is registered by the temporary storage site vacant area registration unit 27a based on the information detected by the temporary storage site cargo detection unit 26. FIG.
 次に、無人荷役車両70でトラック荷卸しの処理を行う構成について説明する。
 図2に示すように、無人荷役車両70のタスク受信部71が、トラック荷卸しタスクを受信する。タスク受信部71が受信したタスクは、車両制御部74を経由して、走行経路計画部72及びフォーク制御部77に供給される。
 走行経路計画部72は、物流倉庫内のトラックバースから仮置場空エリアまでの走行計画を作成し、作成した走行計画で走行指示部73に指示し、無人荷役車両70の自動走行を開始させる。
 また、フォーク制御部77は、トラック荷卸しタスクに基づいて、トラック車両63からパレット61を卸すためのフォーク制御を行うと共に、パレット61を仮置場に卸すためのフォーク制御を行う。
Next, a configuration for unmanned truck unloading by the unmanned cargo handling vehicle 70 will be described.
As shown in FIG. 2, the task receiver 71 of the unmanned cargo handling vehicle 70 receives the truck unloading task. The task received by the task receiving section 71 is supplied to the travel route planning section 72 and the fork control section 77 via the vehicle control section 74 .
The travel route planning unit 72 creates a travel plan from the truck berth in the distribution warehouse to the temporary storage area empty area, instructs the travel instruction unit 73 with the created travel plan, and causes the unmanned cargo handling vehicle 70 to start automatically traveling.
Further, the fork control unit 77 performs fork control for unloading the pallet 61 from the truck vehicle 63 and fork control for unloading the pallet 61 to the temporary storage site based on the truck unloading task.
 また、無人荷役車両70は、自己位置推定部78を備え、物流倉庫内の車両位置を推定する。この自己位置推定部78は、無人荷役車両70に搭載されたセンサやカメラの出力から自己位置を推定する。
 自己位置推定部78が推定した自己位置の情報は、走行経路計画部72に供給して、計画した走行経路と自己位置を一致させる処理が行われる。
 また、自己位置推定部78が推定した自己位置の情報は、仮置場荷卸し場所保存部75にも供給される。
The unmanned cargo handling vehicle 70 also includes a self-position estimation unit 78 to estimate the vehicle position within the distribution warehouse. The self-position estimator 78 estimates the self-position from the outputs of sensors and cameras mounted on the unmanned cargo handling vehicle 70 .
Information on the self-position estimated by the self-position estimating section 78 is supplied to the travel route planning section 72, and processing is performed to match the planned travel route with the self-position.
The self-location information estimated by the self-location estimation unit 78 is also supplied to the temporary storage unloading location storage unit 75 .
 仮置場荷卸し場所保存部75は、車両制御部74からの指示で、パレット61を仮置場に卸した際の自己位置を自己位置推定部78から取得し、取得した仮置場荷卸し場所を、仮置場荷卸し場所記憶部75aに記憶させる。ここで、車両制御部74は入庫タスクで指示された仮置場の空エリアに荷卸しを行う指示を行うものであり、仮置場荷卸し場所保存部75は、その空エリア内で実際に無人荷役車両70が荷卸しを実行した具体的な座標を仮置場荷卸し場所記憶部75aに記憶させる。つまり、入庫タスクでは、パレットを少なくとも一部の箇所に置くことが可能な空エリアが示され、仮置場荷卸し場所記憶部75aには、その空エリア内で実際に無人荷役車両70が荷卸しを実行した具体的な座標位置が記憶される。 The temporary storage unloading location storage unit 75 acquires the self-position when the pallet 61 is unloaded to the temporary storage location from the self-position estimation unit 78 in accordance with an instruction from the vehicle control unit 74, and stores the acquired temporary storage unloading location as It is stored in the temporary storage unloading location storage unit 75a. Here, the vehicle control unit 74 instructs unloading to the empty area of the temporary storage area instructed by the warehousing task, and the temporary storage unloading location storage unit 75 actually carries out unmanned cargo handling in the empty area. The specific coordinates at which the vehicle 70 unloaded are stored in the temporary storage unloading location storage unit 75a. In other words, the warehousing task indicates an empty area where the pallet can be placed at least in part, and the unmanned cargo handling vehicle 70 actually unloads the empty area in the temporary storage area unloading location storage unit 75a. is stored.
 仮置場荷卸し場所記憶部75aが記憶した仮置場荷卸し場所の情報は、タスク完了実績送信部76に送られ、タスク完了実績送信部76から送信されるタスク完了実績に、仮置場荷卸し場所の情報が付加される。
 また、無人荷役車両70は、商品コード読取部42が読み取った情報を取得する商品情報取得部80を備え、商品情報取得部80が、積荷商品情報記憶部79に商品情報を記憶させる。
 積荷商品情報記憶部79が記憶した積荷商品情報は、タスク完了実績送信部76に送られ、タスク完了実績送信部76から送信されるタスク完了実績に、商品情報が付加される。
The information on the temporary storage unloading location stored in the temporary storage unloading location storage unit 75a is sent to the task completion result transmitting unit 76, and the task completion result transmitted from the task completion result transmitting unit 76 includes the temporary storage unloading location. information is added.
The unmanned cargo handling vehicle 70 also includes a product information acquisition unit 80 that acquires information read by the product code reading unit 42 , and the product information acquisition unit 80 causes the loaded product information storage unit 79 to store the product information.
The loaded product information stored by the loaded product information storage unit 79 is sent to the task completion record transmission unit 76, and the task completion record transmitted from the task completion record transmission unit 76 is added with the product information.
 そして、タスク完了実績送信部76から送信されるタスク完了実績は、入庫管理装置20のタスク完了実績受信部33で受信され、トラック荷卸しタスク完了操作部27cに送られる。 Then, the task completion result transmitted from the task completion result transmission unit 76 is received by the task completion result reception unit 33 of the warehousing management device 20 and sent to the truck unloading task completion operation unit 27c.
 なお、タスク管理部31は、仮置場空エリア記憶部27bの記憶情報から、仮置場に空エリアがないと認識した場合、トラック車両63から商品を卸して、直接倉庫内の保管エリアまで搬送する指示を行う。この場合には、タスク管理部31は、入庫タスクを発行して、その入庫タスクの荷掬いポイントがトラックバースになり、荷卸しポイントが倉庫内の保管エリアになる。 When the task management unit 31 recognizes that there is no empty area in the temporary storage area from the information stored in the temporary storage area empty area storage unit 27b, the task management unit 31 unloads the product from the truck vehicle 63 and transports it directly to the storage area in the warehouse. give instructions. In this case, the task management unit 31 issues a warehousing task, the pickup point of the warehousing task becomes the truck berth, and the unloading point becomes the storage area in the warehouse.
