WO2022190454A1 - Système de gestion en entrepôt - Google Patents

Système de gestion en entrepôt Download PDF

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Publication number
WO2022190454A1
WO2022190454A1 PCT/JP2021/040397 JP2021040397W WO2022190454A1 WO 2022190454 A1 WO2022190454 A1 WO 2022190454A1 JP 2021040397 W JP2021040397 W JP 2021040397W WO 2022190454 A1 WO2022190454 A1 WO 2022190454A1
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WO
WIPO (PCT)
Prior art keywords
operation log
guided vehicle
warehouse
unit
work
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Application number
PCT/JP2021/040397
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English (en)
Japanese (ja)
Inventor
誠也 伊藤
達矢 小野
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株式会社日立製作所
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Filing date
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Publication of WO2022190454A1 publication Critical patent/WO2022190454A1/fr

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02—Storage devices
    • B65G1/04—Storage devices mechanical
    • B65G1/137—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
    • B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
    • B66F9/075—Constructional features or details
    • B66F9/20—Means for actuating or controlling masts, platforms, or forks
    • B66F9/24—Electrical devices or systems

Definitions

  • the present invention relates to a warehouse management system that manages automatic guided vehicles working in a warehouse.
  • unmanned guided vehicles In recent years, not only manned guided vehicles but also unmanned guided vehicles (hereinafter referred to as unmanned guided vehicles) are in operation for work in warehouses. And management is performed whether an automatic guided vehicle is operating normally.
  • Patent Document 1 describes a technique related to managing equipment in such a warehouse.
  • Patent Literature 1 discloses a log collection unit that acquires the state of a plurality of devices that make up a distribution center and the duration of the state for each device, and a display processing unit for displaying on an output device for each.
  • Patent Document 2 discloses reproduction display means for displaying on a map screen the movement status of an unmanned guided vehicle before the occurrence of an abnormal state based on log data when a predetermined abnormal state set in advance occurs in the unmanned guided vehicle. It is described to have
  • JP 2020-121813 A Japanese Patent Application Laid-Open No. 2002-202130
  • Patent Document 1 and Patent Document 2 detect the working time of the automatic guided vehicle working in the warehouse and the presence or absence of an abnormal state, but the factors hindering the stable operation of the automatic guided vehicle. Or, when an error occurred, it was not possible to identify the cause of the error. As a result, in the techniques described in Patent Documents 1 and 2, the safety and the stability of the operation of the automatic guided vehicle have deteriorated.
  • the purpose of the present invention is to provide a warehouse management system that can improve safety and improve the stability of automatic guided vehicle work in consideration of the above problems.
  • the warehouse management system includes a state determination section, an operation log management section, an equipment operation section, and a user work instruction section.
  • the state determination unit acquires an operation log indicating the state of the automatic guided vehicle working in the warehouse and the state of the cargo handled by the automatic guided vehicle.
  • the operation log management unit stores the operation log acquired by the state determination unit in the operation log storage unit.
  • the equipment operation control unit controls the automatic guided vehicle based on the past operation log stored in the operation log storage unit.
  • the user work instruction unit outputs the operation log stored in the operation log storage unit to the user terminal owned by the user.
  • FIG. 1 is a schematic configuration diagram showing a warehouse management system according to an embodiment
  • FIG. 1 is a block diagram showing a control configuration of a warehouse management system according to an embodiment
  • FIG. 4 is a diagram showing an example of an operation log stored in an operation log storage unit of the warehouse management system according to the embodiment
  • FIG. 10 is an explanatory diagram showing a state in which an unmanned guided vehicle loads and unloads a load
  • It is a figure which shows the calculation method of the deviation
  • 7 is a flowchart showing an operation log acquisition operation example in the warehouse management system according to the embodiment.
  • FIG. 1 is a block diagram showing a control configuration of a warehouse management system according to an embodiment
  • FIG. 4 is a diagram showing an example of an operation log stored in an operation log storage unit of the warehouse management system according to the embodiment
  • FIG. 10 is an explanatory diagram showing a state in which an unmanned guided vehicle loads and unloads a load
  • It is a
  • 10 is an explanatory diagram showing the flow of utilization of operation logs; 3 shows an example of a display displayed on a user terminal, and shows an example of a display displayed on a user terminal owned by a worker. This shows a display example displayed on a user terminal, and shows a display example displayed on a user terminal owned by a site supervisor. 7 is a flow chart showing an example of control operation using an operation log in the warehouse management system according to the embodiment;
  • FIG. 1 A warehouse management system according to an embodiment will be described below with reference to FIGS. 1 to 10.
  • FIG. 1 the same code
  • FIG. 1 is a schematic configuration diagram showing a warehouse management system
  • FIG. 2 is a block diagram showing a control configuration of the warehouse management system.
  • the warehouse management system 100 is a system that controls the operation of a plurality of automatic guided vehicles 40 that automatically move within the warehouse.
  • the automatic guided vehicle 40 is, for example, an unmanned forklift (FL).
  • the warehouse management system 100 comprises a server 10, a storage device 20, and a network access point 30.
