WO2023053493A1 - Picking assistance system and picking assistance robot - Google Patents

Picking assistance system and picking assistance robot Download PDF

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Publication number
WO2023053493A1
WO2023053493A1 PCT/JP2022/010432 JP2022010432W WO2023053493A1 WO 2023053493 A1 WO2023053493 A1 WO 2023053493A1 JP 2022010432 W JP2022010432 W JP 2022010432W WO 2023053493 A1 WO2023053493 A1 WO 2023053493A1
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WO
WIPO (PCT)
Prior art keywords
picking
article
information
item
rfid tag
Prior art date
Application number
PCT/JP2022/010432
Other languages
French (fr)
Japanese (ja)
Inventor
太郎 井川
裕之 深瀬
誠人 大西
Original Assignee
大王製紙株式会社
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 大王製紙株式会社 filed Critical 大王製紙株式会社
Publication of WO2023053493A1 publication Critical patent/WO2023053493A1/en

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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
    • 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 disclosure relates to a picking assist system and a picking assist robot.
  • Patent Literature 1 describes that a worker performs picking while viewing a picking order displayed on a display provided on a picking truck.
  • an object of one embodiment of the present invention is to provide a picking assist system and a picking assist robot capable of assisting a worker in picking articles efficiently.
  • a picking assist system includes a management server and a picking assist robot, wherein the picking assist robot includes a storage unit that stores an item with an RFID tag attached, and a An RFID reader having an antenna provided at a position where the RFID tag can be read when stored in the storage unit, a terminal that receives a picking instruction from the management server, and the storage unit and the RFID reader.
  • the management server provides a picking instruction for transmitting the picking instruction to the picking assistance robot a management unit, an information reception unit that receives the specific information and the unique information written in the RFID tag attached to the article read by the RFID reader, and based on the unique information, the picking and an article management unit that manages the article of interest.
  • the worker walks to the place where the picking assistant robot is waiting, and puts the article into the container while viewing the picking instructions displayed on the terminal device, thereby performing the picking at the picking place. Since the work can be completed, the worker can efficiently pick the articles.
  • unique information including information other than the type of the article is written in the RFID tag attached to the article to be picked. This unique information is also provided to the management server.
  • the management server As a result, on the host management server side, by using the unique information of the item to be picked, it is possible to carry out more detailed management, such as instructing the restocking of more appropriate items, identifying defective items, and instructing disposal. This makes picking work more efficient. Therefore, according to this aspect, it is possible to provide a picking assist system capable of assisting a worker to efficiently pick an article.
  • the item management unit may limit the items to be picked based on the specific information from among the items to be picked specified by the specific information. good.
  • the expiration date is set for the item to be picked, and the unique information written in the RFID tag attached to the item relates to the expiration date of the item. May contain information.
  • the item management department issues an order to replace the item with an item whose expiry date is near. It may be displayed on the terminal of the picking assistance robot.
  • the unique information written in the RFID tag attached to the article to be picked may include information on a sales promotion campaign.
  • the goods management department issues an order to change the goods to those targeted for the campaign if there are goods targeted for the campaign in addition to the picked goods among the goods targeted for picking. It may be displayed on the terminal of the picking assistance robot.
  • the unique information written in the RFID tag attached to the item to be picked may include information regarding the place of production or time of production of the item.
  • the product management unit when acquiring information on the occurrence of defective products, the product management unit, based on the unique information, if there is a product in the same production area or production period as the defective product in the group of products to be picked, the product It may be determined that there is a defective product in the group, and an instruction to pick the defective product may be displayed on the terminal of the picking assist robot.
  • a picking assist robot includes a storage unit that stores an item with an RFID tag attached, and a position where the RFID tag can be read when the item is stored in the storage unit.
  • An RFID reader having an antenna provided, a terminal for receiving a picking instruction from a management server, the storage unit and the RFID reader are mounted, and based on the information on the position of the article included in the picking instruction, the and a moving body that moves to a position where an article is placed, wherein the RFID tag attached to the article includes specific information for identifying the type of the article and information other than the type related to the article. and unique information including information is written, and the terminal transmits the specific information and the unique information written to the RFID tag attached to the article read by the RFID reader to the management server. and receives, from the management server, a command for limiting the items to be picked based on the specific information from among the items to be picked specified by the specific information.
  • the worker walks to the place where the picking assistant robot is waiting, and puts the article into the container while viewing the picking instructions displayed on the terminal device, thereby performing the picking at the picking place. Since the work can be completed, the worker can efficiently pick the articles.
  • unique information including information other than the type of the article is written in the RFID tag attached to the article to be picked. This unique information is also provided to the management server.
  • the management server As a result, on the host management server side, by using the unique information of the item to be picked, it is possible to carry out more detailed management, such as instructing the restocking of more appropriate items, identifying defective items, and instructing disposal. This makes picking work more efficient. Therefore, according to this aspect, it is possible to provide a picking assist robot capable of assisting a worker to efficiently pick an article.
  • FIG. 1 is an overall configuration diagram of a picking assist system according to an embodiment;
  • FIG. It is a sequence diagram showing the overall processing of the picking assist system of the embodiment.
  • It is a functional block diagram of a management server. It is an example of the screen displayed according to the embodiment. It is an example of a display screen of a tablet computer. It is an example of the screen displayed according to the embodiment.
  • 4 is a flow chart showing a first example of article re-pickup processing performed by an article management unit;
  • FIG. 11 is a flow chart showing a second example of article retake processing performed by the article management unit;
  • FIG. 6 is a flow chart showing an example of defective product disposal processing performed by an article management unit
  • 3 is a hardware configuration diagram of a management server and a tablet computer according to the embodiment
  • FIG. FIG. 11 is a functional block diagram of a picking assist system according to another embodiment
  • FIG. 10 is a diagram showing an example of a flowchart representing switching processing executed by the main body of the RFID reader
  • FIG. 4 is a diagram showing an example of a flowchart representing reading processing executed by a main body of an RFID reader
  • FIG. 4 is a diagram showing an example of a flowchart representing reading processing executed by a main body of an RFID reader
  • FIG. 1 A basic configuration of a picking assist system 1 according to an embodiment will be described with reference to FIGS. 1 to 7.
  • FIG. 1 A basic configuration of a picking assist system 1 according to an embodiment will be described with reference to FIGS. 1 to 7.
  • FIG. 1 A basic configuration of a picking assist system 1 according to an embodiment will be described with reference to FIGS. 1 to 7.
  • FIG. 1 A basic configuration of a picking assist system 1 according to an embodiment will be described with reference to FIGS. 1 to 7.
  • FIG. 1 is a side view showing the picking assist robot 100 of the embodiment.
  • the picking assistant robot 100 includes a carrier 110 , a frame 120 , boxes 130A and 130B, an RFID (Radio Frequency Identifier) reader 140 , a tablet computer 150 , a face authentication section 160 and a shielding section 170 .
  • RFID Radio Frequency Identifier
  • the picking assist robot 100 is used, for example, in a building such as a store, a distribution center, or a warehouse. It is a robot (device) that assists the work of doing things.
  • the left side indicated by the arrow in FIG. 1 is the front side of the picking assist robot 100
  • the right side in FIG. 1 is the rear side of the picking assist robot 100 .
  • forward and rearward directions in the traveling direction of the picking assist robot 100 are referred to as forward and backward directions.
  • the carrier 110 can travel forward, forward right, and forward left.
  • the goods are various products placed on shelves in buildings such as stores, distribution centers, warehouses, etc.
  • they may be various products such as clothes and daily necessities.
  • the article may also be pharmaceuticals such as oral medicines, injection drugs, or external therapeutic drugs, masks, or other medical clothing or equipment.
  • the transport vehicle 110 is an example of a moving object, and is realized by a so-called AGV (Automatic Guided Vehicle) as an example.
  • the transport vehicle 110 has a control unit configured by a computer.
  • the controller of the transport vehicle 110 can perform data communication with the tablet computer 150 through wired communication or wireless communication.
  • the control unit of the transport vehicle 110 moves the transport vehicle 110 to a predetermined position indicated by the position information transmitted from the tablet computer 150 according to the electronic map created for passages between shelves arranged in the building. .
  • the control unit of the transport vehicle 110 transmits an arrival notification to the tablet computer 150 indicating that the transport vehicle 110 has arrived at the predetermined position.
  • the location information may be obtained directly from the management server by wireless communication.
  • the frame 120 is attached to the carrier 110 and holds the boxes 130A, 130B, the RFID reader 140, the tablet computer 150, and the face authentication section 160.
  • the frame 120 has a frame body 121 and stays 122A and 122B.
  • the frame main body 121 is, for example, a rod-shaped member made of aluminum, and is attached with stays 122A and 122B made of iron, for example.
  • the stay 122A is attached to the upper end of the frame main body 121 and extends rearward, and holds the main body section 141 and antenna 142A of the RFID reader 140, the tablet computer 150, and the face authentication section 160. More specifically, the main body 141 of the RFID reader 140 is attached to the upper surface of the front end of the stay 122A, and the antenna 142 is attached to the lower surface of the center of the stay 122A in the front-rear direction.
  • the face authentication section 160 is attached to the rear end of the stay 122A.
  • the tablet computer 150 and the face authentication unit 160 are attached facing backward. This is to ensure the safety of the worker using the picking assist robot 100 since the picking assist robot 100 does not travel backward. In addition, when the safety of the worker can be reliably confirmed, it may be possible to move backward automatically or manually.
  • the stay 122B is attached near the middle of the frame body 121 in the vertical direction. Therefore, the stay 122B is positioned below the stay 122A.
  • a box 130A is attached to the upper surface of the stay 122B, and an antenna 142B of the RFID reader 140 is attached to the lower surface of the stay 122B.
  • Boxes 130A and 130B are examples of storage units, and store items picked by workers.
  • the boxes 130A and 130B are rectangular parallelepiped boxes, for example, and have inlets 131A and 131B with open tops.
  • the entrances 131A, 131B are where the articles must pass when they are put into the boxes 130A, 130B.
  • a configuration will be described in which an operator also takes out articles from boxes 130A and 130B through entrances 131A and 131B. Therefore, the entrances 131A and 131B are openings used as entrances and exits.
  • the boxes 130A, 130B may have dedicated ejection openings that are used only for ejection.
  • the box 130A is attached to the upper surface of the stay 122B as described above, and the box 130B is attached to the upper surface of the carrier 110.
  • Box 130A is located in the upper stage and box 130B is located in the lower stage.
  • a mode in which the box 130A is attached to the frame main body 121 with the stay 122A and the box 130B is attached to the upper surface of the carrier 110 will be described.
  • the boxes 130A and 130B may be attached in any manner.
  • a configuration in which picking assist robot 100 includes two boxes 130A and 130B is described, but the number of boxes may be one, or three or more.
  • the RFID reader 140 has a main body 141 and antennas 142A and 142B. Antennas 142A and 142B have downward directivity.
  • the main unit 141 is connected to antennas 142A and 142B, radiates radio waves having a frequency for reading RFID tags from the antennas 142A and 142B, and receives radio waves returned by the RFID tags.
  • RFID tags as an example, are passive and do not have batteries.
  • a unique article ID (Identifier) is stored in the memory of the IC (Integrated Circuit) of each RFID tag. emits a signal containing the item ID of the Main unit 141 reads the article ID included in the radio waves received by antennas 142A and 142B, and identifies each RFID tag.
  • the antenna 142A is located directly above the entrance 131A of the box 130A, and is arranged at a position where it can reliably read the RFID tags attached to the articles stored in the box 130A through the entrance 131A.
  • the antenna 142B is located directly above the entrance 131B of the box 130B, and is arranged at a position where the RFID tag attached to the article stored in the box 130B through the entrance 131B can be reliably read. .
  • a barcode when a barcode is attached to an item and read by a barcode reader, the barcode is read one by one, and multiple barcodes cannot be read at the same time.
  • an article is attached with an RFID tag, a plurality of RFID tags can be read at the same time. This allows the operator to efficiently and quickly perform the picking work in a short period of time.
  • the antennas 142A, 142B are provided on the lower side of the boxes 130A, 130B, when the article has a metal package such as an aluminum film, it is already housed in the box 130A, 130B.
  • the radio waves for reading emitted by the antennas 142A and 142B are blocked by the metal packaging of the articles, and the RFID tags of the articles passing through the entrances 131A and 131B of the boxes 130A and 130B may not be read.
  • the object contains liquid
  • the antennas 142A and 142B are provided below the boxes 130A and 130B, the liquid of the articles already stored in the boxes 130A and 130B causes the antennas 142A and 142B to radiate.
  • the radiation distribution of radio waves for reading may change, and the RFID tags of articles passing through the entrances 131A and 131B of the boxes 130A and 130B may not be read.
  • the antennas 142A and 142B are arranged directly above the boxes 130A and 130B, respectively, the boxes 130A and 130B already have metal packaging or the like or an article containing liquid. are stored, the antennas 142A, 142B can reliably read the RFID tags of the items stored in the boxes 130A, 130B through the entrances 131A, 131B. In addition, it is possible to suppress the occurrence of reading omissions.
  • the tablet computer 150 is a terminal that has a display and a touch panel and can be operated by touching an image such as a GUI (Graphic User Interface) displayed on the display.
  • the tablet computer 150 receives the picking instructions and the picking status from the management server 10 , displays them on the display, and transmits the item position information included in the picking instructions to the control unit of the carrier 110 .
  • the tablet computer 150 can use application software to display picking instructions and transmit location information to the vehicle 110 controller.
  • the tablet computer 150 receives from the RFID reader 140 the specific information read by the RFID reader 140 from the RFID tag. Tablet computer 150 transmits the specific information received from RFID reader 140 to the management server. In addition, tablet computer 150 associates the information identifying the worker acquired by face authentication unit 160 with the specific information read from the RFID tags attached to the articles housed in boxes 130A and 130B, and transmits the information to the management server. . This is because the work efficiency of each worker can be grasped by enabling the management server to manage which workers have received which articles.
  • the picking assist robot 100 includes a tablet computer 150
  • any computer terminal such as a smart phone or a notebook personal computer can be used.
  • the face authentication unit 160 acquires worker ID information that identifies the worker by performing face authentication of the worker.
  • a form in which the picking assist robot 100 includes a face authentication unit 160 in order to grasp the work efficiency of each worker in the management server will be described.
  • An authentication unit for identification may be used, or a reading device for reading an ID card or the like assigned to each worker may be used.
  • the picking assist robot 100 does not need to include an authentication unit for identifying a worker, such as the face authentication unit 160 or the like.
  • the worker acquired by the face authentication unit 160 is identified without being associated with the specific information read from the RFID tags attached to the articles housed in the boxes 130A and 130B.
  • the specified information may be managed by the server.
  • the shielding part 170 is a member that is made of a conductor and shields radio waves.
  • the shielding part 170 is provided between the box 130A and the antenna 142B, and prevents the antenna 142A from reading the RFID tag attached to the article housed in the box 130B. If the antenna 142B also has directivity in the upward direction, the shielding part 170 may be used to shield the antenna 142B from reading the RFID tag positioned above.
  • FIG. 2 is an overall configuration diagram of the picking assist system 1 of the embodiment.
  • the picking assist system 1 includes a management server 10 and a picking assist robot 100 .
  • the control unit 151 is shown by enlarging the tablet computer 150.
  • the control unit 151 is a control unit that performs all controls related to the operation of the tablet computer 150, and includes a CPU (Central Processing Unit), memory, and the like.
  • the worker who performs the picking operation puts the article 40 placed on the shelf in front of the picking assist robot 100 into the box 130A or 130B in a building such as a store, a distribution center, or a warehouse. Since one RFID tag 41 is attached to each item 40, the item ID of the RFID tag 41 attached to the item 40 is read by the antennas 142A and 142B when the item 40 is placed in the boxes 130A and 130B. be done.
  • the management server 10 transmits a picking instruction to the tablet computer 150 .
  • the picking instruction can include information on the position to which the picking assist robot 100 should move, the number of articles 40 that the worker should put in the box 130A or 130B, and the number of articles 40 that the worker should put in the box 130A or 130B. .
  • the position to which the picking assist robot 100 should move is the position where the article 40 is arranged or stored.
  • the management server 10 also transmits the picking status to the tablet computer 150 .
  • the picking status may include information on the number of each item 40 already placed in box 130A or 130B. Specifically, the management server 10 counts the number of each article 40 placed in the box 130A or 130B based on the specific information read from the RFID tag 41 by the RFID reader 140 .
  • the management server 10 is composed of one or more computers. Also, the management server 10 can transmit and receive data to and from the tablet computer 150 via any network 50 . Details of the management server 10 will be described later.
  • the tablet computer 150 receives the picking instructions and the picking status from the management server 10 and displays them on the display, and also transmits the position information included in the picking instructions to the control unit of the carrier 110 .
  • the transport vehicle 110 moves to the position indicated by the position information.
  • tablet computer 150 can use application software to display picking instructions and to transmit location information included in the picking instructions to the controller of vehicle 110 .
  • the worker walks to the position where the picking assist robot 100 is, confirms the type of the article 40 displayed on the tablet computer 150 and the position of the shelf, etc., picks the article 40, and puts it in the boxes 130A and 130B. .
  • the RFID reader 140 reads the specific information and unique information written in the RFID tag 41 .
  • the identification information is information for identifying the type of article to which the RFID tag 41 is attached.
  • a GS1 standard product identification code such as GTIN (Global Trade Item Number) used in existing barcode-based systems can be used.
  • the GTIN includes information such as the GS1 business code and product item code.
  • GTIN is sometimes called JAN code (Japanese Article Number) or EAN code (European Article Number).
  • “Inherent information” refers to information specific to an article attached to the RFID tag 41, other than the type. Specific examples of unique information include, for example, the place of production of the item, the time of production, and information on sales promotion campaigns (during campaigns, presence/absence of packaging for campaigns, etc.). In addition, when the article is food, the unique information can also include information on the expiration date of the food.
  • EPC Electronic Product Code
  • GTIN Serialized Global Trade Item Number
  • GTIN Serial number
  • GTIN product identification code
  • SGTNI serial number portion (corresponding to specific information) added to GTIN (corresponding to specific information) may be changed to arbitrary data.
  • the expiration date or the like of the registration information of the management server 10 may be specified from the serial number and returned to the tablet computer 150 .
  • the RFID reader 140 transmits the specific information and unique information read from the RFID tag 41 to the tablet computer 150 .
  • the tablet computer 150 receives specific information and unique information from the RFID reader 140 .
  • the tablet computer 150 transmits the specific information and unique information received from the RFID reader 140 to the management server 10 .
  • the tablet computer 150 outputs a response sound indicating that the article 40 is correct.
  • the tablet computer 150 receives the specific information and the unique information and determines that the article 40 is not the correct article 40 according to the picking instructions, it outputs a response sound indicating that the article 40 is not correct.
  • the worker can confirm whether the picking work he is doing is correct by the response sound.
  • the tablet computer 150 may display on the display a response display indicating that the article 40 is correct or incorrect, instead of or in addition to the response sound.
  • the picking assistance robot 100 includes a tablet computer 150 and an RFID reader 140.
  • the picking assist robot 100 includes two boxes 130A and 130B
  • the RFID reader 140 has two antennas 142A and 142B
  • the antennas 142A and 142B are arranged in the boxes 130A and 130B, respectively.
  • the worker may put the picked article 40 into either of the two boxes 130A and 130B, and may put the picked article 40 into either of the two boxes 130A and 130B according to the shipping destination or the like, for example. Also, when there are two shipping destinations, the two boxes 130A and 130B may be divided and used for the two shipping destinations.
  • the goods 40 are, as described above, various products placed on shelves in buildings such as stores, distribution centers, and warehouses.
  • An RFID tag 41 is attached to the article 40 .
  • the RFID tag 41 has an IC chip containing a memory in which specific information and unique information are written.
  • One RFID tag 41 is attached to each article 40 .
  • Attaching the RFID tag 41 to the article 40 means attaching the RFID tag 41 to the article 40.
  • the RFID tag 41 is attached to the article 40, sewn, or fixed with a strap or the like. means such as
  • the management server 10 associates the specific information and unique information written in the RFID tag 41 with the information of the article 40 to which the RFID tag 41 is attached and manages it. .
  • the management server 10 also manages information indicating in which of the boxes 130A and 130B of the picking assist robot 100 the RFID reader 140 is housed.
  • FIG. 3 is a sequence diagram showing the overall processing of the picking assist system 1 of the embodiment.
  • the management server 10 creates a map for guiding the picking assistance robot 100 (step S1).
  • the management server 10 transmits picking instruction data to the tablet computer 150 (step S2).
  • the picking instructions include the position to which the picking assist robot 100 should move (the position where the article 40 is stored), the article 40 to be put in the box 130A or 130B by the worker at that position, and the Information may include the number of items 40 to be placed in box 130A or 130B.
  • the tablet computer 150 transmits the position information included in the picking instruction received from the management server 10 to the control unit of the carrier 110 (step S2A).
  • the carrier 110 moves to a predetermined position included in the picking instruction (step S2B).
  • the predetermined position represents a position such as a shelf where the article 40 included in the picking instruction is arranged.
  • the picking assist robot 100 moves in front of the shelf or the like on which the article 40 included in the picking instruction is placed.
  • the control unit of the transport vehicle 110 notifies the tablet computer 150 of arrival at the predetermined position (step S2C).
  • the picking assist robot 100 waits at a predetermined position until receiving the next movement instruction. That is, the picking assist robot 100 waits in front of the shelf or the like on which the article 40 included in the picking instruction is located until the picking operation of the worker is completed. The worker can recognize that the place where the picking assist robot 100 is waiting around him/herself is the place where the picking work to be performed is present.
  • the tablet computer 150 When the tablet computer 150 receives the notification from the controller of the transport vehicle 110 indicating that it has arrived at the predetermined position in step S2C, the tablet computer 150 displays on the display the picking instruction received from the management server 10 in step S2 (step S3). ). The worker walks to the place where the picking assist robot 100 is waiting, and can perform the picking operation while viewing the picking instructions displayed on the tablet computer 150 of the picking assist robot 100 .
  • the RFID reader 140 reads the specific information and unique information written on the RFID tag 41 attached to each article 40 placed in the box 130A or 130B by the worker (step S4).
  • RFID reader 140 uses antennas 142A and 142B to read RFID tags 41 attached to articles 40 passing through entrances 131A and 131B of boxes 130A and 130B. Through the process of step S4, it is possible to acquire the specific information and unique information of the RFID tag 41 attached to the article 40 put into the boxes 130A and 130B by the worker.
  • the RFID reader 140 transmits the specific information and unique information read in step S4 and information for identifying the RFID reader 140 to the tablet computer 150 (step S5).
  • the tablet computer 150 transmits the specific information and unique information received in step S5 and information for identifying the RFID reader 140 to the management server 10 (step S6).
  • the management server 10 counts the number of each item 40 placed in the box 130A or 130B based on the specific information received in step S6 (step S7).
  • the management server 10 transmits the picking status data to the tablet computer 150 based on the number of each article 40 counted in step S7 (step S8).
  • the picking status may include information on the number of each item 40 already placed in box 130A or 130B.
  • the tablet computer 150 displays the picking status received in step S8 on the display (step S9).
  • the worker can determine whether or not to further put the articles 40 into the boxes 130A and 130B while observing the picking situation.
  • the management server 10 manages the goods 40 to be picked based on the unique information received in step S6 (step S10).
  • article management it is possible to further limit the articles 40 to be picked based on the specific information from among a group of articles to be picked specified by the specific information. Details of article management in step S10 will be described later with reference to FIGS. 8 to 10.
  • FIG. 10 Details of article management in step S10 will be described later with reference to FIGS. 8 to 10.
  • step S10 When the management server 10 determines that there are other items 40 to be picked first in step S10 for each item 40 counted in step S7, that is, each item 40 placed in the box 130A or 130B, a command to pick up the article again is sent to the tablet computer 150 (step S11).
  • the tablet computer 150 displays on the display the article pick-up instruction received in step S11. The worker can perform the work of putting another article 40 back into the boxes 130A and 130B in response to such a re-pickup command.
  • FIG. 4 is a functional block diagram of the management server 10.
  • the management server 10 includes a picking instruction management unit 101, a picking instruction storage unit 102, a map creation unit 103, an information reception unit 104, a count unit 105, a picking status management unit 106, and an article management unit 107. be prepared.
  • the management server 10 can function as a picking instruction management unit 101, a map creation unit 103, an information reception unit 104, a count unit 105, a picking situation management unit 106, and an article management unit 107 by executing programs. . Each of these will be described below.
  • the tablet computer 150 may have some or all of the functions of the management server 10.
  • the tablet computer 150 can include means for receiving picking instructions (also referred to as a picking instruction receiving section), an information receiving section 104 , a counting section 105 , and a picking status management section 106 .
  • the picking instruction management unit 101 transmits picking instruction data to the tablet computer 150 .
  • the picking instruction management unit 101 starts transmitting picking instruction data.
  • the picking instruction includes the position to which the picking assist robot 100 should move (the position of the shelf where the article 40 is stored), the article 40 to be put in the box 130A or 130B by the worker at that position, Information may include the number of items 40 that the operator should place in box 130A or 130B.
  • the picking instruction management unit 101 also stores picking instruction data in the picking instruction storage unit 102 .
  • the picking instruction storage unit 102 stores picking instruction data transmitted to the tablet computer 150 .
  • a screen showing a picking instruction displayed on the tablet computer 150 will be described below with reference to FIG.
  • FIG. 5 is an example of a screen displayed according to the embodiment. Boxes 130A and 130B are indicated as A and B on the screen shown in FIG.
  • the position to which the picking assistant robot 100 should move (the position of the shelf where the article 40 is stored, also called "picking place") can be displayed.
  • the name of the article 40 (to be picked) to be put into the box 130A or 130B by the worker at that location and the image of the article 40 (for example, stored in a distribution center or the like). an image of the item 40 when it is on) may be displayed. Also, as shown in FIG.
  • the number of articles 40 that the worker should put in the box 130A or 130B (in the example of FIG. 5, the number to be put in the boxes 130A and 130B) can be displayed. . Also, as shown in FIG. 5, the date on which the picking work is being performed (work day), the identifier of the worker (worker ID), the name of the worker (worker name), and the total number of articles 40 to be picked. Among them, the number of completed pickings (completed number/total number of items), the elapsed time (elapsed time/target time) of the target time until the picking is completed, and the like may be displayed. The operator can see the screen as shown in FIG. 5 to know how many pieces of which article 40 should be picked at which place. In addition, when it is specified which of the boxes 130A and 130B the article 40 should be placed in, the worker looks at the screen as shown in FIG. You can know immediately.
  • a list indicating one or more articles 40 that the worker should put in the boxes 130A and 130B and the number of each article 40 that the worker should put in the boxes 130A and 130B may be displayed. good.
  • a screen showing instructions for picking for each of the boxes 130A and 130B displayed on the tablet computer 150 will be described below with reference to FIG.
  • FIG. 6 is an example of the display screen of the tablet computer 150.
  • FIG. FIG. 6 shows, as an example, display contents regarding the article 40 to be put in the box 130A.
  • the screen in FIG. 6 can be displayed.
  • one or more items 40 may be displayed for the operator to place in box 130A.
  • the number of each item 40 that the operator should put in the box 130A can be displayed.
  • the destination (destination) to which the article 40 is to be shipped, the total number of articles 40 to be put in the box 130A (the number of items), the shipping date, and the like may be displayed. The operator can see the screen as shown in FIG. 6 and know how many pieces of which article 40 should be picked for each of the boxes 130A and 130B.
  • the information receiving unit 104 receives from the tablet computer 150 specific information and unique information read from the RFID tag 41 by the RFID reader 140 and information for identifying the RFID reader 140 .
  • information receiving section 104 receives the specific information and the information for identifying RFID reader 140, information receiving section 104 notifies map creating section 103 and counting section 105 thereof. Also, upon receiving the unique information, the information receiving section 104 notifies the article management section 107 of it.
  • the map creation unit 103 performs map creation processing. Specifically, the map creating unit 103 creates a map for guiding the picking assist robot 100 .
  • map creation at the time of starting picking and map creation during picking will be described separately.
  • the map creation unit 103 generates a shortest route (route) passing through all locations where the articles 40 instructed to be put into the box 130A or 130B by the worker are stored.
  • the map creation unit 103 displays the generated route, the next picking location (that is, the picking location to which the picking assistant robot 100 should go next), and all the picking locations on the layout diagram of each shelf in the distribution center. Create a map that clearly indicates .
  • the picking assist robot 100 moves to each picking location according to the location information included in the picking instructions received by the tablet computer 150 from the management server 10 and the map created by the map creation unit 103 .
  • the map creation unit 103 displays the route generated when picking is started, the next picking location (that is, the next picking location after the picking location where picking is completed), and all Create a map that clearly shows the picking locations of Note that the map creation unit 103 can also regenerate a new route without using the route generated at the start of picking.
  • the map creation unit 103 When there are a plurality of picking assist robots 100, the map creation unit 103 generates a plurality of picking assist robots 100 based on the picking status of the plurality of picking assist robots 100 both at the start of picking and during picking.
  • a route may be generated so that robots 100 do not collide (for example, multiple picking assistant robots 100 do not pass through the same passage in the same direction or in opposite directions at the same time or within a predetermined time). Also, the current locations and routes (routes) of the plurality of picking assist robots 100 may be clearly indicated on the map.
  • the map creation unit 103 can generate a route (path) that avoids shelves crowded by other picking assist robots 100 .
  • a screen showing a map displayed on the tablet computer 150 will be described below with reference to FIG.
  • FIG. 7 is an example of a screen displayed according to the embodiment. For example, when the screen in FIG. 5 is tapped, the screen in FIG. 7 can be displayed. As shown in FIG. 7, a map showing the route, the next picking location, and all the picking locations can be displayed on the layout of each shelf in a distribution center or the like.
  • the counting unit 105 performs picking number counting processing. Specifically, the counting unit 105 refers to the picking instructions stored in the picking instruction storage unit 102 and identifies the number of each item 40 instructed to be placed in the box 130A or 130B by the worker. Also, the counting section 105 counts the number of each article 40 placed in the box 130A or 130B based on the specific information received from the information receiving section 104 . Specifically, when the counting unit 105 receives the specific information from the information receiving unit 104, the article 40 with the RFID tag 41 in which the specific information is written is placed in the box 130A or 130B. to decide.
  • the counting unit 105 counts the number of articles 40 that have already been placed in the box 130A or 130B, based on the instructed number and the counted number. Judging whether there is an excess or deficiency in the number of Specifically, the counting unit 105 determines that there is a shortage of the articles 40 when the instructed number is greater than the counted number, and determines that the picking is completed when the instructed number is the same as the counted number. If the indicated number is less than the counted number, then the article 40 is determined to be in excess.
  • counting unit 105 determines whether article 40 is detected based on the specific information, information for identifying RFID reader 140, and information indicating which of antennas 142A and 142B RFID reader 140 has read the specific information. It can be determined which of the boxes 130B, 130B has been placed.
  • the picking status management unit 106 transmits picking status data to the tablet computer 150 based on the number of each item 40 counted by the counting unit 105 .
  • the picking status may include information on the number of each item 40 already placed in box 130A or 130B.
  • the display of the picking status on the screen showing the picking instruction will be described with reference to FIGS. 5 and 6.
  • the number of articles 40 that the worker should put in the box 130A or 130B can be displayed (see the denominator of the fraction).
  • the number of items 40 already placed in box 130A or 130B may be displayed (see numerator of fraction).