[仮置場から倉庫内までの入庫処理の構成]
 図3は、仮置場から倉庫内の保管スペースまでの商品の入庫処理の構成の例を示す。
 入庫管理装置20のタスク記憶部28は、入庫タスク記憶部28bを備え、入庫タスク記憶部28bが記憶する入庫タスクには、仮置場空エリア記憶部27bが記憶した空エリアの情報が付加される。
[Configuration of warehousing process from temporary storage to warehouse]
FIG. 3 shows an example of the configuration of the warehousing process for commodities from the temporary storage area to the storage space in the warehouse.
The task storage unit 28 of the warehousing management device 20 includes a warehousing task storage unit 28b, and the warehousing task stored in the warehousing task storage unit 28b is added with the empty area information stored in the temporary storage space vacant area storage unit 27b. .
 そして、入庫タスク記憶部28bが記憶する入庫タスクは、タスク管理部31に読み出され、タスク管理部31のタスク実行順計画部31aが、入庫先取得部31bに入庫先を確定させる。ここで、入庫先取得部31bは、倉庫管理装置50から、該当する商品を物流倉庫の保管エリアで保管する入庫先の情報を取得し、入庫タスクに入庫先の情報を付加する。
 入庫先取得部31bで入庫先の情報が付加された入庫タスクは、タスク送信部32から無人荷役車両70に送信される。
The warehousing task stored in the warehousing task storage unit 28b is read by the task management unit 31, and the task execution order planning unit 31a of the task management unit 31 causes the warehousing destination acquisition unit 31b to determine the warehousing destination. Here, the warehousing destination acquiring unit 31b acquires information on the warehousing destination that stores the corresponding product in the storage area of the distribution warehouse from the warehouse management device 50, and adds the warehousing destination information to the warehousing task.
The warehousing task to which the warehousing destination information has been added by the warehousing destination acquisition unit 31 b is transmitted from the task transmission unit 32 to the unmanned cargo handling vehicle 70 .
 次に、無人荷役車両70で入庫タスクに基づいて倉庫内に入庫させる処理を行う構成について説明する。
 図3に示すように、無人荷役車両70のタスク受信部71が、入庫タスクを受信する。タスク受信部71が受信した入庫タスクは、車両制御部74を経由して、走行経路計画部72及びフォーク制御部77に供給される。
 走行経路計画部72は、仮置場から入庫先までの走行計画を作成し、作成した走行計画で走行指示部73に指示し、無人荷役車両70の自動走行を開始させる。
 また、フォーク制御部77は、入庫タスクに基づいて、仮置場からパレット61を運ぶためのフォーク制御を行うと共に、入庫タスクに基づいて、パレット61を倉庫内の商品保管エリアに卸すためのフォーク制御を行う。
Next, a description will be given of a configuration in which the unmanned cargo handling vehicle 70 carries out processing for warehousing based on the warehousing task.
As shown in FIG. 3, the task receiver 71 of the unmanned cargo handling vehicle 70 receives the warehousing task. The warehousing task received by the task receiving section 71 is supplied to the travel route planning section 72 and the fork control section 77 via the vehicle control section 74 .
The travel route planning unit 72 creates a travel plan from the temporary storage site to the storage destination, instructs the travel instruction unit 73 with the created travel plan, and causes the unmanned cargo handling vehicle 70 to start automatically traveling.
The fork control unit 77 also performs fork control for transporting the pallet 61 from the temporary storage area based on the warehousing task, and fork control for unloading the pallet 61 to the product storage area in the warehouse based on the warehousing task. I do.
 ここで、走行経路計画部72が走行指示部73に指示する際には、自己位置推定部78が推定した自己位置を参照しながら指示を行う。
 また、タスク受信部71が受信した入庫タスクに基づいて、運搬荷物情報登録部81が積荷商品情報記憶部79に運搬荷物である商品情報を記憶させる。そして、入庫タスクによる商品の保管エリアへの搬送が完了したとき、タスク完了実績送信部76は、タスク完了実績を送信する。
Here, when the travel route planning unit 72 instructs the travel instruction unit 73, the instruction is given while referring to the self-position estimated by the self-position estimation unit 78. FIG.
Further, based on the warehousing task received by the task receiving unit 71, the cargo information registration unit 81 causes the loaded product information storage unit 79 to store the product information of the transported cargo. Then, when the transportation of the product to the storage area by the warehousing task is completed, the task completion record transmitting unit 76 transmits the task completion record.
 そして、タスク完了実績送信部76から送信されるタスク完了実績は、入庫管理装置20のタスク完了実績受信部33で受信され、入庫タスク完了操作部27dに送られる。入庫タスク完了操作部27dは、タスク記憶部28が記憶した該当する入庫タスクを削除すると共に、倉庫管理装置50に対して商品の保管エリアへの搬送の完了を報告する。 Then, the task completion result transmitted from the task completion result transmitting unit 76 is received by the task completion result receiving unit 33 of the warehousing management device 20 and sent to the warehousing task completion operating unit 27d. The warehousing task completion operation unit 27d deletes the corresponding warehousing task stored in the task storage unit 28 and notifies the warehouse management device 50 of the completion of transportation of the product to the storage area.
[データ構成の例]
 図4は、トラック車両63が発信して、図1に示す商品コード読取部14や車両信号受信部41で受信されるデータ構造の例を示す。
 トラック車両63が発信する情報には、図4に示すように、トラック車両63を特定する車両識別IDと、積荷IDと、積荷詳細情報とが含まれる。積荷詳細情報には、商品を識別する情報や、納入先などの詳細が付加される。
[Example of data structure]
FIG. 4 shows an example of a data structure transmitted by the truck vehicle 63 and received by the product code reader 14 and the vehicle signal receiver 41 shown in FIG.
The information transmitted by the truck vehicle 63 includes, as shown in FIG. 4, a vehicle identification ID that identifies the truck vehicle 63, a cargo ID, and detailed cargo information. Information for identifying the product and details such as the delivery destination are added to the detailed cargo information.
 図5は、バース車両記憶部22b(図2)が記憶する情報の例を示す。
 バース車両記憶部22bには、物流倉庫に用意された各トラックバースを示すバースIDと、そのバースIDの倉庫内の座標位置を示すバース位置の情報と、そのトラックバースに駐車しているトラック車両63を示す車両識別IDとが含まれる。
FIG. 5 shows an example of information stored in the berth vehicle storage unit 22b (FIG. 2).
The berth vehicle storage unit 22b stores a berth ID indicating each truck berth prepared in the distribution warehouse, berth position information indicating the coordinate position in the warehouse of the berth ID, and truck vehicles parked at the truck berth. A vehicle identification ID indicating 63 is included.