  • the server 10 is connected to a control information receiver 410 provided in the automatic guided vehicle 40 via the network access point 30 so that information can be transmitted and received.
  • the server 10 is connected to a user terminal 50 possessed by a user 60 via a network access point 30 so that information can be transmitted and received.
  • FIG. 2 it has a user work instruction unit 110, an equipment operation control unit 120, and an operation log management unit 130.
  • the user work instruction unit 110 is connected to the user terminal 50 via the network access point 30 so as to be able to transmit and receive information.
  • the user work instruction unit 110 acquires a work instruction from the user terminal 50 or directly receives a work instruction from the user.
  • the user work instruction unit 110 also outputs the input work instruction to the device operation control unit 120 .
  • the user work instruction unit 110 acquires an operation log from an operation log storage unit 210 provided in the storage device 20 described later, and outputs it to the user terminal 50 .
  • the operation log management unit 130 acquires the state of the load PL handled by the automatic guided vehicle 40, a so-called operation log, from the state determination unit 430 provided in the automatic guided vehicle 40.
  • the operation log also includes information on which rack the unmanned guided vehicle 40 unloaded the package PL. Then, the acquired operation log is stored in the operation log storage unit 210 provided in the storage device 20 .
  • the operation log management unit 130 also outputs the operation log stored in the operation log storage unit 210 to the device operation control unit 120 .
  • FIG. 3 is a diagram showing an example of an operation log stored in the operation log storage unit 210.
  • the operation log includes a shelf management number T61 indicating a shelf, a PL position T62 indicating the position of a load PL, a PL attitude T63 indicating the attitude of the load PL, and work adjustments for the next cargo handling. It has a work adjustment position T64 indicating the amount and a work alert T65. In the work adjustment position T64, the work position is calculated from the currently acquired operation log in consideration of the positional deviation and the angular deviation when performing the next work, and stored.
  • the content of the work required after that is recorded according to the state of the package PL after the unmanned guided vehicle 40 has handled the cargo. For example, when the unmanned guided vehicle 40 can handle cargo next time, it is recorded as "automatic FL possible", and when manned work is required, it is recorded as "manned work”. Also, when there is a risk that the package PL may collapse, it is recorded as "! DANGEROUS".
  • the device operation control unit 120 acquires the operation log from the operation log storage unit 210, and based on the operation log and the work instruction input from the user work instruction unit 110, creates a control signal for the automatic guided vehicle 40. A control signal is output to the control information receiving section 410 of the automatic guided vehicle 40 . In addition, the equipment operation control section 120 outputs an operation log to the user terminal 50 via the user work instruction section 110 .
  • the unmanned guided vehicle 40 has a control information receiving section 410 that receives control signals, a vehicle control section 420, and a state determination section 430.
  • the vehicle control unit 420 controls the automatic guided vehicle 40 based on the control information received by the control information receiving unit 410 .
  • the state determination unit 430 is composed of, for example, a camera for photographing the package PL, various sensors for detecting the state of the automatic guided vehicle 40, and the like. Then, the state determination unit 430 acquires the state of the unloaded cargo PL and the state of the automatic guided vehicle 40 during work, and outputs them to the operation log management unit 130 of the server 10 as an operation log.
  • the status determination unit 430 When communication with the server 10 via the network access point 30 is not possible, the status determination unit 430 temporarily saves the acquired operation log in the local memory. Then, when communication with the server 10 is restored, the operation log saved in the local memory is output to the operation log management unit 130 .
  • the vehicle control unit 420 adjusts the control parameters of the automatic guided vehicle 40 based on the operation log stored in the state determination unit 430, and controls the operation of the automatic guided vehicle 40. You may
  • FIG. 4 and 5 are diagrams showing examples of acquired parameters acquired by the state determination unit 430.
  • FIG. FIG. 4 is an explanatory diagram showing a state in which the cargo PL is unloaded
  • FIG. 5 is a diagram showing a method of calculating the deviation amount of the cargo PL with respect to the target position PL1.
  • the automatic guided vehicle 40 unloads the load PL at a predetermined position of the rack 70, the target position PL1.
  • the load PL may deviate from the target position PL1. Therefore, as shown in FIG. 5, the state determination unit 430 of the automatic guided vehicle 40 photographs the cargo PL after cargo handling, and measures the reference position o1 of the cargo PL and the first length d1 of the rack origin o.
  • the state determination unit 430 measures the reference position o2 of the automatic guided vehicle 40 during cargo handling and the second length d2 of the rack origin o. Based on the first length d1 and the second length d2, the deviation amount of the cargo handling PL with respect to the rack origin o is calculated.
  • the deviation amount of the cargo handling PL becomes the PL position T62 shown in FIG.
  • the state determination unit 430 measures the angle r1 of the post-loading load PL with respect to the target position PL1.
  • This angle r1 becomes the PL posture T63 shown in FIG.
  • the posture of the automatic guided vehicle 40 is also shifted by an angle r2 from the reference position with respect to the rack 70 when loading and unloading onto this load PL next time. It is necessary to load and unload with posture. Therefore, when the automatic guided vehicle 40 is used for cargo handling next time, the device operation control unit 120 calculates the angle r2 using the past operation log, and adjusts the control parameters of the automatic guided vehicle 40 .
