WO2022208634A1 - Système et procédé de transport - Google Patents

Système et procédé de transport Download PDF

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Publication number
WO2022208634A1
WO2022208634A1 PCT/JP2021/013411 JP2021013411W WO2022208634A1 WO 2022208634 A1 WO2022208634 A1 WO 2022208634A1 JP 2021013411 W JP2021013411 W JP 2021013411W WO 2022208634 A1 WO2022208634 A1 WO 2022208634A1
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WO
WIPO (PCT)
Prior art keywords
area
transport
transported
shelf
task
Prior art date
Application number
PCT/JP2021/013411
Other languages
English (en)
Japanese (ja)
Inventor
拓磨 本谷
暁治 池田
篤志 杉藤
Original Assignee
株式会社日立製作所
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 株式会社日立製作所 filed Critical 株式会社日立製作所
Priority to PCT/JP2021/013411 priority Critical patent/WO2022208634A1/fr
Priority to JP2023509942A priority patent/JP7454746B2/ja
Publication of WO2022208634A1 publication Critical patent/WO2022208634A1/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
    • B65G1/10—Storage devices mechanical with relatively movable racks to facilitate insertion or removal of articles
    • 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

Definitions

  • the present invention generally relates to a technique of transporting an object by running a transport device.
  • Patent Document 1 As background art in this technical field, there is a technology related to an AGV (Automatic Guided Vehicle) that transports a shelf to a destination, such as the technology disclosed in Patent Document 1.
  • AGV Automatic Guided Vehicle
  • the “plurality of areas” may be multiple floors or multiple stages of areas provided in one space (for example, one floor).
  • the area where the picking station for the goods to be transported is the main area (an example of the first area) in which the transport device travels, and the areas other than the main area are sub-areas. area.
  • a vertical transporter an example of an inter-area transporter transports the object to be transported from the sub-area to the main area.
  • an object of the present invention is to suppress a reduction in the efficiency of conveying a plurality of objects arranged in a plurality of areas located at different heights.
  • a transport system comprises a transport device that transports an object placed in a first area, and transports the first object from a second area located at a height different from that of the first area to the first area. and a first transport task that transports a second transported object arranged in the first area. and a control device that preferentially assigns the second transport task to the transport device.
  • FIG. 1 is a diagram showing a schematic configuration of a transport system according to a first embodiment
  • FIG. FIG. 4 is an explanatory diagram of the configuration of a first stage area
  • FIG. 11 is an explanatory diagram of the configuration of a second stage area
  • It is a perspective view which shows the external appearance structure of a conveying apparatus. It is a top view which shows the bottom surface structure of a conveying apparatus. It is a figure where it uses for description of conveyance of the shelf in a 1st stage area.
  • FIG. 10 is a diagram for explaining how a shelf is transported from a second stage area to a first stage area
  • FIG. 4 is a diagram showing a part of a specific configuration example of elements in the transport system
  • 11 shows the rest of the illustrative configuration of the elements in the transport system; It is a figure which shows the structural example of an order table. It is a figure which shows the structural example of an inventory table. It is a figure which shows the structural example of a shelf table. It is a figure which shows the structural example of an apparatus conveyance table. It is a figure which shows the structural example of a shelf conveyance table. It is a figure which shows the structural example of a vertical conveyance table. It is a figure which shows the structural example of a picking table. 4 is a flowchart showing the flow of transport control processing; It is a flowchart which shows the flow of a traffic congestion determination process.
  • 4 is a flowchart showing the flow of priority control processing; It is a figure which shows the outline
  • an "interface device” may be one or more interface devices.
  • the one or more interface devices may be at least one of the following: - One or more I/O (Input/Output) interface devices.
  • An I/O (Input/Output) interface device is an interface device for at least one of an I/O device and a remote display computer.
  • the I/O interface device to the display computer may be a communications interface device.
  • the at least one I/O device may be any of a user interface device, eg, an input device such as a keyboard and pointing device, and an output device such as a display device. - One or more communication interface devices.
  • the one or more communication interface devices may be one or more of the same type of communication interface device (e.g., one or more NICs (Network Interface Cards)) or two or more different types of communication interface devices (e.g., NIC and It may be an HBA (Host Bus Adapter).
  • NIC Network Interface Cards
  • HBA Hypervisor Adapter
  • memory is one or more memory devices, which are examples of one or more storage devices, and may typically be main memory devices. At least one memory device in the memory may be a volatile memory device or a non-volatile memory device.
  • a “persistent storage device” may be one or more persistent storage devices, which is an example of one or more storage devices.
  • a persistent storage device may typically be a non-volatile storage device (e.g., auxiliary storage device), specifically, for example, HDD (Hard Disk Drive), SSD (Solid State Drive), NVME (Non-Volatile Memory Express) drive or SCM (Storage Class Memory).
  • HDD Hard Disk Drive
  • SSD Solid State Drive
  • NVME Non-Volatile Memory Express
  • SCM Storage Class Memory
  • the “storage device” may be at least the memory of the memory and the permanent storage device.
  • a "processor” may be one or more processor devices.
  • the at least one processor device may typically be a microprocessor device such as a CPU (Central Processing Unit), but may be another type of processor device such as a GPU (Graphics Processing Unit).
  • At least one processor device may be single-core or multi-core.
  • At least one processor device may be a processor core.
  • At least one processor device is a circuit (for example, FPGA (Field-Programmable Gate Array), CPLD (Complex Programmable Logic Device) or ASIC (Application Specific Integrated Circuit)) in a broad sense may be used.
  • the expression "xxx table” may be used to describe information that provides an output for an input. It may be structured data or unstructured data), or it may be a learning model represented by a neural network, genetic algorithm, or random forest that generates an output in response to an input. Therefore, the "xxx table” can be called “xxx information”. Also, in the following description, the configuration of each table is an example, and one table may be divided into two or more tables, or all or part of two or more tables may be one table. may
  • the processing may be described with the subject of "program”, but the program is executed by the processor to perform the predetermined processing as appropriate using the storage device and / or the interface device.
  • the subject of processing may be a processor (or a device or system having the processor).
  • a program may be installed on a device, such as a computer, from a program source.
  • the program source may be, for example, a program distribution server or a computer-readable recording medium (eg, non-temporary recording medium).
  • two or more programs may be implemented as one program, and one program may be implemented as two or more programs.
  • Any information (for example, at least one of "ID”, "name”, and “number”) may be adopted as the information for identifying the element.
  • the unit of "date and time” may be a coarser unit or a finer unit than year, month, day, hour, minute.
  • FIG. 1 is a diagram showing a schematic configuration of a transport system according to the first embodiment.
  • the transportation system includes a plurality of (or one) transportation devices 3 that travel within the warehouse 2 and a control device 4 that remotely controls the movement of each transportation device 3 .
  • “moving” of the conveying device 3 represents general movement of the conveying device 3 regardless of the presence or absence of the shelf 5 .
  • “Movement” of the conveying device 3 may be rephrased as “running” of the conveying device 3 .
  • "Movement" in the state in which the transport device 3 has the shelf 5 is particularly called "transportation". Shelf 5 is an example of an object that can be transported by transport device 3 . Instead of or in addition to the shelf 5, objects such as trays, pallets or containers may be examples of conveyed objects.
  • the warehouse 2 is, for example, a warehouse used by a company such as an online shopping company to store goods.
  • the articles stored in the warehouse 2 may be commodities or parts.
  • an example of a product will be described as an example of an article stored in the warehouse 2.
  • FIG. The warehouse 2 is provided with a multistage area 122 and a vertical conveyor 202 .
  • the multistage area 122 is an example of multiple areas located at different heights.
  • the multistage area 122 has a first stage area 200A and a second stage area 200B.
  • a plurality of shelves 5 are installed in a movable state in a plurality of areas 200 ⁇ /b>A and 200 ⁇ /b>B that constitute the multistage area 122 .
  • the same type of article need not be arranged in all areas 200 .
  • the shelf 5 may be arranged in the first stage area 200A and the pallet may be arranged in the second stage area 200B.
  • Each shelf 5 stores one or a plurality of articles (for example, each article to be sold) at a predetermined position.
  • the shelf 5 is sometimes called a mobile shelf.
  • the first stage area 200A is an example of a first area, and an example of a main area in which the conveying device 3 travels.
  • the shelf 5 can be transported to the picking station 6 by the transport device 3 running in the first stage area 200A.
  • the first stage area 200A is an area as the entire floor surface of the warehouse 2 or a part thereof.
  • the second area 200B is an example of an area other than the first area, and an example of a sub-area in which shelves are arranged.
  • a conveyor 203 as an example of a transport machine that transports the shelf 5 arranged in the second stage area 200B to the vertical transport machine 202 .
  • the vertical carrier 202 is an example of an inter-area carrier.
  • the vertical carrier 202 is a carrier that moves up and down in the vertical direction. Specifically, the vertical conveying machine 202 descends to convey the shelf 5 from the second area 200B to the first area 200A (or to convey the shelf 5 from the first area 200A to the second area 200A). in the first stage area 200A). In addition, the vertical conveying machine 202 conveys the shelf 5 from the first stage area 200A to the second stage area 200B by going up (or two stages of the shelf conveyed from the second stage area 200B to the first stage area 200B). Wait in eye area 200B).