 図6は、仮置場空エリア記憶部27b(図2,図3)が記憶する仮置場空エリアの情報の例を示す。
 仮置場空エリアの情報には、仮置場の各エリアを示す仮置場エリアIDと、そのエリアの倉庫内の座標位置を示す区画情報と、空状況の情報とが含まれる。空状況の情報で、該当する仮置場に空があるか否かが示される。
FIG. 6 shows an example of information on a temporary storage site empty area stored by the temporary storage site empty area storage unit 27b (FIGS. 2 and 3).
The temporary storage area empty area information includes a temporary storage area ID indicating each area of the temporary storage area, division information indicating the coordinate position of the area in the warehouse, and empty status information. The availability information indicates whether or not the relevant temporary storage site is available.
 図7は、トラック荷卸しタスク記憶部28a(図2)が記憶するトラック荷卸しタスクのデータ構造の例を示す。
 トラック荷卸しタスクには、タスクIDと、荷卸しを行うトラック車両を示す車両識別IDと、積荷IDと、積荷詳細情報と、割当先搬送車IDとが含まれる。車両識別IDと積荷IDと積荷詳細情報とは、トラック車両の情報(図4)から得たものである。割当先搬送車IDは、トラック荷卸しタスクを実行する無人荷役車両70のIDであり、例えばタスク管理部31が割り当てる。
FIG. 7 shows an example of the data structure of the truck unloading task stored in the truck unloading task storage unit 28a (FIG. 2).
A truck unloading task includes a task ID, a vehicle identification ID indicating a truck vehicle that is to be unloaded, a cargo ID, detailed cargo information, and an assigned destination carrier ID. The vehicle identification ID, cargo ID, and cargo detail information are obtained from the truck vehicle information (FIG. 4). The assigned transport vehicle ID is the ID of the unmanned material handling vehicle 70 that executes the truck unloading task, and is assigned by the task management unit 31, for example.
 図8は、入庫タスク記憶部28b(図2,図3)が記憶する入庫タスクのデータ構造の例を示す。
 入庫タスクには、タスクIDと、積荷IDと、積荷詳細情報と、仮置場エリアIDと、商品を仮置した配置座標と、割当先搬送車IDとが含まれる。配置座標は、仮置場に商品を仮置した際に付加される。
FIG. 8 shows an example of the data structure of the warehousing task stored in the warehousing task storage unit 28b (FIGS. 2 and 3).
The warehousing task includes a task ID, a cargo ID, detailed cargo information, a temporary storage area ID, the location coordinates where the product is temporarily stored, and the assigned destination carrier ID. The placement coordinates are added when the product is temporarily placed in the temporary storage area.
 図9A及び図9Bは、タスク送信部32が送信するタスクの例を示す。
 図9Aは、トラック荷卸しタスクを送信する場合の例を示す。
 トラック荷卸しタスクには、タスクIDと、トラック荷卸しを示すタスク種別と、トラックから商品を卸す荷掬いポイントと、荷卸し場所の情報と、荷卸しポイントの情報が含まれる。トラック荷卸しタスクの場合、荷掬いポイントは、バース位置の座標情報である。荷卸し場所は、仮置場又は倉庫内の保管エリアを示す。荷卸しポイントの情報は、仮置場の荷卸しエリアの座標情報又は保管エリアの座標情報である。
9A and 9B show examples of tasks transmitted by the task transmission unit 32. FIG.
FIG. 9A shows an example of sending a truck unloading task.
The truck unloading task includes a task ID, a task type indicating truck unloading, a scooping point for unloading the product from the truck, information on the unloading location, and information on the unloading point. In the case of a truck unloading task, the pick-up point is the coordinate information of the berth position. The unloading location indicates a temporary storage area or a storage area in a warehouse. The information of the unloading point is the coordinate information of the unloading area of the temporary storage site or the coordinate information of the storage area.
 図9Bは、入庫タスクを送信する場合の例を示す。
 入庫タスクには、タスクIDと、入庫を示すタスク種別と、仮置場又はトラックから商品を卸す荷掬いポイントと、荷卸し場所の情報と、荷卸しポイントの情報が含まれる。入庫タスクの場合、荷掬いポイントは、仮置場又はバース位置の座標情報である。荷卸し場所は、倉庫内の保管エリアを示す。荷卸しポイントの情報は、保管エリアの座標情報である。
FIG. 9B shows an example of sending a warehousing task.
The warehousing task includes a task ID, a task type indicating warehousing, a scooping point for unloading the product from a temporary storage area or truck, information on the unloading location, and information on the unloading point. In the case of the warehousing task, the pick-up point is the coordinate information of the temporary storage area or berth position. The unloading location indicates a storage area within the warehouse. The information of the unloading point is the coordinate information of the storage area.
[入庫管理装置での処理の流れ]
 図10は、入庫管理装置20での処理の流れを示すフローチャートである。
 まず、入庫管理装置20は、トラック車両63又はそのトラック車両63の積荷商品を認識したか否かを判断する(ステップS11)。ステップS11で、トラック車両63の認識あるいは積荷商品の認識がない場合(ステップS11のNO)、このステップS11での判断を繰り返す。
[Flow of processing in the warehousing management device]
FIG. 10 is a flow chart showing the flow of processing in the warehousing management device 20. As shown in FIG.
First, the warehousing management device 20 determines whether or not the truck vehicle 63 or the goods loaded on the truck vehicle 63 have been recognized (step S11). In step S11, if there is no recognition of the truck vehicle 63 or recognition of the cargo (NO in step S11), the determination in step S11 is repeated.
 そして、ステップS11で、トラック車両63の認識あるいは積荷商品の認識がある場合(ステップS11のYES)、運搬商品特定部25がトラック車両63の積荷商品を特定する(ステップS12)。その後、仮置場荷物登録部27が、仮置場に積荷商品を仮置する空があるか否かを判断する(ステップS13)。
 ステップS13で、仮置場に積荷商品を仮置する空がある場合(ステップS13のYES)、仮置場荷物登録部27は、空エリアの中の特定箇所を仮置場エリアに確定する(ステップS14)。そして、タスク管理部31がトラックバースから仮置場までのトラック荷卸しタスクを発行して、タスク送信部32が無人荷役車両70にトラック荷卸しタスクを送信する(ステップS15)。
Then, in step S11, if there is recognition of the truck vehicle 63 or recognition of the loaded product (YES in step S11), the transported product identification unit 25 identifies the loaded product of the truck vehicle 63 (step S12). After that, the temporary storage site cargo registering unit 27 determines whether or not there is a vacancy for temporarily storing the goods in the temporary storage site (step S13).
In step S13, if there is an empty temporary storage area for temporarily storing cargo (YES in step S13), the temporary storage area cargo registration unit 27 determines a specific location in the empty area as a temporary storage area (step S14). . Then, the task management unit 31 issues a truck unloading task from the truck berth to the temporary storage site, and the task transmission unit 32 transmits the truck unloading task to the unmanned cargo handling vehicle 70 (step S15).