  • the calculation of the amount of deviation from the load PL indicating the operation log and the work adjustment amount for the next cargo handling may be performed by the state determination unit 430 or by the operation log management unit 130 .
  • FIG. 6 is a flowchart illustrating an example of an operation log acquisition operation.
  • the state determination unit 430 of the automatic guided vehicle 40 photographs the package PL and determines whether or not the cargo handling has been successful (step S51).
  • the vehicle control unit 420 retry cargo handling or perform error processing, for example, an error signal is managed as an operation log via the state determination unit 430.
  • Output to the unit 130 step S52).
  • step S52 if it is determined that the cargo handling was successful (YES determination in step S51), the state determination unit 430 photographs the cargo PL and measures the state of the cargo PL, as shown in FIGS. and determine (step S53).
  • the state determination unit 430 determines whether or not the target information (the state of the package PL and the automatic guided vehicle 40) has been acquired in the process of step S53 (step S54). When it is determined in the process of step S54 that the target information could not be obtained (NO determination in step S54), an error is output to the operation log management unit 130. FIG. Then, the operation log management unit 130 saves the operation log as an error in the operation log storage unit 210 (step S55).
  • step S54 when it is determined that the target information has been acquired (YES determination in step S54), the state determination unit 430 outputs an operation log indicating the state of cargo handling to the operation log management unit 130. Then, the operation log management unit 130 saves the state after cargo handling in the operation log storage unit 210 (step S56). This completes the operation log acquisition operation in the warehouse management system 100 .
  • the operation log output from the state determination unit 430 to the operation log management unit 130 may be performed for each cargo handling operation of the automatic guided vehicle 40 .
  • the state of cargo handling during multiple cargo handling operations may be stored as an operation log in the local memory of the state determination unit 430, and when the operation log for a predetermined number of operations accumulates, it may be output to the operation log management unit 130. good.
  • the operation log can be output to the user terminal 50 via the user work instruction unit 110.
  • the user can confirm the working state of the automatic guided vehicle 40 and the safety of the loading/unloading state of the load PL, thereby improving safety and improving the stability of the work of the automatic guided vehicle 40. can be achieved.
  • FIG. 7 is an explanatory diagram showing the flow of utilization of operation logs.
  • users 60 who check the operation log include the person in charge of working in the warehouse, the site supervisor who gives work instructions to the person in charge of the work, and the warehouse manager who manages the entire warehouse. mentioned. Based on the operation log displayed on the user terminal 50, the person in charge of the work can confirm precautions when working in the warehouse.
  • the on-site supervisor checks the operation log and uses the user terminal 50 to input the presence or absence of confirmation to the server 10 . This makes it possible to clarify the demarcation point of responsibility in a safe process in the event of an error or instability. Furthermore, the on-site supervisor calls the attention of the person in charge of the work and issues work instructions based on the operation log. In addition, the site supervisor can report the site situation to the warehouse manager based on the operation log. This allows the warehouse manager to accurately grasp the on-site situation. Furthermore, when an alert occurs in the operation log, the server 10 may output it to the user terminal 50 owned by the warehouse manager. As a result, the warehouse manager can quickly grasp any abnormalities that occur in the warehouse.
  • the warehouse manager makes adjustments and gives maintenance instructions to the system administrator based on reports from the site supervisor and alerts in the operation log.
  • the system administrator makes a request to the system vendor based on the adjustment and retention instructions.
  • the operation log by saving the operation log, it can be used to call attention to the person in charge of the work, to check the situation by the site supervisor, and to maintain the system by the warehouse manager.
  • FIG. 8 is a diagram showing a display example displayed on the user terminal 50.
  • the display example shown in FIG. 8 is a display example displayed on the user terminal 50 possessed by the worker shown in FIG.
  • the user terminal 50 has an operation log window 701 showing an operation log, a positional deviation window 702 showing the amount of deviation of the load PL from the target position, a tilt window 703, an error rate window 704, a work instruction A window 705 is displayed.
  • the error rate window 704 displays the rate of occurrence of errors according to the time period and the passage of time.
  • the work instruction window 705 displays the details of the work performed by the person in charge of the work.
  • the work contents displayed in the work instruction window 705 are registered in the user terminal 50 or the storage device 20 in advance.
  • work contents registered in advance according to the error rate and the amount of deviation of the load PL from the target position are displayed. For example, when the amount of deviation or the error rate exceeds a preset threshold value, "Implementation of work position adjustment", “Inspection of shelf equipment”, etc. are displayed.
  • the person in charge of the work can easily grasp the work content according to the operation log and the content displayed in the work instruction window 705.
  • FIG. 9 is a diagram showing a display example displayed on the user terminal 50.
  • the display example shown in FIG. 9 is a display example displayed on the user terminal 50 possessed by the site supervisor shown in FIG.
  • the user terminal 50 displays an operation log window 701 showing an operation log, an image window 706 displaying an image of an error situation, and a confirmation button 707 .