  • Vertical transport 202 may be, for example, an elevator or a car in an elevator. Also, the vertical transfer machine 202 can be replaced by another inter-area transfer machine such as a forklift capable of transporting the shelf 5 in the vertical direction.
  • each transport device 3 When each transport device 3 receives a movement instruction associated with a transport task assigned to the transport device 3, each transport device 3 transports the shelf 5 existing in the first stage area 200A according to the movement instruction. According to the example shown in FIG. 1, it is as follows. - The conveying device 3A that has finished conveying the shelf 5A to the picking station 6 is waiting for the completion of picking the products on the shelf 5A. The transport device 3B that transports the shelf 5B to the picking station 6 is waiting for the transport device 3A to move. When the transport device 3 moves, the transport device 3B can transport the shelf 5B to the picking station 6.
  • FIG. - The transport device 3C is moving to transport the shelf 5C transported to the first stage area 200A by the vertical transport machine 202 .
  • the transport device 3D is moving in order to transport the shelf 5D whose arrangement position is the first stage area 200A.
  • FIG. 2A is an explanatory diagram of the configuration of the first stage area 200A.
  • FIG. 2B is an explanatory diagram of the configuration of the second stage area 200B.
  • the first-stage area 200A and the second-stage area 200B overlap in plan view, but they do not necessarily have to overlap.
  • FIGS. 2A and 2B schematically illustrate areas 200A and 200B, and the areas 200A and 200B illustrated in FIGS. 2A and 2B are completely different from the areas 200A and 200B illustrated in FIG. do not match.
  • the first-stage area 200A is divided into a plurality of rectangular divisions (areas) 201 of a predetermined size and managed.
  • a marker (not shown) indicating the position of the section 201 may be written in each section 201 .
  • the marker may contain information for specifying the position of the section, for example, the position information of the section, or information associated with the position information of the section (for example, identification information of section 2A, etc.). ).
  • the marker is information that can be read by the sensor 14 of the transport device 3, and may be information such as a one-dimensional code, a two-dimensional code such as a QR code (registered trademark), or an RFID (radio frequency identifier) tag.
  • a QR code registered trademark
  • the transport device 3 reads the markers in each section as it passes through that section.
  • Each conveying device 3 transmits the identification information of the conveying device 3 and the information of the read marker to the control device 4 .
  • the control device 4 identifies the position of each transport device 3 based on the identification information of the transport device 3 and the marker information received from each transport device 3 .
  • the position of each partition 201 may be identified from coordinates as a combination of column number and row number, for example. For example, the coordinates of two sections 201A are (6, 13) and (13, 13), and the coordinates of the position of one section 201D are (1, 1).
  • the first stage area 200A includes a section 201A in which the vertical transfer machine 202 exists in a plan view, a section 201B in which the shelf 5 conveyed by the vertical transfer machine 202 is temporarily arranged, a section 201C in which the shelf 5 is arranged, a battery It has a section 201D where the station exists and a section 201E where the picking station 6 exists.
  • each of the sections 201A-201E is marked with the same pattern for each section 201.
  • each vertical transporter 202 has one buffer section 201B, but at least one vertical transporter 202 may have two or more buffer sections 201B.
  • the number of buffer sections 201B (the number of shelves 5 that can be buffered (temporarily arranged) in the first stage area 200A) may be a predetermined number M (M is a natural number).
  • M is a natural number.
  • the shelf 5 may be, for example, approximately the same size as one compartment 201, or may be smaller than one compartment 2A. Note that there may be various modifications of how to set the partitions.
  • the second-stage area 200B is divided into a plurality of rectangular sections 251 of a predetermined size and managed.
  • the position of each section 251 may be identified from coordinates as a combination of column number and row number, for example.
  • a section 251A in which the vertical conveying machine 202 exists in plan view, a section 251B as an element of the range occupied by the conveyor path (the conveying path of the shelf 5 by the conveyor 203), and the shelf 5 are arranged. It has a section 251C.
  • each of the sections 251A-251C has the same pattern for each section 251.
  • the shelves 5 in the left and right sections 251C of three columns on each side of the conveyor path (12 sections 251B serially connected along the column direction) are conveyed to the conveyor path, It is conveyed to the section 251A along the direction, and is conveyed by the vertical conveying machine 202 from the second stage area 200B to the first stage area 200A.
  • Transportation from compartment 251C to compartment 251B may be performed by a predetermined device (eg, a conveyor or a robot with an arm).
  • a predetermined device eg, a conveyor or a robot with an arm.
  • the shelf 5 in any section 251C in the block 292 can be conveyed to the conveyor path.
  • a transport device that stacks and transports the shelf may be used for transporting the shelf 5 in the second stage area 200B.
  • the shelf 5 is arranged on a pedestal in the compartment 251C so that the transport device can slip under the shelf 5 .
  • the transport device 3 is a device that moves according to a movement instruction from the control device 4, and typically may be an AGV (Automatic Guided Vehicle).
  • the object to be transported is, for example, the shelf 5 or a pallet. If the object to be transported is an object (for example, the shelf 5 or a pallet) on which one or more articles can be loaded, the object to be transported may be called a storage unit (storage device) or a loading platform.
  • the case of the shelf 5 will be described as an example of an object to be transported by the transport device 3 .
  • An object to be conveyed is sometimes called an article to be conveyed.
  • the transport device 3 lifts the shelf 5 specified in the movement instruction, and picks the shelf 5 specified in the movement instruction (or closest to the current position of the transport device 3).
  • the shelf 5 is transported to station 6.
  • the shelves 5 conveyed to the picking station 6 are returned to the original section (or another section) by the conveying device 3 after the necessary commodities are taken out by the worker at the picking station 6 (that is, after picking).
  • the transport route to the picking station 6 and the movement route from the picking station 6 to the original arrangement section (or another arrangement section) of the shelf 5 may be specified in one movement instruction, or may be specified in separate movement instructions. May be specified.
  • a shelf that stores products that are frequently picked and that is frequently transported to the picking station 6 may be a shelf arrangement section near the picking station 6 or a shelf arrangement section near the picking station 6. It may be installed in the first stage area 200A, which is the area where it is arranged. Shelves that are not frequently transported to the picking station 6 are installed in a shelf arrangement section far from the picking station 6 or in an area other than the area where the picking station 6 is arranged (for example, the second area 200B). may In this way, by changing the installation location of the shelf according to the frequency of transportation to the picking station 6, transportation efficiency can be improved.
  • the conveying device 3 is formed in a rectangular parallelepiped shape as a whole.
  • drive wheels 20 are provided on the lower surface (bottom surface) of the conveying device 3 so that the conveying device 3 can turn and move forward.
  • a ring 21 is provided.
  • a columnar elevating body 22 is provided at the center of the upper surface of the conveying device 3 so as to be vertically and rotatably movable.
  • the conveying device 3 rotates the drive wheels 20 to move to the lower side of the shelf 5 to be conveyed, and then raises the elevating body 22 to lift the shelf 5.
  • the shelf 5 is conveyed by running in the warehouse 2 in the state.
  • the conveying device 3 can also change the direction of the lifted shelf 5 by rotating the lifting body 22 .
  • the conveying device 3 can be rotated (turned) without rotating the lifted shelf 5.
  • the shelf 5 arranged in the first stage area 200 may have legs for allowing the conveying device 3 to enter under the body of the shelf 5 .
  • the shelf 5 arranged in the second stage area 200B may have no legs.
  • the configuration of the shelf 5 may differ depending on whether the shelf 5 is arranged in the first stage area 200A or the second stage area 200B.
  • the transport of the shelf 5 from the second stage area 200B to the first stage area 200A is as shown in FIG. That is, the shelf 5 waiting in the section just before the vertical conveyor 202 (section 251A) enters the vertical conveyor 202, and the vertical conveyor 202 containing the shelf 5 moves from the second stage area 200B to the first stage area 200A.
  • the shelf 5 moves from the vertical transfer machine 202 (section 201A) that descends and reaches the first stage area 200A to the buffer section 201B.
  • the shelf 5 temporarily placed in the buffer section 201 B is transported by the transport device 3 .
  • the conveying device 3 is equipped with an automatic charging function, and when the remaining amount of the mounted battery (not shown) falls below a predetermined value, the conveying device 3 moves to the battery station and automatically charges the battery. It has become.
  • the control device 4 is wirelessly connected to each transport device 3 in the warehouse 2 via a wireless communication line such as Wi-Fi (registered trademark).
  • a wireless communication line such as Wi-Fi (registered trademark).
  • the control device 4 identifies the shelf 5 storing the ordered product, and instructs the transport device 3 to move the shelf 5 to the picking station 6 (hereinafter referred to as Such a transport instruction is called a movement instruction).
  • the control device 4 causes the conveyor 203 to transport the shelf 5 to the vertical conveyor 202, or causes the vertical conveyor 202 to transport the shelf 5 to the vertical conveyor 202.