  • the excess or deficiency of the number of items already placed in the box 130A or 130B with respect to the number of items instructed to be placed in the box 130A or 130B can be displayed. For example, it can be displayed in such a way that the worker can easily identify that the item 40 is in short supply, that the picking has been completed, and that the item 40 is in excess. For example, if the goods 40 are in short supply, no check may be added, if the picking is completed, a check may be added, and if the goods 40 are excessive, an X mark may be added. .
  • the number of one or more items 40 that the worker should put in the box 130A can be displayed.
  • the number of each article 40 that has already been put in the box 130A can be displayed.
  • the excess or deficiency of the number already put in the box 130A with respect to the number instructed to put in the box 130A can be displayed. For example, it may be displayed in such a way that the worker can easily identify that the item 40 is in short supply, that the picking has been completed, and that the item 40 is in excess.
  • the item management unit 107 manages items to be picked based on the unique information received from the information receiving unit 104 . Specifically, when the item management unit 107 receives the unique information from the information receiving unit 104, the item 40 with the RFID tag 41 written with what kind of unique information is placed in the box 130A or 130B. determine whether Then, it can be determined whether or not the article to be picked in the box 130A or 130B is appropriate.
  • the item management unit 107 sends a pick-up command to the tablet computer 150 when there is another item more suitable than the item to be picked in the box 130A or 130B.
  • the item management unit 107 determines that there is an item whose expiration date is near in addition to the picked item (the item 40 placed in the box 130A or 130B) in the item group to be picked.
  • the tablet computer 150 is caused to display an instruction to replace the article 40 with one whose expiry date is near.
  • a command window 152 regarding a retake command based on the expiration date is displayed on the screen of the tablet computer 150 showing the picking command.
  • a message is displayed in the command window 152 for the item 40 placed in the box 130B, saying, "There is another item whose expiry date is near, so please pick it up again.”
  • the item management unit 107 determines that there is an item targeted for the campaign in addition to the picked item (the item 40 placed in the box 130A or 130B) in the item group to be picked.
  • the tablet computer 150 is caused to display a command to redeem the item 40 for the campaign target.
  • a command window 153 regarding a retake command based on the campaign information is displayed on the screen of the tablet computer 150 indicating the picking command.
  • a message is displayed in the command window 153 for the item 40 placed in the box 130A or 130B, stating, "There is another item in the campaign package, so please pick it up again.”
  • FIG. 8 is a flow chart showing a first example of the item restocking process performed by the item management unit 107.
  • FIG. 8 In the first example of the article pick-up process shown in FIG. 8, a pick-up instruction is issued based on the expiry date described above.
  • step S101 information about the expiration date of the picked item 40 is obtained from the unique information of the item 40 picked.
  • step S102 the expiration date information of the same type of item group as the picked item 40 is compared with the information acquired in step S101.
  • the management server 10 has a database that stores unique information about each item in the item group stored on a shelf or the like. A configuration for acquiring information is conceivable.
  • step S103 it is determined whether or not there is an item closer to the expiration date than the picked items 40 based on the comparison result in step S102. If there are other items close to the expiry date (Yes in step S103), the process proceeds to step S104, and an article pick-up instruction is displayed on the tablet computer 150, such as the instruction window 152 illustrated in FIG.
  • step S103 if there is no item closer to the expiration date than the picked items 40 (No in step S103), it is determined that an appropriate item has been picked, and the control flow continues without issuing a pick-up command in step S104. exit.
  • items that are subject to a recall order based on the expiration date shown in the flow chart of Fig. 8 include general items that are affected by changes over time.
  • items for which an expiration date can be set such as medicines, batteries, and daily necessities, may be used as target articles.
  • FIG. 9 is a flow chart showing a second example of the item restocking process performed by the item management unit 107.
  • FIG. 9 In the second example of the article pick-up process shown in FIG. 9, a pick-up instruction is issued based on the campaign information described above.
  • step S201 campaign information is acquired from the unique information of the picked item 40.
  • step S202 based on the campaign information acquired in step S201, it is determined whether or not the picked item 40 is a campaign target product.
  • a campaign target product includes, for example, a product package printed with campaign information or a campaign-related sticker or label affixed, which is visually different from normal products.
  • step S202 If the picked item 40 is a campaign target item (Yes in step S202), it is determined that an appropriate item has been picked, and this control flow ends without performing the following processing.
  • step S203 acquire campaign information for a group of items of the same type as the picked item 40.
  • the management server 10 has a database that stores unique information about each item in the item group stored on the shelf or the like, similar to the description of step S102 in FIG. A configuration in which the article management unit 107 acquires necessary information from this database is conceivable.
  • step S204 based on the information acquired in step S203, it is determined whether or not there is a campaign target product in the group of products of the same type as the picked product 40. If there are other products to be campaigned (Yes in step S204), the process proceeds to step S205, and an article pick-up instruction is displayed on the tablet computer 150, such as the instruction window 153 illustrated in FIG. On the other hand, if there is no campaign target product in the same type of product group as the picked product 40 (No in step S204), this control flow ends without issuing a pick-up command in step S205.
  • the operator issues a command to pick up the article again.
  • the article management unit 107 it is also possible to configure the article management unit 107 to issue a command before picking. For example, when the picking instruction transmitted by the picking instruction management unit 101 includes a command related to unique information such as an expiration date and a campaign target product, and the picking instruction is displayed on the tablet computer 150 (step S3 in FIG. 3). In addition, a command related to specific information may also be displayed.
  • the configuration using the information on the expiration date and the campaign information as the unique information for determining the execution of the product pick-up processing was exemplified. may be configured to use unique information.
  • the item management unit 107 can also perform processing other than issuing a command to pick a more appropriate item as illustrated in FIGS. 8 and 9, as long as the processing uses unique information. For example, if there are defective items in a group of items stored on a shelf or the like, it is possible to issue a command to pick up and dispose of these defective items. Description will be made with reference to FIG. 10 below.
  • FIG. 10 is a flowchart showing an example of defective product disposal processing performed by the product management unit 107.
  • the unique information includes information on the place of production or time of production of the product.
  • step S301 defective product occurrence information for the same type of product as the product group to be picked is acquired.
  • Defective product occurrence information is input from the outside of the management server 10, for example.
  • step S302 information such as the place of production and the time of production is acquired from the unique information of the group of items to be picked.
  • the management server 10 has a database that stores unique information about each article in the group of articles stored on a shelf or the like. A configuration is conceivable in which necessary information is obtained from this database.
  • step S303 the defective product acquired in step S301 is compared with the information on the place of production and production time of the product group acquired in step S302.
  • step S304 based on the comparison result in step 303, it is determined whether or not there is an item in the same place of production or in the same production period as the defective item in the group of items to be picked that are currently stored on shelves or the like. .
  • step S304 If there is an item in the product group that has the same place of production and production time as the defective product (Yes in step S304), the process proceeds to step S305, and the defective product is selected from the product group to be picked that is stored on a shelf or the like.
  • the tablet computer 150 displays a defective product discard command indicating that the defective product is to be picked and discarded.
  • step S304 if there is no product in the same place of production or in the same production period as the defective product in the group of products (No in step S304), the group of products to be picked that are currently stored on the shelf or the like does not include the defective product. It is determined that there is no defective product disposal command in step S305, and this control flow ends.
  • the antennas 142A and 142B of the RFID reader 140 can collectively read a plurality of RFID tags 41, allowing the worker to efficiently and quickly perform the picking work in a short time.
  • the work efficiency can be greatly improved by being able to read them collectively.
  • articles 40 include medicines such as oral medicines, injections, or topical remedies, masks, or other medical clothing or equipment.
  • the face authentication unit 160 authenticates the worker, it is possible to grasp the work volume and work efficiency of each worker.
  • the picking assist robot 100 waits in front of the shelf without moving until the completion operation is performed and the worker ID information is acquired by face authentication, it moves in accordance with the worker's intention. Thereby, it is possible to improve the working efficiency.
  • the picking assist robot 100 moves when the completion operation is performed and the worker ID information is acquired by face authentication, the work efficiency can be improved by moving in accordance with the worker's intention. can be done.
  • the picking assist robot 100 moves in front of the shelf or the like on which the article 40 is arranged according to the picking instruction for the article 40 located at a position different from the current position, so that the operator's intention is met. By moving, work efficiency can be improved.
  • the antennas 142A and 142B are arranged right above the boxes 130A and 130B, respectively, even if the boxes 130A and 130B already contain articles having metal packaging or the like or articles containing liquid, the antennas RFID tags on items contained in boxes 130A, 130B can be reliably read through entrances 131A, 131B at 142A, 142B. In addition, it is possible to suppress the occurrence of reading omissions.
  • the antennas 142A and 142B are provided at the entrances 131A and 131B of the boxes 130A and 130B, the articles 40 whose RFID tags 41 are read can surely be put into the boxes 130A and 130B. This eliminates the need for confirming work, and improves work efficiency.
  • the RFID tags 41 of the articles 40 to be put into the boxes 130A and 130B can be detected. can be reliably read.
  • the shielding part 170 is provided between the box 130A and the antenna 142B, it is possible to prevent the antenna 142A from reading the RFID tag attached to the article housed in the box 130B. In other words, the antennas 142A and 142B can accurately read the articles 40 placed in the boxes 130A and 130B, and reading errors can be suppressed.
  • the picking assist system 1 includes a management server 10 and a picking assist robot 100 .
  • the picking assist robot 100 includes boxes 130A and 130B that store articles 40 with RFID tags 41 attached thereto, and antennas that are provided at positions where the RFID tags 41 can be read when the articles 40 are stored in the boxes 130A and 130B.
  • 142A, 142B a tablet computer 150 that receives picking instructions from the management server; boxes 130A, 130B and RFID reader 140; , and a vehicle 110 that moves to a position where the article 40 is to be placed.
  • "specific information" for specifying the type of the article 40 and "unique information" including information other than the type related to the article 40 are written.
  • the management server 10 includes a picking instruction management unit 101 that transmits a picking instruction to the picking assistant robot 100, and specific information and unique information written in the RFID tag 41 attached to the article 40 read by the RFID reader 140. and an article management section 107 that manages the article 40 to be picked based on the unique information.
  • the picking assist system 1 of the present embodiment enables the worker to efficiently pick the article 40 .
  • the RFID tag 41 attached to the article 40 to be picked has information other than the type of the article 40 in addition to the "specific information" for specifying the type of the article 40. is written, and this unique information is also provided to the management server 10 at the time of picking.
  • the picking assistance system 1 of the present embodiment can assist the worker in picking articles efficiently.
  • the article management unit 107 preferably limits the articles to be picked based on the specific information from among the picking target article group 40 specified by the specific information. . With this configuration, it becomes easier to guide the worker to pick the appropriate article 40, and the picking operation can be made more efficient.
  • an expiration date is set for the item 40 to be picked, and the unique information written in the RFID tag 41 attached to the item includes information regarding the expiration date of the item.
  • the item management unit 107 issues a command to retake the item with an item whose expiration date is near if there is an item whose expiration date is near in addition to the picked item in the item group to be picked. is preferably displayed on the tablet computer 150 of the picking assist robot 100 .
  • the unique information written in the RFID tag 41 attached to the item 40 to be picked preferably includes information on a sales promotion campaign.
  • the item management unit 107 issues a command to retake the item for the campaign if there is an item for the campaign in addition to the picked item in the item group for the picking target. is preferably displayed on the tablet computer 150 of the picking assist robot 100 .
  • the unique information written in the RFID tag 41 attached to the item 40 to be picked preferably includes information about the place of production or the time of production of the item 40 .
  • the product management unit 107 after obtaining the information on the occurrence of defective products in the product 40, the product management unit 107, based on the unique information, if there is a product in the group of products to be picked that is produced in the same place of production or in the same production period as the defective product, , it is preferable to determine that there is a defective product in the product group, and display a command to pick up the defective product on the tablet computer 150 of the picking assist robot 100 .
  • FIG. 11 is a hardware configuration diagram of the management server 10 and the tablet computer 150 of the embodiment.
  • the management server 10 and the tablet computer 150 have a CPU (Central Processing Unit) 1001 , a ROM (Read Only Memory) 1002 and a RAM (Random Access Memory) 1003 .
  • the CPU 1001, ROM 1002, and RAM 1003 form a so-called computer.
  • the management server 10 and the tablet computer 150 have an auxiliary storage device 1004 , a display device 1005 , an operation device 1006 , an I/F (Interface) device 1007 and a drive device 1008 .
  • the hardware of the management server 10 and tablet computer 150 are interconnected via a bus 1009 .
  • the CPU 1001 is an arithmetic device that executes various programs installed in the auxiliary storage device 1004 .
  • the ROM 1002 is a non-volatile memory.
  • the ROM 1002 functions as a main storage device that stores various programs, data, etc. necessary for the CPU 1001 to execute various programs installed in the auxiliary storage device 1004 .
  • the ROM 1002 functions as a main storage device that stores boot programs such as BIOS (Basic Input/Output System) and EFI (Extensible Firmware Interface).
  • BIOS Basic Input/Output System
  • EFI Extensible Firmware Interface
  • the RAM 1003 is a volatile memory such as DRAM (Dynamic Random Access Memory) or SRAM (Static Random Access Memory).
  • the RAM 1003 functions as a main storage device that provides a work area that is developed when various programs installed in the auxiliary storage device 1004 are executed by the CPU 1001 .
  • the auxiliary storage device 1004 is an auxiliary storage device that stores various programs and information used when various programs are executed.
  • the display device 1005 is a display device that displays the internal states of the management server 10 and the tablet computer 150.
  • the operation device 1006 is an input device for the administrator of the management server 10 and tablet computer 150 to input various instructions to the management server 10 and tablet computer 150 .
  • the I/F device 1007 is a communication device that connects to the network 50 and communicates with the management server 10 and the tablet computer 150 .
  • a drive device 1008 is a device for setting a storage medium 1010 .
  • the storage medium 1010 here includes media such as CD-ROMs, flexible disks, magneto-optical disks, etc., which record information optically, electrically, or magnetically.
  • the storage medium 1010 may also include a semiconductor memory that electrically records information such as an EPROM (Erasable Programmable Read Only Memory), a flash memory, or the like.
  • auxiliary storage device 1004 Various programs to be installed in the auxiliary storage device 1004 are installed by, for example, setting the distributed storage medium 1010 in the drive device 1008 and reading the various programs recorded in the storage medium 1010 by the drive device 1008. be done. Alternatively, various programs installed in the auxiliary storage device 1004 may be installed by being downloaded from another network different from the network 50 via the I/F device 1007 .
  • FIG. 12 is a functional block diagram of a picking assist system 1A according to another embodiment.
  • FIG. 12 shows the transport vehicle 110, the RFID reader 140, the tablet computer 150, and the management server 10 included in the picking assistance system 1A.
  • the transport vehicle 110, the RFID reader 140, and the tablet computer 150 included in the picking assist robot 100 are configured to be able to communicate with each other via a communication cable or the like.
  • the tablet computer 150 and the management server 10 are configured to communicate wirelessly via the network 50 (see FIG. 2).
  • the carrier 110 has a control device 111 and a motor 112 .
  • the control device 111 is a control unit implemented by a computer including a CPU, RAM, ROM, input/output interface, internal bus, and the like.
  • Motor 112 is an example of a power source.
  • the control device 111 acquires the position information of the article from the tablet computer 150 , it generates a drive signal indicating to drive the motor 112 and outputs it to the motor 112 . As a result, the motor 112 is driven, and the picking assist robot 100 moves toward the position indicated by the article position information.
  • the drive signal may be generated by the tablet computer 150 based on the position information of the article and output to the control device 111 .
  • the picking assist robot 100 may perform position control using a LIDAR (light detection and ranging) sensor.
  • LIDAR light detection and ranging
  • the control device 111 When the article reaches the position represented by the position information, the control device 111 generates a drive signal indicating that the motor 112 should be stopped and outputs it to the motor 112 . As a result, the motor 112 is stopped, and the picking assist robot 100 stops at the position indicated by the article position information. Picking is performed by a worker at the position indicated by the position information of the article.
  • the tablet computer 150 When the tablet computer 150 detects that picking has ended while the motor 112 is stopped, the tablet computer 150 notifies the control device 111 of the detection of the end of picking, and the control device 111 drives the motor 112. A drive signal indicating that is output to the motor 112 .
  • the tablet computer 150 detects that the picking has ended, for example, when the tablet computer 150 determines that the operator has performed a completion operation, when the tablet computer 150 determines that the operator ID has been acquired, or This is when the specific information and the worker ID information are associated with each other and transmitted to the management server 10 .
  • the control device 111 When the picking assist robot 100 moves to the position represented by the item position information according to the electronic map, the control device 111 generates a drive signal indicating to stop the motor 112 and outputs it to the motor 112 . As a result, the motor 112 stops at the position indicated by the article position information.
  • the electronic map may be stored in the memory of the control device 111 .
  • the control device 111 outputs a drive signal to the motor 112 and to the RFID reader 140 .
  • a drive signal representing driving of the motor 112 is a signal whose voltage value and current value of the drive signal input to the motor 112 have predetermined signal levels.
  • the motor 112 is driven by a drive signal indicating that the motor 112 should be driven.
  • a drive signal indicating to stop the motor 112 is a signal whose voltage value and current value of the drive signal input to the motor 112 are lower than a predetermined signal level.
  • the motor 112 is not driven by the drive signal indicating that the motor 112 should be stopped.
  • the drive signal representing stopping the motor 112 may be a signal with a signal level of zero. In this case, the output of the drive signal indicating to stop the motor 112 is synonymous with the non-output of the drive signal indicating to drive the motor 112 .
  • the main unit 141 of the RFID reader 140 controls the operation of the RFID antennas 142A and 142B according to the control command from the tablet computer 150, reads the specific information contained in the radio waves received by the RFID antennas 142A and 142B, and reads each RFID. It is a control device for identifying the tag 41 .
  • the body part 141 of the RFID reader 140 has a switching control part 141A and an accommodation determination part 141B.
  • the main unit 141 is a control unit implemented by a computer including a CPU, RAM, ROM, input/output interface, internal bus, and the like.
  • the main unit 141 may have the same configuration as the computers of the management server 10 and the tablet computer 150 shown in FIG. 141 A of switching control parts and the accommodation determination part 141B show the function (function) of the program which the main-body part 141 runs as a functional block.
  • the switching control unit 141A switches the antennas 142A and 142B of the RFID reader 140 to a readable state when a stop condition indicating that the transport vehicle 110 has stopped is satisfied, and switches the RFID reader 140 to a readable state when a termination condition indicating that picking is completed is satisfied.
  • antennas 142A and 142B are switched to a non-readable state.
  • the switching control unit 141A determines whether the stop condition is satisfied and the termination condition is satisfied based on the drive signal input from the control device 111 of the transport vehicle 110 . More specifically, the switching control unit 141A determines that the stop condition is satisfied when a drive signal indicating to stop the motor 112 is input, and drives the motor 112 when the stop condition is satisfied. When a drive signal indicating that is input, it is determined that the termination condition is satisfied.
  • the drive signal input from the control device 111 of the transport vehicle 110 to the switching control unit 141A is the same as the drive signal input from the control device 111 to the motor 112 in the transport vehicle 110 .
  • the stop condition is satisfied when the picking assist robot 100 arrives at the position represented by the position information and a drive signal indicating that the motor 112 is stopped is input to the switching control unit 141A. This is because when the worker picks, the picking assist robot 100 stops when it reaches the position indicated by the position information.
  • the readable state of the antennas 142A and 142B is a state in which the antennas 142A and 142B are outputting radio waves for reading in order to read the RFID tag 41 .
  • the end condition indicating that picking has ended is satisfied when picking at the position indicated by the position information is finished and a drive signal indicating that the motor 112 is to be driven is input to the switching control section 141A. This is because, when picking at the position indicated by the position information is completed, the picking assist robot 100 moves toward the next picking position.
  • the reason why the switching control unit 141A determines whether the stop condition is met or whether the end condition is met is to determine whether the picking assist robot 100 is moving, so as not to read unnecessary RFID tags 41 during movement. This is because the antennas 142A and 142B of the RFID reader 140 are switched to the non-readable state in order to enable the reading.
  • the unreadable state is, for example, a state in which the antennas 142A and 142B are not outputting radio waves for reading, or a state in which the antennas 142A and 142B are outputting radio waves for reading but the output of the radio waves is sufficiently low. In this state, the RFID tag 41 cannot be read. Further, the unreadable state may be a state in which radio waves for reading output from the antennas 142A and 142B are blocked by an object that blocks radio waves. Since the picking assist robot 100 runs in buildings such as stores, distribution centers, and warehouses, it passes places where many different items 40 that are not to be picked are placed during movement. In such a case, in order to avoid reading unnecessary RFID tags 41, the switching control unit 141A switches the antennas 142A and 142B of the RFID reader 140 to a non-readable state when determining that the end condition is satisfied.
  • the power consumption of the RFID reader 140 can be reduced.
  • the reduction in power consumption extends the operable time, so that the worker can efficiently pick up articles.
  • the switching control unit 141A determines whether the stop condition is satisfied when a predetermined time has passed since the drive signal indicating to stop the motor 112 was input to the motor 112 .
  • the predetermined time is one second, for example.
  • the predetermined time is not limited to one second, and may be set to an appropriate time depending on usage conditions.
  • the switching control unit 141A inputs a drive signal to the motor 112 indicating that the motor 112 should be stopped. It is determined that the stop condition is established when a predetermined time has passed since the start. Note that if there is no operational problem even if the predetermined time does not pass, the switching control unit 141A sets the stop condition may be determined to be established.
  • the switching control unit 141A disables the reading of the antennas 142A and 142B of the RFID reader 140 in a standby state in which the transport vehicle 110 waits to receive an instruction to move to the position of the article included in the picking instruction.
  • a drive signal is input to the motor 112 to drive the motor 112 in the standby state, the antennas 142A and 142B of the RFID reader 140 are held in a read-disabled state.
  • the standby state is a state in which the transport vehicle 110 stops before all picking starts and waits for an instruction to move the item to the position included in the picking instruction.
  • the antennas 142A and 142B of the RFID reader 140 are set to a non-readable state.
  • the antennas 142A and 142B of the RFID reader 140 are kept in a non-readable state in order to eliminate unnecessary reading during movement.
  • the switching control unit 141A may be provided outside the main unit 141, and may be provided in the tablet computer 150, for example.
  • the tablet computer 150 may switch the antennas 142A and 142B between the readable state and the unreadable state based on the drive signal, or switch the readable state and the unreadable state based on the position information included in the picking instruction. You can switch.
  • ⁇ Accommodation determination unit 141B> When the RFID reader 140 reads the same RFID tag 41 a predetermined number of times or more within a predetermined time, the accommodation determination unit 141B determines that the article 40 attached with the RFID tag 41 is stored in the box 130A or 130B. , adds the article 40 to which the RFID tag 41 is attached to the storage list. Note that the accommodation determination unit 141B is not limited to the case where the same RFID tag 41 is read more than a predetermined number of times within a predetermined time. If it is read, it may be determined that the item 40 with the RFID tag 41 is stored in the box 130A or 130B.
  • the accommodation determination unit 141B determines whether the RFID tag 41 is read for the second time or later. Ignore read.
  • the specific information read from the RFID tag 41 attached to the article 40 determined to be stored in the box 130A or 130B by the storage determining unit 141B is transmitted to the tablet computer 150 by the main unit 141 together with the identification information of the RFID reader 140. be done.
  • Information indicating which of the antennas 142 A and 142 B has read the RFID tag 41 is added to the identification information of the RFID reader 140 .
  • This information is antenna identification information that identifies antennas 142A and 142B.
  • the accommodation determination unit 141B ignores the RFID tag 41 read by the RFID reader 140 when the counting unit 154 is in the cancel mode.
  • the cancel mode is a mode that can be used by the worker when taking out the article 40 housed in the box 130A or 130B. In the cancel mode, the worker can operate the tablet computer 150 to decrease the number of articles 40 counted.
  • the antenna 142A or 142B may pass through the opening 131A or 131B and the RFID tag 41 may be read. Even if the RFID tag 41 is read in the enabled state, the read RFID tag 41 is ignored. As a result, it is possible to prevent the count number of the articles 40 from increasing when the articles 40 are taken out from the box 130A or 130B.
  • the accommodation determination unit 141B ignores the re-reading. This is to determine whether or not to ignore the reading when the article 40 with the specific information already registered in the accommodation list is read again. This is to prevent double counting when the worker takes out the article 40 from the box 130A or 130B and returns it to the shelf.
  • the accommodation determination unit 141B determines that the article 40 attached with the RFID tag 41 is placed in the boxes 130A and 130B. determined to have been accommodated. For this reason, if the same RFID tag 41 attached to the article 40 determined to be stored in the boxes 130A and 130B is read more than a predetermined number of times within a predetermined period of time, the storage determination unit 141B It is not determined that the article 40 with the RFID tag 41 is stored in the boxes 130A and 130B.
  • accommodation determination unit 141B may be provided outside the body unit 141 of the RFID reader 140, and may be provided in the tablet computer 150, for example.
  • tablet computer 150 may determine whether article 40 has been placed in boxes 130A and 130B based on the readings of antenna 142A or 142B.
  • the tablet computer 150 includes a control section 151 as shown in FIG.
  • the control unit 151 is a portion of the tablet computer 150 that includes the CPU 1001, ROM 1002, RAM 1003, auxiliary storage device 1004, and drive device 1008 shown in FIG.
  • the control unit 151 has a counting unit 154.
  • the counting unit 154 refers to the picking instructions or inventory-taking instructions received from the management server 10 and counts the number of each article 40 instructed to be placed in the box 130A or 130B by the worker. Also, the counting unit 154 counts the number of each article 40 accommodated in the box 130A or 130B based on the specific information received from the RFID reader 140 .
  • the function of the counting section 154 is the same as that of the counting section 105 shown in FIG.
  • the counting unit 154 may be provided outside the tablet computer 150, or may be provided in the main body 141 of the RFID reader 140, for example.
  • the main unit 141 may count the articles 40 based on information indicating which of the antennas 142A and 142B has read the specific information.
  • control unit 151 for example, outputs the position information of the article included in the picking instruction received from the management server 10 to the transport vehicle 110, and notifies the RFID reader 140 of the mode information representing the mode of the tablet computer 150. and perform the processing to be performed.
  • the modes of the tablet computer 150 indicated by the mode information include a picking count mode and a cancel mode.
  • the picking count mode is a mode for counting the number of pickings, and the control unit 151 selects the picking count mode according to the picking instruction received from the management server 10 .
  • the cancel mode is a mode that can be used by the worker when taking out the article 40 stored in the box 130A or 130B, as described above. In the cancel mode, the worker can operate the tablet computer 150 to decrease the number of articles 40 counted.
  • the cancel mode is selected by, for example, the worker operating a cancel button displayed on the operation screen of the tablet computer 150 .
  • FIG. 13 is a diagram showing an example of a flowchart representing a switching process executed by main unit 141 of RFID reader 140 .
  • the switching control unit 141A sets the antennas 142A and 142B in a read-disabled state in a standby state (step S401).
  • the standby state is transport vehicle 1 10 is waiting to receive an instruction to move to the location of the item 40 included in the picking instruction.
  • the state before the process starts and the carrier 110 moves is a standby state, in which there is no need to read the RFID tag 41. Therefore, in order to reduce power consumption, the switching control unit 141A uses the antenna 142A and 142B to the unreadable state.
  • the switching control unit 141A determines whether or not a drive signal indicating to drive the motor 112 has been received (step S402). This is for determining whether the carrier 110 moves. If the switching control unit 141A determines that the drive signal indicating to drive the motor 112 has not been received (S402: NO), the switching control unit 141A continues the processing of step S402 until the drive signal indicating to drive the motor 112 is received. repeatedly.
  • the switching control unit 141A determines that the drive signal indicating to drive the motor 112 has been received (S402: YES)
  • the switching control unit 141A receives the drive signal indicating to stop the motor 112 and stops the motor 112. It is determined whether or not a predetermined time has passed since the drive signal representing is received (step S403). This is because, when stopped, the antennas 142A and 142B are switched to a readable state.
  • the predetermined time is one second as an example.
  • step S403 If the switching control unit 141A determines that the predetermined time has not passed since the drive signal indicating to stop the motor 112 was received (S403: NO), the switch control unit 141A receives the drive signal indicating to stop the motor 112. After that, the process of step S403 is repeatedly executed until a predetermined time elapses. Note that while the transport vehicle 110 is moving, the antennas 142A and 142B are kept unreadable so as not to read unnecessary RFID tags 41 .
  • the switching control unit 141A determines that a predetermined time has passed after receiving the drive signal indicating to stop the motor 112 (S403: YES), it switches the antennas 142A and 142B to the readable state (step S404). This is for picking and inventory.
  • the switching control unit 141A determines whether or not a drive signal indicating to drive the motor 112 has been received (step S405). If the switching control unit 141A determines that the drive signal indicating to drive the motor 112 has not been received (S405: NO), the switching control unit 141A continues the processing of step S405 until the drive signal indicating to drive the motor 112 is received. repeatedly.
  • the switching control unit 141A determines that it has received a drive signal indicating to drive (S405: YES), it switches the antennas 142A and 142B to the unreadable state (step S406). This is to prevent unnecessary RFID tags 41 from being read while the transport vehicle 110 is moving.
  • the switching control unit 141A determines whether to end (step S407). It ends, for example, when all picking or inventory is completed and the power of the picking assist robot 100 is turned off.
  • FIG. 14 and 15 are diagrams showing an example of a flow chart representing reading processing executed by the main unit 141 of the RFID reader 140.
  • FIG. The accommodation determination unit 141B of the main unit 141 executes the processing shown in FIG. 14 and the processing shown in FIG. 15 in parallel.
  • the accommodation determination unit 141B sets the reading time T and the threshold value of the reading number N (step S501).
  • the main body 141 reads the RFID tag 41 by radiating radio waves for reading from the antennas 142A and 142B every 1/200 second.
  • the reading time T is 5 seconds
  • the threshold value of the number of times N of reading is 40 times as an example. That is, when the same RFID tag 41 is read 40 times or more in 5 seconds, the accommodation determination unit 141B determines that the article 40 with the RFID tag 41 is stored in the box 130A or 130B.
  • the reading time T and the threshold value of the number of times of reading N are set to appropriate values according to the time required for the worker to manually put the article 40 into the box 130A or 130B and the number of times the RFID tag 41 is read. You can set it.
  • the time and number of times described above are examples, and may be set to appropriate values according to the shape and size of the picking assist robot 100, the height of the shelf, the size or weight of the article 40, and the like.
  • the conditions defined by the reading time T and the threshold value of the number of readings N are the reading conditions. It should be noted that which box 130A or 130B contains the data depends on which antenna 142A or 142B is used to read the data.
  • the accommodation determination unit 141B determines whether the antennas 142A and 142B are in a readable state (step S502). This is because the RFID tag 41 can be read in the readable state.
  • the accommodation determination unit 141B determines that it is not in a readable state (S502: NO)
  • it repeatedly executes the process of step S502 until it determines that it is in a readable state (S502: YES).
  • step S503 When the accommodation determination unit 141B determines that it is readable (S502: YES), it starts reading (step S503).
  • the accommodation determination unit 141B determines whether the mode of the count unit 154 is the cancel mode (step S504). This is because in the cancel mode, even if the RFID tag 41 is read, it is ignored.
  • the accommodation determination unit 141B determines whether it is not in the cancel mode (S504: NO), it determines whether the specific information of the read RFID tag 41 is in the accommodation list (step S505).
  • the storage list is a list (data in table format) in which specific information about the articles 40 determined to be stored in the box 130A or 130B by the storage determination unit 141B is registered.
  • the accommodation determination unit 141B determines that the specific information of the read RFID tag 41 is not in the accommodation list (S505: NO), the item 40 to which the read RFID tag 41 is attached, the read time stamp, and the time The stamp update count is stored in the temporary memory (step S506).