 その後、タスク完了実績受信部33は、無人荷役車両70からのタスク完了を受信したか否かを判断する(ステップS16)。ステップS16でタスク完了を受信しない場合(ステップS16のNO)、タスク完了実績受信部33は、タスク完了を受信するまで待機する。
 ステップS16でタスク完了を受信した場合(ステップS16のYES)、仮置場荷物登録部27は、受信したタスク完了実績に含まれる仮置場の位置の情報から、商品の仮置場を登録する(ステップS17)。そして、トラック荷卸しタスク完了操作部27cが、タスク記憶部28に記憶されたトラック荷卸しタスクの終了を登録する(ステップS18)。
After that, the task completion record receiving unit 33 determines whether or not it has received a task completion from the unmanned cargo handling vehicle 70 (step S16). When task completion is not received in step S16 (NO in step S16), the task completion record receiving unit 33 waits until task completion is received.
When task completion is received in step S16 (YES in step S16), the temporary storage site package registration unit 27 registers the temporary storage site of the product based on the information on the location of the temporary storage site included in the received task completion record (step S17). ). Then, the truck unloading task completion operating unit 27c registers the end of the truck unloading task stored in the task storage unit 28 (step S18).
 その後、トラック荷卸しタスク完了操作部27cは、倉庫管理装置50に対して仮置場に卸した商品の入庫先を問い合わせる(ステップS19)。この問い合わせ結果に基づいて、タスク管理部31は、仮置場に卸した商品について、指示された入庫先に搬送する入庫タスクを発行して、タスク送信部32が無人荷役車両70に入庫タスクを送信する(ステップS20)。 After that, the truck unloading task completion operation unit 27c inquires of the warehouse management device 50 about the destination of the goods unloaded to the temporary storage area (step S19). Based on the inquiry result, the task management unit 31 issues a warehousing task for transporting the goods unloaded to the temporary storage area to the designated warehousing destination, and the task transmission unit 32 transmits the warehousing task to the unmanned cargo handling vehicle 70. (step S20).
 その後、タスク完了実績受信部33は、無人荷役車両70からのタスク完了を受信したか否かを判断する(ステップS21)。ステップS21でタスク完了を受信しない場合(ステップS21のNO)、タスク完了実績受信部33は、タスク完了を受信するまで待機する。
 ステップS21でタスク完了を受信した場合(ステップS21のYES)、入庫タスク完了操作部27dは、受信したタスク完了実績に含まれる入庫先の位置の情報を、倉庫管理装置50に対して登録させ(ステップS22)、入庫管理装置20での入庫の処理を終了する。
After that, the task completion record receiving unit 33 determines whether or not it has received a task completion from the unmanned cargo handling vehicle 70 (step S21). When task completion is not received in step S21 (NO in step S21), the task completion record receiving unit 33 waits until task completion is received.
When task completion is received in step S21 (YES in step S21), the warehousing task completion operation unit 27d causes the warehouse management device 50 to register the location information of the warehousing destination included in the received task completion record ( Step S22), the warehousing process in the warehousing management device 20 is terminated.
 また、ステップS13で、仮置場に積荷商品を仮置する空がない場合(ステップS13のNO)、ステップS14からステップS18の処理を省略して、ステップS19の商品の入庫先を問い合わせる処理に移る。そして、ステップS20での入庫タスクで、タスク管理部31がトラックバースから入庫先までの入庫タスクを発行して、トラック車両63から卸した商品を直接入庫させる。 Also, in step S13, if there is no vacancy in the temporary storage area to temporarily store the goods (NO in step S13), the processes from step S14 to step S18 are omitted, and the process proceeds to step S19 to inquire about the storage destination of the goods. . Then, in the warehousing task in step S20, the task management unit 31 issues a warehousing task from the truck berth to the warehousing destination, and the goods unloaded from the truck vehicle 63 are directly stocked.
[入庫管理装置での処理の流れ]
 図11は、無人荷役車両70でのトラック荷卸しタスク受信時の処理の流れを示すフローチャートである。
 まず、タスク受信部71がトラック荷卸しタスクを受信したか否かを判断する(ステップS31)。ステップS31でトラック荷卸しタスクを受信しない場合(ステップS31のNO)、タスク受信部71は、トラック荷卸しタスクを受信するまで待機する。
[Flow of processing in the warehousing management device]
FIG. 11 is a flow chart showing the flow of processing when the unmanned cargo handling vehicle 70 receives a truck unloading task.
First, it is determined whether or not the task receiving section 71 has received a truck unloading task (step S31). When the truck unloading task is not received in step S31 (NO in step S31), the task receiving unit 71 waits until the truck unloading task is received.
 ステップS31でトラック荷卸しタスクを受信した場合(ステップS31のYES)、走行経路計画部72は、トラック荷卸しタスクの情報に基づいて、トラックバースから仮置場の指定されたエリアまでの走行経路を計画する(ステップS32)。そして、走行経路計画部72は、計画した走行経路に基づいた走行指示を走行指示部73に行うと共に、車両制御部74からのフォーク制御部77への指示で、荷掬い及び荷卸しのためのフォーク制御を実行させる(ステップS33)。 If the truck unloading task is received in step S31 (YES in step S31), the travel route planning unit 72 plans the travel route from the truck berth to the designated area of the temporary storage site based on the information of the truck unloading task. Plan (step S32). Then, the travel route planning unit 72 gives a travel instruction based on the planned travel route to the travel instruction unit 73, and instructs the fork control unit 77 from the vehicle control unit 74 to perform scooping and unloading. Fork control is executed (step S33).
 さらに、仮置場荷卸し場所保存部75は、自己位置から荷卸し場所を判断し、仮置場荷卸し場所記憶部75aに荷卸し場所を保存させる(ステップS34)。そして、タスク完了実績送信部76は、タスク完了実績を送信する(ステップS35)。このタスク完了実績には、商品情報と荷卸し場所の情報が付加されている。 Furthermore, the temporary storage unloading location storage unit 75 determines the unloading location from its own location, and stores the unloading location in the temporary storage unloading location storage unit 75a (step S34). Then, the task completion record transmitting unit 76 transmits the task completion record (step S35). Product information and unloading location information are added to this task completion record.
 図12は、無人荷役車両70での入庫タスク受信時の処理の流れを示すフローチャートである。
 まず、タスク受信部71が入庫タスクを受信したか否かを判断する(ステップS41)。ステップS41で入庫タスクを受信しない場合(ステップS41のNO)、タスク受信部71は、入庫タスクを受信するまで待機する。
FIG. 12 is a flowchart showing the flow of processing when the unmanned cargo handling vehicle 70 receives a warehousing task.