  • 5 is transported from the second stage area 200B to the first stage area 200A to place the shelf 5 in the buffer section 201B, or a movement instruction to transport the shelf 5 to the picking station 6 is transmitted to the transport device 3. or
  • the "movement instruction" transmitted to the transport device 3 is associated with information representing the transport task assigned to the transport device 3.
  • the transport task is a task according to which shelf 5 is to be transported to which compartment, and the information representing the transport task is, for example, the shelf ID of the shelf 5 to be transported and the path along which the transport device 3 moves. and a travel route.
  • the movement route may include a route from the current section (the section to which the current position belongs) of the transport device 3 to the shelf section (the section where the shelf 5 to be transported exists) and a route from the shelf section to the picking station 6. .
  • control device 4 gives a "movement instruction" to the transfer device 3 to the specified position in order to return the shelf to the specified position.
  • This movement path may further include the path from the picking station 6 to the designated location.
  • a section adjacent to the picking station 6 and at least a section of the battery station 7 adjacent to the picking station 6 may be an example of a target section (a section to which the target position belongs).
  • 6 and 7 are diagrams showing specific configuration examples of elements of the transport system according to the present embodiment.
  • Each of the transport device 3, the control device 4, the vertical transport machine 202, the conveyor 203, and the picking terminal 710 can communicate via the network 551.
  • a plurality of each of the vertical transfer machines 202, the conveyors 203, and the picking terminals 710 may exist.
  • the transport device 3 includes a drive device 11, a storage device 12, an interface device 13, multiple types of sensors 14, and a controller 10 connected thereto.
  • the controller 10 is a controller that controls the operation of the conveying device 3 according to a movement instruction from the control device 4, the state of charge of the built-in battery, and the like.
  • the driving device 11 includes a drive wheel 20, an auxiliary wheel 21, and an elevating body 22, an actuator (not shown) such as a motor for rotationally driving the driving wheel 20, and a motor for elevating and rotating the elevating body 22. and actuators (not shown).
  • the interface device 13 is a device for communicating with the control device 4 by a predetermined wireless communication method, and may be composed of, for example, a Wi-Fi (registered trademark) wireless LAN (Local Area Network) card.
  • Wi-Fi registered trademark
  • wireless LAN Local Area Network
  • the sensor 14 is a device for collecting information on the floor on which the conveying device 3 travels and various information related to the conveying device 3 .
  • the multiple types of sensors 14 can read, for example, information from markers on the floor section 201 .
  • the conveying device 3 includes, as the sensor 14, a camera for capturing an image of the state of the section 201, a vibration sensor for detecting vibration received by the conveying device 3 during movement, a speed sensor for measuring the speed of the conveying device 3, Sensors such as an acceleration sensor that measures the acceleration of the transport device 3, a weight sensor that measures the weight of the load, and a gyro sensor that measures the direction of the transport device 3 may be provided.
  • the storage device 12 stores, for example, a route table 23, a device table 24, a map table 25, a measurement table 27, and a performance table 28.
  • the controller 10 stores a communication program 29 , a movement control program 30 , a measurement program 31 and a position estimation program 32 .
  • a communication section, a travel control section, a measurement section, and a position estimation section are realized.
  • the route table 23 is a table that stores information representing the movement route specified by the above-described movement instruction received from the control device 4 (the information representing the movement route includes the arrangement of the storage positions of the partitions and the movement route. date and time located in that compartment for each compartment it belongs to).
  • the device table 24 is a table that stores the ID of the transport device 3, the storage position of the current section, and the status (for example, "waiting", "moving", or "transporting").
  • the map table 25 is a table that stores information representing the storage location and attributes (for example, which area it belongs to) for each section.
  • the measurement table 27 stores values measured by multiple types of sensors 14 (for example, speed, acceleration, turning, weight, storage position (value read from a two-dimensional barcode), captured image of a section, etc.). is a table.
  • the track record table 28 is a table that stores information representing the track record of movement, including the route and date and time of movement of the conveying device 3 .
  • the communication program 29 is a program having a function of exchanging commands and information with the control device 4 via the interface device 13. For example, the communication program 29 transmits at least part of the information of the tables 23 to 25, 27 and 28 to the control device 4 in response to a request from the control device 4 (or without a request).
  • the communication program of each transport device 3 may transmit each of these pieces of information to the control device 4 at regular or irregular timings.
  • the movement control program 30 is a program that controls the movement of the carrier device 3 according to movement instructions received from the control device 4 through the communication program 29 .
  • the movement control program 30, according to movement instructions from the control device 4, controls the drive device 11 to lift the designated shelf 5 and move it to the picking station 6 along the designated movement route, or The drive device 11 is controlled so as to return the shelf 5 to its original position (or another position) through the moving path.
  • the measurement program 31 registers the output (measurement result) of each sensor 14 in the measurement table 27.
  • the position estimation program 32 estimates the position of the transport device 3 based on the markers detected through the sensor 14 of the transport device 3 (markers attached to each section 201 of the first stage area 200A).
  • the control device 4 may be one or more physical computers having hardware such as a processor 40, a memory 41, a storage device 42, an input device 43, an output device 44 and an interface device 45, or may be one or more physical computers (for example, A system (for example, a cloud computing system) implemented on a cloud platform) may also be used. Further, each device included in the control device 4 may be arranged in one physical computer, or may be arranged in a plurality of physical computers so as to be distributed. Each program and each information that the storage device 42 has may be stored in one storage device, or may be divided and stored in a plurality of storage devices so as to be distributed. Instead of the input device 43 and the output device 44, information may be input/output via a client system capable of communicating through the interface device 45.
  • the processor 40 is a device that controls the operation of the control device 4 as a whole.
  • a memory 41 is used as a work memory for the processor 40 .
  • the storage device 42 stores programs and tables.
  • the input device 43 is composed of, for example, a mouse and a keyboard, and is used by the operator to input necessary information and instructions to the control device 4 .
  • the output device 44 may be a display device such as a liquid crystal display or an organic EL (Electro Luminescence) display.
  • the interface device 45 is a device for communicating with the transport device 3, the vertical transport machine 202, the conveyor 203, and the picking terminal 710 by a predetermined wireless communication system, and may be composed of, for example, a Wi-Fi card.
  • the storage device 42 stores, for example, a device transfer table 53, an inventory table 54, a shelf table 57, a map table 56, a vertical transfer table 61, an order table 55, a picking table 58, a shelf transfer table 59, and OTHERS 60.
  • Tables 53-55, 57-59 and 61 will be described later.
  • the map table 56 contains information representing the maps of the first area 200A and the second area 200B (for example, storage positions (coordinates) and attributes (for example, shelf 5, picking station 6, battery station, vertical conveying machine 202, or buffer) is stored (this table 56 is distributed to each conveying device 3 and is a map table in each conveying device 3). 25).
  • the OTHERS 60 may include, for example, at least one of a measurement table that stores measured values from each transport device 3 and a track record table that stores information representing movement track records from each transport device 3 .
  • the device transport table 53, the shelf transport table 59, and the vertical transport table 61 may be examples of transport management information.
  • the device transport table 53 and a part of the shelf transport table 59 (information related to the shelf in the first stage area) may be an example of information related to transport by one or a plurality of transport devices.
  • a part of the shelf transfer table 59 (information about the shelf in the second stage area) and the vertical transfer table 61 may be an example of information about transfer by the inter-area transfer machine.
  • a storage program 50 and a processing program 51 are stored in the storage device 42 .
  • a storage unit and a processing unit are implemented by the storage program 50 and the processing program 51 being executed by the processor 40 .
  • a storage program 50 stores these tables 53 to 61 in the storage device 42 .
  • a vertical transporter 202 has an interface device 711, a storage device 713, a drive device 714, a sensor 715 and a processor 712 connected thereto.
  • the interface device 711 is a device for communicating with the control device 4 by a predetermined wireless communication method, and may be configured by, for example, a Wi-Fi (registered trademark) wireless LAN (Local Area Network) card.
  • the driving device 714 is a device that drives the vertical conveying machine 202 to move up and down and stand by.
  • the sensor 715 may be a sensor that detects the position of the vertical conveyor 202 or the like.
  • a vertical transport table 760 is stored in the storage device 713 .
  • the vertical transfer table 760 may be a table containing at least part of the same information as the vertical transfer table 61 of the control device 4 .
  • the processor 712 controls the overall operation of the vertical transfer machine 202 based on, for example, the vertical transfer table 760 by executing the program in the storage device 713 .
  • a conveyor 203 has an interface device 721, a storage device 723, a drive device 724, a sensor 725 and a processor 722 connected thereto.
  • the interface device 721 is a device for communicating with the control device 4 by a predetermined wireless communication method, and may be composed of, for example, a Wi-Fi (registered trademark) wireless LAN (Local Area Network) card.
  • the driving device 724 is a device for transporting a transported object by driving a member (for example, belt or roller) on which the shelf 5 is placed.
  • the sensor 725 is, for example, a weight sensor, and detects that the shelf 5 is placed on the conveyor 203 at a certain position.
  • the processor 722 controls the operation of the conveyor 203 as a whole by executing programs in the storage device 723 .
  • the picking terminal 710 is an information processing terminal for managing picking work at the picking station 6 .