  • the state of the package PL can be visualized.
  • a confirmation button 707 is input when the on-site supervisor performs confirmation work based on the information displayed in the image window 706 and the operation log window 701 .
  • the confirmation button 707 is input by the site supervisor, the user terminal 50 stores the confirmation log together with the operation log in the operation log storage unit 210 . This makes it possible to clarify the demarcation point of responsibility in a safe process in the event of an error or instability.
  • FIG. 10 is a flow chart showing an example of the control operation of the automatic guided vehicle 40 using the operation log.
  • the warehouse management system 100 receives a task indicating work content from the user terminal 50 or another command device (step S10).
  • the operation log management unit 130 or the device operation control unit 120 checks the corresponding previous operation log from the operation log storage unit 210 (step S12).
  • the device operation control unit 120 extracts candidates for compatible vehicles from among the plurality of automatic guided vehicles 40 in the warehouse (step S13).
  • the applicable vehicle may be judged from the previous operation log as to whether or not it is the same type of machine as the automatic guided vehicle 40 used in the previous cargo handling.
  • the types of the unmanned guided vehicle 40 include "body”, “fork specifications”, “AMR (automatic traveling robot)", “body specifications”, “vehicle model (rated load)", and “minimum turning radius”. , "Presence or absence of special cargo handling equipment”, “Specifications of special cargo handling equipment”, “Specifications of lift/mast”, etc.
  • Car body can be divided into, for example, “forklift” and “AMR (Automated Driving Robot)". "Specifications of forks” are classified into, for example, “reach forks”, “counter forks”, “multi-direction forks”, and the like.
  • the “AMR (automatic traveling robot)” is classified into, for example, a “picking cart” and a “container transport robot”.
  • Car body specifications are classified by “vehicle model”, “minimum turning radius”, etc. Furthermore, the “specification of special cargo handling equipment” is classified into “side shift”, “fork shift”, and the like. The “lift mast” is classified into “mast lifting height”, “mast function”, and the like. Note that the classification of vehicles is not limited to the examples described above.
  • the device operation control unit 120 extracts the same type of machine as the previous automatic guided vehicle 40 according to the above-described classification of vehicle types. It should be noted that the same type is not limited to aircraft that match all of the categories described above, and may include aircraft that match at least one of the plurality of categories described above.
  • the device operation control unit 120 determines whether normal work can be performed (step S14). Specifically, it is determined whether or not the deviation amount of the load PL exceeds the threshold when the load PL is handled without adjusting the control parameters of the automatic guided vehicle 40 .
  • step S14 When it is determined in the process of step S14 that normal work can be performed (YES determination in step S14), the device operation control unit 120 transmits control information to the corresponding automatic guided vehicle 40 (step S19). Further, when it is determined in the process of step S14 that normal work cannot be performed (NO determination in step S14), it is determined whether or not it is possible to respond by changing the control parameters (step S15).
  • step S15 if it is determined that it can be handled by changing the control parameters (YES determination in step S15), the device operation control unit 120 adjusts the control parameters (step S16).
  • step S16 information on the work adjustment position T64 (see FIG. 3) calculated when the previous operation log was generated may be used. Then, the equipment operation control unit 120 transmits the control information in which the control parameters have been adjusted to the corresponding unmanned guided vehicle 40 (step S19).
  • step S15 if it is determined that the control parameters cannot be changed (NO determination in step S15), the device operation control unit 120 determines whether the vehicle can be changed (step S17).
  • the vehicle to be changed a vehicle different from the vehicle extracted in the process of step S13 may be extracted. That is, the category for determining whether or not the vehicle is the same type as the previous automatic guided vehicle 40 is changed, and other vehicles are extracted.
  • step S17 if it is determined that the vehicle cannot be changed (NO determination in step S17), the device operation control unit 120 outputs an error to the user terminal 50 and terminates the process. On the other hand, if it is determined in the process of step S17 that the vehicle can be changed (YES in step S17), the device operation control unit 120 adjusts the vehicle and control parameters (step S18). Then, the equipment operation control unit 120 transmits the control information in which the control parameters have been adjusted to the corresponding unmanned guided vehicle 40 (step S19).
  • the work adjustment position T64 (see FIG. 3) may be calculated for each vehicle of the same type that can be handled when the previous operation log is generated. This facilitates the adjustment work of the control parameters in step S18.
  • Some or all of the components, functions, processing units, etc. that make up the server 10, the storage device 20, and the state determination unit 430 may be implemented in hardware, for example, by designing an integrated circuit. Moreover, each of the above components, functions, etc. may be realized by software by a processor interpreting and executing a program for realizing each function. Information such as programs, tables, and files that implement each function can be stored in recording devices such as memories, hard disks, SSDs (Solid State Drives), or recording media such as IC cards, SD cards, and DVDs.
  • recording devices such as memories, hard disks, SSDs (Solid State Drives), or recording media such as IC cards, SD cards, and DVDs.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Transportation (AREA)
  • Structural Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Civil Engineering (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Geology (AREA)