First, it is determined whether or not the task receiving section 71 has received a warehousing task (step S41). If the warehousing task is not received in step S41 (NO in step S41), the task receiving unit 71 waits until the warehousing task is received.
 ステップS41で入庫タスクを受信した場合(ステップS41のYES)、車両制御部74は、入庫タスクが仮置場からの入庫か否かを判断する(ステップS42)。ステップS42で仮置場からの入庫の場合(ステップS42のYES)、走行経路計画部72は、入庫タスクの情報に基づいて、仮置場から入庫エリアまでの走行経路を計画する(ステップS43)。また、ステップS42で仮置場からの入庫でない場合(ステップS42のNO)、走行経路計画部72は、入庫タスクの情報に基づいて、トラックバースから入庫エリアまでの走行経路を計画する(ステップS44)。 When the warehousing task is received in step S41 (YES in step S41), the vehicle control unit 74 determines whether or not the warehousing task is warehousing from the temporary storage site (step S42). In the case of warehousing from the temporary storage site in step S42 (YES in step S42), the travel route planning unit 72 plans a travel route from the temporary storage site to the storage area based on the information of the warehousing task (step S43). If it is determined in step S42 that the vehicle is not entering from the temporary storage area (NO in step S42), the travel route planning unit 72 plans a travel route from the truck berth to the storage area based on the information of the warehousing task (step S44). .
 ステップS43又はS44で走行経路の計画が作成されると、走行経路計画部72は、計画した走行経路に基づいた走行指示を走行指示部73に行うと共に、車両制御部74からのフォーク制御部77への指示で、荷掬い及び荷卸しのためのフォーク制御を実行させる(ステップS45)。 When the travel route plan is created in step S43 or S44, the travel route planning unit 72 issues a travel instruction based on the planned travel route to the travel instruction unit 73, and the fork control unit 77 from the vehicle control unit 74. is instructed to execute fork control for scooping and unloading (step S45).
 さらに、車両制御部74は、荷卸しした際の自己位置から荷卸し場所を判断し、積荷商品情報記憶部79に荷卸し場所を保存させる(ステップS46)。そして、タスク完了実績送信部76は、タスク完了実績を送信する(ステップS47)。このタスク完了実績には、商品情報と荷卸し場所の情報が付加されている。 Furthermore, the vehicle control unit 74 determines the unloading location from the self-position at the time of unloading, and stores the unloading location in the loaded product information storage unit 79 (step S46). Then, the task completion record transmitting unit 76 transmits the task completion record (step S47). Product information and unloading location information are added to this task completion record.
 以上説明したように本例の入庫管理システムによると、物流倉庫への商品の入庫を行う際に、仮置場を使った商品の仮置きと、その仮置場からの入庫の制御を連携して自動化することができ、倉庫管理業務の簡易化を図ることができる。また、仮置場に空がない場合には、直接入庫タスクを発行して、無人荷役車両70でトラックバースから倉庫内に搬送することもでき、仮置場の状況に応じた適切な運用が可能になる。 As explained above, according to the warehousing management system of this example, when warehousing products to a distribution warehouse, the temporary storage of products using a temporary storage area and the control of warehousing from the temporary storage area are linked and automated. It is possible to achieve simplification of warehouse management work. In addition, when there is no vacancy in the temporary storage site, it is possible to directly issue a warehousing task and transport the goods from the truck berth to the warehouse by the unmanned cargo handling vehicle 70, enabling appropriate operation according to the situation of the temporary storage site. Become.
 また、本例の入庫管理システムの場合、入庫管理装置20が仮置場を管理する際に、仮置場に空があるエリアの登録については、エリア単位で行われるようにし、仮置場の空管理が簡単にできるようにした。これに対して、商品を仮置した位置は、実際に荷卸しした場所のデータであるため、仮置場に置かれた商品の管理は、1つ1つのパレットや商品単位で細かく行うことができ、適切な入庫の管理ができるようになる。逆に、入庫管理装置20が仮置場を管理する際には、空エリアは、そのエリア内の少なくとも一部が空であればよく、空エリアの管理が簡単になる。 In addition, in the case of the warehousing management system of this example, when the warehousing management device 20 manages the temporary storage area, the registration of an area with a vacant temporary storage area is performed on an area-by-area basis. made it easy. On the other hand, since the location where the products are temporarily stored is the data of the actual unloading location, the management of the products placed in the temporary storage area can be done in detail for each pallet or product. , you will be able to manage inventory appropriately. Conversely, when the warehousing management device 20 manages the temporary storage site, the vacant area only needs to be at least partly vacant, which simplifies the management of the vacant area.
[倉庫管理装置が一部を処理する例]
 なお、図1に示す入庫管理システムの構成では、入庫管理装置20内でトラック荷卸しタスクや入庫タスクを発行するようにした。これに対して、トラック荷卸しタスクや入庫タスクは、倉庫管理装置50からの指示で行うようにしてもよい。
[Example of partial processing by the warehouse management device]
In the configuration of the warehousing management system shown in FIG. 1, the warehousing management device 20 issues a truck unloading task and a warehousing task. On the other hand, the truck unloading task and the warehousing task may be performed according to instructions from the warehouse management device 50 .
 図13は、この場合のシステム構成の例を示す。
 図13に示すように、入庫管理装置20′内の仮置エリア指示部23からの指示や、仮置場荷物検知部26の検知情報などを、倉庫管理装置50′内の荷物管理部53に送り、荷物管理部53がタスク管理部31に対してトラック荷卸しタスクや入庫タスクの発行を指示してもよい。この場合、仮置場の空の有無などについても、倉庫管理装置50′内の荷物管理部53が行ってもよい。
 入庫管理装置20′及び倉庫管理装置50′のその他の箇所は、図1に示す入庫管理装置20及び倉庫管理装置50と同様に構成する。
FIG. 13 shows an example of the system configuration in this case.
As shown in FIG. 13, an instruction from the temporary storage area instruction unit 23 in the warehouse management device 20' and detection information from the temporary storage area cargo detection unit 26 are sent to the cargo management unit 53 in the warehouse management device 50'. Alternatively, the cargo management unit 53 may instruct the task management unit 31 to issue a truck unloading task or a warehousing task. In this case, whether or not the temporary storage area is empty may be determined by the package management unit 53 in the warehouse management device 50'.
Other parts of the warehousing management device 20' and the warehouse management device 50' are configured in the same manner as the warehousing management device 20 and the warehouse management device 50 shown in FIG.