  • a picking terminal 710 has an interface device 731, a storage device 732 and a processor 733 connected thereto.
  • the interface device 731 is a device for communicating with the control device 4 by a predetermined wireless communication method, and may be composed of, for example, a Wi-Fi (registered trademark) wireless LAN (Local Area Network) card.
  • a picking table 770 is stored in the storage device 732 .
  • the picking table 770 is a table containing at least part of the same information as the picking table 58 of the control device 4 (for example, information for specifying orders to be processed, scheduled work time, and actual progress). table) is fine.
  • the processor 733 controls the overall operation of the picking terminal 710 based on, for example, the picking table 770 by executing the program in the storage device 732 .
  • the picking terminal 710 may have an input device and an output device.
  • the input device may receive input of information about the picking work by the operator, such as completion of the picking work.
  • the output device may output instructions and the like regarding the picking work to the worker.
  • FIG. 8 is a diagram showing a configuration example of the order table 55. As shown in FIG.
  • the order table 55 is a table that stores various information related to orders from customers.
  • the order table 55 has a record for each order.
  • Each record holds information such as a processing ID 601 , slip number 602 , store name 603 , store code 604 , product name 605 , product ID 606 , quantity 607 , delivery date 608 , reception date/time 609 and work date/time 610 .
  • the slip number 602 is the same, if the product type (for example, the product name 605 and the product ID 606) are different, they are treated as separate orders.
  • One order may be divided into two or more orders and managed, or two or more orders may be managed as one order.
  • the processing ID 601 represents the ID of the order of interest.
  • the slip number 602 represents a so-called slip number.
  • the store name 603 represents the name of the store to which the product specified in the order of interest is shipped
  • the store code 604 represents the code of the store.
  • the product name 605 represents the name of the product specified in the order of interest
  • the product ID 606 represents the ID of the product
  • the quantity 607 represents the number of products.
  • the delivery date 608 represents the deadline for delivering the product specified in the order of interest to the order recipient (typically the customer). It should be noted that the processing program 51 may calculate the deadline for the actual picking at the picking station by calculating backward from the delivery date 608 . The processing program 51 may determine the timing of transmitting the movement instruction to the transport device 3 based on the calculated deadline, or specify the date and time when the transport device 3 should arrive at the picking station in the movement instruction. good too.
  • the reception date and time 609 represents the date and time when the order of interest was received.
  • the date and time of work 610 represents the date and time when the work of transporting the shelf 5 on which the product specified in the order of interest is placed to the picking station 6 is performed.
  • FIG. 9 is a diagram showing a configuration example of the inventory table 54. As shown in FIG.
  • the inventory table 54 is a table that stores information about products.
  • the inventory table 54 has a record for each product.
  • Each record holds information such as product name 701 , product ID 702 , stock quantity 703 , shelf ID 704 and product position 705 .
  • Product name 701 product name 701
  • product ID 702 stock quantity 703
  • shelf ID 704 product position 705 .
  • Product position 705 Take one product as an example (“notable product” in the description of FIG. 9). Note that when the same product is stored on different shelves, there are multiple records for the same product. Similarly, multiple records exist for the same product when the same product is stored in different product positions on the same shelf.
  • the product name 701 represents the name of the product of interest.
  • the product ID 702 represents the ID of the product of interest.
  • the stock quantity 703 represents the stock quantity of the product of interest.
  • the shelf ID 704 represents the ID of the shelf 5 on which the product of interest is arranged.
  • a product position 705 represents the position of the target product on the shelf 5 .
  • “U3R2" means “third from top (U), second from right (R)".
  • FIG. 10 is a diagram showing a configuration example of the shelf table 57.
  • FIG. 10 is a diagram showing a configuration example of the shelf table 57.
  • the shelf table 57 is a table in which information about the shelf 5 is stored.
  • the shelf table 57 has records for each shelf 5 .
  • Each record holds a shelf ID 801, a storage position 802, a shelf weight 803 (unit: [Kg], for example), and a product weight 804 (unit: [Kg], for example).
  • the shelf ID 801 represents the ID of the shelf 5 of interest.
  • the storage position 802 represents the section and area height where the noted shelf 5 is arranged. Specifically, the storage position 802 is represented by "(column number, row number, column number)". For example, (3,3,1) means section (3,3) in the first stage area 200A. If shelf of interest 5 resides in buffer section 201B (see FIG. 2A), storage location 802 represents the location of that buffer section 201B. If the shelf of interest 5 is being transported, the storage position 802 may indicate the status of the shelf of interest 5 being transported. If the shelf of interest 5 is in the process of being picked, the storage location 802 may represent the status "picking" of the shelf of interest 5 .
  • the shelf weight 803 represents the weight of the shelf 5 of interest.
  • the commodity weight 804 represents the total weight of all the commodities arranged on the noted shelf 5 .
  • the product weight 804 may be calculated by the processing program 51 based on, for example, the stock quantity 703 of the product corresponding to the shelf ID 704 of the shelf of interest 5 and the weight of the product itself.
  • FIG. 11 is a diagram showing a configuration example of the apparatus transport table 53. As shown in FIG.
  • the device transport table 53 is a table in which information acquired from each transport device 3 is stored.
  • the device transport table 53 has a record for each transport device 3 .
  • Each record holds information such as device ID 1101 , shelf flag 1102 , position 1103 , remaining battery capacity 1104 , device status 1105 , shelf ID 1106 , picking station ID 1107 and estimated arrival date and time 1108 .
  • the device ID 1101 represents the ID of the transport device 3 of interest.
  • the shelf flag 1102 indicates whether or not the transport device 3 of interest has a shelf.
  • a position 1103 represents the coordinates (column number, row number) of the section (that is, the current section) where the transport device 3 of interest is located.
  • the remaining battery capacity 1104 represents the remaining capacity of the battery of the transport apparatus 3 of interest.
  • the device state 1105 represents the state of the transport device 3 of interest. "Moving” means that the transport device 3 of interest is moving. “Empty” means that a shelf ID (specifically, a transport task including a shelf ID) is not assigned to the transport device 3 of interest.
  • the shelf ID 1106 represents the shelf ID included in the transport task assigned to the transport device 3 of interest (that is, the ID of the transport target shelf specified in the transport task).
  • the picking station ID 1107 represents the ID of the picking station (which may be the position (coordinates) corresponding to the picking station) to which the shelf transported by the transport apparatus 3 of interest is to be transported.
  • the scheduled arrival date and time 1108 is the scheduled date and time when the transport device 3 of interest will arrive at the picking station.
  • the scheduled arrival date and time 1108 may be, for example, the date and time calculated by the processing program 51 based on the movement route of the transport apparatus 3 of interest to the picking station.
  • the transport device 3 with the shelf flag 1102 "present” and the device status 1105 "moving” is transporting the shelf represented by the shelf ID 1106 to the picking station.
  • the transport device 3 with the shelf flag 1102 of "absent” and the device status 1105 of "moving” is moving to acquire the shelf indicated by the shelf ID 1106 (for example, to load).
  • the shelf flag 1102 is updated to "present", and the transport device 3 transports the shelf to the picking station.
  • FIG. 12 is a diagram showing a configuration example of the shelf transfer table 59. As shown in FIG. 12
  • the shelf transport table 59 is a table in which information related to the transport of the shelf 5 is stored.
  • the shelf transfer table 59 has a record for each shelf 5 .
  • Each record holds information such as shelf ID 1101 , storage position 1202 , stage 1203 , shelf status 1204 , device ID 1205 , device status 1206 and scheduled transfer start date and time 1207 .
  • the shelf ID 1201 represents the ID of the shelf 5 of interest.
  • a storage position 1202 represents a storage position (column number, row number, and stage number) before the noted shelf 5 is transported. When the noted shelf 5 moves from the storage position, the storage position 1202 becomes blank "-".
  • a row 1203 indicates in which row the shelf of interest 5 is located.
  • the shelf state 1204 represents the state of the shelf arranged in the second stage area 200B.
  • “Waiting” means that the shelf of interest 5 is transported to the first stage area 200A and is waiting in the buffer section 201B.
  • “Moving” means that the shelf of interest 5 is being moved from the vertical transfer machine 202 that has reached the first stage area 200A to the buffer section 201B.
  • “Before moving” means that the shelf of interest 5 is waiting to be transported by the vertical transporter 202 in the second area 200A before the shelf of interest 5 is transported to the first area 200A by the vertical transporter 202. do.
  • the device ID 1205 represents the ID of the transport device 3 to which the noted shelf 5 is assigned, and the device status 1206 represents the status of the transport device 3.
  • Loading means that the shelf of interest 5 is already loaded on the conveying device 3 and is moving (that is, the shelf of interest 5 is being conveyed).
  • Moving means that the transport device 3 is moving to the storage position of the shelf of interest 5 in order to load the shelf of interest 5 .
  • the scheduled transport start date and time 1207 represents the scheduled date and time when transport of the shelf 5 of interest is to be started by the transport device 3 .