  • Temporary memory is a portion of memory 141D, such as RAM 1003 shown in FIG. It should be noted that the accommodation determination unit 141B starts counting the reading time T for the RFID tag 41 when the RFID tag 41 whose specific information is not included in the accommodation list is read for the first time.
  • the reason why the accommodation determination unit 141B uses the time stamp of the time when the RFID tag 41 whose specific information is not in the accommodation list is read is that the reading time T is counted when the RFID tag 41 whose specific information is not in the accommodation list is read for the first time. It is only when starting, and the time stamps obtained from the second and subsequent readings are not particularly used.
  • the accommodation determination unit 141B determines that the read specific information of the RFID tag 41 is in the accommodation list (S505: YES), it ignores the read specific information of the RFID tag 41 (step S507).
  • step S504 determines that the cancel mode is set in step S504 (S504: YES)
  • the RFID tag 41 including the specific information is not read. Ignore (step S508). This is because the item 40 of the specific information specified in the cancel mode is the item that the worker decided to return to the shelf.
  • the accommodation determination unit 141B stores the specific information and the like in the temporary memory in step S506 when the specific information of the read RFID tag 41 is not in the accommodation list, and when the RFID tag 41 is read for the first time.
  • the accommodation determination unit 141B ignores the specific information of the RFID tag 41 in step S507. Ignoring the specific information means that the RFID tag 41 is read and the specific information is acquired, but the number of reading times is simply counted without being stored in the temporary memory or added to the accommodation list. say.
  • the accommodation determination unit 141B determines whether or not there is an RFID tag 41 for which the reading time T has passed and the reading count N is equal to or greater than the threshold value (step S601).
  • the accommodation determination unit 141B can calculate the reading time T and the reading count N by using the "timestamp" and the "timestamp update count” stored in the temporary memory in step S506 of FIG. 14, for example. can.
  • whether or not the reading time T has elapsed may be determined by determining whether or not the elapsed time from the start of counting in step S506 has reached the reading time T.
  • the time stamp is not updated in the first reading, and counting of the number of time stamp updates is started in the second and subsequent readings.
  • the read count N is one more than the timestamp update count. Therefore, whether or not the read count N is equal to or greater than the threshold is determined by determining whether there is an RFID tag 41 whose read count N is equal to or greater than the threshold, which is obtained by adding 1 to the time stamp update count stored in the temporary memory in step S506 described above. Judge.
  • the accommodation determination unit 141B determines that there is no RFID tag 41 for which the reading time T has passed and the number of times of reading N is equal to or greater than the threshold value (S601: NO)
  • the accommodation determination unit 141B deletes the specific information of the RFID tag 41 from the temporary memory (step S602). ). This is because it does not satisfy the reading conditions, so it is deleted from the temporary memory to prepare for the next determination.
  • the accommodation determination unit 141B determines that there is an RFID tag 41 whose reading time T has passed and the number of times of reading N is equal to or greater than the threshold value (S601: YES), it determines whether or not the specific information is in the accommodation list (step S603). . This determination process is provided to prevent double counting when the worker takes out the article 40 from the box 130A or 130B and returns it to the shelf.
  • step S601 the RFID tag 41 determined that the reading time T has elapsed and the number of times of reading N is equal to or greater than the threshold. is deleted from the temporary memory and added to the accommodation list (step S604). Since the conditions for reading were met, it was decided to add it to the containment list and register it.
  • step S603 determines in step S603 that the condition that the specific information is in the accommodation list is satisfied (S603: YES)
  • step S601 determines in step S601 that the reading time T has elapsed and the number of times of reading N is equal to or greater than the threshold value.
  • the specific information of the received RFID tag 41 is ignored (step S605). This is to prevent double counting when the worker takes out the article 40 from the box 130A or 130B and returns it to the shelf.
  • step S602 After finishing the process of step S602, S604, or S605, the accommodation determination unit 141B ends the series of processes (end).
  • a management server a picking assistant robot, with The picking assistance robot is a storage unit that stores an article attached with an RFID tag; an RFID reader having an antenna provided at a position where the RFID tag can be read when the article is stored in the storage unit; a terminal that receives a picking instruction from the management server; a moving body on which the storage section and the RFID reader are mounted and which moves to a position where the article is placed based on information regarding the position of the article included in the picking instruction; has Specific information for specifying the type of the article and unique information including information other than the type related to the article are written in the RFID tag attached to the article,
  • the management server is a picking instruction management unit that transmits the picking instruction to the picking assistance robot; an information receiving unit that receives the specific information and the unique information written in the RFID tag attached to the article read by the RFID reader; an article management unit that manages the article to be picked based on the unique information; having Picking assistance system.
  • the item management unit limits items to be picked based on the unique information from among the items to be picked specified by the specific information.
  • the picking assistance system of Claim 1. (Appendix 3) An expiration date is set for the goods, The unique information includes information on the expiration date of the item, Based on the unique information, the article management unit, if there is an article whose expiry date is near in addition to the picked article in the article group to be picked, retakes the article with an article whose expiry date is near. causing a command to be displayed on the terminal; 2.
  • the picking assistance system according to Appendix 2.
  • the unique information includes information about promotional campaigns; Based on the unique information, if there is an item targeted for the campaign in addition to the picked item in the item group to be picked, the item management unit designates the item as the target item for the campaign. causing the terminal to display a retake command; A picking assistance system according to Appendix 2 or 3. (Appendix 5)
  • the unique information includes information on the place of production or the time of production of the item, When the article management unit acquires the information on the occurrence of defective articles, the article management unit includes an article group to be picked based on the unique information that has the same production place or production period as the defective article.
  • the picking assistance system according to any one of appendices 1-4.
  • the picking assistance robot is Switching the antenna of the RFID reader to a readable state when a stop condition indicating that the moving object has stopped is satisfied, and switching the antenna of the RFID reader to a non-readable state when a termination condition indicating that the picking is completed is satisfied. having a switching control unit, A picking assistance system according to any one of appendices 1 to 5.
  • the picking assistance robot is When the same RFID tag is read by the RFID reader a predetermined number of times or more within a predetermined time, or when the RFID tag is read by the RFID reader with a radio wave intensity equal to or greater than a predetermined strength within a predetermined time, Having a storage determination unit that determines that an article with an RFID tag is stored in the storage unit, A picking aid system according to any one of appendices 1-6.
  • (Appendix 8) a storage unit that stores an article attached with an RFID tag; an RFID reader having an antenna provided at a position where the RFID tag can be read when the article is stored in the storage unit; a terminal that receives a picking instruction from the management server; a moving body on which the storage section and the RFID reader are mounted and which moves to a position where the article is placed based on information regarding the position of the article included in the picking instruction; has Specific information for specifying the type of the article and unique information including information other than the type related to the article are written in the RFID tag attached to the article, The terminal device transmits the specific information and the unique information written in the RFID tag attached to the article read by the RFID reader to the management server, and receives the specific information from the management server. Receiving a command to limit the items to be picked based on the unique information from among the identified items to be picked; Picking assistance robot.

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Abstract

This picking assistance system comprises a management server and a picking assistance robot. In an RFID tag attached to an article to be picked, "identification information" for identifying the type of the article and "unique information" including information related to the article 40 other than the type are written. The management server has: a picking instruction management unit that transmits picking instructions to the picking assistance robot; an information reception unit that receives the identification information and unique information written in the RFID tag attached to the article as read by the RFID reader of the picking assistance robot; and an article management unit that manages the articles to be picked on the basis of the unique information.

Description

ピッキング補助システム及びピッキング補助ロボットPicking assistance system and picking assistance robot
　本開示は、ピッキング補助システム及びピッキング補助ロボットに関する。 The present disclosure relates to a picking assist system and a picking assist robot.
　従来、物流センタ等に保管されている物品を注文に応じて出荷する際に、人が物流センタ等内の物品の中から出荷する物品を選んで取り出すピッキング作業が知られている。例えば、特許文献１には、作業者が、ピッキング台車に備えられた表示器に表示されるピッキングオーダーを見てピッキングすることが記載されている。 Conventionally, when shipping goods stored in a distribution center or the like in accordance with an order, a picking operation is known in which a person selects and takes out the goods to be shipped from among the goods in the distribution center or the like. For example, Patent Literature 1 describes that a worker performs picking while viewing a picking order displayed on a display provided on a picking truck.
実開平７－１５６２２号公報Japanese Utility Model Laid-Open No. 7-15622
　しかしながら、従来のピッキング台車は自走式ではないため、作業を行いたい場所に作業者がピッキング台車を移動させる必要があり、作業者が作業を効率的に行うことができない。 However, since conventional picking carts are not self-propelled, workers have to move the picking cart to the place where they want to work, which prevents workers from working efficiently.
　そこで、本発明の一実施形態では、作業者が物品のピッキングを効率的に行えるように補助可能なピッキング補助システム及びピッキング補助ロボットを提供することを目的とする。 Therefore, an object of one embodiment of the present invention is to provide a picking assist system and a picking assist robot capable of assisting a worker in picking articles efficiently.
　本発明の実施形態の一観点に係るピッキング補助システムは、管理サーバと、ピッキング補助ロボットと、を備え、前記ピッキング補助ロボットは、ＲＦＩＤタグが付された物品を収容する収容部と、前記物品が前記収容部に収容される際に前記ＲＦＩＤタグを読み取り可能な位置に設けられたアンテナを有するＲＦＩＤリーダと、ピッキングの指示を前記管理サーバから受信する端末機と、前記収容部及び前記ＲＦＩＤリーダが搭載され、前記ピッキングの指示に含まれる物品の位置に関する情報に基づき、前記物品が配置される位置に移動する移動体と、を有し、前記物品に付された前記ＲＦＩＤタグには、当該物品の種類を特定するための特定情報と、当該物品に係る前記種類以外の情報を含む固有情報とが書き込まれており、前記管理サーバは、前記ピッキングの指示を前記ピッキング補助ロボットに送信するピッキング指示管理部と、前記ＲＦＩＤリーダが読み取った物品に付されている前記ＲＦＩＤタグに書き込まれている前記特定情報と前記固有情報とを受信する情報受信部と、前記固有情報に基づいて、前記ピッキングの対象の前記物品の管理を行う物品管理部と、を有する。 A picking assist system according to an aspect of an embodiment of the present invention includes a management server and a picking assist robot, wherein the picking assist robot includes a storage unit that stores an item with an RFID tag attached, and a An RFID reader having an antenna provided at a position where the RFID tag can be read when stored in the storage unit, a terminal that receives a picking instruction from the management server, and the storage unit and the RFID reader. and a moving body that is mounted and moves to a position where the item is placed based on the information about the location of the item included in the picking instruction, and the RFID tag attached to the item includes the item specific information for specifying the type of the article and unique information including information other than the type related to the article are written, and the management server provides a picking instruction for transmitting the picking instruction to the picking assistance robot a management unit, an information reception unit that receives the specific information and the unique information written in the RFID tag attached to the article read by the RFID reader, and based on the unique information, the picking and an article management unit that manages the article of interest.
　この態様によれば、作業者は、ピッキング補助ロボットが待機している場所に歩いて行き、端末機に表示されるピッキングの指示を見ながら物品を収容部に入れることで、そのピッキング場所におけるピッキング作業を完了することができるので、作業者に物品のピッキングを効率的に行わせることが可能となる。また、ピッキングの対象の物品に付されたＲＦＩＤタグには、当該物品の種類を特定するための特定情報に加えて、当該物品に係る種類以外の情報を含む固有情報が書き込まれており、ピッキングの際にはこの固有情報も管理サーバに提供される。これにより、上位の管理サーバ側において、ピッキングの対象の物品の固有情報を利用して、例えばより適切な物品の取り直し指示や、不良品の判別や廃棄指示など、よりきめ細かな管理を行うことが可能となり、ピッキング作業をより効率的にできる。したがって、この態様によれば、作業者が物品のピッキングを効率的に行えるように補助可能なピッキング補助システムを提供できる。 According to this aspect, the worker walks to the place where the picking assistant robot is waiting, and puts the article into the container while viewing the picking instructions displayed on the terminal device, thereby performing the picking at the picking place. Since the work can be completed, the worker can efficiently pick the articles. In addition to specific information for identifying the type of the article, unique information including information other than the type of the article is written in the RFID tag attached to the article to be picked. This unique information is also provided to the management server. As a result, on the host management server side, by using the unique information of the item to be picked, it is possible to carry out more detailed management, such as instructing the restocking of more appropriate items, identifying defective items, and instructing disposal. This makes picking work more efficient. Therefore, according to this aspect, it is possible to provide a picking assist system capable of assisting a worker to efficiently pick an article.
　本発明の実施形態の他の観点に係るピッキング補助システムでは、物品管理部は、特定情報により特定されるピッキングの対象の物品群の中から、固有情報に基づきピッキングすべき物品を限定してもよい。 In the picking assistance system according to another aspect of the embodiment of the present invention, the item management unit may limit the items to be picked based on the specific information from among the items to be picked specified by the specific information. good.
　この態様によれば、作業者により適切な物品をピッキングするよう誘導することが容易となり、ピッキング作業をより効率的にできる。 According to this aspect, it becomes easier to guide the worker to pick the appropriate article, and the picking work can be made more efficient.
　本発明の実施形態の他の観点に係るピッキング補助システムでは、ピッキング対象の物品には消費期限が設定され、当該物品に貼付されるＲＦＩＤタグに書き込まれている固有情報は、物品の消費期限に関する情報を含んでもよい。この場合、物品管理部は、固有情報に基づき、ピッキングの対象の物品群の中でピッキングされた物品の他に消費期限が近いものがある場合に、物品を消費期限が近いものに取り直す指令をピッキング補助ロボットの端末機に表示させてもよい。 In the picking assist system according to another aspect of the embodiment of the present invention, the expiration date is set for the item to be picked, and the unique information written in the RFID tag attached to the item relates to the expiration date of the item. May contain information. In this case, based on the specific information, if there is an item whose expiry date is near in addition to the picked item among the items to be picked, the item management department issues an order to replace the item with an item whose expiry date is near. It may be displayed on the terminal of the picking assistance robot.
　この態様によれば、ピッキングの対象の物品群の中から消費期限が近いものを優先的にピッキングさせることが可能となり、ピッキングの効率化に加えて、食品ロスなどの物品の無駄の低減にも貢献できる。 According to this aspect, it is possible to preferentially pick items whose expiry date is near from among a group of items to be picked, and in addition to improving the efficiency of picking, it is also possible to reduce waste of items such as food loss. can contribute.
　本発明の実施形態の他の観点に係るピッキング補助システムでは、ピッキング対象の物品に貼付されるＲＦＩＤタグに書き込まれている固有情報は、販売促進のキャンペーンに関する情報を含んでもよい。この場合、物品管理部は、固有情報に基づき、ピッキングの対象の物品群の中でピッキングされた物品の他にキャンペーンの対象のものがある場合に、物品をキャンペーンの対象のものに取り直す指令をピッキング補助ロボットの端末機に表示させてもよい。 In a picking assistance system according to another aspect of the embodiment of the present invention, the unique information written in the RFID tag attached to the article to be picked may include information on a sales promotion campaign. In this case, based on the specific information, the goods management department issues an order to change the goods to those targeted for the campaign if there are goods targeted for the campaign in addition to the picked goods among the goods targeted for picking. It may be displayed on the terminal of the picking assistance robot.
　この態様によれば、ピッキングの対象の物品群が販売促進のキャンペーンの期間中の場合に、キャンペーン対象商品を優先的にピッキングさせることが可能となり、ピッキングの効率化に加えて、販売促進のキャンペーンをより効果的に行うことが可能となる。 According to this aspect, when a group of goods to be picked is in the period of a sales promotion campaign, it is possible to preferentially pick the goods targeted for the campaign. can be performed more effectively.
　本発明の実施形態の他の観点に係るピッキング補助システムでは、ピッキング対象の物品に貼付されるＲＦＩＤタグに書き込まれている固有情報は、物品の生産地または生産時期に関する情報を含んでもよい。この場合、物品管理部は、物品の不良品発生の情報を取得すると、固有情報に基づきピッキングの対象の物品群の中に不良品と同一の生産地または生産時期のものがある場合に、物品群の中に不良品があると判定し、不良品をピッキングする指令をピッキング補助ロボットの端末機に表示させてもよい。 In the picking assistance system according to another aspect of the embodiment of the present invention, the unique information written in the RFID tag attached to the item to be picked may include information regarding the place of production or time of production of the item. In this case, when acquiring information on the occurrence of defective products, the product management unit, based on the unique information, if there is a product in the same production area or production period as the defective product in the group of products to be picked, the product It may be determined that there is a defective product in the group, and an instruction to pick the defective product may be displayed on the terminal of the picking assist robot.
　この態様によれば、物品の不良品発生の情報を取得した場合に、棚等に保管されている物品群の中の不良品の有無を迅速に判定でき、また、不良品が有る場合には迅速に除外できるので、不良品の廃棄処理を効率よく行うことができる。 According to this aspect, when information on the occurrence of defective articles is acquired, it is possible to quickly determine the presence or absence of defective articles in a group of articles stored on a shelf or the like. Since it can be excluded quickly, it is possible to efficiently dispose of defective products.
　本発明の実施形態の一観点に係るピッキング補助ロボットは、ＲＦＩＤタグが付された物品を収容する収容部と、前記物品が前記収容部に収容される際に前記ＲＦＩＤタグを読み取り可能な位置に設けられたアンテナを有するＲＦＩＤリーダと、ピッキングの指示を管理サーバから受信する端末機と、前記収容部及び前記ＲＦＩＤリーダが搭載され、前記ピッキングの指示に含まれる物品の位置に関する情報に基づき、前記物品が配置される位置に移動する移動体と、を有し、前記物品に付された前記ＲＦＩＤタグには、当該物品の種類を特定するための特定情報と、当該物品に係る前記種類以外の情報を含む固有情報とが書き込まれており、前記端末機は、前記ＲＦＩＤリーダが読み取った物品に付されている前記ＲＦＩＤタグに書き込まれている前記特定情報と前記固有情報とを前記管理サーバに送信し、前記管理サーバから、前記特定情報により特定される前記ピッキングの対象の物品群の中から、前記固有情報に基づきピッキングすべき物品を限定する指令を受信する。 A picking assist robot according to an aspect of an embodiment of the present invention includes a storage unit that stores an item with an RFID tag attached, and a position where the RFID tag can be read when the item is stored in the storage unit. An RFID reader having an antenna provided, a terminal for receiving a picking instruction from a management server, the storage unit and the RFID reader are mounted, and based on the information on the position of the article included in the picking instruction, the and a moving body that moves to a position where an article is placed, wherein the RFID tag attached to the article includes specific information for identifying the type of the article and information other than the type related to the article. and unique information including information is written, and the terminal transmits the specific information and the unique information written to the RFID tag attached to the article read by the RFID reader to the management server. and receives, from the management server, a command for limiting the items to be picked based on the specific information from among the items to be picked specified by the specific information.
　この態様によれば、作業者は、ピッキング補助ロボットが待機している場所に歩いて行き、端末機に表示されるピッキングの指示を見ながら物品を収容部に入れることで、そのピッキング場所におけるピッキング作業を完了することができるので、作業者に物品のピッキングを効率的に行わせることが可能となる。また、ピッキングの対象の物品に付されたＲＦＩＤタグには、当該物品の種類を特定するための特定情報に加えて、当該物品に係る種類以外の情報を含む固有情報が書き込まれており、ピッキングの際にはこの固有情報も管理サーバに提供される。これにより、上位の管理サーバ側において、ピッキングの対象の物品の固有情報を利用して、例えばより適切な物品の取り直し指示や、不良品の判別や廃棄指示など、よりきめ細かな管理を行うことが可能となり、ピッキング作業をより効率的にできる。したがって、この態様によれば、作業者が物品のピッキングを効率的に行えるように補助可能なピッキング補助ロボットを提供できる。 According to this aspect, the worker walks to the place where the picking assistant robot is waiting, and puts the article into the container while viewing the picking instructions displayed on the terminal device, thereby performing the picking at the picking place. Since the work can be completed, the worker can efficiently pick the articles. In addition to specific information for identifying the type of the article, unique information including information other than the type of the article is written in the RFID tag attached to the article to be picked. This unique information is also provided to the management server. As a result, on the host management server side, by using the unique information of the item to be picked, it is possible to carry out more detailed management, such as instructing the restocking of more appropriate items, identifying defective items, and instructing disposal. This makes picking work more efficient. Therefore, according to this aspect, it is possible to provide a picking assist robot capable of assisting a worker to efficiently pick an article.
　本開示によれば、作業者が物品のピッキングを効率的に行えるように補助可能なピッキング補助システム及びピッキング補助ロボットを提供することができる。 According to the present disclosure, it is possible to provide a picking assist system and a picking assist robot capable of assisting a worker to efficiently pick an article.
実施形態のピッキング補助ロボットを示す側面図である。It is a side view which shows the picking assistance robot of embodiment. 実施形態のピッキング補助システムの全体の構成図である。1 is an overall configuration diagram of a picking assist system according to an embodiment; FIG. 実施形態のピッキング補助システムの全体の処理を示すシーケンス図である。It is a sequence diagram showing the overall processing of the picking assist system of the embodiment. 管理サーバの機能ブロック図である。It is a functional block diagram of a management server. 実施形態の表示される画面の一例である。It is an example of the screen displayed according to the embodiment. タブレットコンピュータの表示画面の一例である。It is an example of a display screen of a tablet computer. 実施形態の表示される画面の一例である。It is an example of the screen displayed according to the embodiment. 物品管理部が実施する物品取り直し処理の第１の例を示すフローチャートである。4 is a flow chart showing a first example of article re-pickup processing performed by an article management unit; 物品管理部が実施する物品取り直し処理の第２の例を示すフローチャートである。FIG. 11 is a flow chart showing a second example of article retake processing performed by the article management unit; FIG. 物品管理部が実施する不良品廃棄処理の例を示すフローチャートである。6 is a flow chart showing an example of defective product disposal processing performed by an article management unit; 実施形態の管理サーバ、タブレットコンピュータのハードウェア構成図である。3 is a hardware configuration diagram of a management server and a tablet computer according to the embodiment; FIG. 他の実施形態に係るピッキング補助システムの機能ブロック図である。FIG. 11 is a functional block diagram of a picking assist system according to another embodiment; ＲＦＩＤリーダの本体部が実行する切替処理を表すフローチャートの一例を示す図である。FIG. 10 is a diagram showing an example of a flowchart representing switching processing executed by the main body of the RFID reader; ＲＦＩＤリーダの本体部が実行する読み取り処理を表すフローチャートの一例を示す図である。FIG. 4 is a diagram showing an example of a flowchart representing reading processing executed by a main body of an RFID reader; ＲＦＩＤリーダの本体部が実行する読み取り処理を表すフローチャートの一例を示す図である。FIG. 4 is a diagram showing an example of a flowchart representing reading processing executed by a main body of an RFID reader;
　以下、添付図面を参照しながら実施形態について説明する。説明の理解を容易にするため、各図面において同一の構成要素に対しては可能な限り同一の符号を付して、重複する説明は省略する。 Embodiments will be described below with reference to the accompanying drawings. In order to facilitate understanding of the description, the same constituent elements in each drawing are denoted by the same reference numerals as much as possible, and overlapping descriptions are omitted.
　［ピッキング補助システムの基本構成］
　図１～図７を参照して、実施形態に係るピッキング補助システム１の基本構成を説明する。 [Basic configuration of picking assistance system]
A basic configuration of a picking assist system 1 according to an embodiment will be described with reference to FIGS. 1 to 7. FIG.
　　＜ピッキング補助ロボット＞
　図１は、実施形態のピッキング補助ロボット１００を示す側面図である。ピッキング補助ロボット１００は、搬送車１１０、フレーム１２０、ボックス１３０Ａ、１３０Ｂ、ＲＦＩＤ(Radio Frequency Identifier)リーダ１４０、タブレットコンピュータ１５０、顔認証部１６０、及び遮蔽部１７０を含む。 <Picking assistant robot>
FIG. 1 is a side view showing the picking assist robot 100 of the embodiment. The picking assistant robot 100 includes a carrier 110 , a frame 120 , boxes 130A and 130B, an RFID (Radio Frequency Identifier) reader 140 , a tablet computer 150 , a face authentication section 160 and a shielding section 170 .
　ピッキング補助ロボット１００は、一例として、店舗、物流センタ、倉庫等の建物内で用いられ、自走式の搬送車１１０で自動的に走行しながら、作業者が物品のピッキング（物品を選んで取り出すこと）を行う作業を補助するロボット（装置）である。図１において矢印で示す左方がピッキング補助ロボット１００の前方であり、図１における右方はピッキング補助ロボット１００の後方である。以下では、ピッキング補助ロボット１００の進行方向における前方及び後方を用いて前後方向と称す。搬送車１１０は、前方、右前方、及び左前方に走行可能である。 The picking assist robot 100 is used, for example, in a building such as a store, a distribution center, or a warehouse. It is a robot (device) that assists the work of doing things. The left side indicated by the arrow in FIG. 1 is the front side of the picking assist robot 100 , and the right side in FIG. 1 is the rear side of the picking assist robot 100 . Hereinafter, forward and rearward directions in the traveling direction of the picking assist robot 100 are referred to as forward and backward directions. The carrier 110 can travel forward, forward right, and forward left.
　ここで、物品とは、店舗、物流センタ、倉庫等の建物内の棚等に配置される様々な商品等であり、例えば、洋服や日用品等の様々な商品等であってよい。また、物品は、飲み薬、注射薬、又は外用治療薬等の医薬品、マスク、又はその他の医療用の衣服や器具等であってもよい。 Here, the goods are various products placed on shelves in buildings such as stores, distribution centers, warehouses, etc. For example, they may be various products such as clothes and daily necessities. The article may also be pharmaceuticals such as oral medicines, injection drugs, or external therapeutic drugs, masks, or other medical clothing or equipment.
　搬送車１１０は、移動体の一例であり、一例として所謂ＡＧＶ(Automatic Guided Vehicle)で実現される。搬送車１１０は、コンピュータで構成される制御部を有する。搬送車１１０の制御部は、タブレットコンピュータ１５０と有線通信又は無線通信でデータ通信可能である。搬送車１１０の制御部は、建物内に配置された棚等の間の通路等について作成された電子マップに従って、タブレットコンピュータ１５０から伝送される位置情報が表す所定の位置に搬送車１１０を移動させる。搬送車１１０の制御部は、位置情報が表す所定の位置への移動が完了すると、所定の位置に到着したことを表す到着通知をタブレットコンピュータ１５０に伝送する。なお、ここでは、タブレットコンピュータ１５０が管理サーバ１０から受信するピッキングの指示に含まれる位置情報を用いて搬送車１１０が移動する形態について説明するが、搬送車１１０が管理サーバと直接的に無線通信可能な無線通信機能を有していて、管理サーバから直接的に位置情報を無線通信で入手してもよい。 The transport vehicle 110 is an example of a moving object, and is realized by a so-called AGV (Automatic Guided Vehicle) as an example. The transport vehicle 110 has a control unit configured by a computer. The controller of the transport vehicle 110 can perform data communication with the tablet computer 150 through wired communication or wireless communication. The control unit of the transport vehicle 110 moves the transport vehicle 110 to a predetermined position indicated by the position information transmitted from the tablet computer 150 according to the electronic map created for passages between shelves arranged in the building. . When the transport vehicle 110 has completed its movement to the predetermined position represented by the position information, the control unit of the transport vehicle 110 transmits an arrival notification to the tablet computer 150 indicating that the transport vehicle 110 has arrived at the predetermined position. Here, a form in which the carrier 110 moves using the position information included in the picking instruction received by the tablet computer 150 from the management server 10 will be described. The location information may be obtained directly from the management server by wireless communication.
　フレーム１２０は、搬送車１１０に取り付けられ、ボックス１３０Ａ、１３０Ｂ、ＲＦＩＤリーダ１４０、タブレットコンピュータ１５０、及び顔認証部１６０を保持する。フレーム１２０は、フレーム本体１２１とステー１２２Ａ、１２２Ｂとを有する。フレーム本体１２１は、一例としてアルミニウム製の棒状の部材であり、一例として鉄製のステー１２２Ａ、１２２Ｂが取り付けられている。 The frame 120 is attached to the carrier 110 and holds the boxes 130A, 130B, the RFID reader 140, the tablet computer 150, and the face authentication section 160. The frame 120 has a frame body 121 and stays 122A and 122B. The frame main body 121 is, for example, a rod-shaped member made of aluminum, and is attached with stays 122A and 122B made of iron, for example.
　ステー１２２Ａは、フレーム本体１２１の上端に取り付けられて後方に延在しており、ＲＦＩＤリーダ１４０の本体部１４１及びアンテナ１４２Ａと、タブレットコンピュータ１５０と、顔認証部１６０とを保持している。より具体的には、ＲＦＩＤリーダ１４０の本体部１４１は、ステー１２２Ａの前端の上面に取り付けられており、アンテナ１４２は、ステー１２２Ａの前後方向における中央の下面に取り付けられており、タブレットコンピュータ１５０と顔認証部１６０は、ステー１２２Ａの後端に取り付けられている。タブレットコンピュータ１５０と顔認証部１６０は、後方に向けて取り付けられている。ピッキング補助ロボット１００は、後方には走行しないため、ピッキング補助ロボット１００を利用する作業者の安全性を確保するためである。なお、作業者の安全性が確実に確認できる場合は、自動または手動で後方に走行可能としてよい。 The stay 122A is attached to the upper end of the frame main body 121 and extends rearward, and holds the main body section 141 and antenna 142A of the RFID reader 140, the tablet computer 150, and the face authentication section 160. More specifically, the main body 141 of the RFID reader 140 is attached to the upper surface of the front end of the stay 122A, and the antenna 142 is attached to the lower surface of the center of the stay 122A in the front-rear direction. The face authentication section 160 is attached to the rear end of the stay 122A. The tablet computer 150 and the face authentication unit 160 are attached facing backward. This is to ensure the safety of the worker using the picking assist robot 100 since the picking assist robot 100 does not travel backward. In addition, when the safety of the worker can be reliably confirmed, it may be possible to move backward automatically or manually.
　ステー１２２Ｂは、フレーム本体１２１の上下方向の中間付近に取り付けられている。このため、ステー１２２Ｂは、ステー１２２Ａよりも下側に位置する。ステー１２２Ｂの上面にはボックス１３０Ａが取り付けられ、ステー１２２Ｂの下面にはＲＦＩＤリーダ１４０のアンテナ１４２Ｂが取り付けられる。 The stay 122B is attached near the middle of the frame body 121 in the vertical direction. Therefore, the stay 122B is positioned below the stay 122A. A box 130A is attached to the upper surface of the stay 122B, and an antenna 142B of the RFID reader 140 is attached to the lower surface of the stay 122B.
　ボックス１３０Ａ、１３０Ｂは、収容部の一例であり、作業者によってピッキングされた物品が収容される。ボックス１３０Ａ、１３０Ｂは、一例として直方体状の箱であり、上面が開口された入口１３１Ａ、１３１Ｂを有する。入口１３１Ａ、１３１Ｂは、ボックス１３０Ａ、１３０Ｂ内に物品を入れる際に、物品が必ず通るところである。ここでは、ボックス１３０Ａ、１３０Ｂから物品を取り出す際にも作業者が入口１３１Ａ、１３１Ｂを通じて取り出す形態について説明する。このため、入口１３１Ａ、１３１Ｂは出入り口として用いられる開口部である。しかしながら、ボックス１３０Ａ、１３０Ｂは、取り出すときにのみ利用する専用の取り出し口を有していてもよい。 Boxes 130A and 130B are examples of storage units, and store items picked by workers. The boxes 130A and 130B are rectangular parallelepiped boxes, for example, and have inlets 131A and 131B with open tops. The entrances 131A, 131B are where the articles must pass when they are put into the boxes 130A, 130B. Here, a configuration will be described in which an operator also takes out articles from boxes 130A and 130B through entrances 131A and 131B. Therefore, the entrances 131A and 131B are openings used as entrances and exits. However, the boxes 130A, 130B may have dedicated ejection openings that are used only for ejection.