 この図13に示す構成とすることで、無人荷役車両70は、倉庫管理装置50′により制御されることになり、無人荷役車両70は、倉庫からの出荷作業などの他の作業と連携して行えるようになる。
 なお、この図13に示す構成とする他に、倉庫管理装置50そのものが入庫管理システムを構成して、入庫管理装置20としての機能を倉庫管理装置50が内蔵して、倉庫管理装置50が各種タスクを無人荷役車両70に対して送信してもよい。
With the configuration shown in FIG. 13, the unmanned cargo handling vehicle 70 is controlled by the warehouse management device 50', and the unmanned cargo handling vehicle 70 cooperates with other work such as shipping work from the warehouse. be able to do it.
In addition to the configuration shown in FIG. 13, the warehouse management device 50 itself constitutes a warehousing management system. A task may be sent to the unmanned cargo handling vehicle 70 .
[入庫管理装置をコンピュータで構成した場合のハードウェア構成の例]
 本例の入庫管理システムが備える入庫管理装置20は、コンピュータで構成することができる。ここで、入庫管理装置20をコンピュータで構成した場合のハードウェア構成例を、図14に示す。
[Example of hardware configuration when the receipt management device is configured with a computer]
The warehousing management device 20 provided in the warehousing management system of this example can be configured by a computer. Here, FIG. 14 shows an example of hardware configuration when the warehousing management apparatus 20 is configured by a computer.
 図14に示すように、入庫管理装置20として機能するコンピュータは、バスにそれぞれ接続されたCPU(Central Processing Unit:中央処理ユニット)20aと、ROM(Read Only Memory)20bと、RAM(Random Access Memory)20cを備える。さらに、コンピュータは、不揮発性ストレージ20dと、ネットワークインタフェース20eと、入出力部20fと、表示装置20gとを備える。 As shown in FIG. 14, the computer functioning as the warehousing management device 20 includes a CPU (Central Processing Unit) 20a, a ROM (Read Only Memory) 20b, and a RAM (Random Access Memory) each connected to a bus. ) 20c. Furthermore, the computer includes a nonvolatile storage 20d, a network interface 20e, an input/output unit 20f, and a display device 20g.
 CPU20aは、入庫管理装置20内の各処理部の機能を実現するソフトウェアのプログラムコードをROM20bから読み出して実行する演算処理部である。RAM20cには、演算処理の途中に発生した変数やパラメータ等が一時的に書き込まれる。不揮発性ストレージ20dには、例えば、HDD(Hard Disk Drive)、SSD(Solid State Drive)などの大容量の情報記憶部が用いられ、プログラムデータや倉庫内の詳細データ(トラックバースや仮置場のデータなど)や無人荷役車両70のデータなどが格納される。 The CPU 20a is an arithmetic processing unit that reads out from the ROM 20b and executes the program code of the software that implements the functions of each processing unit in the warehousing management device 20. The RAM 20c is temporarily written with variables, parameters, etc. generated during the arithmetic processing. For the non-volatile storage 20d, for example, a large-capacity information storage unit such as a HDD (Hard Disk Drive) or SSD (Solid State Drive) is used, and program data and detailed data in the warehouse (track berth and temporary storage site data etc.) and data of the unmanned cargo handling vehicle 70 are stored.
 ネットワークインタフェース20eには、例えば、NIC(Network Interface Card)などが用いられ、倉庫管理装置50や出荷管理装置10との送受信などが行われる。
 入出力部20fは、車両信号受信部41からの信号や、タスクの送受信などが行われる。
 表示装置20gは、無人荷役車両70の稼働状況や商品の搬送状況などが表示される。仮置場の空の有無について表示装置20gが表示してもよい。
 この場合の各処理機能を実現するプログラムなどの情報は、HDDやSSDなどの不揮発性ストレージ20dの他に、メモリ、ICカード、SDカード、光ディスク等の記録媒体に置くことができる。
For example, a NIC (Network Interface Card) or the like is used for the network interface 20e, and transmission and reception with the warehouse management device 50 and the shipping management device 10 are performed.
The input/output unit 20f performs transmission/reception of signals from the vehicle signal reception unit 41, tasks, and the like.
The display device 20g displays the operation status of the unmanned cargo handling vehicle 70, the transportation status of goods, and the like. The display device 20g may display whether or not the temporary storage site is vacant.
Information such as programs for realizing each processing function in this case can be placed in a recording medium such as a memory, an IC card, an SD card, an optical disc, or the like, in addition to the non-volatile storage 20d such as an HDD or SSD.
 また、入庫管理装置20は、図14に示すコンピュータで構成する代わりに、FPGA(Field Programmable Gate Array)やASIC(Application Specific Integrated Circuit)などのハードウェアによって実現してもよい。
 なお、図1や図13に示す倉庫管理装置50や出荷管理装置10についても、図14に示すコンピュータで構成することができる。
Also, the warehousing management apparatus 20 may be implemented by hardware such as an FPGA (Field Programmable Gate Array) or an ASIC (Application Specific Integrated Circuit) instead of being configured by the computer shown in FIG.
Note that the warehouse management device 50 and the shipping management device 10 shown in FIGS. 1 and 13 can also be configured by the computer shown in FIG.
[その他の変形例]
 なお、本発明は、上述した実施の形態例に限定されるものではなく、様々な変形例が含まれる。例えば、上記した実施の形態例は、本発明を分かりやすく説明するために詳細に説明したものであり、必ずしも説明した全ての構成を備えるものに限定されるものではない。
[Other Modifications]
It should be noted that the present invention is not limited to the above-described embodiments, and includes various modifications. For example, the above-described embodiment has been described in detail in order to explain the present invention in an easy-to-understand manner, and is not necessarily limited to those having all the described configurations.
 また、図1、図2、図3、図13に示すブロック図では、制御線や情報線は説明上必要と考えられるものだけを示しており、製品上必ずしも全ての制御線や情報線を示しているとは限らない。実際には殆ど全ての構成が相互に接続されていると考えてもよい。 Further, in the block diagrams shown in FIGS. 1, 2, 3 and 13, only those control lines and information lines that are considered necessary for explanation are shown, and not all control lines and information lines on the product are shown. not necessarily. In practice, it may be considered that almost all configurations are interconnected.
 また、上述した実施の形態例では、無人荷役車両70として、フォークリフトを使用した例を説明した。これに対して、無人荷役車両70として、フォークリフト以外の荷役車両(例えば、AGV:Automatic Guided Vehicle)を使用してもよい。
 また、上述した実施の形態例では、自動運転を行う無人荷役車両70により商品の搬送を行うようにした。これに対して、一部又は全ての操作が手動運転で行われる荷役車両を用意して、その荷役車両に対してトラック荷卸しタスクや入庫タスクを送信して、タスクに基づいて、一部を自動化して行うようにしてもよい。
Further, in the above-described embodiment, an example of using a forklift as the unmanned cargo handling vehicle 70 has been described. On the other hand, as the unmanned cargo handling vehicle 70, a cargo handling vehicle other than a forklift (for example, an AGV: Automatic Guided Vehicle) may be used.