  • the scheduled transportation start date and time 1207 is, for example, when the movement route is determined by the processing program 51 from the storage position 802 of the shelf of interest 5 and the position 1103 of the transport apparatus 3 to which the shelf of interest 5 is assigned. It may be calculated by the processing program 51 based on the information represented and the standard moving speed of the transport device 3 . Instead of or in addition to this method, the calculation of the scheduled transportation start date and time 1207 may take into consideration the average transportation speed estimated from the past transportation history.
  • FIG. 13 is a diagram showing a configuration example of the vertical transfer table 61. As shown in FIG. 13
  • the vertical transport table 61 is a table in which information related to transport by the vertical transport machine 202 is stored.
  • the vertical transfer table 61 has a record for each vertical transfer. Each record holds information such as vertical ID 1301 , transport mode 1302 , shelf ID 1303 , shelf status 1304 , transport start date/time 1305 and buffering start date/time 1306 .
  • "vertical transport" is an example of inter-area transport. either to or from When the plurality of areas is three or more areas, the transportation from the transportation source area to the transportation destination area may be "vertical transportation" (an example of inter-area transportation). There are 0 or more areas between the transfer source area and the transfer destination area.
  • the vertical ID 1301 represents the ID of the vertical transport machine 202 that performs the vertical transport of interest. Note that the vertical ID 1301 may be omitted, and the vertical transfer table 61 may exist for each vertical transfer machine 202 .
  • the transport mode 1302 represents the transport direction of the vertical transporter 202 on which the shelf 5 is placed.
  • “Upper” means that the vertical conveyer 202 conveys the shelf 5 from the first stage area 200A to the second stage area 200B.
  • “Lower” means that the vertical conveyer 202 conveys the shelf 5 from the second stage area 200B to the first stage area 200A.
  • the vertical conveying machine 202 moves to the first stage area 200A or the second stage area 200B without having the shelf 5 (for example, the shelf 5 to be transported is received in the first stage area 200A or the second stage area 200B). ) may not exist in this table 61 .
  • the shelf ID 1303 represents the ID of the shelf 5 transported by the vertical transport of interest.
  • the shelf status 1304 represents the status of the shelf 5 to be vertically transported. “Elevating” means that the shelf 5 is being transported by the vertical transporter 202 . “Waiting” means that the shelf 5 is waiting for vertical transport at a standby position in front of the vertical transporter 202 . “Moving” means that the shelf 5 is being moved to the vertical conveyor 202 .
  • the transport start date and time 1305 represents the date and time when the vertical transport of interest started or is scheduled to start.
  • the transfer start date and time 1305 may be calculated by the processing program 51 based on information on the transfer status of the vertical transfer machine 202 and information on the date and time when the shelf 5 arrives at the vertical transfer machine 202 .
  • the date and time when the shelf 5 arrives at the vertical transfer machine 202 depends on the storage position of the shelf 5, the standard transfer time (or standard transfer speed) of the conveyor 203 (or the transfer device 3), and the number of other shelves 5 to be transferred first. It may be calculated by the processing program 51 on the basis of the information related to transportation. Further, the processing program 51 calculates the date and time of completion of the transportation (date and time when the vertical transportation is scheduled to be completed) based on the transportation start date and time 1305 and the standard transportation time (or standard transportation speed) of the vertical transportation machine 202. good.
  • the buffering start date and time 1306 represents the date and time when the shelf 5 targeted for vertical transport of interest starts moving to the buffer section 201B.
  • the shelf 5 that has reached the first stage area 200A by the vertical conveyor 202 is placed on a pedestal conveyor (not shown), and is transported to the buffer section 201B by the pedestal conveyor.
  • 1306 is the date and time when the shelf 5 is conveyed to the buffer section 201B by the gantry conveyor.
  • the transfer start date and time 1305, the standard transfer time (or standard transfer speed) of the vertical transfer machine 202, the time required for delivery from the vertical transfer machine 202 to the gantry conveyor, and the time required for the gantry conveyor to start carrying are stored. Based on this, the processing program 51 may calculate the buffering start date and time 1306 .
  • FIG. 14 is a diagram showing a configuration example of the picking table 58. As shown in FIG. 14
  • the picking table 58 is a table related to picking work.
  • the picking table 58 has a record for each picking operation. Each record holds information such as picking station ID 1401, process ID 1402, device ID 1403, shelf ID 1404, product ID 1405, quantity 1406, scheduled start date and time 1407, scheduled end date and time 1408, and picking status 1409. Take one picking work as an example (“notable picking work” in the description of FIG. 14).
  • the picking station ID 1401 represents the ID of the picking station where the picking work of interest is performed.
  • the picking station ID 1401 may be omitted, and a picking table 58 may be provided for each picking station 6 .
  • the processing ID 1402 is the processing ID of the order corresponding to the picking work of interest.
  • the device ID 1403 represents the ID of the shelf having the product to be picked in the picking task of interest
  • the product ID 1405 represents the ID of the product
  • the quantity 1406 represents the number of products to be picked. According to the table 58 in which the records are arranged in ascending order of the scheduled start date and time 1407, when the same shelf ID 1404 is consecutive, different products corresponding to different process IDs can be picked from one shelf 5.
  • the scheduled start date and time 1407 represents the scheduled start date and time of the picking work of interest.
  • the scheduled end date and time 1408 represents the scheduled end date and time of the picking work of interest.
  • the scheduled start date and time 1407 may be calculated by the processing program 51 based on the scheduled date and time when the transport device 3 arrives at the picking station 6 along the movement route.
  • the scheduled end date and time 1408 may be calculated by the processing program 51 based on the scheduled start date and time 1407 and the estimated length of time required for the picking work.
  • the estimated length of time required for picking work is based on at least one of the quantity of products to be picked, the average time required for picking work, and the past picking work history of the picking work worker, It may be calculated by the processing program 51 . Note that the picking work may be performed by a robot instead of or in addition to the worker.
  • the picking state 1409 represents the state of the picking work of interest. "Before work” means before the transport device 3 with the rack 5 arrives at the picking station 6 and the picking work is started. "Working” means that the picking work has started but has not been completed. "Completed” means that the picking operation has been completed. Note that the picking state 1409 may be changed based on an input from the picking worker, or may be automatically based on values automatically detected regarding the picking work. For example, when the transport device 3 on standby transports the shelf 5 after the completion of the picking work of interest, the picking status 1409 corresponding to the picking work following the picking work of interest changes from "before work" to "in work”. may be changed to
  • the tables 53 to 61 are stored in the storage device 42 by the storage program 50 in this embodiment. Based on information (for example, information including sensor measurement values) that the control device 4 periodically or irregularly receives from each transport device 3, each vertical transport machine 202, each picking terminal 710 and each conveyor 203, The storage program 50 appropriately updates the relevant portions of the tables 53-61.
  • FIG. 15 is a flowchart showing the flow of transport control processing.
  • the transport control process is repeatedly (for example, periodically) performed.
  • the processing program 51 arranges the orders (records of the order table 55) in ascending order of the work date/time 610.
  • the orders may be sorted in an order other than the ascending order of work date/time 610 .
  • S1502 to S1504 are performed for each sorted order.
  • the processing program 51 may combine a plurality of orders into one order, and S1502 to S1504 may be performed for such a combined order.
  • a plurality of orders grouped into one order may be orders that share a predetermined type of element, such as orders for products contained in the same shelf.
  • one order is taken as an example (order of interest in the description of FIG. 15).
  • the processing program 51 identifies the shelf 5 on which the product to be picked is mounted and the position of the shelf 5 based on the order of interest. Specifically, for example, the following processing is performed. Based on the order table 55, the inventory table 54, and the shelf table 57, the processing program 51 adds the shelf ID 704 corresponding to the product name 701 and product ID 702 that match the product name 605 and product ID 606 specified in the order of interest to the inventory table. 54. The processing program 51 identifies from the shelf table 57 the storage position 802 corresponding to the shelf ID 801 that matches the identified shelf ID 704 .
  • the processing program 51 performs transport for transporting the shelf at the shelf position specified in S1502 (storage position 802 of shelf 5) based on the map table 56, device transport table 53, and shelf table 57 for the order of interest.
  • a device 3 is selected, and a movement route for transportation by the transportation device 3 is created. That is, in S1503, the transport device 3 to which the transport task according to the order of interest is to be assigned is determined.
  • the transport task may be a task of transporting the shelf 5 to be transported along the created movement route.
  • the processing program 51 may perform at least one of the following. - The processing program 51 selects one carrier device 3 from one or more carrier devices 3 that meet a predetermined condition.
  • the “predetermined condition” referred to here may be that at least the shelf flag 1102 is “absent”.
  • the transport device 3 is selected based on the device status 1105, the shelf flag 1102, the position 1103, and the storage position 802 of the shelf 5 to be transported (the distance between the storage position 802 and the position of the target section) of each transport device 3. can be broken
  • the processing program 51 determines the movement route based on the selected position 1103 of the transport device 3, the storage position 802 of the shelf 5 to be transported, and the position of the target section (typically the position of the picking station 6). create.
  • the processing program 51 When the storage position 802 of the shelf 5 to be transported is a position in the second stage area 200B, based on the position of the buffer section 201B according to which vertical conveyor 202 the shelf 5 is transported to the first stage area 200A, A travel route is created.