　ボックス１３０Ａは、上述のようにステー１２２Ｂの上面に取り付けられ、ボックス１３０Ｂは、搬送車１１０の上面に取り付けられる。ボックス１３０Ａは上段に位置し、ボックス１３０Ｂは下段に位置する。ここではボックス１３０Ａがステー１２２Ａでフレーム本体１２１に取り付けられて、ボックス１３０Ｂが搬送車１１０の上面に取り付けられる形態について説明する。しかしながら、ボックス１３０Ａがボックス１３０Ｂよりも上に位置していればよく、ボックス１３０Ａ、１３０Ｂの取り付け方は、どのような形態であってもよい。また、ここでは、ピッキング補助ロボット１００が２つのボックス１３０Ａ、１３０Ｂを含む形態について説明するが、ボックスの数が１つであってもよく、３つ以上であってもよい。 The box 130A is attached to the upper surface of the stay 122B as described above, and the box 130B is attached to the upper surface of the carrier 110. Box 130A is located in the upper stage and box 130B is located in the lower stage. Here, a mode in which the box 130A is attached to the frame main body 121 with the stay 122A and the box 130B is attached to the upper surface of the carrier 110 will be described. However, as long as box 130A is located above box 130B, the boxes 130A and 130B may be attached in any manner. Also, here, a configuration in which picking assist robot 100 includes two boxes 130A and 130B is described, but the number of boxes may be one, or three or more.
　ＲＦＩＤリーダ１４０は、本体部１４１及びアンテナ１４２Ａ、１４２Ｂを有する。アンテナ１４２Ａ、１４２Ｂは、下向きの指向性を有する。本体部１４１は、アンテナ１４２Ａ、１４２Ｂに接続されており、アンテナ１４２Ａ、１４２ＢからＲＦＩＤタグの読み取り用の周波数の電波を放射し、ＲＦＩＤタグが送り返す電波を受信する。ＲＦＩＤタグは、一例としてパッシブ型であり、バッテリを持たない。各ＲＦＩＤタグのＩＣ(Integrated Circuit)のメモリには固有の物品ＩＤ(Identifier)が格納されており、各ＲＦＩＤタグは、ＲＦＩＤリーダ１４０から電波を受信すると、受信した電波の電力で起動して固有の物品ＩＤを含む信号を放射する。本体部１４１は、アンテナ１４２Ａ、１４２Ｂが受信した電波に含まれる物品ＩＤを読み取り、各ＲＦＩＤタグを識別する。 The RFID reader 140 has a main body 141 and antennas 142A and 142B. Antennas 142A and 142B have downward directivity. The main unit 141 is connected to antennas 142A and 142B, radiates radio waves having a frequency for reading RFID tags from the antennas 142A and 142B, and receives radio waves returned by the RFID tags. RFID tags, as an example, are passive and do not have batteries. A unique article ID (Identifier) is stored in the memory of the IC (Integrated Circuit) of each RFID tag. emits a signal containing the item ID of the Main unit 141 reads the article ID included in the radio waves received by antennas 142A and 142B, and identifies each RFID tag.
　アンテナ１４２Ａは、ボックス１３０Ａの入口１３１Ａの真上に位置し、入口１３１Ａを通ってボックス１３０Ａ内に収容される物品に付されるＲＦＩＤタグを確実に読み取ることができる位置に配置されている。また、アンテナ１４２Ｂは、ボックス１３０Ｂの入口１３１Ｂの真上に位置し、入口１３１Ｂを通ってボックス１３０Ｂ内に収容される物品に付されるＲＦＩＤタグを確実に読み取ることができる位置に配置されている。このようにアンテナ１４２Ａ、１４２Ｂを配置することにより、作業者が棚等からピッキングしてボックス１３０Ａ、１３０Ｂに収容する物品に付されたＲＦＩＤタグを確実に読み取ることができ、読み取り漏れ（読み抜け）を抑制することができる。このため、所望の物品を所望の個数だけ正確にピッキングすることができる。 The antenna 142A is located directly above the entrance 131A of the box 130A, and is arranged at a position where it can reliably read the RFID tags attached to the articles stored in the box 130A through the entrance 131A. Further, the antenna 142B is located directly above the entrance 131B of the box 130B, and is arranged at a position where the RFID tag attached to the article stored in the box 130B through the entrance 131B can be reliably read. . By arranging the antennas 142A and 142B in this way, it is possible for the worker to reliably read the RFID tags attached to the articles picked from the shelves and stored in the boxes 130A and 130B. can be suppressed. Therefore, the desired number of desired articles can be accurately picked.
　また、例えば物品にバーコードを付してバーコードリーダで読み取る場合は、バーコードを１つずつ読み取ることになり、複数のバーコードを同時に読み取ることはできない。これに対して、物品にＲＦＩＤタグを付している場合には複数のＲＦＩＤタグを同時に読み取ることができるため、アンテナ１４２Ａ、１４２Ｂの各々で複数の物品にそれぞれ付された複数のＲＦＩＤタグを一括的に読み取ることができ、作業者はピッキング作業を効率的に、かつ、素早く短時間で行うことができる。 Also, for example, when a barcode is attached to an item and read by a barcode reader, the barcode is read one by one, and multiple barcodes cannot be read at the same time. On the other hand, when an article is attached with an RFID tag, a plurality of RFID tags can be read at the same time. This allows the operator to efficiently and quickly perform the picking work in a short period of time.
　また、アンテナ１４２Ａ、１４２Ｂがボックス１３０Ａ、１３０Ｂの下側に設けられていると、物品がアルミニウム製のフィルム等のように金属製の包装を有する場合に、既にボックス１３０Ａ、１３０Ｂに収容されている物品の金属製の包装等によってアンテナ１４２Ａ、１４２Ｂが放射する読み取り用の電波が遮られてしまい、ボックス１３０Ａ、１３０Ｂの入口１３１Ａ、１３１Ｂを通過する物品のＲＦＩＤタグを読み取れないおそれがある。また、物体が液体を含む場合に、アンテナ１４２Ａ、１４２Ｂがボックス１３０Ａ、１３０Ｂの下側に設けられていると、既にボックス１３０Ａ、１３０Ｂに収容されている物品の液体によってアンテナ１４２Ａ、１４２Ｂが放射する読み取り用の電波の放射分布が変化して、ボックス１３０Ａ、１３０Ｂの入口１３１Ａ、１３１Ｂを通過する物品のＲＦＩＤタグを読み取れないおそれがある。 Also, if the antennas 142A, 142B are provided on the lower side of the boxes 130A, 130B, when the article has a metal package such as an aluminum film, it is already housed in the box 130A, 130B. The radio waves for reading emitted by the antennas 142A and 142B are blocked by the metal packaging of the articles, and the RFID tags of the articles passing through the entrances 131A and 131B of the boxes 130A and 130B may not be read. Also, when the object contains liquid, if the antennas 142A and 142B are provided below the boxes 130A and 130B, the liquid of the articles already stored in the boxes 130A and 130B causes the antennas 142A and 142B to radiate. The radiation distribution of radio waves for reading may change, and the RFID tags of articles passing through the entrances 131A and 131B of the boxes 130A and 130B may not be read.
　これに対して、本実施形態では、ボックス１３０Ａ、１３０Ｂの真上にアンテナ１４２Ａ、１４２Ｂをそれぞれ配置しているので、既にボックス１３０Ａ、１３０Ｂ内に金属製の包装等を有する物品や液体を含む物品が収容されていても、アンテナ１４２Ａ、１４２Ｂで入口１３１Ａ、１３１Ｂを通ってボックス１３０Ａ、１３０Ｂに収容される物品のＲＦＩＤタグを確実に読み取ることができる。また、読み取り漏れの発生を抑制することができる。 On the other hand, in the present embodiment, since the antennas 142A and 142B are arranged directly above the boxes 130A and 130B, respectively, the boxes 130A and 130B already have metal packaging or the like or an article containing liquid. are stored, the antennas 142A, 142B can reliably read the RFID tags of the items stored in the boxes 130A, 130B through the entrances 131A, 131B. In addition, it is possible to suppress the occurrence of reading omissions.
　タブレットコンピュータ１５０は、ディスプレイとタッチパネルを有し、ディスプレイに表示されるＧＵＩ(Graphic User Interface)等の画像に触れることで操作可能な端末機である。タブレットコンピュータ１５０は、ピッキングの指示及びピッキングの状況を管理サーバ１０から受信してディスプレイに表示するとともに、ピッキングの指示に含まれる物品の位置情報を搬送車１１０の制御部に伝送する。例えば、タブレットコンピュータ１５０は、アプリケーションソフトウェアを用いて、ピッキングの指示を表示し、位置情報を搬送車１１０の制御部に伝送することができる。 The tablet computer 150 is a terminal that has a display and a touch panel and can be operated by touching an image such as a GUI (Graphic User Interface) displayed on the display. The tablet computer 150 receives the picking instructions and the picking status from the management server 10 , displays them on the display, and transmits the item position information included in the picking instructions to the control unit of the carrier 110 . For example, the tablet computer 150 can use application software to display picking instructions and transmit location information to the vehicle 110 controller.
　また、タブレットコンピュータ１５０は、ＲＦＩＤリーダ１４０から、ＲＦＩＤリーダ１４０がＲＦＩＤタグから読み取った特定情報を受信する。タブレットコンピュータ１５０は、ＲＦＩＤリーダ１４０から受信した特定情報を管理サーバへ送信する。また、タブレットコンピュータ１５０は、顔認証部１６０によって取得された作業者を特定する情報をボックス１３０Ａ、１３０Ｂに収容された物品に付されたＲＦＩＤタグから読み取った特定情報と関連付けて管理サーバに送信する。どの作業者がどの物品を収容したかを管理サーバで管理可能にすることにより、各作業者の仕事効率を把握するためである。 Also, the tablet computer 150 receives from the RFID reader 140 the specific information read by the RFID reader 140 from the RFID tag. Tablet computer 150 transmits the specific information received from RFID reader 140 to the management server. In addition, tablet computer 150 associates the information identifying the worker acquired by face authentication unit 160 with the specific information read from the RFID tags attached to the articles housed in boxes 130A and 130B, and transmits the information to the management server. . This is because the work efficiency of each worker can be grasped by enabling the management server to manage which workers have received which articles.
　なお、ここでは、ピッキング補助ロボット１００がタブレットコンピュータ１５０を含む形態について説明するが、スマートフォンやノート型パーソナルコンピュータ等の任意のコンピュータ端末を用いることができる。 Here, a form in which the picking assist robot 100 includes a tablet computer 150 will be described, but any computer terminal such as a smart phone or a notebook personal computer can be used.
　顔認証部１６０は、作業者の顔認証を行うことによって、作業者を特定する作業者ＩＤ情報を取得する。一例として各作業者の作業効率を管理サーバで把握するためにピッキング補助ロボット１００が顔認証部１６０を含む形態について説明するが、顔認証部１６０の代わりに、その他の手法によって作業者の生体を識別する認証部を用いてもよいし、各作業者に割り当てたＩＤカード等を読み取る読み取り装置を用いてもよい。また、作業効率等の管理を特に行わない場合には、ピッキング補助ロボット１００は顔認証部１６０等のような作業者を識別する認証部を含まなくてもよい。また、ボックス１３０Ａ、１３０Ｂに収容された物品に付されたＲＦＩＤタグから読み取った特定情報と関連付けることなく、例えば、ピッキング補助ロボットに触れた場合だけでも、顔認証部１６０によって取得された作業者を特定する情報をサーバで管理可能としてもよい。 The face authentication unit 160 acquires worker ID information that identifies the worker by performing face authentication of the worker. As an example, a form in which the picking assist robot 100 includes a face authentication unit 160 in order to grasp the work efficiency of each worker in the management server will be described. An authentication unit for identification may be used, or a reading device for reading an ID card or the like assigned to each worker may be used. In addition, if work efficiency or the like is not particularly managed, the picking assist robot 100 does not need to include an authentication unit for identifying a worker, such as the face authentication unit 160 or the like. In addition, even when the worker touches the picking assist robot, for example, the worker acquired by the face authentication unit 160 is identified without being associated with the specific information read from the RFID tags attached to the articles housed in the boxes 130A and 130B. The specified information may be managed by the server.
　遮蔽部１７０は、導体製で電波を遮蔽する部材である。遮蔽部１７０は、ボックス１３０Ａとアンテナ１４２Ｂとの間に設けられており、アンテナ１４２Ａがボックス１３０Ｂに収容される物品に付されたＲＦＩＤタグを読み取らないようにする。なお、アンテナ１４２Ｂが上方向にも指向性を有する場合には、遮蔽部１７０でアンテナ１４２Ｂが上側に位置するＲＦＩＤタグを読み取らないように遮蔽すればよい。 The shielding part 170 is a member that is made of a conductor and shields radio waves. The shielding part 170 is provided between the box 130A and the antenna 142B, and prevents the antenna 142A from reading the RFID tag attached to the article housed in the box 130B. If the antenna 142B also has directivity in the upward direction, the shielding part 170 may be used to shield the antenna 142B from reading the RFID tag positioned above.
　　＜システム構成＞
　図２は、実施形態のピッキング補助システム１の全体の構成図である。図２に示されるように、ピッキング補助システム１は、管理サーバ１０と、ピッキング補助ロボット１００とを含む。図２では、ピッキング補助ロボット１００については主な構成要素のみを示し、タブレットコンピュータ１５０を拡大して制御部１５１を示す。制御部１５１は、タブレットコンピュータ１５０の動作に関するすべての制御を行う制御部であり、ＣＰＵ(Central Processing Unit)やメモリ等を含む。 <System configuration>
FIG. 2 is an overall configuration diagram of the picking assist system 1 of the embodiment. As shown in FIG. 2 , the picking assist system 1 includes a management server 10 and a picking assist robot 100 . In FIG. 2, only the main components of the picking assist robot 100 are shown, and the control unit 151 is shown by enlarging the tablet computer 150. As shown in FIG. The control unit 151 is a control unit that performs all controls related to the operation of the tablet computer 150, and includes a CPU (Central Processing Unit), memory, and the like.
　ピッキング作業を実施する作業者は、一例として、店舗、物流センタ、倉庫等の建物内において、ピッキング補助ロボット１００の前にある棚等に配置されている物品４０をボックス１３０Ａ又は１３０Ｂに入れる。各物品４０にはＲＦＩＤタグ４１が１つずつ付されているため、ボックス１３０Ａ、１３０Ｂに物品４０が入れられる際に、アンテナ１４２Ａ、１４２Ｂによって物品４０に付されたＲＦＩＤタグ４１の物品ＩＤが読み取られる。 For example, the worker who performs the picking operation puts the article 40 placed on the shelf in front of the picking assist robot 100 into the box 130A or 130B in a building such as a store, a distribution center, or a warehouse. Since one RFID tag 41 is attached to each item 40, the item ID of the RFID tag 41 attached to the item 40 is read by the antennas 142A and 142B when the item 40 is placed in the boxes 130A and 130B. be done.
　管理サーバ１０は、ピッキングの指示をタブレットコンピュータ１５０へ送信する。ピッキングの指示は、ピッキング補助ロボット１００が移動すべき位置と、作業者がボックス１３０Ａ又は１３０Ｂに入れるべき物品４０と、作業者がボックス１３０Ａ又は１３０Ｂに入れるべき物品４０の個数との情報を含みうる。ピッキング補助ロボット１００が移動すべき位置は、物品４０が配置又は保管等されている位置である。また、管理サーバ１０は、ピッキングの状況をタブレットコンピュータ１５０へ送信する。ピッキングの状況は、既にボックス１３０Ａ又は１３０Ｂに入れられている各物品４０の個数の情報を含みうる。具体的には、管理サーバ１０は、ＲＦＩＤリーダ１４０がＲＦＩＤタグ４１から読み取った特定情報に基づいて、ボックス１３０Ａ又は１３０Ｂに入れられている各物品４０の個数をカウントする。 The management server 10 transmits a picking instruction to the tablet computer 150 . The picking instruction can include information on the position to which the picking assist robot 100 should move, the number of articles 40 that the worker should put in the box 130A or 130B, and the number of articles 40 that the worker should put in the box 130A or 130B. . The position to which the picking assist robot 100 should move is the position where the article 40 is arranged or stored. The management server 10 also transmits the picking status to the tablet computer 150 . The picking status may include information on the number of each item 40 already placed in box 130A or 130B. Specifically, the management server 10 counts the number of each article 40 placed in the box 130A or 130B based on the specific information read from the RFID tag 41 by the RFID reader 140 .
　管理サーバ１０は、１つまたは複数のコンピュータで構成される。また、管理サーバ１０は、任意のネットワーク５０を介して、タブレットコンピュータ１５０とデータを送受信することができる。管理サーバ１０の詳細については後述する。 The management server 10 is composed of one or more computers. Also, the management server 10 can transmit and receive data to and from the tablet computer 150 via any network 50 . Details of the management server 10 will be described later.
　タブレットコンピュータ１５０は、ピッキングの指示およびピッキングの状況を管理サーバ１０から受信してディスプレイ上に表示するとともに、ピッキングの指示に含まれる位置情報を搬送車１１０の制御部に伝送する。搬送車１１０は、位置情報が表す位置に移動する。例えば、タブレットコンピュータ１５０は、アプリケーションソフトウェアを用いて、ピッキングの指示を表示するとともに、ピッキングの指示に含まれる位置情報を搬送車１１０の制御部に伝送することができる。作業者は、ピッキング補助ロボット１００がいる位置に歩いて行き、タブレットコンピュータ１５０に表示されている物品４０の種類と棚等の位置とを確認し、物品４０をピッキングしてボックス１３０Ａ、１３０Ｂに入れる。 The tablet computer 150 receives the picking instructions and the picking status from the management server 10 and displays them on the display, and also transmits the position information included in the picking instructions to the control unit of the carrier 110 . The transport vehicle 110 moves to the position indicated by the position information. For example, tablet computer 150 can use application software to display picking instructions and to transmit location information included in the picking instructions to the controller of vehicle 110 . The worker walks to the position where the picking assist robot 100 is, confirms the type of the article 40 displayed on the tablet computer 150 and the position of the shelf, etc., picks the article 40, and puts it in the boxes 130A and 130B. .
　ＲＦＩＤリーダ１４０は、ＲＦＩＤタグ４１に書き込まれている特定情報と固有情報とを読み取る。特定情報とは、ＲＦＩＤタグ４１が付されている物品の種類を特定するための情報である。特定情報としては、例えば既存のバーコードベースのシステムで用いられるＧＴＩＮ（Global Trade Item Number）などのＧＳ１標準の商品識別コードを用いることができる。ＧＴＩＮは、例えばＧＳ１事業者コードや、商品アイテムコードなどの情報が含まれる。ＧＴＩＮは、ＪＡＮコード（Japanese Article Number）やＥＡＮコード（European Article Number）とも呼ばれる場合がある。 The RFID reader 140 reads the specific information and unique information written in the RFID tag 41 . The identification information is information for identifying the type of article to which the RFID tag 41 is attached. As the specific information, for example, a GS1 standard product identification code such as GTIN (Global Trade Item Number) used in existing barcode-based systems can be used. The GTIN includes information such as the GS1 business code and product item code. GTIN is sometimes called JAN code (Japanese Article Number) or EAN code (European Article Number).
　固有情報とは、ＲＦＩＤタグ４１が付されている物品に関し、種類以外の当該物品に固有の情報である。固有情報の具体例としては、例えば、当該物品の生産地、生産時期、販売促進のキャンペーンに関する情報（キャンペーン開催中、キャンペーン用包装の有無など）などが含まれる。また、当該物品が食品の場合には、固有情報には食品の消費期限に関する情報も含めることができる。 "Inherent information" refers to information specific to an article attached to the RFID tag 41, other than the type. Specific examples of unique information include, for example, the place of production of the item, the time of production, and information on sales promotion campaigns (during campaigns, presence/absence of packaging for campaigns, etc.). In addition, when the article is food, the unique information can also include information on the expiration date of the food.
　また、ＲＦＩＤタグ４１に書き込まれる情報として、ＥＰＣ（Electronic Product Code）を用いてもよい。ＥＰＣの一例としては、ＳＧＴＩＮ（Serialized Global Trade Item Number）が挙げられる。ＳＧＴＩＮは、商品識別コードであるＧＴＩＮにシリアル番号（連続番号）を付加したものであり、ＧＴＩＮが同じ商品でもそれぞれ一つ一つ個別に識別することが可能である。ＲＦＩＤタグ４１の登録情報をＥＰＣとする場合には、上記の特定情報と固有情報との両方をＥＰＣに含めることができる。なお、ＳＧＴＮＩにおいて、ＧＴＩＮ（特定情報に対応）に付加されるシリアル番号の部分（固有情報に対応）について、任意のデータに変更しても良い。又は、シリアル番号から管理サーバ１０の登録情報の消費期限等を特定して、タブレットコンピュータ１５０に返す構成でもよい。 Also, EPC (Electronic Product Code) may be used as the information written to the RFID tag 41 . An example of EPC is SGTIN (Serialized Global Trade Item Number). SGTIN is obtained by adding a serial number (serial number) to GTIN, which is a product identification code, so that even products with the same GTIN can be individually identified one by one. When the registration information of the RFID tag 41 is EPC, both the above specific information and unique information can be included in the EPC. In SGTNI, the serial number portion (corresponding to specific information) added to GTIN (corresponding to specific information) may be changed to arbitrary data. Alternatively, the expiration date or the like of the registration information of the management server 10 may be specified from the serial number and returned to the tablet computer 150 .
　ＲＦＩＤリーダ１４０は、ＲＦＩＤタグ４１から読み取った特定情報及び固有情報をタブレットコンピュータ１５０へ伝送する。 The RFID reader 140 transmits the specific information and unique information read from the RFID tag 41 to the tablet computer 150 .
　また、タブレットコンピュータ１５０は、特定情報及び固有情報をＲＦＩＤリーダ１４０から受け取る。タブレットコンピュータ１５０は、ＲＦＩＤリーダ１４０から受信した特定情報及び固有情報を管理サーバ１０へ送信する。また、タブレットコンピュータ１５０は、特定情報及び固有情報を受け取り、ピッキングの指示の通りの正しい物品４０であると判定すると、正しい物品４０であることを表す応答音を出力する。一方。タブレットコンピュータ１５０は、特定情報及び固有情報を受け取り、ピッキングの指示の通りの正しい物品４０ではないと判定すると、正しい物品４０ではないことを表す応答音を出力する。作業者は、自分の行っているピッキング作業が正しいかどうかを応答音で確認することができる。なお、タブレットコンピュータ１５０は、応答音の代わりに、又は、応答音に加えて、正しい物品４０であること、又は、正しい物品４０ではないことを表す応答表示をディスプレイに表示してもよい。 Also, the tablet computer 150 receives specific information and unique information from the RFID reader 140 . The tablet computer 150 transmits the specific information and unique information received from the RFID reader 140 to the management server 10 . In addition, when the tablet computer 150 receives the specific information and the unique information and determines that the article 40 is correct according to the picking instructions, the tablet computer 150 outputs a response sound indicating that the article 40 is correct. on the other hand. When the tablet computer 150 receives the specific information and the unique information and determines that the article 40 is not the correct article 40 according to the picking instructions, it outputs a response sound indicating that the article 40 is not correct. The worker can confirm whether the picking work he is doing is correct by the response sound. It should be noted that the tablet computer 150 may display on the display a response display indicating that the article 40 is correct or incorrect, instead of or in addition to the response sound.
　ピッキング補助ロボット１００は、タブレットコンピュータ１５０と、ＲＦＩＤリーダ１４０とを含む。ここでは一例としてピッキング補助ロボット１００が２つのボックス１３０Ａ、１３０Ｂを含み、ＲＦＩＤリーダ１４０が２つのアンテナ１４２Ａ、１４２Ｂを有し、ボックス１３０Ａ、１３０Ｂにそれぞれアンテナ１４２Ａ、１４２Ｂが配置される形態について説明する。作業者は、ピッキングした物品４０を２つのボックス１３０Ａ、１３０Ｂのいずれに入れてもよいが、例えば、発送先等に応じて２つのボックス１３０Ａ、１３０Ｂのいずれに入れるようにしてもよい。また、発送先等が２つある場合に、２つのボックス１３０Ａ、１３０Ｂを２つの発送先に分けて利用してもよい。 The picking assistance robot 100 includes a tablet computer 150 and an RFID reader 140. Here, as an example, a configuration will be described in which the picking assist robot 100 includes two boxes 130A and 130B, the RFID reader 140 has two antennas 142A and 142B, and the antennas 142A and 142B are arranged in the boxes 130A and 130B, respectively. . The worker may put the picked article 40 into either of the two boxes 130A and 130B, and may put the picked article 40 into either of the two boxes 130A and 130B according to the shipping destination or the like, for example. Also, when there are two shipping destinations, the two boxes 130A and 130B may be divided and used for the two shipping destinations.
　物品４０は、上述したように、店舗、物流センタ、倉庫等の建物内の棚等に配置される様々な商品等である。物品４０には、ＲＦＩＤタグ４１が付されている。ＲＦＩＤタグ４１は、特定情報及び固有情報が書き込まれているメモリを内蔵するＩＣチップを有する。ＲＦＩＤタグ４１は、各物品４０に１つずつ付されている。ＲＦＩＤタグ４１を物品４０に付すとは、ＲＦＩＤタグ４１を物品４０に取り付けることをいい、具体的には、例えば、ＲＦＩＤタグ４１を物品４０に貼り付ける、縫い付ける、又は、ストラップ等で固定すること等を意味する。 The goods 40 are, as described above, various products placed on shelves in buildings such as stores, distribution centers, and warehouses. An RFID tag 41 is attached to the article 40 . The RFID tag 41 has an IC chip containing a memory in which specific information and unique information are written. One RFID tag 41 is attached to each article 40 . Attaching the RFID tag 41 to the article 40 means attaching the RFID tag 41 to the article 40. Specifically, for example, the RFID tag 41 is attached to the article 40, sewn, or fixed with a strap or the like. means such as
　管理サーバ１０は、物品４０が物流センタ等に入荷すると、ＲＦＩＤタグ４１に書き込まれている特定情報及び固有情報と、そのＲＦＩＤタグ４１が付されている物品４０の情報とを紐付けて管理する。また、管理サーバ１０は、ＲＦＩＤリーダ１４０がピッキング補助ロボット１００のボックス１３０Ａ、１３０Ｂのどちらに収容されているかを表す情報を管理する。 When an article 40 arrives at a distribution center or the like, the management server 10 associates the specific information and unique information written in the RFID tag 41 with the information of the article 40 to which the RFID tag 41 is attached and manages it. . The management server 10 also manages information indicating in which of the boxes 130A and 130B of the picking assist robot 100 the RFID reader 140 is housed.
　　＜全体の処理＞
　図３は、実施形態のピッキング補助システム１の全体の処理を示すシーケンス図である。 <Overall processing>
FIG. 3 is a sequence diagram showing the overall processing of the picking assist system 1 of the embodiment.
　管理サーバ１０は、ピッキング補助ロボット１００を誘導するためのマップを作成する（ステップＳ１）。 The management server 10 creates a map for guiding the picking assistance robot 100 (step S1).
　管理サーバ１０は、ピッキングの指示のデータをタブレットコンピュータ１５０へ送信する（ステップＳ２）。上述したとおり、ピッキングの指示は、ピッキング補助ロボット１００が移動すべき位置（物品４０が保管されている位置）と、作業者がその位置でボックス１３０Ａ又は１３０Ｂに入れるべき物品４０と、作業者がボックス１３０Ａ又は１３０Ｂに入れるべき物品４０の個数との情報を含みうる。 The management server 10 transmits picking instruction data to the tablet computer 150 (step S2). As described above, the picking instructions include the position to which the picking assist robot 100 should move (the position where the article 40 is stored), the article 40 to be put in the box 130A or 130B by the worker at that position, and the Information may include the number of items 40 to be placed in box 130A or 130B.
　タブレットコンピュータ１５０は、管理サーバ１０から受信したピッキングの指示に含まれる位置情報を搬送車１１０の制御部に伝送する（ステップＳ２Ａ）。 The tablet computer 150 transmits the position information included in the picking instruction received from the management server 10 to the control unit of the carrier 110 (step S2A).
　搬送車１１０は、ピッキングの指示に含まれる所定の位置に移動する（ステップＳ２Ｂ）。所定の位置は、ピッキングの指示に含まれる物品４０が配置されている棚等がある位置を表す。ステップＳ２Ｂの処理により、ピッキング補助ロボット１００は、ピッキングの指示に含まれる物品４０が配置されている棚等の前に移動する。 The carrier 110 moves to a predetermined position included in the picking instruction (step S2B). The predetermined position represents a position such as a shelf where the article 40 included in the picking instruction is arranged. By the processing of step S2B, the picking assist robot 100 moves in front of the shelf or the like on which the article 40 included in the picking instruction is placed.
　搬送車１１０の制御部は、ピッキングの指示に含まれる所定の位置への移動が完了すると、所定の位置に到着したことをタブレットコンピュータ１５０に通知する（ステップＳ２Ｃ）。ピッキング補助ロボット１００は、次の移動の指示を受けるまで、所定の位置で待機する。すなわち、ピッキング補助ロボット１００は、作業者のピッキング作業が完了するまでピッキングの指示に含まれる物品４０がある棚等の前で待機することになる。作業者は、自分の周囲でピッキング補助ロボット１００が待機している場所は、行うべきピッキング作業がある場所であることを認識することができる。 When the movement to the predetermined position included in the picking instruction is completed, the control unit of the transport vehicle 110 notifies the tablet computer 150 of arrival at the predetermined position (step S2C). The picking assist robot 100 waits at a predetermined position until receiving the next movement instruction. That is, the picking assist robot 100 waits in front of the shelf or the like on which the article 40 included in the picking instruction is located until the picking operation of the worker is completed. The worker can recognize that the place where the picking assist robot 100 is waiting around him/herself is the place where the picking work to be performed is present.
　タブレットコンピュータ１５０は、ステップＳ２Ｃで搬送車１１０の制御部から所定の位置に到着したことを表す通知を受けると、ステップＳ２で管理サーバ１０から受信したピッキングの指示をディスプレイ上に表示する（ステップＳ３）。作業者は、ピッキング補助ロボット１００が待機している場所に歩いて行き、ピッキング補助ロボット１００のタブレットコンピュータ１５０に表示されているピッキングの指示を見ながら、ピッキング作業を実施することができる。 When the tablet computer 150 receives the notification from the controller of the transport vehicle 110 indicating that it has arrived at the predetermined position in step S2C, the tablet computer 150 displays on the display the picking instruction received from the management server 10 in step S2 (step S3). ). The worker walks to the place where the picking assist robot 100 is waiting, and can perform the picking operation while viewing the picking instructions displayed on the tablet computer 150 of the picking assist robot 100 .