In addition, in the above-described embodiment, the unmanned cargo handling vehicle 70 that automatically operates transports products. On the other hand, by preparing a cargo handling vehicle that is partially or wholly manually operated, a truck unloading task or a warehousing task is sent to the cargo handling vehicle, and based on the task, a part of the It may be performed automatically.
 10…出荷管理装置、11…出荷指示部、12…出荷通知部、13…荷積み商品認識部、14…商品コード読取部、20…入庫管理装置、21…車両認識部、22…バース車両管理部、22a…車両情報取得部、22b…バース車両記憶部、23…仮置エリア指示部、24…荷卸し商品認識部、25…運搬商品特定部、26…仮置場荷物検知部、27…仮置場荷物登録部、27a…仮置場空エリア登録部、27b…仮置場空エリア記憶部、27c…トラック荷卸しタスク完了操作部、27d…入庫タスク完了操作部、28…タスク記憶部、28a…トラック荷卸しタスク記憶部、28b…入庫タスク記憶部、31…タスク管理部、31a…タスク実行順計画部、32…タスク送信部、33…タスク完了実績受信部、41…車両信号受信部、42…商品コード読取部、43…センサ、50,50′…倉庫管理装置、51…トラック積荷管理部、52…入荷情報入力部、53…荷物管理部、61…パレット、62…商品、63…トラック車両、70…無人荷役車両(フォークリフト)、71…タスク受信部、72…走行経路計画部、73…走行指示部、74…車両制御部、75…仮置場荷卸し場所保存部、75a…仮置場荷卸し場所記憶部、76…タスク完了実績送信部、77…フォーク制御部、78…自己位置推定部、79…積荷商品情報記憶部、80…商品情報取得部、81…運搬荷物情報登録部 DESCRIPTION OF SYMBOLS 10... Shipment management apparatus 11... Shipment instruction|indication part 12... Shipment notification part 13... Loaded goods recognition part 14... Commodity code reading part 20... Warehousing management apparatus 21... Vehicle recognition part 22... Berth vehicle management Part 22a...Vehicle information acquisition part 22b...Berth vehicle storage part 23...Temporary storage area instruction part 24...Unloaded product recognition part 25...Transported product identification part 26...Temporary storage site luggage detection part 27...Temporary Temporary storage space empty area registration unit 27a Temporary storage space empty area storage unit 27c Truck unloading task completion operation unit 27d Warehousing task completion operation unit 28 Task storage unit 28a Truck Unloading task storage unit 28b: Warehousing task storage unit 31: Task management unit 31a: Task execution order planning unit 32: Task transmission unit 33: Task completion result reception unit 41: Vehicle signal reception unit 42: Product code reading unit 43 Sensor 50, 50′ Warehouse management device 51 Truck load management unit 52 Receipt information input unit 53 Package management unit 61 Pallet 62 Product 63 Truck vehicle , 70 Unmanned cargo handling vehicle (forklift) 71 Task receiving unit 72 Traveling route planning unit 73 Traveling instruction unit 74 Vehicle control unit 75 Temporary storage unloading location storage unit 75a Temporary storage unloading Location storage unit 76 Task completion result transmission unit 77 Fork control unit 78 Self-position estimation unit 79 Loaded product information storage unit 80 Product information acquisition unit 81 Transported package information registration unit

Claims (8)

  1.  トラック車両により搬送される商品の倉庫への入庫業務を管理する入庫管理システムであって、
     前記倉庫は、トラックバースで前記トラック車両から荷卸した商品を仮置する仮置場エリアと、前記仮置場エリアに仮置された商品が入庫される保管エリアとを有し、
     前記トラック車両の識別情報又はトラック車両の積荷管理部からの情報を基に、前記トラック車両の積荷商品情報を特定する運搬商品特定部と、
     仮置場荷物検知部からの情報を基に、前記倉庫の仮置場エリアの在荷情報を仮置場空エリア記憶部に登録する仮置場荷物登録部と、
     前記仮置場空エリア記憶部を基に仮置場空き状況を把握し、仮置場に空きがある場合に、トラック荷卸しタスクの実行と、搬送先の仮置場エリアを指示するタスク管理部と、
     前記タスク管理部からの指示を、前記倉庫内の荷役車両に送信するタスク送信部と、を備える
     入庫管理システム。
    A warehousing management system for managing warehousing operations of products transported by truck vehicles to a warehouse,
    The warehouse has a temporary storage area for temporarily storing products unloaded from the truck vehicle at a truck berth, and a storage area for storing the products temporarily stored in the temporary storage area,
    a transportation product identification unit that identifies cargo product information of the truck vehicle based on the identification information of the truck vehicle or information from the cargo management unit of the truck vehicle;
    a temporary storage site cargo registration unit that registers inventory information in a temporary storage area of the warehouse in a temporary storage space empty area storage unit based on information from the temporary storage site cargo detection unit;
    a task management unit that grasps the temporary storage space vacancy status based on the temporary storage space storage unit, and instructs a truck unloading task and a destination temporary storage space area when there is a space in the temporary storage space;
    A warehousing management system, comprising: a task transmission unit that transmits an instruction from the task management unit to a cargo handling vehicle in the warehouse.
  2.  さらに、前記荷役車両からのタスク完了実績を受信するタスク完了実績受信部を備え、
     前記タスク管理部は、前記タスク完了実績受信部から取得した商品の仮置場の荷卸し場所情報と商品情報を基に前記保管エリアへの搬送を指示する入庫タスクの生成を行う
     請求項1に記載の入庫管理システム。
    Furthermore, a task completion result receiving unit for receiving a task completion result from the cargo handling vehicle,
    2. The task management unit according to claim 1, wherein the task management unit generates a warehousing task that instructs transportation to the storage area based on the unloading location information of the temporary storage area of the product and the product information acquired from the task completion result reception unit. inventory management system.
  3.  さらに、前記タスク管理部は、前記仮置場空エリア記憶部を基に仮置場空き状況を把握し、仮置場に空きがない場合には、前記トラック荷卸しタスクを実行せずに、前記入庫タスクの実行を指示する
     請求項2に記載の入庫管理システム。
    Furthermore, the task management unit grasps the temporary storage space vacancy status based on the temporary storage space storage unit, and if there is no space in the temporary storage space, the loading task is performed without executing the truck unloading task. The warehousing management system according to claim 2, wherein the execution of is instructed.
  4.  前記タスク送信部は、前記タスク管理部からの指示を、倉庫内の在庫管理を行う倉庫管理装置に対して送信し、前記倉庫管理装置が前記荷役車両の制御を行う
     請求項3に記載の入庫管理システム。
    4. The warehousing according to claim 3, wherein the task transmission unit transmits an instruction from the task management unit to a warehouse management device that performs inventory management in the warehouse, and the warehouse management device controls the cargo handling vehicle. management system.