  • the processing program 51 performs the congestion determination process shown in FIG. -
  • the processing program 51 may refer to the picking table 58 .
  • the processing program 51 identifies a relatively empty picking station (for example, a picking station with a relatively small number of corresponding records in the picking table 58), and designates the empty picking station as the target section. You can decide.
  • the processing program 51 transmits to the transport device 3 selected at S1503 a movement instruction associated with the transport task assigned to the transport device 3 (transport task according to the order of interest).
  • the transport task determined and assigned to each order is a task that meets the delivery date 608 of the order.
  • the processing program 51 gives priority to the execution of the transport task for the shelf 5 existing in the buffer section 201B in the priority control executed when the occurrence of congestion on the shelf 5 is predicted for vertical transport. Although determined, such a change in the transport task processing order may be made to the extent that the delivery date 608 can be met.
  • FIG. 16 is a flow chart showing the flow of congestion determination processing.
  • the trigger for starting the traffic congestion determination process may be, for example, any of the following.
  • the shelf position specified in S1502 is the second stage area 200B.
  • the transport task associated with the movement instruction transmitted in S1504 is the shelf transport task that needs to be transported from the second level area 200B to the first level area 200A.
  • the processing program 51 refers to the device transport table 53, the shelf transport table 59 and the vertical transport table 61.
  • the processing program 51 simulates vertical transport of the shelf 5 to be transported in the second area 200B based on the device transport table 53, shelf transport table 59, and vertical transport table 61.
  • the processing program 51 determines whether or not traffic congestion is predicted based on the result of the simulation at S1602.
  • the "congestion" referred to in the present embodiment means that the number of shelves 5 in the standby state that have been transported from the second stage area 200B to the first stage area 200A by the vertical transport machine 202 but have not been transported by the transport apparatus 3 Since the number has reached the predetermined number M for the vertical conveying machine 202, N or more shelves 5 (N is a natural number) from the second stage area 200B to the first stage area 200A are either outside or inside the vertical conveying machine 202. or both are in a standby state.
  • the predetermined number M is a value prepared for each vertical transporter 202 (for example, all buffer partitions corresponding to the vertical transporter 202). 201B, or, instead of or in addition to the maximum number, the maximum number of shelves 5 that can exist within the vertical transfer machine 202 in the first stage area 200A).
  • the predetermined number M is a value common to the entire system (for example, the first stage area 200A in all buffer compartments 201B, or alternatively or in addition to the maximum number of shelves 5 in the vertical conveyor 202 in the first tier area 200A). good.
  • the number of shelves 5 in the standby state that have been transported from the second area 200B to the first area 200A by the vertical transport machine 202 but not transported by the transport device 3 may be X or Y. , X+Y.
  • "X" is the number of shelves 5 existing outside the vertical conveyor 202 in the first stage area 200A. number is fine.
  • a detailed example of the definition of "congestion” is "by the time the shelf 5 to be transported moves from the vertical conveyor 202 to the buffer section 201B, another shelf 5 exists in the buffer section 201B.” do. That is, the definition of “congestion” is that "the number of shelves 5 in the standby state that have been transported from the second stage area 200B to the first stage area 200A by the vertical transport machine 202 but not transported by the transport apparatus 3 is Since the predetermined number M has been reached, N or more shelves 5 (N is a natural number) from the second stage area 200B to the first stage area 200A are in a standby state either or both outside and inside the vertical conveyor 202. , assume that both the value of M and the value of N are 1. In this case, S1602 and S1603 are, for example, as follows.
  • the processing program 51 calculates the following.
  • the section represented by the storage position 1202 is a shelf that is a buffer section corresponding to the vertical transport machine 202 that vertically transports the shelf 5 to be transported. 1204 identifies the shelf with "Waiting".
  • Q The buffering start date and time 1306 of the shelf 5-2 to be transported from the second stage area 200B to the first stage area 200A by the vertical transporter 202 from now on.
  • the processing program 51 determines whether (P) is slower than (Q). If (P) is earlier than (Q) (or (P) and (Q) are on the same date), no traffic congestion is predicted. On the other hand, if (P) is slower than (Q), the occurrence of congestion is predicted. In other words, it is predicted that the shelf 5-2 to be transported cannot be moved from the vertical transporter 202 to the buffer section 201B and waits in the vertical transporter 202.
  • FIG. 17 is a flowchart showing the flow of priority control processing.
  • the processing program 51 refers to the device transport table 53 .
  • the processing program 51 determines whether the following (a1) and (a2) are satisfied. If "traffic jam” means that the above (P) is later than the above (Q), the predicted date and time of "congestion occurrence” is the above (Q) that is earlier than the above (P). Also, the determination in S1701 may be a determination as to whether or not at least (a1) is satisfied. (a1) There is a transport apparatus A whose apparatus status 1105 is "idle".
  • the transport apparatus A moves the target buffer section 201B (vertical transport of the shelf 5-2 to be transported).
  • the shelf 5-1 can be transported from the buffer section 201B) corresponding to the vertical transporter 202 to be processed.
  • (a2) is satisfied when the predicted date and time when the transport apparatus A can start transporting the shelf 5-1 from the target buffer section 201B is earlier than the predicted date and time of the occurrence of traffic congestion.
  • the predicted date and time when the transport device A can start transporting the shelf 5-1 from the target buffer section 201B is the date and time when the transport device A can arrive at the target buffer section 201B (or the date and time obtained by adding a predetermined length of time to the date and time). OK.
  • the date and time when the transport device A can arrive at the target buffer section 201B are determined by The date and time calculated by the processing program 51 based on the standard moving speed may be used.
  • the processing program 51 assigns the transport task of the shelf 5-1 of the target buffer section 201B to the transport device A in S1703.
  • the movement instruction associated with the transport task is transmitted to the transport apparatus A by the processing program 51 in S1504 of FIG. 15, for example.
  • the transport apparatus A executes the transport task associated with the movement instruction.
  • the transport device A will start transporting the shelf 5-1 from the target buffer section 201B before the congestion occurs, that is, the congestion will be avoided.
  • the processing program 51 refers to the picking table 58 in S1704.
  • the processing program 51 determines whether the following (b1) and (b2) are satisfied.
  • the determination in S1705 may be a determination as to whether or not at least (b1) is satisfied.
  • (b1) Before the congestion occurs (for example, before the buffering start date and time 1306 of the shelf 5-2 to be transported), transport the shelf 5-3 to the picking station according to the assigned transport task, and The shelf 5-3 is returned to the corresponding section (for example, the original placement section in the first stage area 200A or another specified placement position, or the shelf 5-3 is returned to the second stage area 200B).
  • the transport device B can transport the shelf 5-1 from the target buffer section 201B before the congestion occurs.
  • the timing at which the transport device 3 to which a transport task is assigned can execute another transport task depends on the assigned transport task. is transported and the shelf 5-3 for which the picking operation is completed is transported to the original placement position (or another specified placement position).
  • the scheduled end date and time 1408 of the picking work is before the predicted date and time of occurrence of traffic congestion
  • the date and time when the shelf 5-3 can arrive from the picking station to the corresponding section is the predicted date and time of occurrence of traffic congestion. is expected to be earlier.
  • the possible arrival date and time of the shelf 5-3 from the picking station to the corresponding section may be calculated by the processing program 51 based on the moving route from the picking station to the corresponding section and the standard moving speed of the transport device 3.
  • the predicted date and time when the transport device B can start transporting the shelf 5-1 from the target buffer section 201B is the date and time when the transport device B can arrive at the target buffer section 201B (or the date and time obtained by adding a predetermined length of time to the date and time). OK.
  • the date and time when the transport device B can arrive at the target buffer section 201B is determined by the movement route of the transport device B (the movement route including the route from the position of the relevant section to the position of the target buffer section 201B) and the standard movement of the transport device 3. It may be the date and time calculated by the processing program 51 based on the speed.
  • the processing program 51 assigns the transport task of the shelf 5-1 of the target buffer section 201B to the transport device B in S1706.
  • the movement instruction associated with the transport task is transmitted to the transport apparatus B by the processing program 51 in S1504 of FIG. 15, for example.
  • the transport apparatus B transfers the transport task associated with the movement instruction from the picking station to the corresponding section according to the transport task already assigned to the transport apparatus B. Execute after transfer.
  • the transport device B will start transporting the shelf 5-1 from the target buffer section 201B before the congestion occurs, that is, the congestion will be avoided.
  • the processing program 51 instructs the transport apparatus C, which has not yet loaded the shelf 5-4 according to the assigned transport task, A transport task for the shelf 5-1 existing in the target buffer section 201B is assigned.
  • the movement instruction associated with the transport task is transmitted to the transport apparatus C by the processing program 51 in S1504 of FIG. 15, for example.
  • the transport apparatus C executes the transport task associated with the movement instruction instead of the transport task according to the movement instruction received before the movement instruction is received. .
  • the transport device C will start transporting the shelf 5-1 from the target buffer section 201B before the congestion occurs, that is, the congestion will be avoided.
  • the “transport device C” may be, for example, a transport device that satisfies (c1) or both of the following (c1) and (c2).