　ＲＦＩＤリーダ１４０は、作業者がボックス１３０Ａ又は１３０Ｂに入れた各物品４０に付されているＲＦＩＤタグ４１に書き込まれている特定情報及び固有情報を読み取る（ステップＳ４）。ＲＦＩＤリーダ１４０は、アンテナ１４２Ａ、１４２Ｂでボックス１３０Ａ、１３０Ｂの入口１３１Ａ、１３１Ｂを通過する物品４０に付されたＲＦＩＤタグ４１を読み取る。ステップＳ４の処理により、作業者によってボックス１３０Ａ、１３０Ｂに入れられた物品４０に付されたＲＦＩＤタグ４１の特定情報及び固有情報を取得することができる。 The RFID reader 140 reads the specific information and unique information written on the RFID tag 41 attached to each article 40 placed in the box 130A or 130B by the worker (step S4). RFID reader 140 uses antennas 142A and 142B to read RFID tags 41 attached to articles 40 passing through entrances 131A and 131B of boxes 130A and 130B. Through the process of step S4, it is possible to acquire the specific information and unique information of the RFID tag 41 attached to the article 40 put into the boxes 130A and 130B by the worker.
　ＲＦＩＤリーダ１４０は、ステップＳ４で読み取った特定情報及び固有情報と、ＲＦＩＤリーダ１４０を識別するための情報とをタブレットコンピュータ１５０へ送信する（ステップＳ５）。 The RFID reader 140 transmits the specific information and unique information read in step S4 and information for identifying the RFID reader 140 to the tablet computer 150 (step S5).
　タブレットコンピュータ１５０は、ステップＳ５で受信した特定情報及び固有情報と、ＲＦＩＤリーダ１４０を識別するための情報とを管理サーバ１０へ送信する（ステップＳ６）。 The tablet computer 150 transmits the specific information and unique information received in step S5 and information for identifying the RFID reader 140 to the management server 10 (step S6).
　管理サーバ１０は、ステップＳ６で受信した特定情報に基づいて、ボックス１３０Ａ又は１３０Ｂに入れられている各物品４０の個数をカウントする（ステップＳ７）。 The management server 10 counts the number of each item 40 placed in the box 130A or 130B based on the specific information received in step S6 (step S7).
　管理サーバ１０は、ステップＳ７でカウントした各物品４０の個数に基づいて、ピッキングの状況のデータをタブレットコンピュータ１５０へ送信する（ステップＳ８）。上述したとおり、ピッキングの状況は、既にボックス１３０Ａ又は１３０Ｂに入れられている各物品４０の個数の情報を含みうる。 The management server 10 transmits the picking status data to the tablet computer 150 based on the number of each article 40 counted in step S7 (step S8). As described above, the picking status may include information on the number of each item 40 already placed in box 130A or 130B.
　タブレットコンピュータ１５０は、ステップＳ８で受信したピッキングの状況をディスプレイ上に表示する（ステップＳ９）。作業者は、このようなピッキングの状況を見ながら、物品４０をボックス１３０Ａ、１３０Ｂにさらに入れるべきか否かを判断することができる。 The tablet computer 150 displays the picking status received in step S8 on the display (step S9). The worker can determine whether or not to further put the articles 40 into the boxes 130A and 130B while observing the picking situation.
　管理サーバ１０は、ステップＳ６で受信した固有情報に基づいて、ピッキングの対象の物品４０の管理を行う（ステップＳ１０）。物品管理の一例としては、特定情報により特定されるピッキングの対象の物品群の中から、固有情報に基づきピッキングすべき物品４０をさらに限定することができる。なお、ステップＳ１０の物品管理の詳細については図８～図１０を参照して後述する。 The management server 10 manages the goods 40 to be picked based on the unique information received in step S6 (step S10). As an example of article management, it is possible to further limit the articles 40 to be picked based on the specific information from among a group of articles to be picked specified by the specific information. Details of article management in step S10 will be described later with reference to FIGS. 8 to 10. FIG.
　管理サーバ１０は、ステップＳ７でカウントした各物品４０、すなわち、ボックス１３０Ａ又は１３０Ｂに入れられている各物品４０について、ステップＳ１０にて先にピッキングすべき物品４０が他にあると判定した場合に、物品を取り直させる指令をタブレットコンピュータ１５０へ送信する（ステップＳ１１）。タブレットコンピュータ１５０は、ステップＳ１１で受信した物品の取り直し指令をディスプレイ上に表示する。作業者は、このような取り直し指令に応じて、別の物品４０をボックス１３０Ａ、１３０Ｂに入れ直す作業を行うことができる。 When the management server 10 determines that there are other items 40 to be picked first in step S10 for each item 40 counted in step S7, that is, each item 40 placed in the box 130A or 130B, , a command to pick up the article again is sent to the tablet computer 150 (step S11). The tablet computer 150 displays on the display the article pick-up instruction received in step S11. The worker can perform the work of putting another article 40 back into the boxes 130A and 130B in response to such a re-pickup command.
　　＜機能ブロック＞
　図４は、管理サーバ１０の機能ブロック図である。図４に示されるように、管理サーバ１０は、ピッキング指示管理部１０１、ピッキング指示格納部１０２、マップ作成部１０３、情報受信部１０４、カウント部１０５、ピッキング状況管理部１０６、物品管理部１０７を備えることができる。また、管理サーバ１０は、プログラムを実行することで、ピッキング指示管理部１０１、マップ作成部１０３、情報受信部１０４、カウント部１０５、ピッキング状況管理部１０６、物品管理部１０７として機能することができる。以下、それぞれについて説明する。 <Functional block>
FIG. 4 is a functional block diagram of the management server 10. As shown in FIG. As shown in FIG. 4, the management server 10 includes a picking instruction management unit 101, a picking instruction storage unit 102, a map creation unit 103, an information reception unit 104, a count unit 105, a picking status management unit 106, and an article management unit 107. be prepared. Also, the management server 10 can function as a picking instruction management unit 101, a map creation unit 103, an information reception unit 104, a count unit 105, a picking situation management unit 106, and an article management unit 107 by executing programs. . Each of these will be described below.
　なお、タブレットコンピュータ１５０が、管理サーバ１０の一部または全部の機能を有するようにしてもよい。例えば、タブレットコンピュータ１５０は、ピッキングの指示を受信する手段（ピッキング指示受信部ともいう）と、情報受信部１０４と、カウント部１０５と、ピッキング状況管理部１０６とを備えることができる。 Note that the tablet computer 150 may have some or all of the functions of the management server 10. For example, the tablet computer 150 can include means for receiving picking instructions (also referred to as a picking instruction receiving section), an information receiving section 104 , a counting section 105 , and a picking status management section 106 .
　ピッキング指示管理部１０１は、ピッキングの指示のデータをタブレットコンピュータ１５０へ送信する。例えば、作業者がタブレットコンピュータ１５０に表示されるピッキング作業を開始するための画面をタップすることに応じて、ピッキング指示管理部１０１は、ピッキングの指示のデータの送信を開始する。上述したとおり、ピッキングの指示は、ピッキング補助ロボット１００が移動すべき位置（物品４０が保管されている棚等の位置）と、作業者がその位置でボックス１３０Ａ又は１３０Ｂに入れるべき物品４０と、作業者がボックス１３０Ａ又は１３０Ｂに入れるべき物品４０の個数との情報を含みうる。また、ピッキング指示管理部１０１は、ピッキングの指示のデータをピッキング指示格納部１０２に格納する。 The picking instruction management unit 101 transmits picking instruction data to the tablet computer 150 . For example, when the worker taps a screen for starting the picking work displayed on the tablet computer 150, the picking instruction management unit 101 starts transmitting picking instruction data. As described above, the picking instruction includes the position to which the picking assist robot 100 should move (the position of the shelf where the article 40 is stored), the article 40 to be put in the box 130A or 130B by the worker at that position, Information may include the number of items 40 that the operator should place in box 130A or 130B. The picking instruction management unit 101 also stores picking instruction data in the picking instruction storage unit 102 .
　ピッキング指示格納部１０２には、タブレットコンピュータ１５０へ送信されたピッキングの指示のデータが格納されている。 The picking instruction storage unit 102 stores picking instruction data transmitted to the tablet computer 150 .
　以下、図５を参照しながら、タブレットコンピュータ１５０に表示されるピッキングの指示を示す画面について説明する。 A screen showing a picking instruction displayed on the tablet computer 150 will be described below with reference to FIG.
　図５は、実施形態の表示される画面の一例である。図５に示す画面では、ボックス１３０Ａ、１３０ＢをＡ、Ｂとして示す。図５に示されるように、ピッキング補助ロボット１００が移動すべき位置（物品４０が保管されている棚等の位置、「ピッキング場所」とも呼ぶ）が表示されうる。また、図５に示されるように、ピッキングの指示として、作業者がその場所でボックス１３０Ａ又は１３０Ｂに入れるべき物品４０（ピッキング対象）の品名や物品４０の画像（例えば、物流センタ等で保管されているときの物品４０の画像）が表示されうる。また、図５に示されるように、ピッキングの指示として、作業者がボックス１３０Ａ又は１３０Ｂに入れるべきその物品４０の個数（図５の例では、ボックス１３０Ａ、１３０Ｂに入れるべき個数）が表示されうる。また、図５に示されるように、ピッキング作業を実施している日（作業日）、作業者の識別子（作業者ＩＤ）、作業者の氏名（作業者名）、ピッキングすべき物品４０の総数のうちピッキングが完了した個数（完了数／総アイテム数）、ピッキングを完了するまでの目標の時間のうち経過した時間（経過時間／目標時間）などが表示されてもよい。作業者は、図５のような画面を見て、どの場所でどの物品４０を何個ずつピッキングすべきかを知ることができる。なお、物品４０によってボックス１３０Ａ、１３０Ｂのどちらに入れるかが指定されている場合には、作業者は、図５のような画面を見て、指示とは異なるボックス１３０Ａ、１３０Ｂへの入れ間違いを直ちに知ることができる。 FIG. 5 is an example of a screen displayed according to the embodiment. Boxes 130A and 130B are indicated as A and B on the screen shown in FIG. As shown in FIG. 5, the position to which the picking assistant robot 100 should move (the position of the shelf where the article 40 is stored, also called "picking place") can be displayed. As shown in FIG. 5, as a picking instruction, the name of the article 40 (to be picked) to be put into the box 130A or 130B by the worker at that location and the image of the article 40 (for example, stored in a distribution center or the like). an image of the item 40 when it is on) may be displayed. Also, as shown in FIG. 5, as a picking instruction, the number of articles 40 that the worker should put in the box 130A or 130B (in the example of FIG. 5, the number to be put in the boxes 130A and 130B) can be displayed. . Also, as shown in FIG. 5, the date on which the picking work is being performed (work day), the identifier of the worker (worker ID), the name of the worker (worker name), and the total number of articles 40 to be picked. Among them, the number of completed pickings (completed number/total number of items), the elapsed time (elapsed time/target time) of the target time until the picking is completed, and the like may be displayed. The operator can see the screen as shown in FIG. 5 to know how many pieces of which article 40 should be picked at which place. In addition, when it is specified which of the boxes 130A and 130B the article 40 should be placed in, the worker looks at the screen as shown in FIG. You can know immediately.
　なお、ボックス１３０Ａ、１３０Ｂごとに、作業者がボックス１３０Ａ、１３０Ｂに入れるべき１つまたは複数の物品４０、作業者がボックス１３０Ａ、１３０Ｂに入れるべき各物品４０の個数を示すリストを表示してもよい。以下、図６を参照しながら、タブレットコンピュータ１５０に表示されるボックス１３０Ａ、１３０Ｂごとのピッキングの指示を示す画面について説明する。 For each of the boxes 130A and 130B, a list indicating one or more articles 40 that the worker should put in the boxes 130A and 130B and the number of each article 40 that the worker should put in the boxes 130A and 130B may be displayed. good. A screen showing instructions for picking for each of the boxes 130A and 130B displayed on the tablet computer 150 will be described below with reference to FIG.
　図６は、タブレットコンピュータ１５０の表示画面の一例である。図６には、一例として、ボックス１３０Ａに入れるべき物品４０に関する表示内容を示す。例えば、図５の画面がタップされると、図６の画面へ遷移しうる。図６に示されるように、作業者がボックス１３０Ａに入れるべき１つまたは複数の物品４０が表示されうる。また、図６に示されるように、作業者がボックス１３０Ａに入れるべき各物品４０の個数が表示されうる。また、図６に示されるように、物品４０が発送される先（行先）、ボックス１３０Ａに入れるべき物品４０の総数（アイテム数）、出荷日などが表示されてもよい。作業者は、図６のような画面を見て、ボックス１３０Ａ、１３０Ｂごとに、どの物品４０を何個ずつピッキングすべきかを知ることができる。 FIG. 6 is an example of the display screen of the tablet computer 150. FIG. FIG. 6 shows, as an example, display contents regarding the article 40 to be put in the box 130A. For example, when the screen in FIG. 5 is tapped, the screen in FIG. 6 can be displayed. As shown in FIG. 6, one or more items 40 may be displayed for the operator to place in box 130A. Also, as shown in FIG. 6, the number of each item 40 that the operator should put in the box 130A can be displayed. Also, as shown in FIG. 6, the destination (destination) to which the article 40 is to be shipped, the total number of articles 40 to be put in the box 130A (the number of items), the shipping date, and the like may be displayed. The operator can see the screen as shown in FIG. 6 and know how many pieces of which article 40 should be picked for each of the boxes 130A and 130B.
　図４に戻る。情報受信部１０４は、タブレットコンピュータ１５０から、ＲＦＩＤリーダ１４０がＲＦＩＤタグ４１から読み取った特定情報及び固有情報と、ＲＦＩＤリーダ１４０を識別するための情報とを受信する。情報受信部１０４は、特定情報、ＲＦＩＤリーダ１４０を識別するための情報を受信すると、マップ作成部１０３およびカウント部１０５に通知する。また、情報受信部１０４は、固有情報を受信すると、物品管理部１０７に通知する。 Return to Figure 4. The information receiving unit 104 receives from the tablet computer 150 specific information and unique information read from the RFID tag 41 by the RFID reader 140 and information for identifying the RFID reader 140 . When information receiving section 104 receives the specific information and the information for identifying RFID reader 140, information receiving section 104 notifies map creating section 103 and counting section 105 thereof. Also, upon receiving the unique information, the information receiving section 104 notifies the article management section 107 of it.
　マップ作成部１０３は、マップ作成処理を行う。具体的には、マップ作成部１０３は、ピッキング補助ロボット１００を誘導するためのマップを作成する。以下、ピッキングの実施を開始する時のマップ作成と、ピッキングの実施中のマップ作成とに分けて説明する。 The map creation unit 103 performs map creation processing. Specifically, the map creating unit 103 creates a map for guiding the picking assist robot 100 . Hereinafter, map creation at the time of starting picking and map creation during picking will be described separately.
　＜ピッキング実施開始時＞
　マップ作成部１０３は、ボックス１３０Ａ又は１３０Ｂに入れるよう作業者へ指示される物品４０が保管されている全ての場所を経由する最短距離のルート（経路）を生成する。マップ作成部１０３は、物流センタ等内の各棚の配置図上に、生成したルートと、次のピッキング場所（つまり、ピッキング補助ロボット１００が次に向かうべきピッキング場所）と、全てのピッキング場所と、を明示したマップを作成する。ピッキング補助ロボット１００は、タブレットコンピュータ１５０が管理サーバ１０から受信するピッキングの指示に含まれる位置情報と、マップ作成部１０３によって作成されたマップとに従って、各ピッキング場所に移動する。 <At the start of picking>
The map creation unit 103 generates a shortest route (route) passing through all locations where the articles 40 instructed to be put into the box 130A or 130B by the worker are stored. The map creation unit 103 displays the generated route, the next picking location (that is, the picking location to which the picking assistant robot 100 should go next), and all the picking locations on the layout diagram of each shelf in the distribution center. Create a map that clearly indicates . The picking assist robot 100 moves to each picking location according to the location information included in the picking instructions received by the tablet computer 150 from the management server 10 and the map created by the map creation unit 103 .
　＜ピッキング実施中＞
　マップ作成部１０３は、物流センタ等内の各棚の配置図上に、ピッキング実施開始時に生成したルートと、次のピッキング場所（つまり、ピッキングが完了したピッキング場所の次のピッキング場所）と、全てのピッキング場所と、を明示したマップを作成する。なお、マップ作成部１０３は、ピッキング実施開始時に生成したルートを用いず、新たにルートを生成し直すこともできる。 <During picking>
The map creation unit 103 displays the route generated when picking is started, the next picking location (that is, the next picking location after the picking location where picking is completed), and all Create a map that clearly shows the picking locations of Note that the map creation unit 103 can also regenerate a new route without using the route generated at the start of picking.
　ピッキング補助ロボット１００が複数ある場合には、ピッキング実施開始時、及び、ピッキング実施中のいずれにおいても、マップ作成部１０３は、複数のピッキング補助ロボット１００のピッキングの状況に基づいて、複数のピッキング補助ロボット１００が衝突しない（例えば、複数のピッキング補助ロボット１００が、同一の通路を同一方向または逆方向に同時にまたは所定の時間内に通らない）ようにルートを生成すればよい。また、複数のピッキング補助ロボット１００の現在地やルート（経路）が、マップに明示されてもよい。マップ作成部１０３は、他のピッキング補助ロボット１００によって混んでいる棚を避けるルート（経路）を生成することができる。 When there are a plurality of picking assist robots 100, the map creation unit 103 generates a plurality of picking assist robots 100 based on the picking status of the plurality of picking assist robots 100 both at the start of picking and during picking. A route may be generated so that robots 100 do not collide (for example, multiple picking assistant robots 100 do not pass through the same passage in the same direction or in opposite directions at the same time or within a predetermined time). Also, the current locations and routes (routes) of the plurality of picking assist robots 100 may be clearly indicated on the map. The map creation unit 103 can generate a route (path) that avoids shelves crowded by other picking assist robots 100 .
　以下、図７を参照しながら、タブレットコンピュータ１５０に表示されるマップを示す画面について説明する。 A screen showing a map displayed on the tablet computer 150 will be described below with reference to FIG.
　図７は、実施形態の表示される画面の一例である。例えば、図５の画面がタップされると図７の画面へ遷移しうる。図７に示されるように、物流センタ等内の各棚の配置図上に、ルートと、次のピッキング場所と、全てのピッキング場所と、が明示されたマップが表示されうる。 FIG. 7 is an example of a screen displayed according to the embodiment. For example, when the screen in FIG. 5 is tapped, the screen in FIG. 7 can be displayed. As shown in FIG. 7, a map showing the route, the next picking location, and all the picking locations can be displayed on the layout of each shelf in a distribution center or the like.
　図４に戻る。カウント部１０５は、ピッキング数カウント処理を行う。具体的には、カウント部１０５は、ピッキング指示格納部１０２に格納されているピッキングの指示を参照して、ボックス１３０Ａ又は１３０Ｂに入れるよう作業者へ指示された各物品４０の個数を特定する。また、カウント部１０５は、情報受信部１０４から受信した特定情報に基づいて、ボックス１３０Ａ又は１３０Ｂに入れられている各物品４０の個数をカウントする。具体的には、カウント部１０５は、情報受信部１０４から特定情報を受信すると、その特定情報が書き込まれているＲＦＩＤタグ４１が付されている物品４０がボックス１３０Ａ又は１３０Ｂに入れられていると判断する。また、カウント部１０５は、指示された個数とカウントした個数とに基づいて、各物品４０の、ボックス１３０Ａ又は１３０Ｂに入れるよう作業者へ指示された個数に対する、既にボックス１３０Ａ又は１３０Ｂに入れられている個数の過不足を判断する。具体的には、カウント部１０５は、指示された個数がカウントした個数より多いときには物品４０が不足していると判断し、指示された個数がカウントした個数と同一であるときにはピッキングが完了したと判断し、指示された個数がカウントした個数より少ないときには物品４０が過剰であると判断する。 Return to Figure 4. The counting unit 105 performs picking number counting processing. Specifically, the counting unit 105 refers to the picking instructions stored in the picking instruction storage unit 102 and identifies the number of each item 40 instructed to be placed in the box 130A or 130B by the worker. Also, the counting section 105 counts the number of each article 40 placed in the box 130A or 130B based on the specific information received from the information receiving section 104 . Specifically, when the counting unit 105 receives the specific information from the information receiving unit 104, the article 40 with the RFID tag 41 in which the specific information is written is placed in the box 130A or 130B. to decide. Also, the counting unit 105 counts the number of articles 40 that have already been placed in the box 130A or 130B, based on the instructed number and the counted number. Judging whether there is an excess or deficiency in the number of Specifically, the counting unit 105 determines that there is a shortage of the articles 40 when the instructed number is greater than the counted number, and determines that the picking is completed when the instructed number is the same as the counted number. If the indicated number is less than the counted number, then the article 40 is determined to be in excess.
　なお、カウント部１０５は、特定情報と、ＲＦＩＤリーダ１４０を識別するための情報と、ＲＦＩＤリーダ１４０がアンテナ１４２Ａ、１４２Ｂのどちらで特定情報を読み取ったかを表す情報と、に基づいて、物品４０がボックス１３０Ｂ、１３０Ｂのいずれに入れられているかを判断することができる。 Note that counting unit 105 determines whether article 40 is detected based on the specific information, information for identifying RFID reader 140, and information indicating which of antennas 142A and 142B RFID reader 140 has read the specific information. It can be determined which of the boxes 130B, 130B has been placed.
　ピッキング状況管理部１０６は、カウント部１０５がカウントした各物品４０の個数に基づいて、ピッキングの状況のデータをタブレットコンピュータ１５０へ送信する。上述したとおり、ピッキングの状況は、既にボックス１３０Ａ又は１３０Ｂに入れられている各物品４０の個数の情報を含みうる。以下、図５および図６を参照しながら、ピッキングの指示を示す画面上でのピッキングの状況の表示について説明する。 The picking status management unit 106 transmits picking status data to the tablet computer 150 based on the number of each item 40 counted by the counting unit 105 . As described above, the picking status may include information on the number of each item 40 already placed in box 130A or 130B. Hereinafter, the display of the picking status on the screen showing the picking instruction will be described with reference to FIGS. 5 and 6. FIG.
　図５に示されるように、ピッキングの指示として、作業者がボックス１３０Ａ又は１３０Ｂに入れるべき物品４０の個数が表示されうる（分数の分母を参照）。このような作業者がボックス１３０Ａ又は１３０Ｂに入れるべき物品４０の個数の表示とともに、ボックス１３０Ａ又は１３０Ｂに既に入れられている物品４０の個数が表示されうる（分数の分子を参照）。さらに、ボックス１３０Ａ又は１３０Ｂに入れるよう作業者へ指示された個数に対する、既にボックス１３０Ａ又は１３０Ｂに入れられている個数の過不足が表示されうる。例えば、作業者が、物品４０が不足していることと、ピッキングが完了していることと、物品４０が過剰であることとを、容易に識別できるように表示されうる。例えば、物品４０が不足している場合にはチェックを付さず、ピッキングが完了している場合にはチェックを付し、物品４０が過剰である場合には×印を付すようにしてもよい。 As shown in FIG. 5, as a picking instruction, the number of articles 40 that the worker should put in the box 130A or 130B can be displayed (see the denominator of the fraction). Along with such an indication of the number of items 40 to be placed in box 130A or 130B by the operator, the number of items 40 already placed in box 130A or 130B may be displayed (see numerator of fraction). In addition, the excess or deficiency of the number of items already placed in the box 130A or 130B with respect to the number of items instructed to be placed in the box 130A or 130B can be displayed. For example, it can be displayed in such a way that the worker can easily identify that the item 40 is in short supply, that the picking has been completed, and that the item 40 is in excess. For example, if the goods 40 are in short supply, no check may be added, if the picking is completed, a check may be added, and if the goods 40 are excessive, an X mark may be added. .
　図６に示されるように、作業者がボックス１３０Ａに入れるべき１つまたは複数の物品４０の個数が表示されうる。このような作業者がボックス１３０Ａに入れるべき各物品４０の個数の表示とともに、既にボックス１３０Ａに入れられている各物品４０の個数が表示されうる。さらに、ボックス１３０Ａに入れるよう作業者へ指示された個数に対する、既にボックス１３０Ａに入れられている個数の過不足が表示されうる。例えば、作業者が、物品４０が不足していることと、ピッキングが完了していることと、物品４０が過剰であることとを作業者が容易に識別できるように表示されうる。例えば、物品４０が不足している場合にはチェックを付さず、ピッキングが完了している場合にはチェックを付し、物品４０が過剰である場合には×印を付すようにしてもよい。なお、このような表示は、ボックス１３０Ｂについても同様に表示可能である。 As shown in FIG. 6, the number of one or more items 40 that the worker should put in the box 130A can be displayed. Along with the display of the number of each article 40 that the worker should put in the box 130A, the number of each article 40 that has already been put in the box 130A can be displayed. In addition, the excess or deficiency of the number already put in the box 130A with respect to the number instructed to put in the box 130A can be displayed. For example, it may be displayed in such a way that the worker can easily identify that the item 40 is in short supply, that the picking has been completed, and that the item 40 is in excess. For example, if the goods 40 are in short supply, no check may be added, if the picking is completed, a check may be added, and if the goods 40 are excessive, an X mark may be added. . It should be noted that such a display can be similarly displayed for the box 130B.
　物品管理部１０７は、情報受信部１０４から受信した固有情報に基づいて、ピッキングの対象の物品の管理を行う。具体的には、物品管理部１０７は、情報受信部１０４から固有情報を受信すると、どのような固有情報が書き込まれているＲＦＩＤタグ４１が付されている物品４０がボックス１３０Ａ又は１３０Ｂに入れられているかを判断する。そして、ボックス１３０Ａ又は１３０Ｂに入れられているピッキングの対象の物品が適切なものか否かを判断することができる。 The item management unit 107 manages items to be picked based on the unique information received from the information receiving unit 104 . Specifically, when the item management unit 107 receives the unique information from the information receiving unit 104, the item 40 with the RFID tag 41 written with what kind of unique information is placed in the box 130A or 130B. determine whether Then, it can be determined whether or not the article to be picked in the box 130A or 130B is appropriate.
　物品管理部１０７は、ボックス１３０Ａ又は１３０Ｂに入れられているピッキングの対象の物品よりも適切なものが他にある場合に、取り直し指令をタブレットコンピュータ１５０へ送信する。 The item management unit 107 sends a pick-up command to the tablet computer 150 when there is another item more suitable than the item to be picked in the box 130A or 130B.
　例えば、ピッキングの対象の物品が食品であり、固有情報は当該食品の消費期限に関する情報を含む例を考える。この場合、物品管理部１０７は、固有情報に基づき、ピッキングの対象の物品群の中でピッキングされた物品（ボックス１３０Ａ又は１３０Ｂに入れられている物品４０）の他に消費期限が近いものがある場合に、物品４０を消費期限が近いものに取り直す指令をタブレットコンピュータ１５０に表示させる。例えば図５に示すように、タブレットコンピュータ１５０のピッキングの指示を示す画面上に、消費期限に基づく取り直し指令に関する指令ウインドウ１５２を表示させる。図５の例では、ボックス１３０Ｂに入れられている物品４０について、「消費期限が近い別の物品がありますので取り直して下さい」というメッセージが指令ウインドウ１５２に表示されている。 For example, consider an example where the item to be picked is food and the specific information includes information on the expiration date of the food. In this case, based on the unique information, the item management unit 107 determines that there is an item whose expiration date is near in addition to the picked item (the item 40 placed in the box 130A or 130B) in the item group to be picked. In this case, the tablet computer 150 is caused to display an instruction to replace the article 40 with one whose expiry date is near. For example, as shown in FIG. 5, a command window 152 regarding a retake command based on the expiration date is displayed on the screen of the tablet computer 150 showing the picking command. In the example of FIG. 5, a message is displayed in the command window 152 for the item 40 placed in the box 130B, saying, "There is another item whose expiry date is near, so please pick it up again."
　また、固有情報は販売促進のキャンペーンに関する情報を含む例を考える。この場合、物品管理部１０７は、固有情報に基づき、ピッキングの対象の物品群の中でピッキングされた物品（ボックス１３０Ａ又は１３０Ｂに入れられている物品４０）の他にキャンペーンの対象のものがある場合に、物品４０をキャンペーンの対象のものに取り直す指令をタブレットコンピュータ１５０に表示させる。例えば図６に示すように、タブレットコンピュータ１５０のピッキングの指示を示す画面上に、キャンペーン情報に基づく取り直し指令に関する指令ウインドウ１５３を表示させる。図６の例では、ボックス１３０Ａまたは１３０Ｂに入れられている物品４０について、「キャンペーン用パッケージの別の物品がありますので取り直して下さい」というメッセージが指令ウインドウ１５３に表示されている。 Also, consider an example where the unique information includes information on sales promotion campaigns. In this case, based on the specific information, the item management unit 107 determines that there is an item targeted for the campaign in addition to the picked item (the item 40 placed in the box 130A or 130B) in the item group to be picked. In this case, the tablet computer 150 is caused to display a command to redeem the item 40 for the campaign target. For example, as shown in FIG. 6, a command window 153 regarding a retake command based on the campaign information is displayed on the screen of the tablet computer 150 indicating the picking command. In the example of FIG. 6, a message is displayed in the command window 153 for the item 40 placed in the box 130A or 130B, stating, "There is another item in the campaign package, so please pick it up again."
　［物品管理部の処理の例］
　図８～図１０を参照して、物品管理部１０７が実施する処理例を説明する。 [Example of processing by the goods management department]
An example of processing performed by the article management unit 107 will be described with reference to FIGS. 8 to 10. FIG.
　図８は、物品管理部１０７が実施する物品取り直し処理の第１の例を示すフローチャートである。図８に示す物品取り直し処理の第１の例では、上述した消費期限に基づく取り直し指令が行われる。 FIG. 8 is a flow chart showing a first example of the item restocking process performed by the item management unit 107. FIG. In the first example of the article pick-up process shown in FIG. 8, a pick-up instruction is issued based on the expiry date described above.
　ステップＳ１０１では、ピッキングした物品４０の固有情報から当該物品の消費期限に関する情報が取得される。 In step S101, information about the expiration date of the picked item 40 is obtained from the unique information of the item 40 picked.
　ステップＳ１０２では、ピッキングした物品４０と同種の物品群の消費期限情報と、ステップＳ１０１で取得した情報とが比較される。なお、物品群の消費期限情報は、例えば管理サーバ１０が、棚等に保管されている物品群の各物品に関する固有情報を記憶するデータベースを備えており、物品管理部１０７がこのデータベースから必要な情報を取得する構成が考えられる。 In step S102, the expiration date information of the same type of item group as the picked item 40 is compared with the information acquired in step S101. As for the expiration date information of the item group, for example, the management server 10 has a database that stores unique information about each item in the item group stored on a shelf or the like. A configuration for acquiring information is conceivable.
　ステップＳ１０３では、ステップＳ１０２の比較結果に基づき、ピッキングした物品４０より消費期限に近いものがあるか否かが判定される。消費期限に近いものが他にある場合（ステップＳ１０３のＹｅｓ）、ステップＳ１０４に進み、例えば図５に例示した指令ウインドウ１５２のような、物品取り直し指令がタブレットコンピュータ１５０に表示される。 In step S103, it is determined whether or not there is an item closer to the expiration date than the picked items 40 based on the comparison result in step S102. If there are other items close to the expiry date (Yes in step S103), the process proceeds to step S104, and an article pick-up instruction is displayed on the tablet computer 150, such as the instruction window 152 illustrated in FIG.
　一方、ピッキングした物品４０より消費期限に近いものが無い場合（ステップＳ１０３のＮｏ）には、適切な物品がピッキングされているものと判断して、ステップＳ１０４の取り直し指令は行わずに本制御フローを終了する。 On the other hand, if there is no item closer to the expiration date than the picked items 40 (No in step S103), it is determined that an appropriate item has been picked, and the control flow continues without issuing a pick-up command in step S104. exit.