  5.  トラック車両により搬送される商品の倉庫への入庫業務を管理する入庫管理システムに適用される荷役車両の制御装置であり、
     前記入庫管理システムとして、
     前記倉庫は、トラックバースで前記トラック車両から荷卸した商品を仮置する仮置場エリアと、前記仮置場エリアに仮置された商品が入庫される保管エリアとを有し、
     前記トラック車両の識別情報又はトラック車両の積荷管理部からの情報を基に、前記トラック車両の積荷商品情報を特定する運搬商品特定部と、
     仮置場荷物検知部からの情報を基に、前記倉庫の仮置場エリアの在荷情報を仮置場空エリア記憶部に登録する仮置場荷物登録部と、
     前記仮置場空エリア記憶部を基に仮置場空き状況を把握し、仮置場に空きがある場合に、トラック荷卸しタスクの実行と、搬送先の仮置場エリアを指示するタスク管理部と、
     前記タスク管理部からの指示を、前記倉庫内の荷役車両に送信するタスク送信部と、を備え、
     前記荷役車両の制御装置として、
     前記入庫管理システムのタスク送信部からのトラック荷卸しタスクの受信を行うタスク受信部と、
     前記トラック荷卸しタスクの情報に従い、トラックバースまでの走行指示及びトラックからの荷卸し指示と、搬送先の仮置場までの走行指示及び仮置場への荷卸しの指令を発行する車両制御部と、
     前記車両制御部からの指令に従い当該荷役車両の自己位置情報と移動先情報を基に走行経路を計画する走行経路計画部と、
     前記走行経路計画部が出力する計画を基に走行指示を発行する走行指示部と、
     仮置場への荷卸しを行った際の当該荷役車両の自己位置情報を仮置場荷卸し場所記憶部に保存する仮置場荷卸し場所保存部と、
     トラック車両からの荷卸しを行った商品の識別情報を取得し積荷商品情報記憶部に保存する商品情報取得部と、
     前記仮置場荷卸し場所記憶部と前記積荷商品情報記憶部に格納されている情報をタスク完了実績として、前記入庫管理システムのタスク完了実績受信部に送信するタスク完了実績送信部と、を備える
     荷役車両の制御装置。
    A control device for a cargo handling vehicle applied to a warehousing management system that manages the warehousing of products transported by trucks into a warehouse,
    As the warehousing management system,
    The warehouse has a temporary storage area for temporarily storing products unloaded from the truck vehicle at a truck berth, and a storage area for storing the products temporarily stored in the temporary storage area,
    a transportation product identification unit that identifies cargo product information of the truck vehicle based on the identification information of the truck vehicle or information from the cargo management unit of the truck vehicle;
    a temporary storage site cargo registration unit that registers inventory information in a temporary storage area of the warehouse in a temporary storage space empty area storage unit based on information from the temporary storage site cargo detection unit;
    a task management unit that grasps the temporary storage space vacancy status based on the temporary storage space storage unit, and instructs a truck unloading task and a destination temporary storage space area when there is a space in the temporary storage space;
    a task transmission unit that transmits an instruction from the task management unit to a cargo handling vehicle in the warehouse;
    As a control device for the cargo handling vehicle,
    a task receiving unit that receives a truck unloading task from the task transmitting unit of the inventory management system;
    A vehicle control unit that issues instructions for traveling to a truck berth and instructions for unloading from the truck, instructions for traveling to a temporary storage site at the destination, and instructions for unloading to the temporary storage site, according to the information of the truck unloading task;
    a travel route planning unit that plans a travel route based on the self-location information and destination information of the cargo handling vehicle in accordance with a command from the vehicle control unit;
    a travel instruction unit that issues a travel instruction based on the plan output by the travel route planning unit;
    a temporary storage unloading location storage unit that stores self-position information of the cargo handling vehicle when unloading to the temporary storage location in the temporary storage unloading location storage unit;
    a product information acquisition unit that acquires identification information of products unloaded from a truck vehicle and stores it in a loaded product information storage unit;
    a task completion result transmission unit that transmits information stored in the temporary storage unloading location storage unit and the loaded product information storage unit as a task completion result to the task completion result reception unit of the warehousing management system. Vehicle controller.
  6.  前記荷役車両は、フォークにより荷卸しをフォークリフトであり、
     前記車両制御部からの指令に従いフォークの制御を行って荷卸しを実行させるフォーク制御部を備える
     請求項5に記載の荷役車両の制御装置。
    The cargo handling vehicle is a forklift that unloads with a fork,
    The control device for a cargo handling vehicle according to claim 5, further comprising a fork control unit that controls a fork to execute unloading according to a command from the vehicle control unit.
  7.  さらに、前記荷役車両の制御装置は、
     前記タスク受信部が、前記タスク送信部からの入庫タスクの受信を行い、
     受信した前記入庫タスクの情報に従い、仮置場までの走行指示及び仮置場からの荷卸し指示、入庫先までの走行指示及び入庫先への荷卸し指示を、フォーク制御部及び走行経路計画部に対して指令を発行する車両制御部と、
     前記タスク受信部から取得した商品情報を積荷商品情報記憶部に保存する運搬荷物情報登録部と、
     前記タスク完了実績送信部は、前記積荷商品情報記憶部に格納されている情報をタスク完了実績として送信する
     請求項6に記載の荷役車両の制御装置。
    Furthermore, the control device for the cargo handling vehicle includes:
    The task receiving unit receives the warehousing task from the task transmitting unit,
    According to the information of the received warehousing task, the fork control unit and the travel route planning unit are instructed to travel to the temporary storage site, to unload from the temporary storage site, to travel to the storage destination, and to unload the storage destination. a vehicle control unit that issues a command through
    a cargo information registration unit that stores the product information acquired from the task reception unit in a cargo product information storage unit;
    7. The cargo handling vehicle control device according to claim 6, wherein the task completion track record transmission unit transmits information stored in the loaded product information storage unit as the task completion track record.
  8.  前記入庫管理システムのタスク実行順計画部が指示する搬送先仮置場エリア情報は、少なくとも一部に空きがある仮置場のエリアを示す情報であり、
     前記入庫管理システムの荷役車両の前記仮置場荷卸し場所記憶部が記憶する荷卸し場所は、前記荷役車両が荷卸しを実行したエリア内の具体的な位置を示す情報である
     請求項5に記載の荷役車両の制御装置。
    The destination temporary storage area information indicated by the task execution order planning unit of the inventory management system is information indicating an area of the temporary storage area that is at least partly vacant,
    6. The unloading location stored in the temporary storage unloading location storage unit of the cargo handling vehicle of the warehousing management system is information indicating a specific position within an area where the cargo handling vehicle has unloaded. of cargo handling vehicles.
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