  • (c1) The shelf 5 corresponding to the device status 1206 "moving" is assigned (or, for example, it corresponds to the shelf flag 1102 "absent” and the device status 1105 “moving”).
  • (c2) It is expected to arrive at the target buffer section 201B from the section represented by the position 1103 and transport the shelf 5-1 from the target buffer section 201B before the congestion occurs.
  • a second embodiment will be described. At that time, the points of difference from the first embodiment will be mainly explained, and the explanations of the points in common with the first embodiment will be omitted or simplified.
  • FIG. 18 is a diagram showing an overview of the second embodiment.
  • the processing program 1851 performs vertical transport for the purpose of further improving transport efficiency of the shelf 5 based on at least one of the device transport table 53, the shelf transport table 59, and the vertical transport table 61. control.
  • the processing program 1851 causes the vertical transfer machine 202 to wait in advance.
  • the “preliminary standby” of the vertical conveyor 202 means that the vertical conveyor 202 waits in the second area 200 before the shelf 5 to be conveyed reaches the conveyance start section in the second area 200 . be.
  • the “transport start zone” is the zone where the shelf 5 to the vertical conveyor 202 begins, and typically may be the zone immediately preceding the vertical conveyor 202 .
  • a third embodiment will be described. At that time, the points of difference from the first and second embodiments will be mainly explained, and the explanations of the points in common with the first and second embodiments will be omitted or simplified.
  • FIG. 19 is a diagram showing part of the flow of priority control processing in the third embodiment.
  • the processing program 1951 determines whether or not there is a transport device C (a transport device that has not yet loaded the shelf 5 according to the assigned transport task) to the device transport table 53 and the shelf transport table 59. Determined based on at least one of If the determination result of S1900 is true (S1900: Yes), S1707 is performed.
  • a transport device C a transport device that has not yet loaded the shelf 5 according to the assigned transport task
  • the processing program 1951 performs transport postponement processing.
  • the transport postponement process is a process for moving down the processing order of transporting the shelf 5 to be transported arranged in the second stage area 200B to the vertical transport machine 202 .
  • the transport of the shelf 5 to be transported to the vertical transporter 202 is postponed, causing congestion. forecast date and time is postponed.
  • a fourth embodiment will be described. At that time, the points of difference from the first to third embodiments will be mainly explained, and the explanations of the points in common with the first to third embodiments will be omitted or simplified.
  • FIG. 20 is a diagram showing an overview of the fourth embodiment.
  • the transport frequency 805 is information representing the execution frequency of the task of transporting the rack 5 (the frequency with which the rack 5 is transported to the picking station per unit time). Every time the transport task for the shelf 5 is executed, the storage program 2050 updates the transport frequency 805 corresponding to the shelf 5 .
  • the processing program 2051 Based on the transport frequency 805 in the shelf table 2057 (for example, the statistics of the transport frequency 80 of all the shelves 5), the processing program 2051 designates the area where the arrangement position of the shelf 5 exists as the first stage area 200A. and the second stage area 200B. Thereby, it is expected that the area 200 where the shelves 5 are arranged is maintained at the optimum area 200 according to the transportation frequency 805 . For example, the processing program 2051 determines the area 200 in which the placement positions of the shelves 5 with a relatively low transportation frequency 805 exist as the second-stage area 200B. This is expected to maintain high transport efficiency.
  • the shape of the partition is not limited to a square, and may be another shape. Also, compartments of different sizes or shapes may be mixed. Also, the position of the section may be identified by other types of methods instead of being identified from the two-dimensional barcode on the section.
  • the storage program 50 and the processing program 51 may be executed by the transport device 3 instead of or in addition to the control device 4 .
  • the conveying device 3 may also serve as the control device 4 .
  • the vertical conveying machine 202 is a forklift or the like capable of conveying the shelf 5 in the vertical direction. can be replaced by other inter-area transfer machines.
  • the controller 4 may also determine the position at which the forklift will carry the shelf 5 vertically.
  • An object transported from an area other than the first-level area 200A to the first-level area 200A by a forklift may be directly transferred to the transport device 3.
  • a place may be provided so that the transport device 3 can load and transport the shelf 5 arranged at the temporary storage place by a forklift.
  • the transport device 3 transports the shelf 5 for which the picking operation has been completed after being transported from an area other than the first stage area 200A to the temporary storage location, and the shelf 5 is transported from the temporary storage location to the storage position 802 by a forklift. may be transported to an area where
  • the conveyor 203 conveys the shelf 5 in the second area 200B, but the method of conveying the shelf 5 in the second area 200B is limited to this.
  • a transport device that loads and transports shelves may be used instead of the conveyor 203.
  • the shelf 5 may be arranged on a platform in the section 251C so that the transport device can be slipped under the shelf 5 .
  • the present invention is applied to a transport system for picking work in a storeroom used by companies such as online shopping companies to store products.
  • a transport system for picking work in a storeroom used by companies such as online shopping companies to store products.
  • the present invention is not limited to this, and the present invention can also be applied to a transport system for transporting articles in factories, workshops, and the like other than such storages.
  • the object to be transported by the transport device 3 may be an object other than the shelf 5, such as a tray, box, pallet, or article.
  • the trays, boxes, and pallets may or may not contain articles (for example, when the trays, boxes, and pallets themselves are objects to be conveyed).
  • the work for such transported objects may be work other than picking, such as processing, assembly, packing, or inspection.
  • picking such as processing, assembly, packing, or inspection.
  • a transport system 1 includes a transport device 3 , a vertical transport machine 202 (an example of an inter-area transport machine), and a control device 4 .
  • the conveying device 3 conveys the goods arranged in the first area.
  • the vertical conveyor 202 moves the first shelf from the second area 200B (an example of the second area) located at a different height from the first area 200A (an example of the first area) to the first area 200A.
  • 5 (an example of the first conveyed object) is conveyed.
  • the control device 4 selects the first shelf 5 transported to the first stage area 200A by the vertical transport machine 202 from the first transport task for transporting the second shelf 5 arranged in the first stage area 200A.
  • the second transport task to transport is preferentially assigned to the transport device 3 .
  • S1604 is performed when S1603: YES in FIG. S1604 may be performed after referring to a portion of the table described in S1601 of FIG. 16, without S1602 and S1603.
  • the control device 4 is arranged in the first stage area 200A based on the transport management information, which is information including information related to transport by one or more transport devices 3 and information related to transport by the vertical transport machine 202.
  • the second transport task of transporting the first shelf 5 transported to the first stage area 200A by the vertical transport machine 202 is preferentially transferred to the transport device 3 from the first transport task of transporting the second shelf 5. may be assigned.
  • Each of the one or more transport devices 3 is a device that travels in the first stage area 200A of the multistage area 122 (an example of a plurality of areas respectively located at different heights), and according to the assigned transport task. It is a device for transporting the shelf 5 in the first stage area 200A. Shelf 5 is an example of an object that can be transported by transport device 3 . A plurality of shelves 5 are arranged in a plurality of areas 200A and 200B. The shelves 5 arranged in the second area 200B (an example of the second area) are conveyed from the second area 200B to the first area 200 by the vertical transfer machine 202 .
  • the control device 4 determines whether or not the occurrence of congestion is predicted based on the transport management information. When the result of the determination is true, the control device 4 performs priority control as control of one or a plurality of transport devices 3 .
  • Conveyance management information is information containing information on conveyance by one or a plurality of conveyance devices 3 and information on conveyance by the vertical conveyance machine 202.
  • Congestion means that the number of shelves 5 in the standby state that have been transported from the second stage area 200B to the first stage area 200A by the vertical transport machine 202 but not transported by the transport apparatus 3 is a predetermined number for the vertical transport machine 202.
  • N or more shelves 5 (N is a natural number) from the second-stage area 200B to the first-stage area 200A are in a standby state either or both outside and inside the vertical transfer machine 202 because M has been reached. is.
  • Priority control refers to at least one shelf being transported from the second-level area 200B to the first-level area 200A and waiting in the first-level area 200A rather than transporting the shelf 5 arranged in the first-level area 200A. This control gives priority to the transportation of one shelf 5 .
  • the vertical transfer machine 202 can transfer the shelf 5 arranged in an area other than the first stage area 200A among the multiple areas located at different heights from the area to the first stage area 200A.
  • the control device 4 determines whether or not the occurrence of traffic congestion is predicted based on the transportation management information, which is information including information on transportation by one or a plurality of transportation devices 3 and information on transportation by the vertical conveyor 202. can be determined. When the result of the determination is true, the control device 4 may perform priority control as control of one or a plurality of transport devices.
  • Congestion refers to a state in which the vertical conveyor 202 transports the goods 3 from an area other than the first stage area 200A to the first stage area 200A but the transport apparatus 3 does not transport the goods 3 in the first waiting state.
  • the standby state may be set until the vertical transporter 202 starts transporting outside the vertical transporter 202 or until the vertical transporter 202 completes transporting inside the vertical transporter 202 .
  • the “priority control” may be control that prioritizes transport of at least one shelf 5 in the first standby state over transport of other shelves 5 arranged in the first stage area 200A.