　なお、図８のフローチャートに示した消費期限に基づく取り直し指令の対象となる物品は、食品の他に、経時変化の影響を受ける物品全般が含まれる。例えば、薬品、電池類、日用品など、消費期限が設定され得るものを対象の物品としてもよい。 It should be noted that, in addition to food, items that are subject to a recall order based on the expiration date shown in the flow chart of Fig. 8 include general items that are affected by changes over time. For example, items for which an expiration date can be set, such as medicines, batteries, and daily necessities, may be used as target articles.
　図９は、物品管理部１０７が実施する物品取り直し処理の第２の例を示すフローチャートである。図９に示す物品取り直し処理の第２の例では、上述したキャンペーン情報に基づく取り直し指令が行われる。 FIG. 9 is a flow chart showing a second example of the item restocking process performed by the item management unit 107. FIG. In the second example of the article pick-up process shown in FIG. 9, a pick-up instruction is issued based on the campaign information described above.
　ステップＳ２０１では、ピッキングした物品４０の固有情報からキャンペーン情報が取得される。 In step S201, campaign information is acquired from the unique information of the picked item 40.
　ステップＳ２０２では、ステップＳ２０１にて取得したキャンペーン情報に基づき、ピッキングした物品４０がキャンペーン対象商品であるか否かが判定される。キャンペーン対象商品とは、例えば商品のパッケージにキャンペーンに関する情報が印字されていたり、キャンペーンに関するシールやラベルが貼付されており、通常の商品とは視覚的に異なるものが挙げられる。 In step S202, based on the campaign information acquired in step S201, it is determined whether or not the picked item 40 is a campaign target product. A campaign target product includes, for example, a product package printed with campaign information or a campaign-related sticker or label affixed, which is visually different from normal products.
　ピッキングした物品４０がキャンペーン対象商品である場合（ステップＳ２０２のＹｅｓ）には、適切な商品がピッキングされているものと判断して、以下の処理は行わずに本制御フローを終了する。 If the picked item 40 is a campaign target item (Yes in step S202), it is determined that an appropriate item has been picked, and this control flow ends without performing the following processing.
　一方、ピッキングした物品４０がキャンペーン対象商品でない場合（ステップＳ２０２のＮｏ）には、ステップＳ２０３に進み、ピッキングした物品４０と同種の物品群のキャンペーン情報が取得される。なお、物品群のキャンペーン情報は、図８のステップＳ１０２の説明と同様に、例えば管理サーバ１０が、棚等に保管されている物品群の各物品に関する固有情報を記憶するデータベースを備えており、物品管理部１０７がこのデータベースから必要な情報を取得する構成が考えられる。 On the other hand, if the picked item 40 is not a campaign target item (No in step S202), the process proceeds to step S203 to acquire campaign information for a group of items of the same type as the picked item 40. As for the campaign information for the item group, for example, the management server 10 has a database that stores unique information about each item in the item group stored on the shelf or the like, similar to the description of step S102 in FIG. A configuration in which the article management unit 107 acquires necessary information from this database is conceivable.
　ステップＳ２０４では、ステップＳ２０３で取得した情報に基づき、ピッキングした物品４０と同種の物品群の中に、キャンペーン対象商品があるか否かが判定される。キャンペーン対象商品が他にある場合（ステップＳ２０４のＹｅｓ）、ステップＳ２０５に進み、例えば図６に例示した指令ウインドウ１５３のような、物品取り直し指令がタブレットコンピュータ１５０に表示される。一方、ピッキングした物品４０と同種の物品群の中にキャンペーン対象商品が無い場合（ステップＳ２０４のＮｏ）には、ステップＳ２０５の取り直し指令は行わずに本制御フローを終了する。 In step S204, based on the information acquired in step S203, it is determined whether or not there is a campaign target product in the group of products of the same type as the picked product 40. If there are other products to be campaigned (Yes in step S204), the process proceeds to step S205, and an article pick-up instruction is displayed on the tablet computer 150, such as the instruction window 153 illustrated in FIG. On the other hand, if there is no campaign target product in the same type of product group as the picked product 40 (No in step S204), this control flow ends without issuing a pick-up command in step S205.
　なお、図８、図９の例では、作業員が一旦ピッキングの指示に基づいて物品４０をボックス１３０Ａまたは１３０Ｂに入れた後に、より適切なものがある場合に物品の取り直しをさせる指令を行う構成を説明したが、物品管理部１０７による指令をピッキング前に行う構成とすることもできる。例えば、ピッキング指示管理部１０１が送信するピッキングの指示の中に消費期限やキャンペーン対象商品などの固有情報に関する指令も含めて、タブレットコンピュータ１５０にピッキングの指示を表示する際（図３のステップＳ３）に、固有情報に関する指令も併せて表示してもよい。 In the examples of FIGS. 8 and 9, after the worker puts the article 40 into the box 130A or 130B based on the picking instruction, if there is a more suitable article, the operator issues a command to pick up the article again. However, it is also possible to configure the article management unit 107 to issue a command before picking. For example, when the picking instruction transmitted by the picking instruction management unit 101 includes a command related to unique information such as an expiration date and a campaign target product, and the picking instruction is displayed on the tablet computer 150 (step S3 in FIG. 3). In addition, a command related to specific information may also be displayed.
　また、図８、図９の例では、物品取り直し処理の実施を判断するための固有情報として消費期限に関する情報やキャンペーン情報を用いる構成を例示したが、例えば特定の生産地や生産時期などの他の固有情報を用いる構成でもよい。 In addition, in the examples of FIGS. 8 and 9, the configuration using the information on the expiration date and the campaign information as the unique information for determining the execution of the product pick-up processing was exemplified. may be configured to use unique information.
　また、物品管理部１０７は、固有情報を利用する処理であれば、図８や図９に例示したより適切な物品をピッキングする指令を行う以外の処理を行うこともできる。例えば、棚等に保管されている物品群に不良品が存在する場合に、これらの不良品をピッキングして廃棄する指令を行うこともできる。以下に図１０を参照して説明する。 In addition, the item management unit 107 can also perform processing other than issuing a command to pick a more appropriate item as illustrated in FIGS. 8 and 9, as long as the processing uses unique information. For example, if there are defective items in a group of items stored on a shelf or the like, it is possible to issue a command to pick up and dispose of these defective items. Description will be made with reference to FIG. 10 below.
　図１０は、物品管理部１０７が実施する不良品廃棄処理の例を示すフローチャートである。図１０に示す不良品廃棄処理では、固有情報に物品の生産地または生産時期に関する情報が含まれる。 FIG. 10 is a flowchart showing an example of defective product disposal processing performed by the product management unit 107. FIG. In the defective product disposal process shown in FIG. 10, the unique information includes information on the place of production or time of production of the product.
　ステップＳ３０１では、ピッキング対象の物品群と同一種類の物品の不良品発生情報が取得される。不良品発生情報は、例えば管理サーバ１０の外部から入力される。 In step S301, defective product occurrence information for the same type of product as the product group to be picked is acquired. Defective product occurrence information is input from the outside of the management server 10, for example.
　ステップＳ３０２では、ピッキング対象の物品群の固有情報から生産地や生産時期などの情報が取得される。なお、物品群の生産地や生産時期などの情報は、例えば管理サーバ１０が、棚等に保管されている物品群の各物品に関する固有情報を記憶するデータベースを備えており、物品管理部１０７がこのデータベースから必要な情報を取得する構成が考えられる。 In step S302, information such as the place of production and the time of production is acquired from the unique information of the group of items to be picked. As for the information such as the place of production and the time of production of the group of articles, for example, the management server 10 has a database that stores unique information about each article in the group of articles stored on a shelf or the like. A configuration is conceivable in which necessary information is obtained from this database.
　ステップＳ３０３では、ステップＳ３０１で取得された不良品と、ステップＳ３０２で取得された物品群の生産地や生産時期の情報とが比較される。 In step S303, the defective product acquired in step S301 is compared with the information on the place of production and production time of the product group acquired in step S302.
　ステップＳ３０４では、ステップ３０３の比較結果に基づき、現在棚等に保管されているピッキング対象の物品群の中に、不良品と同一の生産地や生産時期のものがあるか否かが判定される。 In step S304, based on the comparison result in step 303, it is determined whether or not there is an item in the same place of production or in the same production period as the defective item in the group of items to be picked that are currently stored on shelves or the like. .
　物品群の中に不良品と同一の生産地や生産時期のものがある場合（ステップＳ３０４のＹｅｓ）、ステップＳ３０５に進み、棚等に保管されているピッキング対象の物品群の中
から不良品をピッキングして廃棄する旨の不良品廃棄指令がタブレットコンピュータ１５０に表示される。 If there is an item in the product group that has the same place of production and production time as the defective product (Yes in step S304), the process proceeds to step S305, and the defective product is selected from the product group to be picked that is stored on a shelf or the like. The tablet computer 150 displays a defective product discard command indicating that the defective product is to be picked and discarded.
　一方、物品群の中に不良品と同一の生産地や生産時期のものが無い場合（ステップＳ３０４のＮｏ）には、現在棚等に保管されているピッキング対象の物品群の中には不良品が無いものと判断して、ステップＳ３０５の不良品廃棄指令は行わずに本制御フローを終了する。 On the other hand, if there is no product in the same place of production or in the same production period as the defective product in the group of products (No in step S304), the group of products to be picked that are currently stored on the shelf or the like does not include the defective product. It is determined that there is no defective product disposal command in step S305, and this control flow ends.
　［効果］
　以上のように、作業者は、ピッキング補助ロボット１００が待機している場所に歩いて行き、タブレットコンピュータ１５０に表示されるピッキングの指示を見ながら物品４０をボックス１３０Ａ又は１３０Ｂに入れることで、そのピッキング場所におけるピッキング作業を完了することができる。したがって、作業者が物品４０のピッキングを効率的に行えるように補助可能なピッキング補助ロボット１００、及び、ピッキング補助システム１を提供することができる。 [effect]
As described above, the worker walks to the place where the picking assist robot 100 is waiting, and while watching the picking instructions displayed on the tablet computer 150, puts the article 40 into the box 130A or 130B. Picking operations at the picking location can be completed. Therefore, it is possible to provide the picking assist robot 100 and the picking assist system 1 capable of assisting the worker in picking the article 40 efficiently.
　また、ＲＦＩＤリーダ１４０のアンテナ１４２Ａ、１４２Ｂで複数のＲＦＩＤタグ４１を一括的に読み取ることができ、作業者はピッキング作業を効率的に、かつ、素早く短時間で行うことができる。特に、同じ種類の物品４０の数が多い場合には、一括的に読み取ることができることで、作業効率が大幅に向上する。このような物品４０の一例は、飲み薬、注射薬、又は外用治療薬等の医薬品、マスク、又はその他の医療用の衣服や器具等である。 In addition, the antennas 142A and 142B of the RFID reader 140 can collectively read a plurality of RFID tags 41, allowing the worker to efficiently and quickly perform the picking work in a short time. In particular, when there are a large number of articles 40 of the same type, the work efficiency can be greatly improved by being able to read them collectively. Examples of such articles 40 include medicines such as oral medicines, injections, or topical remedies, masks, or other medical clothing or equipment.
　また、物品４０をボックス１３０Ａ又は１３０Ｂに入れる際に、応答音によって正しい物品４０であるかどうかを把握することができる。そのため、作業者は、物品４０を正確にピッキングすることができ、作業効率を向上させることができる。 Also, when putting the article 40 into the box 130A or 130B, it is possible to grasp whether the article 40 is correct by the response sound. Therefore, the worker can pick the article 40 accurately, and work efficiency can be improved.
　また、顔認証部１６０で作業者の認証を行うので、作業者毎の作業量や作業効率を把握することができる。 Also, since the face authentication unit 160 authenticates the worker, it is possible to grasp the work volume and work efficiency of each worker.
　また、ピッキング補助ロボット１００は、完了操作が行われて顔認証によって作業者ＩＤ情報が取得されるまでは、棚の前で移動せずに待機するため、作業者の意図に沿った移動を行うことにより、作業効率の向上を図ることができる。 In addition, since the picking assist robot 100 waits in front of the shelf without moving until the completion operation is performed and the worker ID information is acquired by face authentication, it moves in accordance with the worker's intention. Thereby, it is possible to improve the working efficiency.
　また、ピッキング補助ロボット１００は、完了操作が行われて顔認証によって作業者ＩＤ情報が取得されると移動するので、作業者の意図に沿った移動を行うことにより、作業効率の向上を図ることができる。 In addition, since the picking assist robot 100 moves when the completion operation is performed and the worker ID information is acquired by face authentication, the work efficiency can be improved by moving in accordance with the worker's intention. can be done.
　また、ピッキング補助ロボット１００は、現在の位置とは異なる位置にある物品４０についてのピッキングの指示に従って、その物品４０が配置されている棚等の前に移動するので、作業者の意図に沿った移動を行うことにより、作業効率の向上を図ることができる。 In addition, the picking assist robot 100 moves in front of the shelf or the like on which the article 40 is arranged according to the picking instruction for the article 40 located at a position different from the current position, so that the operator's intention is met. By moving, work efficiency can be improved.
　また、ボックス１３０Ａ、１３０Ｂの真上にアンテナ１４２Ａ、１４２Ｂをそれぞれ配置しているので、既にボックス１３０Ａ、１３０Ｂ内に金属製の包装等を有する物品や液体を含む物品が収容されていても、アンテナ１４２Ａ、１４２Ｂで入口１３１Ａ、１３１Ｂを通ってボックス１３０Ａ、１３０Ｂに収容される物品のＲＦＩＤタグを確実に読み取ることができる。また、読み取り漏れの発生を抑制することができる。 In addition, since the antennas 142A and 142B are arranged right above the boxes 130A and 130B, respectively, even if the boxes 130A and 130B already contain articles having metal packaging or the like or articles containing liquid, the antennas RFID tags on items contained in boxes 130A, 130B can be reliably read through entrances 131A, 131B at 142A, 142B. In addition, it is possible to suppress the occurrence of reading omissions.
　また、ボックス１３０Ａ、１３０Ｂの入口１３１Ａ、１３１Ｂにアンテナ１４２Ａ、１４２Ｂを設けたことによって、ＲＦＩＤタグ４１を読み取った物品４０が確実にボックス１３０Ａ、１３０Ｂに入れられるので、ボックス１３０Ａ、１３０Ｂに入れたことを確認する作業が不要であり、作業効率を向上させることができる。また、ボックス１３０Ａ、１３０Ｂの上側からＲＦＩＤタグ４１を読むことにより、ボックス１３０Ａ、１３０Ｂの内部に沢山の他の物品４０が収容されている状態でも、ボックス１３０Ａ、１３０Ｂに入れる物品４０のＲＦＩＤタグ４１を確実に読み取ることができる。 In addition, since the antennas 142A and 142B are provided at the entrances 131A and 131B of the boxes 130A and 130B, the articles 40 whose RFID tags 41 are read can surely be put into the boxes 130A and 130B. This eliminates the need for confirming work, and improves work efficiency. In addition, by reading the RFID tag 41 from the upper side of the boxes 130A and 130B, even when many other articles 40 are stored inside the boxes 130A and 130B, the RFID tags 41 of the articles 40 to be put into the boxes 130A and 130B can be detected. can be reliably read.
　また、ボックス１３０Ａとアンテナ１４２Ｂとの間に遮蔽部１７０を設けているので、アンテナ１４２Ａがボックス１３０Ｂに収容される物品に付されたＲＦＩＤタグを読み取らないようにすることができる。換言すれば、ボックス１３０Ａ、１３０Ｂに入れられる物品４０をアンテナ１４２Ａ、１４２Ｂで正確に読み取ることができ、読み取りのミスを抑制することができる。 Also, since the shielding part 170 is provided between the box 130A and the antenna 142B, it is possible to prevent the antenna 142A from reading the RFID tag attached to the article housed in the box 130B. In other words, the antennas 142A and 142B can accurately read the articles 40 placed in the boxes 130A and 130B, and reading errors can be suppressed.
　また、本実施形態に係るピッキング補助システム１は、管理サーバ１０と、ピッキング補助ロボット１００と、を備える。ピッキング補助ロボット１００は、ＲＦＩＤタグ４１が付された物品４０を収容するボックス１３０Ａ、１３０Ｂと、物品４０がボックス１３０Ａ、１３０Ｂに収容される際にＲＦＩＤタグ４１を読み取り可能な位置に設けられたアンテナ１４２Ａ、１４２Ｂを有するＲＦＩＤリーダ１４０と、ピッキングの指示を管理サーバから受信するタブレットコンピュータ１５０と、ボックス１３０Ａ、１３０Ｂ及びＲＦＩＤリーダ１４０が搭載され、ピッキングの指示に含まれる物品４０の位置に関する情報に基づき、物品４０が配置される位置に移動する搬送車１１０と、を有する。ピッキングの対象の物品４０に付されたＲＦＩＤタグ４１には、当該物品４０の種類を特定するための「特定情報」と、当該物品４０に係る種類以外の情報を含む「固有情報」とが書き込まれている。管理サーバ１０は、ピッキングの指示をピッキング補助ロボット１００に送信するピッキング指示管理部１０１と、ＲＦＩＤリーダ１４０が読み取った物品４０に付されているＲＦＩＤタグ４１に書き込まれている特定情報と固有情報とを受信する情報受信部１０４と、固有情報に基づいて、ピッキングの対象の物品４０の管理を行う物品管理部１０７と、を有する。 Also, the picking assist system 1 according to this embodiment includes a management server 10 and a picking assist robot 100 . The picking assist robot 100 includes boxes 130A and 130B that store articles 40 with RFID tags 41 attached thereto, and antennas that are provided at positions where the RFID tags 41 can be read when the articles 40 are stored in the boxes 130A and 130B. 142A, 142B; a tablet computer 150 that receives picking instructions from the management server; boxes 130A, 130B and RFID reader 140; , and a vehicle 110 that moves to a position where the article 40 is to be placed. In the RFID tag 41 attached to the article 40 to be picked, "specific information" for specifying the type of the article 40 and "unique information" including information other than the type related to the article 40 are written. is The management server 10 includes a picking instruction management unit 101 that transmits a picking instruction to the picking assistant robot 100, and specific information and unique information written in the RFID tag 41 attached to the article 40 read by the RFID reader 140. and an article management section 107 that manages the article 40 to be picked based on the unique information.
　この構成により、作業者は、ピッキング補助ロボット１００が待機している場所に歩いて行き、タブレットコンピュータ１５０に表示されるピッキングの指示を見ながら物品４０をボックス１３０Ａ又は１３０Ｂに入れることで、そのピッキング場所におけるピッキング作業を完了することができるので、本実施形態のピッキング補助システム１は、作業者に物品４０のピッキングを効率的に行わせることが可能となる。また、本実施形態では、ピッキングの対象の物品４０に付されたＲＦＩＤタグ４１には、当該物品４０の種類を特定するための「特定情報」に加えて、当該物品４０に係る種類以外の情報を含む「固有情報」が書き込まれており、ピッキングの際にはこの固有情報も管理サーバ１０に提供される。これにより、上位の管理サーバ１０側において、ピッキングの対象の物品４０の固有情報を利用して、例えばより適切な物品の取り直し指示や、不良品の判別や廃棄指示など、よりきめ細かな管理を行うことが可能となり、ピッキング作業をより効率的にできる。したがって、本実施形態のピッキング補助システム１は、作業者が物品のピッキングを効率的に行えるように補助可能である。 With this configuration, the worker walks to the place where the picking assist robot 100 is waiting, and while watching the picking instructions displayed on the tablet computer 150, puts the article 40 into the box 130A or 130B, thereby performing the picking. Since the picking work at the location can be completed, the picking assist system 1 of the present embodiment enables the worker to efficiently pick the article 40 . Further, in the present embodiment, the RFID tag 41 attached to the article 40 to be picked has information other than the type of the article 40 in addition to the "specific information" for specifying the type of the article 40. is written, and this unique information is also provided to the management server 10 at the time of picking. As a result, on the side of the upper management server 10, more detailed management is performed by using the unique information of the article 40 to be picked, such as instructions for picking up more appropriate articles, determination of defective articles, and instructions for disposal. This makes picking work more efficient. Therefore, the picking assistance system 1 of the present embodiment can assist the worker in picking articles efficiently.
　また、本実施形態に係るピッキング補助システム１において、物品管理部１０７は、特定情報により特定されるピッキングの対象の物品群４０の中から、固有情報に基づきピッキングすべき物品を限定するのが好ましい。この構成により、作業者により適切な物品４０をピッキングするよう誘導することが容易となり、ピッキング作業をより効率的にできる。 In the picking assistance system 1 according to the present embodiment, the article management unit 107 preferably limits the articles to be picked based on the specific information from among the picking target article group 40 specified by the specific information. . With this configuration, it becomes easier to guide the worker to pick the appropriate article 40, and the picking operation can be made more efficient.
　また、ピッキング対象の物品４０には消費期限が設定され、当該物品に貼付されるＲＦＩＤタグ４１に書き込まれている固有情報は、物品の消費期限に関する情報を含むのが好ましい。この場合、物品管理部１０７は、固有情報に基づき、ピッキングの対象の物品群の中でピッキングされた物品の他に消費期限が近いものがある場合に、物品を消費期限が近いものに取り直す指令をピッキング補助ロボット１００のタブレットコンピュータ１５０に表示させるのが好ましい。 Also, it is preferable that an expiration date is set for the item 40 to be picked, and the unique information written in the RFID tag 41 attached to the item includes information regarding the expiration date of the item. In this case, based on the unique information, the item management unit 107 issues a command to retake the item with an item whose expiration date is near if there is an item whose expiration date is near in addition to the picked item in the item group to be picked. is preferably displayed on the tablet computer 150 of the picking assist robot 100 .
　この構成により、ピッキングの対象の物品群の中から消費期限が近いものを優先的にピッキングさせることが可能となり、ピッキングの効率化に加えて、食品ロスなどの物品の無駄の低減にも貢献できる。 With this configuration, it is possible to preferentially pick items whose expiry date is near from among the items to be picked, which contributes not only to the efficiency of picking but also to the reduction of waste of items such as food loss. .
　また、ピッキング対象の物品４０に貼付されるＲＦＩＤタグ４１に書き込まれている固有情報は、販売促進のキャンペーンに関する情報を含むのが好ましい。この場合、物品管理部１０７は、固有情報に基づき、ピッキングの対象の物品群の中でピッキングされた物品の他にキャンペーンの対象のものがある場合に、物品をキャンペーンの対象のものに取り直す指令をピッキング補助ロボット１００のタブレットコンピュータ１５０に表示させるのが好ましい。 Also, the unique information written in the RFID tag 41 attached to the item 40 to be picked preferably includes information on a sales promotion campaign. In this case, based on the unique information, the item management unit 107 issues a command to retake the item for the campaign if there is an item for the campaign in addition to the picked item in the item group for the picking target. is preferably displayed on the tablet computer 150 of the picking assist robot 100 .
　この構成により、ピッキングの対象の物品群が販売促進のキャンペーンの期間中の場合に、キャンペーン対象商品を優先的にピッキングさせることが可能となり、ピッキングの効率化に加えて、販売促進のキャンペーンをより効果的に行うことが可能となる。 With this configuration, when a group of items to be picked is in the middle of a sales promotion campaign, it is possible to preferentially pick up the campaign target products. can be done effectively.
　また、ピッキング対象の物品４０に貼付されるＲＦＩＤタグ４１に書き込まれている固有情報は、物品４０の生産地または生産時期に関する情報を含むのが好ましい。この場合、物品管理部１０７は、物品４０の不良品発生の情報を取得すると、固有情報に基づきピッキングの対象の物品群の中に不良品と同一の生産地または生産時期のものがある場合に、物品群の中に不良品があると判定し、不良品をピッキングする指令をピッキング補助ロボット１００のタブレットコンピュータ１５０に表示させるのが好ましい。 Also, the unique information written in the RFID tag 41 attached to the item 40 to be picked preferably includes information about the place of production or the time of production of the item 40 . In this case, after obtaining the information on the occurrence of defective products in the product 40, the product management unit 107, based on the unique information, if there is a product in the group of products to be picked that is produced in the same place of production or in the same production period as the defective product, , it is preferable to determine that there is a defective product in the product group, and display a command to pick up the defective product on the tablet computer 150 of the picking assist robot 100 .
　この構成により、物品４０の不良品発生の情報を取得した場合に、棚等に保管されている物品群の中の不良品の有無を迅速に判定でき、また、不良品が有る場合には迅速に除外できるので、不良品の廃棄処理を効率よく行うことができる。 With this configuration, when information on the occurrence of defective items 40 is acquired, it is possible to quickly determine the presence or absence of defective items in a group of items stored on a shelf or the like. Therefore, it is possible to efficiently dispose of defective products.
　［ハードウェア構成］
　図１１は、実施形態の管理サーバ１０、及び、タブレットコンピュータ１５０のハードウェア構成図である。管理サーバ１０、及び、タブレットコンピュータ１５０は、ＣＰＵ（Central Processing Unit）１００１、ＲＯＭ（Read Only Memory）１００２、ＲＡＭ（Random Access Memory）１００３を有する。ＣＰＵ１００１、ＲＯＭ１００２、ＲＡＭ１００３は、いわゆるコンピュータを形成する。 [Hardware configuration]
FIG. 11 is a hardware configuration diagram of the management server 10 and the tablet computer 150 of the embodiment. The management server 10 and the tablet computer 150 have a CPU (Central Processing Unit) 1001 , a ROM (Read Only Memory) 1002 and a RAM (Random Access Memory) 1003 . The CPU 1001, ROM 1002, and RAM 1003 form a so-called computer.
　また、管理サーバ１０、タブレットコンピュータ１５０は、補助記憶装置１００４、表示装置１００５、操作装置１００６、Ｉ／Ｆ（Interface）装置１００７、ドライブ装置１００８を有する。なお、管理サーバ１０、タブレットコンピュータ１５０の各ハードウェアは、バス１００９を介して相互に接続されている。 Also, the management server 10 and the tablet computer 150 have an auxiliary storage device 1004 , a display device 1005 , an operation device 1006 , an I/F (Interface) device 1007 and a drive device 1008 . The hardware of the management server 10 and tablet computer 150 are interconnected via a bus 1009 .
　ＣＰＵ１００１は、補助記憶装置１００４にインストールされている各種プログラムを実行する演算デバイスである。 The CPU 1001 is an arithmetic device that executes various programs installed in the auxiliary storage device 1004 .
　ＲＯＭ１００２は、不揮発性メモリである。ＲＯＭ１００２は、補助記憶装置１００４にインストールされている各種プログラムをＣＰＵ１００１が実行するために必要な各種プログラム、データ等を格納する主記憶デバイスとして機能する。具体的には、ＲＯＭ１００２はＢＩＯＳ（Basic Input/Output System）やＥＦＩ（Extensible Firmware Interface）等のブートプログラム等を格納する、主記憶デバイスとして機能する。 The ROM 1002 is a non-volatile memory. The ROM 1002 functions as a main storage device that stores various programs, data, etc. necessary for the CPU 1001 to execute various programs installed in the auxiliary storage device 1004 . Specifically, the ROM 1002 functions as a main storage device that stores boot programs such as BIOS (Basic Input/Output System) and EFI (Extensible Firmware Interface).
　ＲＡＭ１００３は、ＤＲＡＭ（Dynamic Random Access Memory）やＳＲＡＭ（Static Random Access Memory）等の揮発性メモリである。ＲＡＭ１００３は、補助記憶装置１００４にインストールされている各種プログラムがＣＰＵ１００１によって実行される際に展開される作業領域を提供する、主記憶デバイスとして機能する。 The RAM 1003 is a volatile memory such as DRAM (Dynamic Random Access Memory) or SRAM (Static Random Access Memory). The RAM 1003 functions as a main storage device that provides a work area that is developed when various programs installed in the auxiliary storage device 1004 are executed by the CPU 1001 .
　補助記憶装置１００４は、各種プログラムや、各種プログラムが実行される際に用いられる情報を格納する補助記憶デバイスである。 The auxiliary storage device 1004 is an auxiliary storage device that stores various programs and information used when various programs are executed.
　表示装置１００５は、管理サーバ１０、及び、タブレットコンピュータ１５０の内部状態等を表示する表示デバイスである。 The display device 1005 is a display device that displays the internal states of the management server 10 and the tablet computer 150.
　操作装置１００６は、管理サーバ１０、及び、タブレットコンピュータ１５０の管理者が管理サーバ１０、及び、タブレットコンピュータ１５０に対して各種指示を入力する入力デバイスである。 The operation device 1006 is an input device for the administrator of the management server 10 and tablet computer 150 to input various instructions to the management server 10 and tablet computer 150 .
　Ｉ／Ｆ装置１００７は、ネットワーク５０に接続し、管理サーバ１０、及び、タブレットコンピュータ１５０と通信を行うための通信デバイスである。 The I/F device 1007 is a communication device that connects to the network 50 and communicates with the management server 10 and the tablet computer 150 .
　ドライブ装置１００８は記憶媒体１０１０をセットするためのデバイスである。ここでいう記憶媒体１０１０には、ＣＤ－ＲＯＭ、フレキシブルディスク、光磁気ディスク等のように情報を光学的、電気的あるいは磁気的に記録する媒体が含まれる。また、記憶媒体１０１０には、ＥＰＲＯＭ (Erasable Programmable Read Only Memory)、フラッシュメモリ等のように情報を電気的に記録する半導体メモリ等が含まれていてもよい。 A drive device 1008 is a device for setting a storage medium 1010 . The storage medium 1010 here includes media such as CD-ROMs, flexible disks, magneto-optical disks, etc., which record information optically, electrically, or magnetically. The storage medium 1010 may also include a semiconductor memory that electrically records information such as an EPROM (Erasable Programmable Read Only Memory), a flash memory, or the like.
　なお、補助記憶装置１００４にインストールされる各種プログラムは、例えば、配布された記憶媒体１０１０がドライブ装置１００８にセットされ、該記憶媒体１０１０に記録された各種プログラムがドライブ装置１００８により読み出されることでインストールされる。あるいは、補助記憶装置１００４にインストールされる各種プログラムは、Ｉ／Ｆ装置１００７を介して、ネットワーク５０とは異なる他のネットワークよりダウンロードされることでインストールされてもよい。 Various programs to be installed in the auxiliary storage device 1004 are installed by, for example, setting the distributed storage medium 1010 in the drive device 1008 and reading the various programs recorded in the storage medium 1010 by the drive device 1008. be done. Alternatively, various programs installed in the auxiliary storage device 1004 may be installed by being downloaded from another network different from the network 50 via the I/F device 1007 .
　［他の実施形態］
　図１２～図１５を参照して、他の実施形態に係るピッキング補助システム１Ａについて説明する。図１２は、他の実施形態に係るピッキング補助システム１Ａの機能ブロック図である。図１２には、ピッキング補助システム１Ａに含まれる搬送車１１０、ＲＦＩＤリーダ１４０、タブレットコンピュータ１５０、及び管理サーバ１０を示す。ピッキング補助ロボット１００に含まれる搬送車１１０、ＲＦＩＤリーダ１４０、及びタブレットコンピュータ１５０は、通信ケーブル等によって通信可能に構成されている。タブレットコンピュータ１５０と管理サーバ１０は、ネットワーク５０（図２参照）を介して無線通信によって通信可能に構成されている。 [Other embodiments]
A picking assist system 1A according to another embodiment will be described with reference to FIGS. 12 to 15. FIG. FIG. 12 is a functional block diagram of a picking assist system 1A according to another embodiment. FIG. 12 shows the transport vehicle 110, the RFID reader 140, the tablet computer 150, and the management server 10 included in the picking assistance system 1A. The transport vehicle 110, the RFID reader 140, and the tablet computer 150 included in the picking assist robot 100 are configured to be able to communicate with each other via a communication cable or the like. The tablet computer 150 and the management server 10 are configured to communicate wirelessly via the network 50 (see FIG. 2).