Abstract

Ce système de gestion en entrepôt comprend une unité de détermination d'état, une unité de gestion de journal d'opération, une unité d'opération de dispositif et une unité d'instruction de travail d'utilisateur. L'unité de détermination d'état acquiert un journal d'opération qui indique l'état d'un véhicule autoguidé qui mène un travail dans un entrepôt et l'état des marchandises qui ont été traitées par le véhicule autoguidé. Une unité de commande d'opération de dispositif commande le véhicule autoguidé sur la base d'un journal d'opération passée. Ensuite, l'unité d'instruction de travail d'utilisateur délivre, à un terminal utilisateur détenu par un utilisateur, le journal d'opération qui a été enregistré dans une unité d'enregistrement de journal d'opération.
PCT/JP2021/040397 2021-03-10 2021-11-02 Système de gestion en entrepôt WO2022190454A1 (fr)

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JP2021037982A JP2022138223A (ja) 2021-03-10 2021-03-10 倉庫内管理システム
JP2021-037982 2021-03-10

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WO2022190454A1 true WO2022190454A1 (fr) 2022-09-15

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Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2001202130A (ja) * 2000-01-24 2001-07-27 Shinko Electric Co Ltd 無人搬送車制御装置
JP2004091077A (ja) * 2002-08-29 2004-03-25 Nippon Yusoki Co Ltd 無人搬送車の荷取制御装置
JP2006171902A (ja) * 2004-12-13 2006-06-29 Hitachi Kiden Kogyo Ltd 無人搬送車の監視システム
JP2020121813A (ja) * 2019-01-29 2020-08-13 株式会社日立インダストリアルプロダクツ 物流管理装置、物流管理方法及び物流管理プログラム

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2001202130A (ja) * 2000-01-24 2001-07-27 Shinko Electric Co Ltd 無人搬送車制御装置
JP2004091077A (ja) * 2002-08-29 2004-03-25 Nippon Yusoki Co Ltd 無人搬送車の荷取制御装置
JP2006171902A (ja) * 2004-12-13 2006-06-29 Hitachi Kiden Kogyo Ltd 無人搬送車の監視システム
JP2020121813A (ja) * 2019-01-29 2020-08-13 株式会社日立インダストリアルプロダクツ 物流管理装置、物流管理方法及び物流管理プログラム

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