  • the control device 4 moves from the area other than the first stage area 200A to one It is determined whether or not the number of waiting items transported to the tier area 200A by the vertical transport machine 202 but not transported by the transport apparatus 3 reaches the first number for the vertical transport machine 202, and the result of the determination is true.
  • the first transport task of transporting the second shelf arranged in the first stage area 200A the first transport task of transporting the first shelf 5 transported to the first stage area 200A by the vertical transport machine 202 is executed. 2 transport tasks may be preferentially assigned to the transport device 3 .
  • the transport management information includes, for example, which shelf 5 is to be transported by which transport device 3, when to start transporting the shelf 5 to the first stage area 200A by the vertical transport machine 202, and the first stage from the second stage area 200B.
  • Information indicating the number of shelves 5 that have been transported to the eye area 200A but are waiting to be transported may be included.
  • transport management information may include information representing: As a result, it is expected that the prediction accuracy of the occurrence of traffic congestion will be improved and the possibility of traffic congestion will be reduced. - Allocation relationship between transport tasks and transport devices 3 .
  • Priority control may include: Since the transport task of the shelf 5 which is transported from the second stage area 200B to the first stage area 200A and is in a standby state in the first stage area 200A is assigned to the following target transport apparatus, the possibility of occurrence of congestion is reduced. There is expected. Conditions for the transport device 3 that can preferentially execute the task of transporting the shelf 5 in the waiting state in the first-stage area 200A after being transported from the second-stage area 200B to the first-stage area 200A based on the transport management information. is determined as the optimum transport device. Assigning the transport task of the shelf 5 in the standby state in the first stage area 200A to the determined optimal transport device.
  • the transport device A (an example of the first target transport device), which is the transport device 3 that satisfies the first condition, is identified based on the transport management information, the transport device A is designated as the optimum transport device. You can decide. In response to the controller 4 assigning the transport apparatus A to the first area 200A from the second area 200B and the task of transporting the shelf 5 waiting in the first area 200A, can perform the task. As a result, it is expected that the shelf 5 will be quickly transported from the buffer section 201B by the so-called empty transport device A, and that the possibility of traffic congestion will be reduced.
  • the first condition is a condition including: ⁇ Transport task is not assigned. - It is possible to transport the shelf 5 in the waiting state in the first stage area 200A from the second stage area 200B to the first stage area 200A before the congestion occurs.
  • Any transport device to which a transport task is not assigned may be regarded as the transport device A, and even in this case, it is expected that the possibility of traffic congestion will be reduced.
  • the transport Device B may be determined as the optimal transport device.
  • the controller 4 assigning the conveying task of the shelf 5 waiting in the first stage area 200A after the conveying apparatus B is conveyed from the second stage area 200B to the first stage area 200A, the following corresponding After transporting the shelf 5 to the position, the transport task may be executed. As a result, it is expected that the shelf 5 will be quickly transported from the buffer section 201B by the transport device B after the completion of the transport task, thereby reducing the possibility of traffic congestion.
  • a second condition is a condition that includes: ⁇ Before the traffic jam occurs, the shelf 5 is transported to the picking station (an example of the target position) according to the assigned transport task, and the shelf 5 is transported from the picking station to the relevant position of the shelf 5 in the first stage area 200A. transportation to is completed. Before the traffic jam occurs, after the shelf 5 is transported to the relevant position, the shelf 5 is transported from the second stage area 200B to the first stage area 200A and transported in the first stage area 200A in the standby state. is possible.
  • Any transport device that completes transporting the shelf 5 to the picking station in accordance with the assigned transport task may be the transport device B, and even in this case, a reduction in the possibility of traffic congestion is expected.
  • the transport Device C may be determined as the optimal transport device.
  • the controller 4 assigning the transport apparatus C to the first stage area 200A from the second stage area 200B to the first stage area 200A, the task of transporting the shelf 5 waiting in the first stage area 200A is performed.
  • the assigned transport task may be executed instead of the transport task for the shelf 5 arranged in the eye area 200A.
  • a third condition is a condition that includes: - A transport task for the shelf 5 arranged in the first stage area 200A has been assigned, but the transport of the shelf 5 has not started. - It is possible to transport the shelf 5 in the waiting state in the first stage area 200A from the second stage area 200B to the first stage area 200A before the congestion occurs.
  • any transport apparatus to which the task of transporting the shelf 5 arranged in the first stage area 200A has been assigned but which has not yet started transporting the shelf 5 may be the transport apparatus C. Even in this case, traffic congestion occurs. is expected to reduce the possibility of
  • the shelf 5 arranged in the second stage area 200B is conveyed from the arrangement position of the shelf 5 to the vertical conveying machine 202, and conveyed by the vertical conveying machine 202 from this area to the first stage area 200A.
  • the control device 4 may move down the processing order of transporting the shelf 5 arranged in the second stage area 200B to the vertical transport device 202 . This reduces the possibility of congestion even if a suitable transport device 3 for transporting the shelf 5 from the buffer section 201B cannot be found.
  • the control device 4 determines which of the plurality of areas the area in which the arrangement position of the shelf 5 exists for each of the plurality of shelves 5. may be determined.
  • the transport frequency may be the frequency of transporting the shelf 5 to the picking station in the first stage area 200A per unit time.
  • the control device 4 may determine, as the second-stage area 200B, an area in which the arrangement positions of the shelves 5 with a relatively low transportation frequency exist.
  • shelves 5 with low transportation frequency (order frequency) are arranged in the second stage area 200B, and as a result, it is expected that the frequency of transportation by the vertical conveyor is reduced and the probability of occurrence of traffic congestion is reduced.
  • the shelf 5 arranged in the second stage area 200B is transported from the arrangement position of the shelf 5 to the loading start position by the vertical transport machine 202, and the vertical transport machine 202 transports the goods transported to the loading start position. may be loaded and the transported article may be transported from the area to the first stage area 200A.
  • the control device 4 may cause the vertical transport machine 202 to wait in the area before the shelf 5 in the second stage area 200B reaches the loading start position in the area. As a result, the shelf 5 waits for the vertical transfer machine 202 for less time, which is expected to improve the transfer efficiency.
  • the controller 4 may control the vertical conveyor 202 to alternately perform (x) and (y) below.
  • the shelf 5 unloaded from the second-stage area 200B to the first-stage area 200A is returned to the second-stage area 200B after the picking operation, it is suppressed from remaining in front of the vertical conveyor in the first-stage area 200A.
  • (x) Transport the shelf 5 in the second stage area 200B to the first stage area 200A.
  • (y) Transport the shelf 5 in the first stage area 200A to the second stage area 200B.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Warehouses Or Storage Devices (AREA)

Abstract

L'invention concerne un système de transport comprenant : un dispositif de transport qui transporte un objet à transporter disposé dans une première zone ; un transporteur interzone qui transporte un premier objet à transporter dans la première zone à partir d'une seconde zone positionnée à une hauteur différente de la première zone ; et un dispositif de commande qui attribue préférentiellement, au dispositif de transport, une seconde tâche de transport pour utiliser le transporteur interzone pour transporter le premier objet à transporter vers la première zone, par rapport à une première tâche de transport pour transporter un second objet à transporter disposé dans la première zone.
PCT/JP2021/013411 2021-03-29 2021-03-29 Système et procédé de transport WO2022208634A1 (fr)

Priority Applications (2)

Application Number Priority Date Filing Date Title
PCT/JP2021/013411 WO2022208634A1 (fr) 2021-03-29 2021-03-29 Système et procédé de transport
JP2023509942A JP7454746B2 (ja) 2021-03-29 2021-03-29 搬送システム及び方法

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/JP2021/013411 WO2022208634A1 (fr) 2021-03-29 2021-03-29 Système et procédé de transport

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JP (1) JP7454746B2 (fr)
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Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2003252402A (ja) * 2002-02-28 2003-09-10 Daifuku Co Ltd 格納設備
JP2009541178A (ja) * 2006-06-19 2009-11-26 キヴァ システムズ，インコーポレイテッド 目録品を移送するシステムおよび方法
WO2015097736A1 (fr) * 2013-12-24 2015-07-02 株式会社日立製作所 Système de prelevement
US20160145045A1 (en) * 2014-11-24 2016-05-26 Amazon Technologies, Inc. Inventory system with efficient operator handling of inventory items
JP2020040774A (ja) * 2018-09-10 2020-03-19 株式会社日立製作所 搬送システム、搬送管理装置及び物流レイアウト

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2003252402A (ja) * 2002-02-28 2003-09-10 Daifuku Co Ltd 格納設備
JP2009541178A (ja) * 2006-06-19 2009-11-26 キヴァ システムズ，インコーポレイテッド 目録品を移送するシステムおよび方法
WO2015097736A1 (fr) * 2013-12-24 2015-07-02 株式会社日立製作所 Système de prelevement
US20160145045A1 (en) * 2014-11-24 2016-05-26 Amazon Technologies, Inc. Inventory system with efficient operator handling of inventory items
JP2020040774A (ja) * 2018-09-10 2020-03-19 株式会社日立製作所 搬送システム、搬送管理装置及び物流レイアウト

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