　管理サーバ１０の機能は、図４に示したピッキング補助システム１のものと同様であるので図１２では各機能ブロックの図示を省略している。 Since the functions of the management server 10 are the same as those of the picking assistance system 1 shown in FIG. 4, illustration of each functional block is omitted in FIG.
　　＜搬送車１１０の構成＞
　図１２に示すように、搬送車１１０は、制御装置１１１及びモータ１１２を有する。制御装置１１１は、ＣＰＵ、ＲＡＭ、ＲＯＭ、入出力インターフェース、及び内部バス等を含むコンピュータによって実現される制御部である。モータ１１２は、動力源の一例である。 <Structure of carrier 110>
As shown in FIG. 12, the carrier 110 has a control device 111 and a motor 112 . The control device 111 is a control unit implemented by a computer including a CPU, RAM, ROM, input/output interface, internal bus, and the like. Motor 112 is an example of a power source.
　制御装置１１１は、タブレットコンピュータ１５０から物品の位置情報を取得すると、モータ１１２を駆動することを表す駆動信号を生成してモータ１１２に出力する。この結果、モータ１１２が駆動され、物品の位置情報が表す位置に向かってピッキング補助ロボット１００が移動する。なお、駆動信号は、タブレットコンピュータ１５０が物品の位置情報に基づいて生成して制御装置１１１に出力してもよい。また、ピッキング補助ロボット１００は、ＬＩＤＡＲ（light detection and ranging）センサを用いて位置制御を行ってもよい。 When the control device 111 acquires the position information of the article from the tablet computer 150 , it generates a drive signal indicating to drive the motor 112 and outputs it to the motor 112 . As a result, the motor 112 is driven, and the picking assist robot 100 moves toward the position indicated by the article position information. Note that the drive signal may be generated by the tablet computer 150 based on the position information of the article and output to the control device 111 . Also, the picking assist robot 100 may perform position control using a LIDAR (light detection and ranging) sensor.
　制御装置１１１は、物品の位置情報が表す位置に到着すると、モータ１１２を停止することを表す駆動信号を生成してモータ１１２に出力する。この結果、モータ１１２が停止され、物品の位置情報が表す位置でピッキング補助ロボット１００が停止する。物品の位置情報が表す位置では、作業者によってピッキングが行われる。 When the article reaches the position represented by the position information, the control device 111 generates a drive signal indicating that the motor 112 should be stopped and outputs it to the motor 112 . As a result, the motor 112 is stopped, and the picking assist robot 100 stops at the position indicated by the article position information. Picking is performed by a worker at the position indicated by the position information of the article.
　モータ１１２が停止しているときにピッキングが終了したことをタブレットコンピュータ１５０が検知すると、ピッキングの終了を検知したことがタブレットコンピュータ１５０から制御装置１１１に通知され、制御装置１１１はモータ１１２を駆動することを表す駆動信号をモータ１１２に出力する。 When the tablet computer 150 detects that picking has ended while the motor 112 is stopped, the tablet computer 150 notifies the control device 111 of the detection of the end of picking, and the control device 111 drives the motor 112. A drive signal indicating that is output to the motor 112 .
　ピッキングが終了したことをタブレットコンピュータ１５０が検知するのは、例えば、作業者による完了操作があったとタブレットコンピュータ１５０が判定したとき、作業者ＩＤをタブレットコンピュータ１５０が取得したと判定したとき、又は、特定情報と作業者ＩＤ情報とを関連付けて管理サーバ１０に送信したときである。 The tablet computer 150 detects that the picking has ended, for example, when the tablet computer 150 determines that the operator has performed a completion operation, when the tablet computer 150 determines that the operator ID has been acquired, or This is when the specific information and the worker ID information are associated with each other and transmitted to the management server 10 .
　制御装置１１１は、電子マップに従って、物品の位置情報が表す位置までピッキング補助ロボット１００が移動すると、モータ１１２を停止することを表す駆動信号を生成してモータ１１２に出力する。この結果、物品の位置情報が表す位置でモータ１１２が停止する。なお、電子マップは、制御装置１１１のメモリに格納しておけばよい。 When the picking assist robot 100 moves to the position represented by the item position information according to the electronic map, the control device 111 generates a drive signal indicating to stop the motor 112 and outputs it to the motor 112 . As a result, the motor 112 stops at the position indicated by the article position information. Note that the electronic map may be stored in the memory of the control device 111 .
　また、制御装置１１１は、駆動信号をモータ１１２に出力するとともに、ＲＦＩＤリーダ１４０に出力する。モータ１１２を駆動することを表す駆動信号とは、モータ１１２に入力される駆動信号の電圧値及び電流値が所定の信号レベルの信号である。モータ１１２を駆動することを表す駆動信号によってモータ１１２は駆動される。モータ１１２を停止させることを表す駆動信号とは、モータ１１２に入力される駆動信号の電圧値及び電流値が所定の信号レベルよりも低い信号である。モータ１１２を停止させることを表す駆動信号によってモータ１１２は駆動されない。モータ１１２を停止させることを表す駆動信号は、信号レベルがゼロの信号であってもよい。この場合には、モータ１１２を停止させることを表す駆動信号が出力されることは、モータ１１２を駆動することを表す駆動信号が出力されないことと同義である。 Also, the control device 111 outputs a drive signal to the motor 112 and to the RFID reader 140 . A drive signal representing driving of the motor 112 is a signal whose voltage value and current value of the drive signal input to the motor 112 have predetermined signal levels. The motor 112 is driven by a drive signal indicating that the motor 112 should be driven. A drive signal indicating to stop the motor 112 is a signal whose voltage value and current value of the drive signal input to the motor 112 are lower than a predetermined signal level. The motor 112 is not driven by the drive signal indicating that the motor 112 should be stopped. The drive signal representing stopping the motor 112 may be a signal with a signal level of zero. In this case, the output of the drive signal indicating to stop the motor 112 is synonymous with the non-output of the drive signal indicating to drive the motor 112 .
　＜ＲＦＩＤリーダ１４０の構成＞
　ＲＦＩＤリーダ１４０の本体部１４１は、タブレットコンピュータ１５０からの制御指令に応じて、ＲＦＩＤアンテナ１４２Ａ、１４２Ｂの動作を制御し、ＲＦＩＤアンテナ１４２Ａ、１４２Ｂが受信した電波に含まれる特定情報を読み取り、各ＲＦＩＤタグ４１を識別するための制御装置である。 <Configuration of RFID reader 140>
The main unit 141 of the RFID reader 140 controls the operation of the RFID antennas 142A and 142B according to the control command from the tablet computer 150, reads the specific information contained in the radio waves received by the RFID antennas 142A and 142B, and reads each RFID. It is a control device for identifying the tag 41 .
　図１２に示すように、ＲＦＩＤリーダ１４０の本体部１４１は、切替制御部１４１Ａ及び収容判定部１４１Ｂを有する。本体部１４１は、ＣＰＵ、ＲＡＭ、ＲＯＭ、入出力インターフェース、及び内部バス等を含むコンピュータによって実現される制御部である。本体部１４１は、図１１に示す管理サーバ１０及びタブレットコンピュータ１５０のコンピュータと同様の構成であってもよい。切替制御部１４１Ａ及び収容判定部１４１Ｂは、本体部１４１が実行するプログラムの機能（ファンクション）を機能ブロックとして示したものである。 As shown in FIG. 12, the body part 141 of the RFID reader 140 has a switching control part 141A and an accommodation determination part 141B. The main unit 141 is a control unit implemented by a computer including a CPU, RAM, ROM, input/output interface, internal bus, and the like. The main unit 141 may have the same configuration as the computers of the management server 10 and the tablet computer 150 shown in FIG. 141 A of switching control parts and the accommodation determination part 141B show the function (function) of the program which the main-body part 141 runs as a functional block.
　＜切替制御部１４１Ａ＞
　切替制御部１４１Ａは、搬送車１１０が停止したことを表す停止条件が成立するとＲＦＩＤリーダ１４０のアンテナ１４２Ａ及び１４２Ｂを読み取り可能状態に切り替え、ピッキングが終了したことを表す終了条件が成立するとＲＦＩＤリーダ１４０のアンテナ１４２Ａ及び１４２Ｂを読み取り不能状態に切り替える。 <Switching control unit 141A>
The switching control unit 141A switches the antennas 142A and 142B of the RFID reader 140 to a readable state when a stop condition indicating that the transport vehicle 110 has stopped is satisfied, and switches the RFID reader 140 to a readable state when a termination condition indicating that picking is completed is satisfied. antennas 142A and 142B are switched to a non-readable state.
　切替制御部１４１Ａは、搬送車１１０の制御装置１１１から入力される駆動信号に基づいて、停止条件の成立と、終了条件の成立とを判定する。より具体的には、切替制御部１４１Ａは、モータ１１２を停止させることを表す駆動信号が入力されると停止条件が成立したと判定し、停止条件が成立しているときにモータ１１２を駆動することを表す駆動信号が入力されると終了条件が成立したと判定する。搬送車１１０の制御装置１１１から切替制御部１４１Ａに入力される駆動信号は、搬送車１１０の中で制御装置１１１からモータ１１２に入力される駆動信号と同一である。 The switching control unit 141A determines whether the stop condition is satisfied and the termination condition is satisfied based on the drive signal input from the control device 111 of the transport vehicle 110 . More specifically, the switching control unit 141A determines that the stop condition is satisfied when a drive signal indicating to stop the motor 112 is input, and drives the motor 112 when the stop condition is satisfied. When a drive signal indicating that is input, it is determined that the termination condition is satisfied. The drive signal input from the control device 111 of the transport vehicle 110 to the switching control unit 141A is the same as the drive signal input from the control device 111 to the motor 112 in the transport vehicle 110 .
　すなわち、停止条件は、位置情報が表す位置にピッキング補助ロボット１００が到着してモータ１１２を停止させることを表す駆動信号が切替制御部１４１Ａに入力されたときに成立する。作業者がピッキングを行うときには、ピッキング補助ロボット１００は位置情報が表す位置に到着すると停止するからである。また、アンテナ１４２Ａ及び１４２Ｂの読み取り可能状態とは、アンテナ１４２Ａ及び１４２ＢがＲＦＩＤタグ４１を読み取るために、読み取り用の電波を出力している状態である。 That is, the stop condition is satisfied when the picking assist robot 100 arrives at the position represented by the position information and a drive signal indicating that the motor 112 is stopped is input to the switching control unit 141A. This is because when the worker picks, the picking assist robot 100 stops when it reaches the position indicated by the position information. The readable state of the antennas 142A and 142B is a state in which the antennas 142A and 142B are outputting radio waves for reading in order to read the RFID tag 41 .
　また、ピッキングが終了したことを表す終了条件は、位置情報が表す位置におけるピッキングが終了して、モータ１１２を駆動することを表す駆動信号が切替制御部１４１Ａに入力されたときに成立する。位置情報が表す位置におけるピッキングが終了すると、次にピッキングを行う位置に向かってピッキング補助ロボット１００が移動するからである。 Also, the end condition indicating that picking has ended is satisfied when picking at the position indicated by the position information is finished and a drive signal indicating that the motor 112 is to be driven is input to the switching control section 141A. This is because, when picking at the position indicated by the position information is completed, the picking assist robot 100 moves toward the next picking position.
　切替制御部１４１Ａが停止条件の成立と終了条件の成立とを判定するのは、ピッキング補助ロボット１００が移動しているかどうかを判定するためであり、移動中に不要なＲＦＩＤタグ４１を読み取らないようにするために、ＲＦＩＤリーダ１４０のアンテナ１４２Ａ及び１４２Ｂを読み取り不能状態に切り替えるためである。 The reason why the switching control unit 141A determines whether the stop condition is met or whether the end condition is met is to determine whether the picking assist robot 100 is moving, so as not to read unnecessary RFID tags 41 during movement. This is because the antennas 142A and 142B of the RFID reader 140 are switched to the non-readable state in order to enable the reading.
　読み取り不能状態とは、例えば、アンテナ１４２Ａ及び１４２Ｂが読み取り用の電波を出力していない状態、又は、アンテナ１４２Ａ及び１４２Ｂが読み取り用の電波を出力しているが、電波の出力が十分に低くてＲＦＩＤタグ４１を読み取ることができない状態である。また、読み取り不能状態は、電波を遮蔽する物体によってアンテナ１４２Ａ及び１４２Ｂが出力する読み取り用の電波が遮られている状態であってもよい。ピッキング補助ロボット１００は、例えば、店舗、物流センタ、倉庫等の建物内で走行するため、移動中にはピッキングの対象ではない多くの様々な物品４０が置かれている場所を通過する。このようなときに、不要なＲＦＩＤタグ４１を読み取らないようにするために、切替制御部１４１Ａは、終了条件の成立を判定すると、ＲＦＩＤリーダ１４０のアンテナ１４２Ａ及び１４２Ｂを読み取り不能状態に切り替える。 The unreadable state is, for example, a state in which the antennas 142A and 142B are not outputting radio waves for reading, or a state in which the antennas 142A and 142B are outputting radio waves for reading but the output of the radio waves is sufficiently low. In this state, the RFID tag 41 cannot be read. Further, the unreadable state may be a state in which radio waves for reading output from the antennas 142A and 142B are blocked by an object that blocks radio waves. Since the picking assist robot 100 runs in buildings such as stores, distribution centers, and warehouses, it passes places where many different items 40 that are not to be picked are placed during movement. In such a case, in order to avoid reading unnecessary RFID tags 41, the switching control unit 141A switches the antennas 142A and 142B of the RFID reader 140 to a non-readable state when determining that the end condition is satisfied.
　また、ピッキング補助ロボット１００の移動中にＲＦＩＤリーダ１４０のアンテナ１４２Ａ及び１４２Ｂを読み取り不能状態に切り替えることにより、ＲＦＩＤリーダ１４０の消費電力の低減を図ることができる。また、消費電力の低減により稼働可能時間が長くなるので、作業者が物品のピッキングを効率的に行えるようになる。 Also, by switching the antennas 142A and 142B of the RFID reader 140 to a non-readable state while the picking assist robot 100 is moving, the power consumption of the RFID reader 140 can be reduced. In addition, the reduction in power consumption extends the operable time, so that the worker can efficiently pick up articles.
　また、切替制御部１４１Ａが停止条件の成立を判定するのは、モータ１１２を停止させることを表す駆動信号がモータ１１２に入力されてから所定時間が経過したときである。所定時間は、一例として１秒である。例えば、ピッキング補助ロボット１００の移動中に、作業員や他のピッキング補助ロボット１００とすれ違うために一瞬停止したような場合に停止条件が成立したと判定すると、移動途中でアンテナ１４２Ａ及び１４２Ｂを読み取り可能状態に切り替えて不要なＲＦＩＤタグ４１を読み取ることになるからである。所定時間は１秒に限られず、使用状況等において適切な時間に設定すればよい。 In addition, the switching control unit 141A determines whether the stop condition is satisfied when a predetermined time has passed since the drive signal indicating to stop the motor 112 was input to the motor 112 . The predetermined time is one second, for example. For example, when the picking assist robot 100 stops for a moment due to passing a worker or another picking assist robot 100 during movement, it is possible to read the antennas 142A and 142B during the movement if it is determined that the stop condition is met. This is because the unnecessary RFID tag 41 is read by switching to the state. The predetermined time is not limited to one second, and may be set to an appropriate time depending on usage conditions.
　このように、移動中に一瞬停止したような場合に停止条件が成立したと判定することを抑制するために、切替制御部１４１Ａは、モータ１１２を停止させることを表す駆動信号がモータ１１２に入力されてから所定時間が経過したときに、停止条件が成立したと判定することにしている。なお、所定時間が経過しなくても運用上に問題がないような場合には、切替制御部１４１Ａは、モータ１１２を停止させることを表す駆動信号がモータ１１２に入力されたときに、停止条件が成立したと判定してもよい。 In this way, in order to suppress the determination that the stop condition is met when the motor 112 stops momentarily during movement, the switching control unit 141A inputs a drive signal to the motor 112 indicating that the motor 112 should be stopped. It is determined that the stop condition is established when a predetermined time has passed since the start. Note that if there is no operational problem even if the predetermined time does not pass, the switching control unit 141A sets the stop condition may be determined to be established.
　また、切替制御部１４１Ａは、搬送車１１０が、ピッキングの指示に含まれる物品の位置への移動指示を受信するために待機する待機状態において、ＲＦＩＤリーダ１４０のアンテナ１４２Ａ及び１４２Ｂを読み取り不能状態に設定し、待機状態においてモータ１１２を駆動することを表す駆動信号がモータ１１２に入力されると、ＲＦＩＤリーダ１４０のアンテナ１４２Ａ及び１４２Ｂを読み取り不能状態に保持する。 In addition, the switching control unit 141A disables the reading of the antennas 142A and 142B of the RFID reader 140 in a standby state in which the transport vehicle 110 waits to receive an instruction to move to the position of the article included in the picking instruction. When a drive signal is input to the motor 112 to drive the motor 112 in the standby state, the antennas 142A and 142B of the RFID reader 140 are held in a read-disabled state.
　待機状態は、すべてのピッキングが開始される前に、搬送車１１０が停止して、ピッキングの指示に含まれる物品の位置への移動指示の受信を待っている状態である。このような待機状態では、ＲＦＩＤリーダ１４０のアンテナ１４２Ａ及び１４２Ｂを読み取り不能状態に設定される。また、待機状態から搬送車１１０が駆動されてピッキング補助ロボット１００が移動を開始すると、移動中の不要な読み取りを無くすためにＲＦＩＤリーダ１４０のアンテナ１４２Ａ及び１４２Ｂを読み取り不能状態に保持される。 The standby state is a state in which the transport vehicle 110 stops before all picking starts and waits for an instruction to move the item to the position included in the picking instruction. In such a standby state, the antennas 142A and 142B of the RFID reader 140 are set to a non-readable state. Further, when the carrier 110 is driven from the standby state and the picking assist robot 100 starts to move, the antennas 142A and 142B of the RFID reader 140 are kept in a non-readable state in order to eliminate unnecessary reading during movement.
　なお、切替制御部１４１Ａは、本体部１４１の外部に設けられていてもよく、例えば、タブレットコンピュータ１５０に設けられていてもよい。例えば、タブレットコンピュータ１５０が駆動信号に基づいてアンテナ１４２Ａ及び１４２Ｂを読み取り可能状態と読み取り不能状態を切り替えてもよいし、ピッキングの指示に含まれる位置情報等に基づいて読み取り可能状態と読み取り不能状態を切り替えてもよい。 Note that the switching control unit 141A may be provided outside the main unit 141, and may be provided in the tablet computer 150, for example. For example, the tablet computer 150 may switch the antennas 142A and 142B between the readable state and the unreadable state based on the drive signal, or switch the readable state and the unreadable state based on the position information included in the picking instruction. You can switch.
　＜収容判定部１４１Ｂ＞
　収容判定部１４１Ｂは、ＲＦＩＤリーダ１４０によって所定時間以内に同一のＲＦＩＤタグ４１が所定回数以上読み取られた場合に、当該ＲＦＩＤタグ４１が付された物品４０がボックス１３０Ａ又は１３０Ｂに収容されたと判定し、当該ＲＦＩＤタグ４１が付された物品４０を収容リストに追加する。なお、収容判定部１４１Ｂは、所定時間以内に同一のＲＦＩＤタグ４１が所定回数以上読み取られた場合に限らず、例えば、ＲＦＩＤリーダ１４０によって所定時間以内に所定強度以上の電波強度でＲＦＩＤタグ４１が読み取られた場合に、ＲＦＩＤタグ４１が付された物品４０がボックス１３０Ａ又は１３０Ｂに収容されたと判定してもよい。 <Accommodation determination unit 141B>
When the RFID reader 140 reads the same RFID tag 41 a predetermined number of times or more within a predetermined time, the accommodation determination unit 141B determines that the article 40 attached with the RFID tag 41 is stored in the box 130A or 130B. , adds the article 40 to which the RFID tag 41 is attached to the storage list. Note that the accommodation determination unit 141B is not limited to the case where the same RFID tag 41 is read more than a predetermined number of times within a predetermined time. If it is read, it may be determined that the item 40 with the RFID tag 41 is stored in the box 130A or 130B.
　また、収容判定部１４１Ｂは、ＲＦＩＤリーダ１４０が読み取りを行っているときに、所定時間が経過する前に同一のＲＦＩＤタグ４１が読み取られた場合には、当該ＲＦＩＤタグ４１についての２回目以降の読み取りを無視する。 Further, when the same RFID tag 41 is read before the predetermined time elapses while the RFID reader 140 is reading, the accommodation determination unit 141B determines whether the RFID tag 41 is read for the second time or later. Ignore read.
　収容判定部１４１Ｂによってボックス１３０Ａ又は１３０Ｂに収容されたと判定された物品４０に付されたＲＦＩＤタグ４１から読み取られた特定情報は、ＲＦＩＤリーダ１４０の識別情報とともに、本体部１４１によってタブレットコンピュータ１５０に送信される。ＲＦＩＤリーダ１４０の識別情報には、アンテナ１４２Ａ及び１４２ＢのどちらがＲＦＩＤタグ４１を読み取ったかを表す情報が付加される。この情報は、アンテナ１４２Ａ及び１４２Ｂを識別するアンテナ識別情報である。 The specific information read from the RFID tag 41 attached to the article 40 determined to be stored in the box 130A or 130B by the storage determining unit 141B is transmitted to the tablet computer 150 by the main unit 141 together with the identification information of the RFID reader 140. be done. Information indicating which of the antennas 142 A and 142 B has read the RFID tag 41 is added to the identification information of the RFID reader 140 . This information is antenna identification information that identifies antennas 142A and 142B.
　また、収容判定部１４１Ｂは、カウント部１５４がキャンセルモードのときには、ＲＦＩＤリーダ１４０によって読み取られたＲＦＩＤタグ４１を無視する。キャンセルモードは、ボックス１３０Ａ又は１３０Ｂに収容した物品４０を取り出す際に作業者が利用可能なモードである。キャンセルモードでは、作業者がタブレットコンピュータ１５０を操作して、物品４０のカウント数を減じることができる。作業者がボックス１３０Ａ又は１３０Ｂから物品４０を取り出すときには、アンテナ１４２Ａ又は１４２Ｂが開口部１３１Ａ又は１３１Ｂを通り、ＲＦＩＤタグ４１が読み取られるおそれがあるため、収容判定部１４１Ｂは、アンテナ１４２Ａ又は１４２Ｂが読み取り可能状態でＲＦＩＤタグ４１が読み取られても、読み取られたＲＦＩＤタグ４１を無視する。この結果、ボックス１３０Ａ又は１３０Ｂから物品４０を取り出すときに、物品４０のカウント数が増大しないようにすることができる。 Also, the accommodation determination unit 141B ignores the RFID tag 41 read by the RFID reader 140 when the counting unit 154 is in the cancel mode. The cancel mode is a mode that can be used by the worker when taking out the article 40 housed in the box 130A or 130B. In the cancel mode, the worker can operate the tablet computer 150 to decrease the number of articles 40 counted. When the worker takes out the article 40 from the box 130A or 130B, the antenna 142A or 142B may pass through the opening 131A or 131B and the RFID tag 41 may be read. Even if the RFID tag 41 is read in the enabled state, the read RFID tag 41 is ignored. As a result, it is possible to prevent the count number of the articles 40 from increasing when the articles 40 are taken out from the box 130A or 130B.
　また、収容判定部１４１Ｂは、ＲＦＩＤリーダ１４０によって読み取られたＲＦＩＤタグ４１の特定情報が既に収容リストにある場合は、当該再度の読み取りを無視する。既に収容リストに登録されている特定情報の物品４０が再度読み取られた場合に、読み取りを無視するかどうかを判定するためである。ボックス１３０Ａ又は１３０Ｂの中から作業員が物品４０を取り出して棚に戻すときに二重カウントを抑制するためである。 Also, if the identification information of the RFID tag 41 read by the RFID reader 140 is already in the accommodation list, the accommodation determination unit 141B ignores the re-reading. This is to determine whether or not to ignore the reading when the article 40 with the specific information already registered in the accommodation list is read again. This is to prevent double counting when the worker takes out the article 40 from the box 130A or 130B and returns it to the shelf.
　上述のように、収容判定部１４１Ｂは、ＲＦＩＤリーダ１４０によって所定時間以内に同一のＲＦＩＤタグ４１が所定回数以上読み取られた場合に、当該ＲＦＩＤタグ４１が付された物品４０がボックス１３０Ａ及び１３０Ｂに収容されたと判定している。このため、収容判定部１４１Ｂは、ボックス１３０Ａ及び１３０Ｂに収容されたと判定した物品４０に付されたＲＦＩＤタグ４１が再度所定時間以内に同一のＲＦＩＤタグ４１が所定回数以上読み取られた場合に、当該ＲＦＩＤタグ４１が付された物品４０がボックス１３０Ａ及び１３０Ｂに収容されたと判定しないことになる。 As described above, when the RFID reader 140 reads the same RFID tag 41 a predetermined number of times or more within a predetermined time, the accommodation determination unit 141B determines that the article 40 attached with the RFID tag 41 is placed in the boxes 130A and 130B. determined to have been accommodated. For this reason, if the same RFID tag 41 attached to the article 40 determined to be stored in the boxes 130A and 130B is read more than a predetermined number of times within a predetermined period of time, the storage determination unit 141B It is not determined that the article 40 with the RFID tag 41 is stored in the boxes 130A and 130B.
　なお、収容判定部１４１Ｂは、ＲＦＩＤリーダ１４０の本体部１４１の外部に設けられていてもよく、例えば、タブレットコンピュータ１５０に設けられていてもよい。例えば、タブレットコンピュータ１５０がアンテナ１４２Ａ又は１４２Ｂの読み取り結果に基づいて、物品４０がボックス１３０Ａ及び１３０Ｂに収容されたかどうかを判定してもよい。 Note that the accommodation determination unit 141B may be provided outside the body unit 141 of the RFID reader 140, and may be provided in the tablet computer 150, for example. For example, tablet computer 150 may determine whether article 40 has been placed in boxes 130A and 130B based on the readings of antenna 142A or 142B.
　＜タブレットコンピュータ１５０の制御部１５１＞
　タブレットコンピュータ１５０は、図１２に示すように、制御部１５１を含む。制御部１５１は、タブレットコンピュータ１５０のうち、図１１に示すＣＰＵ１００１，ＲＯＭ１００２、ＲＡＭ１００３、補助記憶装置１００４、及びドライブ装置１００８を含む部分である。 <Control unit 151 of tablet computer 150>
The tablet computer 150 includes a control section 151 as shown in FIG. The control unit 151 is a portion of the tablet computer 150 that includes the CPU 1001, ROM 1002, RAM 1003, auxiliary storage device 1004, and drive device 1008 shown in FIG.
　制御部１５１は、カウント部１５４を有する。カウント部１５４は、管理サーバ１０から受信するピッキングの指示又は棚卸しの指示を参照して、ボックス１３０Ａ又は１３０Ｂに入れるよう作業者へ指示された各物品４０の個数をカウントする。また、カウント部１５４は、ＲＦＩＤリーダ１４０から受信した特定情報に基づいて、ボックス１３０Ａ又は１３０Ｂに収容された各物品４０の個数をカウントする。カウント部１５４の機能は、図４に示したカウント部１０５と同様である。 The control unit 151 has a counting unit 154. The counting unit 154 refers to the picking instructions or inventory-taking instructions received from the management server 10 and counts the number of each article 40 instructed to be placed in the box 130A or 130B by the worker. Also, the counting unit 154 counts the number of each article 40 accommodated in the box 130A or 130B based on the specific information received from the RFID reader 140 . The function of the counting section 154 is the same as that of the counting section 105 shown in FIG.
　なお、カウント部１５４は、タブレットコンピュータ１５０の外部に設けられていてもよく、例えばＲＦＩＤリーダ１４０の本体部１４１に設けられていてもよい。本体部１４１が、アンテナ１４２Ａ及び１４２Ｂのどちらで特定情報を読み取られたかを表す情報に基づいて物品４０をカウントしてもよい。 Note that the counting unit 154 may be provided outside the tablet computer 150, or may be provided in the main body 141 of the RFID reader 140, for example. The main unit 141 may count the articles 40 based on information indicating which of the antennas 142A and 142B has read the specific information.
　また、制御部１５１は、例えば、管理サーバ１０から受信したピッキングの指示に含まれる物品の位置情報を搬送車１１０に出力する処理と、タブレットコンピュータ１５０のモードを表すモード情報をＲＦＩＤリーダ１４０に通知する処理とを行う。モード情報が表すタブレットコンピュータ１５０のモードには、ピッキングカウントモードや、キャンセルモードを含む。 In addition, the control unit 151, for example, outputs the position information of the article included in the picking instruction received from the management server 10 to the transport vehicle 110, and notifies the RFID reader 140 of the mode information representing the mode of the tablet computer 150. and perform the processing to be performed. The modes of the tablet computer 150 indicated by the mode information include a picking count mode and a cancel mode.
　ピッキングカウントモードは、ピッキング数カウント処理を行うモードであり管理サーバ１０から受信したピッキングの指示に応じて制御部１５１はピッキングカウントモードを選択する。キャンセルモードは、上述のように、ボックス１３０Ａ又は１３０Ｂに収容した物品４０を取り出す際に作業者が利用可能なモードである。キャンセルモードでは、作業者がタブレットコンピュータ１５０を操作して、物品４０のカウント数を減じることができる。キャンセルモードは、例えば作業者がタブレットコンピュータ１５０の操作画面上に表示されるキャンセルボタンを操作することによって選択される。 The picking count mode is a mode for counting the number of pickings, and the control unit 151 selects the picking count mode according to the picking instruction received from the management server 10 . The cancel mode is a mode that can be used by the worker when taking out the article 40 stored in the box 130A or 130B, as described above. In the cancel mode, the worker can operate the tablet computer 150 to decrease the number of articles 40 counted. The cancel mode is selected by, for example, the worker operating a cancel button displayed on the operation screen of the tablet computer 150 .
　＜ＲＦＩＤリーダ１４０の本体部１４１が実行する切替処理＞
　図１３は、ＲＦＩＤリーダ１４０の本体部１４１が実行する切替処理を表すフローチャートの一例を示す図である。 <Switching Process Executed by Main Unit 141 of RFID Reader 140>
FIG. 13 is a diagram showing an example of a flowchart representing a switching process executed by main unit 141 of RFID reader 140 .
　切替制御部１４１Ａは、処理をスタートすると、待機状態においてアンテナ１４２Ａ及び１４２Ｂを読み取り不能状態に設定する（ステップＳ４０１）。待機状態は、搬送車１
１０が、ピッキングの指示に含まれる物品４０の位置への移動指示を受信するために待機する状態である。処理がスタートして搬送車１１０が移動する前の状態は待機状態であり、ＲＦＩＤタグ４１を読み取る必要がない状態であるため、消費電力を低減するために、切替制御部１４１Ａは、アンテナ１４２Ａ及び１４２Ｂを読み取り不能状態に設定する。 When starting the process, the switching control unit 141A sets the antennas 142A and 142B in a read-disabled state in a standby state (step S401). The standby state is transport vehicle 1
10 is waiting to receive an instruction to move to the location of the item 40 included in the picking instruction. The state before the process starts and the carrier 110 moves is a standby state, in which there is no need to read the RFID tag 41. Therefore, in order to reduce power consumption, the switching control unit 141A uses the antenna 142A and 142B to the unreadable state.
　切替制御部１４１Ａは、モータ１１２を駆動することを表す駆動信号を受信したかどうかを判定する（ステップＳ４０２）。搬送車１１０が移動するかどうかを判定するためで
ある。切替制御部１４１Ａは、モータ１１２を駆動することを表す駆動信号を受信していない（Ｓ４０２：ＮＯ）と判定した場合は、モータ１１２を駆動することを表す駆動信号を受信するまでステップＳ４０２の処理を繰り返し実行する。 The switching control unit 141A determines whether or not a drive signal indicating to drive the motor 112 has been received (step S402). This is for determining whether the carrier 110 moves. If the switching control unit 141A determines that the drive signal indicating to drive the motor 112 has not been received (S402: NO), the switching control unit 141A continues the processing of step S402 until the drive signal indicating to drive the motor 112 is received. repeatedly.
　切替制御部１４１Ａは、モータ１１２を駆動することを表す駆動信号を受信した（Ｓ４０２：ＹＥＳ）と判定すると、モータ１１２を停止させることを表す駆動信号を受信し、かつ、モータ１１２を停止させることを表す駆動信号を受信してから所定時間が経過したかどうかを判定する（ステップＳ４０３）。停止したらアンテナ１４２Ａ及び１４２Ｂを読み取り可能状態に切り替えるからである。なお、所定時間は一例として１秒である。 When the switching control unit 141A determines that the drive signal indicating to drive the motor 112 has been received (S402: YES), the switching control unit 141A receives the drive signal indicating to stop the motor 112 and stops the motor 112. It is determined whether or not a predetermined time has passed since the drive signal representing is received (step S403). This is because, when stopped, the antennas 142A and 142B are switched to a readable state. In addition, the predetermined time is one second as an example.
　切替制御部１４１Ａは、モータ１１２を停止させることを表す駆動信号を受信してから所定時間が経過していない（Ｓ４０３：ＮＯ）と判定すると、モータ１１２を停止させることを表す駆動信号を受信してから所定時間が経過するまでステップＳ４０３の処理を繰り返し実行する。なお、搬送車１１０の移動中は、不要なＲＦＩＤタグ４１を読み取らないようにするために、アンテナ１４２Ａ及び１４２Ｂは読み取り不能状態に保持される。 If the switching control unit 141A determines that the predetermined time has not passed since the drive signal indicating to stop the motor 112 was received (S403: NO), the switch control unit 141A receives the drive signal indicating to stop the motor 112. After that, the process of step S403 is repeatedly executed until a predetermined time elapses. Note that while the transport vehicle 110 is moving, the antennas 142A and 142B are kept unreadable so as not to read unnecessary RFID tags 41 .
　切替制御部１４１Ａは、モータ１１２を停止させることを表す駆動信号を受信してから所定時間が経過した（Ｓ４０３：ＹＥＳ）と判定すると、アンテナ１４２Ａ及び１４２Ｂを読み取り可能状態に切り替える（ステップＳ４０４）。ピッキングや棚卸しを行うためである。 When the switching control unit 141A determines that a predetermined time has passed after receiving the drive signal indicating to stop the motor 112 (S403: YES), it switches the antennas 142A and 142B to the readable state (step S404). This is for picking and inventory.
　切替制御部１４１Ａは、モータ１１２駆動することを表す駆動信号を受信したかどうかを判定する（ステップＳ４０５）。切替制御部１４１Ａは、モータ１１２を駆動することを表す駆動信号を受信していない（Ｓ４０５：ＮＯ）と判定した場合は、モータ１１２を駆動することを表す駆動信号を受信するまでステップＳ４０５の処理を繰り返し実行する。 The switching control unit 141A determines whether or not a drive signal indicating to drive the motor 112 has been received (step S405). If the switching control unit 141A determines that the drive signal indicating to drive the motor 112 has not been received (S405: NO), the switching control unit 141A continues the processing of step S405 until the drive signal indicating to drive the motor 112 is received. repeatedly.
　切替制御部１４１Ａは、駆動することを表す駆動信号を受信した（Ｓ４０５：ＹＥＳ）と判定すると、アンテナ１４２Ａ及び１４２Ｂを読み取り不能状態に切り替える（ステップＳ４０６）。搬送車１１０の移動中に、不要なＲＦＩＤタグ４１を読み取らないようにするためである。 When the switching control unit 141A determines that it has received a drive signal indicating to drive (S405: YES), it switches the antennas 142A and 142B to the unreadable state (step S406). This is to prevent unnecessary RFID tags 41 from being read while the transport vehicle 110 is moving.
　切替制御部１４１Ａは、終了するかどうかを判定する（ステップＳ４０７）。終了するのは、例えば、すべてのピッキングや棚卸しが終了してピッキング補助ロボット１００の電源がオフにされるときである。 The switching control unit 141A determines whether to end (step S407). It ends, for example, when all picking or inventory is completed and the power of the picking assist robot 100 is turned off.
　切替制御部１４１Ａは、終了しない（Ｓ４０７：ＮＯ）と判定すると、フローをステップＳ４０３にリターンする。また、切替制御部１４１Ａは、終了する（Ｓ４０７：ＹＥＳ）と判定すると、一連の切替処理を終了する（エンド）。 When the switching control unit 141A determines not to end (S407: NO), the flow returns to step S403. When the switching control unit 141A determines to end (S407: YES), it ends the series of switching processes (END).
　＜ＲＦＩＤリーダ１４０の本体部１４１が実行する読み取り処理＞
　図１４及び図１５は、ＲＦＩＤリーダ１４０の本体部１４１が実行する読み取り処理を表すフローチャートの一例を示す図である。本体部１４１の収容判定部１４１Ｂは、図１４に示す処理と図１５に示す処理とを並行して実行する。 <Reading Process Executed by Main Unit 141 of RFID Reader 140>
14 and 15 are diagrams showing an example of a flow chart representing reading processing executed by the main unit 141 of the RFID reader 140. FIG. The accommodation determination unit 141B of the main unit 141 executes the processing shown in FIG. 14 and the processing shown in FIG. 15 in parallel.
　＜図１４に示す処理＞
　収容判定部１４１Ｂは、読み取り時間Ｔと、読み取り回数Ｎの閾値とを設定する（ステップＳ５０１）。一例として、本体部１４１は、１／２００秒毎にアンテナ１４２Ａ及び１４２Ｂから読み取り用の電波を放射して、ＲＦＩＤタグ４１の読み取りを行う。読み取り時間Ｔは一例として５秒であり、読み取り回数Ｎの閾値は一例として４０回である。すなわち、同一のＲＦＩＤタグ４１が５秒間に４０回以上読み取られると、収容判定部１４１Ｂは、ＲＦＩＤタグ４１が付された物品４０がボックス１３０Ａ又は１３０Ｂに収容されたと判定する。 <Processing shown in FIG. 14>
The accommodation determination unit 141B sets the reading time T and the threshold value of the reading number N (step S501). As an example, the main body 141 reads the RFID tag 41 by radiating radio waves for reading from the antennas 142A and 142B every 1/200 second. As an example, the reading time T is 5 seconds, and the threshold value of the number of times N of reading is 40 times as an example. That is, when the same RFID tag 41 is read 40 times or more in 5 seconds, the accommodation determination unit 141B determines that the article 40 with the RFID tag 41 is stored in the box 130A or 130B.
　読み取り時間Ｔと、読み取り回数Ｎの閾値とは、作業者が物品４０を手作業でボックス１３０Ａ又は１３０Ｂに入れる際に掛かる時間と、ＲＦＩＤタグ４１が読み取られる回数とに応じて、適切な値に設定すればよい。上述した時間と回数は一例であり、ピッキング補助ロボット１００の形状及びサイズ、棚の高さ、又は、物品４０の大きさ又は重さ等に応じて、適切な値に設定すればよい。読み取り時間Ｔと、読み取り回数Ｎの閾値とによって規定される条件は、読み取りの条件である。なお、ボックス１３０Ａ又は１３０Ｂのどちらに収容されたかは、アンテナ１４２Ａ又は１４２Ｂのどちらで読み取られたかによって決まる。 The reading time T and the threshold value of the number of times of reading N are set to appropriate values according to the time required for the worker to manually put the article 40 into the box 130A or 130B and the number of times the RFID tag 41 is read. You can set it. The time and number of times described above are examples, and may be set to appropriate values according to the shape and size of the picking assist robot 100, the height of the shelf, the size or weight of the article 40, and the like. The conditions defined by the reading time T and the threshold value of the number of readings N are the reading conditions. It should be noted that which box 130A or 130B contains the data depends on which antenna 142A or 142B is used to read the data.
　収容判定部１４１Ｂは、アンテナ１４２Ａ及び１４２Ｂが読み取り可能状態であるかどうかを判定する（ステップＳ５０２）。読み取り可能状態において、ＲＦＩＤタグ４１を読み取ることができるからである。収容判定部１４１Ｂは、読み取り可能状態ではない（Ｓ５０２：ＮＯ）と判定すると、読み取り可能状態である（Ｓ５０２：ＹＥＳ）と判定するまで、ステップＳ５０２の処理を繰り返し実行する。 The accommodation determination unit 141B determines whether the antennas 142A and 142B are in a readable state (step S502). This is because the RFID tag 41 can be read in the readable state. When the accommodation determination unit 141B determines that it is not in a readable state (S502: NO), it repeatedly executes the process of step S502 until it determines that it is in a readable state (S502: YES).
　収容判定部１４１Ｂは、読み取り可能状態である（Ｓ５０２：ＹＥＳ）と判定すると、読み取りを開始する（ステップＳ５０３）。 When the accommodation determination unit 141B determines that it is readable (S502: YES), it starts reading (step S503).
　収容判定部１４１Ｂは、カウント部１５４のモードがキャンセルモードであるかどうかを判定する（ステップＳ５０４）。キャンセルモードであれば、ＲＦＩＤタグ４１を読み取っても無視するからである。 The accommodation determination unit 141B determines whether the mode of the count unit 154 is the cancel mode (step S504). This is because in the cancel mode, even if the RFID tag 41 is read, it is ignored.
　収容判定部１４１Ｂは、キャンセルモードではない（Ｓ５０４：ＮＯ）と判定すると、読み取ったＲＦＩＤタグ４１の特定情報が収容リストにあるかどうかを判定する（ステップＳ５０５）。収容リストは、収容判定部１４１Ｂによってボックス１３０Ａ又は１３０Ｂに収容されたと判定された物品４０についての特定情報を登録したリスト（テーブル形式のデータ）である。 When the accommodation determination unit 141B determines that it is not in the cancel mode (S504: NO), it determines whether the specific information of the read RFID tag 41 is in the accommodation list (step S505). The storage list is a list (data in table format) in which specific information about the articles 40 determined to be stored in the box 130A or 130B by the storage determination unit 141B is registered.
　収容判定部１４１Ｂは、読み取ったＲＦＩＤタグ４１の特定情報が収容リストにない（Ｓ５０５：ＮＯ）と判定すると、読み取ったＲＦＩＤタグ４１が付された物品４０、読み取った時刻のタイムスタンプ、及び、タイムスタンプの更新回数を一時メモリに格納する（ステップＳ５０６）。一時メモリは、メモリ１４１Ｄの一部分であり、例えば図１１に示すＲＡＭ１００３である。なお、収容判定部１４１Ｂは、特定情報が収容リストにないＲＦＩＤタグ４１を初めて読み取ったときに、当該ＲＦＩＤタグ４１についての読み取り時間Ｔのカウントを開始する。特定情報が収容リストにないＲＦＩＤタグ４１を読み取った時刻のタイムスタンプを収容判定部１４１Ｂが利用するのは、特定情報が収容リストにないＲＦＩＤタグ４１を初めて読み取ったときに読み取り時間Ｔのカウントを開始するときだけであり、２回目以降の読み取りで得たタイムスタンプは特に利用しない。 When the accommodation determination unit 141B determines that the specific information of the read RFID tag 41 is not in the accommodation list (S505: NO), the item 40 to which the read RFID tag 41 is attached, the read time stamp, and the time The stamp update count is stored in the temporary memory (step S506). Temporary memory is a portion of memory 141D, such as RAM 1003 shown in FIG. It should be noted that the accommodation determination unit 141B starts counting the reading time T for the RFID tag 41 when the RFID tag 41 whose specific information is not included in the accommodation list is read for the first time. The reason why the accommodation determination unit 141B uses the time stamp of the time when the RFID tag 41 whose specific information is not in the accommodation list is read is that the reading time T is counted when the RFID tag 41 whose specific information is not in the accommodation list is read for the first time. It is only when starting, and the time stamps obtained from the second and subsequent readings are not particularly used.
　収容判定部１４１Ｂは、読み取ったＲＦＩＤタグ４１の特定情報が収容リストにある（Ｓ５０５：ＹＥＳ）と判定すると、読み取ったＲＦＩＤタグ４１の特定情報を無視する（ステップＳ５０７）。 When the accommodation determination unit 141B determines that the read specific information of the RFID tag 41 is in the accommodation list (S505: YES), it ignores the read specific information of the RFID tag 41 (step S507).
　また、収容判定部１４１Ｂは、ステップＳ５０４において、キャンセルモードである（Ｓ５０４：ＹＥＳ）と判定すると、キャンセルモードで指定された特定情報を取得しても、当該特定情報を含むＲＦＩＤタグ４１の読み取りを無視する（ステップＳ５０８）。キャンセルモードで指定された特定情報の物品４０は、作業員が棚に戻すことにした物品だからである。 Further, when the accommodation determination unit 141B determines that the cancel mode is set in step S504 (S504: YES), even if the specific information specified in the cancel mode is acquired, the RFID tag 41 including the specific information is not read. Ignore (step S508). This is because the item 40 of the specific information specified in the cancel mode is the item that the worker decided to return to the shelf.
　以上で、図１４に示す一連の処理が終了する（エンド）。収容判定部１４１ＢがステップＳ５０６で特定情報等を一時メモリに格納するのは、読み取ったＲＦＩＤタグ４１の特定情報が収容リストにない場合であり、ＲＦＩＤタグ４１が初めて読み取られた場合である。 This completes the series of processes shown in FIG. 14 (end). The accommodation determination unit 141B stores the specific information and the like in the temporary memory in step S506 when the specific information of the read RFID tag 41 is not in the accommodation list, and when the RFID tag 41 is read for the first time.
　２回目以降の読み取りの場合には、収容判定部１４１Ｂは、ステップＳ５０７でＲＦＩＤタグ４１の特定情報を無視する。特定情報を無視するとは、ＲＦＩＤタグ４１が読み取られて特定情報が取得されているが、一時メモリに格納せずに、収容リストにも追加せずに、読み取り回数をカウントするだけであることをいう。 For the second and subsequent readings, the accommodation determination unit 141B ignores the specific information of the RFID tag 41 in step S507. Ignoring the specific information means that the RFID tag 41 is read and the specific information is acquired, but the number of reading times is simply counted without being stored in the temporary memory or added to the accommodation list. say.
　＜図１５に示す処理＞
　収容判定部１４１Ｂは、読み取り時間Ｔが経過し、読み取り回数Ｎが閾値以上のＲＦＩＤタグ４１があるかどうかを判定する（ステップＳ６０１）。収容判定部１４１Ｂは、例えば図１４のステップＳ５０６にて一時メモリに格納されている「タイムスタンプ」と、「タイムスタンプの更新回数」を用いて、読み取り時間Ｔと読み取り回数Ｎを算出することができる。具体的には、読み取り時間Ｔが経過したかどうかは、上述したステップＳ５０６でカウントを開始してからの経過時間が読み取り時間Ｔに達したかどうかで判定すればよい。また、初回の読み取りではタイムスタンプは更新されず、タイムスタンプの更新回数は２回目以降の読み取りでカウントが開始される。したがって、読み取り回数Ｎは、タイムスタンプの更新回数よりも１回分だけ多い。このため、読み取り回数Ｎが閾値以上であるかどうかは、上述したステップＳ５０６で一時メモリに格納したタイムスタンプの更新回数に１を加算した読み取り回数Ｎが閾値以上のＲＦＩＤタグ４１があるかどうかを判定すればよい。 <Processing shown in FIG. 15>
The accommodation determination unit 141B determines whether or not there is an RFID tag 41 for which the reading time T has passed and the reading count N is equal to or greater than the threshold value (step S601). The accommodation determination unit 141B can calculate the reading time T and the reading count N by using the "timestamp" and the "timestamp update count" stored in the temporary memory in step S506 of FIG. 14, for example. can. Specifically, whether or not the reading time T has elapsed may be determined by determining whether or not the elapsed time from the start of counting in step S506 has reached the reading time T. Also, the time stamp is not updated in the first reading, and counting of the number of time stamp updates is started in the second and subsequent readings. Therefore, the read count N is one more than the timestamp update count. Therefore, whether or not the read count N is equal to or greater than the threshold is determined by determining whether there is an RFID tag 41 whose read count N is equal to or greater than the threshold, which is obtained by adding 1 to the time stamp update count stored in the temporary memory in step S506 described above. Judge.
　収容判定部１４１Ｂは、読み取り時間Ｔが経過し、読み取り回数Ｎが閾値以上のＲＦＩＤタグ４１がない（Ｓ６０１：ＮＯ）と判定すると、そのＲＦＩＤタグ４１の特定情報を一時メモリから削除する（ステップＳ６０２）。読み取りの条件を満たしていないため、一時メモリから削除して、次の判定に備えるためである。 When the accommodation determination unit 141B determines that there is no RFID tag 41 for which the reading time T has passed and the number of times of reading N is equal to or greater than the threshold value (S601: NO), the accommodation determination unit 141B deletes the specific information of the RFID tag 41 from the temporary memory (step S602). ). This is because it does not satisfy the reading conditions, so it is deleted from the temporary memory to prepare for the next determination.
　収容判定部１４１Ｂは、読み取り時間Ｔが経過し、読み取り回数Ｎが閾値以上のＲＦＩＤタグ４１がある（Ｓ６０１：ＹＥＳ）と判定すると、特定情報が収容リストにあるかどうかを判定する（ステップＳ６０３）。ボックス１３０Ａ又は１３０Ｂの中から作業員が物品４０を取り出して棚に戻すときに二重カウントを抑制するために設けている判定処理である。 When the accommodation determination unit 141B determines that there is an RFID tag 41 whose reading time T has passed and the number of times of reading N is equal to or greater than the threshold value (S601: YES), it determines whether or not the specific information is in the accommodation list (step S603). . This determination process is provided to prevent double counting when the worker takes out the article 40 from the box 130A or 130B and returns it to the shelf.
　収容判定部１４１Ｂは、特定情報が収容リストにあるという条件を満たさない（Ｓ６０３：ＮＯ）と判定すると、ステップＳ６０１で読み取り時間Ｔが経過し、読み取り回数Ｎが閾値以上と判定されたＲＦＩＤタグ４１の特定情報を一時メモリから削除して収容リストに追加する（ステップＳ６０４）。読み取りの条件を満たしたため、収容リストに追加して登録することとしたものである。 If the accommodation determination unit 141B determines that the condition that the specific information is in the accommodation list is not satisfied (S603: NO), then in step S601, the RFID tag 41 determined that the reading time T has elapsed and the number of times of reading N is equal to or greater than the threshold. is deleted from the temporary memory and added to the accommodation list (step S604). Since the conditions for reading were met, it was decided to add it to the containment list and register it.
　また、収容判定部１４１Ｂは、ステップＳ６０３において、特定情報が収容リストにあるという条件を満たす（Ｓ６０３：ＹＥＳ）と判定すると、ステップＳ６０１で読み取り時間Ｔが経過し、読み取り回数Ｎが閾値以上と判定されたＲＦＩＤタグ４１の特定情報を無視する（ステップＳ６０５）。ボックス１３０Ａ又は１３０Ｂの中から作業員が物品４０を取り出して棚に戻すときに二重カウントを抑制するためである。 Further, when the accommodation determination unit 141B determines in step S603 that the condition that the specific information is in the accommodation list is satisfied (S603: YES), it determines in step S601 that the reading time T has elapsed and the number of times of reading N is equal to or greater than the threshold value. The specific information of the received RFID tag 41 is ignored (step S605). This is to prevent double counting when the worker takes out the article 40 from the box 130A or 130B and returns it to the shelf.
　収容判定部１４１Ｂは、ステップＳ６０２、Ｓ６０４、又はＳ６０５の処理を終えると、一連の処理を終了する（エンド）。 After finishing the process of step S602, S604, or S605, the accommodation determination unit 141B ends the series of processes (end).
　店舗、物流センタ、倉庫等の建物内で、複数の棚等に多数の物品４０が並べられているような場所では、マルチパス等の影響による誤読み取りが生じ得る。このため、読み取り時間Ｔと、読み取り回数Ｎの閾値とを含む読み取りの条件を満たしてＲＦＩＤタグ４１が安定的に読み取られた場合に、物品４０がボックス１３０Ａ又は１３０Ｂに収容されたと判定することにしている。このような読み取りの条件を設けることによって、マルチパス等による誤読み取りを抑制し、ボックス１３０Ａ及び１３０Ｂへの物品４０の収容を高精度に判定可能である。 In buildings such as stores, distribution centers, and warehouses, where a large number of articles 40 are lined up on multiple shelves, erroneous reading may occur due to the effects of multipath or the like. Therefore, when the reading conditions including the reading time T and the reading count N threshold are satisfied and the RFID tag 41 is stably read, it is determined that the article 40 is stored in the box 130A or 130B. ing. By setting such reading conditions, erroneous reading due to multipath or the like can be suppressed, and it is possible to determine with high accuracy whether the articles 40 are contained in the boxes 130A and 130B.
　以上、具体例を参照しつつ本実施形態について説明した。しかし、本開示はこれらの具体例に限定されるものではない。これら具体例に、当業者が適宜設計変更を加えたものも、本開示の特徴を備えている限り、本開示の範囲に包含される。前述した各具体例が備える各要素およびその配置、条件、形状などは、例示したものに限定されるわけではなく適宜変更することができる。前述した各具体例が備える各要素は、技術的な矛盾が生じない限り、適宜組み合わせを変えることができる。 The present embodiment has been described above with reference to specific examples. However, the present disclosure is not limited to these specific examples. Design modifications to these specific examples by those skilled in the art are also included in the scope of the present disclosure as long as they have the features of the present disclosure. Each element included in each specific example described above and its arrangement, conditions, shape, etc. are not limited to those illustrated and can be changed as appropriate. As long as there is no technical contradiction, the combination of the elements included in the specific examples described above can be changed as appropriate.
　以上の説明に関し、更に以下の項を開示する。
（付記１）
　管理サーバと、
　ピッキング補助ロボットと、
を備え、
　前記ピッキング補助ロボットは、
　ＲＦＩＤタグが付された物品を収容する収容部と、
　前記物品が前記収容部に収容される際に前記ＲＦＩＤタグを読み取り可能な位置に設けられたアンテナを有するＲＦＩＤリーダと、
　ピッキングの指示を前記管理サーバから受信する端末機と、
　前記収容部及び前記ＲＦＩＤリーダが搭載され、前記ピッキングの指示に含まれる物品の位置に関する情報に基づき、前記物品が配置される位置に移動する移動体と、
を有し、
　前記物品に付された前記ＲＦＩＤタグには、当該物品の種類を特定するための特定情報と、当該物品に係る前記種類以外の情報を含む固有情報とが書き込まれており、
　前記管理サーバは、
　前記ピッキングの指示を前記ピッキング補助ロボットに送信するピッキング指示管理部と、
　前記ＲＦＩＤリーダが読み取った物品に付されている前記ＲＦＩＤタグに書き込まれている前記特定情報と前記固有情報とを受信する情報受信部と、
　前記固有情報に基づいて、前記ピッキングの対象の前記物品の管理を行う物品管理部と、
を有する、
ピッキング補助システム。
（付記２）
　前記物品管理部は、前記特定情報により特定される前記ピッキングの対象の物品群の中から、前記固有情報に基づきピッキングすべき物品を限定する、
付記１に記載のピッキング補助システム。
（付記３）
　前記物品には消費期限が設定され、
　前記固有情報は前記物品の消費期限に関する情報を含み、
　前記物品管理部は、前記固有情報に基づき、前記ピッキングの対象の物品群の中でピッキングされた物品の他に消費期限が近いものがある場合に、前記物品を前記消費期限が近いものに取り直す指令を前記端末機に表示させる、
付記２に記載のピッキング補助システム。
（付記４）
　前記固有情報は販売促進のキャンペーンに関する情報を含み、
　前記物品管理部は、前記固有情報に基づき、前記ピッキングの対象の物品群の中でピッキングされた物品の他に前記キャンペーンの対象のものがある場合に、前記物品を前記キャンペーンの対象のものに取り直す指令を前記端末機に表示させる、
付記２または３に記載のピッキング補助システム。
（付記５）
　前記固有情報は、前記物品の生産地または生産時期に関する情報を含み、
　前記物品管理部は、前記物品の不良品発生の情報を取得すると、前記固有情報に基づき前記ピッキングの対象の物品群の中に前記不良品と同一の前記生産地または前記生産時期のものがある場合に、前記物品群の中に前記不良品があると判定し、前記不良品をピッキングする指令を前記端末機に表示させる、
付記１～４のいずれか一項に記載のピッキング補助システム。
（付記６）
　前記ピッキング補助ロボットは、
　前記移動体が停止したことを表す停止条件が成立すると前記ＲＦＩＤリーダのアンテナを読み取り可能状態に切り替え、ピッキングが終了したことを表す終了条件が成立すると前記ＲＦＩＤリーダのアンテナを読み取り不能状態に切り替える、切替制御部を有する、
付記１～５のいずれか一項に記載のピッキング補助システム。
（付記７）
　前記ピッキング補助ロボットは、
　前記ＲＦＩＤリーダによって所定時間以内に同一の前記ＲＦＩＤタグが所定回数以上読み取られた場合、又は、前記ＲＦＩＤリーダによって所定時間以内に所定強度以上の電波強度で前記ＲＦＩＤタグが読み取られた場合に、当該ＲＦＩＤタグが付された物品が前記収容部に収容されたと判定する収容判定部を有する、
付記１～６のいずれか一項に記載のピッキング補助システム。
（付記８）
　ＲＦＩＤタグが付された物品を収容する収容部と、
　前記物品が前記収容部に収容される際に前記ＲＦＩＤタグを読み取り可能な位置に設けられたアンテナを有するＲＦＩＤリーダと、
　ピッキングの指示を管理サーバから受信する端末機と、
　前記収容部及び前記ＲＦＩＤリーダが搭載され、前記ピッキングの指示に含まれる物品の位置に関する情報に基づき、前記物品が配置される位置に移動する移動体と、
を有し、
　前記物品に付された前記ＲＦＩＤタグには、当該物品の種類を特定するための特定情報と、当該物品に係る前記種類以外の情報を含む固有情報とが書き込まれており、
　前記端末機は、前記ＲＦＩＤリーダが読み取った物品に付されている前記ＲＦＩＤタグに書き込まれている前記特定情報と前記固有情報とを前記管理サーバに送信し、前記管理サーバから、前記特定情報により特定される前記ピッキングの対象の物品群の中から、前記固有情報に基づきピッキングすべき物品を限定する指令を受信する、
ピッキング補助ロボット。 With respect to the above description, the following items are further disclosed.
(Appendix 1)
a management server;
a picking assistant robot,
with
The picking assistance robot is
a storage unit that stores an article attached with an RFID tag;
an RFID reader having an antenna provided at a position where the RFID tag can be read when the article is stored in the storage unit;
a terminal that receives a picking instruction from the management server;
a moving body on which the storage section and the RFID reader are mounted and which moves to a position where the article is placed based on information regarding the position of the article included in the picking instruction;
has
Specific information for specifying the type of the article and unique information including information other than the type related to the article are written in the RFID tag attached to the article,
The management server is
a picking instruction management unit that transmits the picking instruction to the picking assistance robot;
an information receiving unit that receives the specific information and the unique information written in the RFID tag attached to the article read by the RFID reader;
an article management unit that manages the article to be picked based on the unique information;
having
Picking assistance system.
(Appendix 2)
The item management unit limits items to be picked based on the unique information from among the items to be picked specified by the specific information.
1. The picking assistance system of Claim 1.
(Appendix 3)
An expiration date is set for the goods,
The unique information includes information on the expiration date of the item,
Based on the unique information, the article management unit, if there is an article whose expiry date is near in addition to the picked article in the article group to be picked, retakes the article with an article whose expiry date is near. causing a command to be displayed on the terminal;
2. The picking assistance system according to Appendix 2.
(Appendix 4)
the unique information includes information about promotional campaigns;
Based on the unique information, if there is an item targeted for the campaign in addition to the picked item in the item group to be picked, the item management unit designates the item as the target item for the campaign. causing the terminal to display a retake command;
A picking assistance system according to Appendix 2 or 3.
(Appendix 5)
The unique information includes information on the place of production or the time of production of the item,
When the article management unit acquires the information on the occurrence of defective articles, the article management unit includes an article group to be picked based on the unique information that has the same production place or production period as the defective article. In this case, it is determined that the defective item is present in the item group, and a command to pick the defective item is displayed on the terminal device;
The picking assistance system according to any one of appendices 1-4.
(Appendix 6)
The picking assistance robot is
Switching the antenna of the RFID reader to a readable state when a stop condition indicating that the moving object has stopped is satisfied, and switching the antenna of the RFID reader to a non-readable state when a termination condition indicating that the picking is completed is satisfied. having a switching control unit,
A picking assistance system according to any one of appendices 1 to 5.
(Appendix 7)
The picking assistance robot is
When the same RFID tag is read by the RFID reader a predetermined number of times or more within a predetermined time, or when the RFID tag is read by the RFID reader with a radio wave intensity equal to or greater than a predetermined strength within a predetermined time, Having a storage determination unit that determines that an article with an RFID tag is stored in the storage unit,
A picking aid system according to any one of appendices 1-6.
(Appendix 8)
a storage unit that stores an article attached with an RFID tag;
an RFID reader having an antenna provided at a position where the RFID tag can be read when the article is stored in the storage unit;
a terminal that receives a picking instruction from the management server;
a moving body on which the storage section and the RFID reader are mounted and which moves to a position where the article is placed based on information regarding the position of the article included in the picking instruction;
has
Specific information for specifying the type of the article and unique information including information other than the type related to the article are written in the RFID tag attached to the article,
The terminal device transmits the specific information and the unique information written in the RFID tag attached to the article read by the RFID reader to the management server, and receives the specific information from the management server. Receiving a command to limit the items to be picked based on the unique information from among the identified items to be picked;
Picking assistance robot.
　本国際出願は２０２１年９月３０日に出願された日本国特許出願２０２１－１６０５３９号に基づく優先権を主張するものであり、２０２１－１６０５３９号の全内容をここに本国際出願に援用する。 This international application claims priority based on Japanese Patent Application No. 2021-160539 filed on September 30, 2021, and the entire contents of No. 2021-160539 are hereby incorporated into this international application.
　１、１Ａ　　ピッキング補助システム
　１０　　管理サーバ
　４０　　物品
　４１　　ＲＦＩＤタグ
　１００　　ピッキング補助ロボット
　１０１　　ピッキング指示管理部
　１０４　　情報受信部
　１０７　　物品管理部
　１１０　　搬送車（移動体）
　１３０Ａ、１３０Ｂ　　ボックス（収容部）
　１４０　　ＲＦＩＤリーダ
　１４１Ａ　　切替制御部
　１４１Ｂ　　収容判定部
　１４２Ａ、１４２Ｂ　　アンテナ
　１５０　　タブレットコンピュータ（端末機） 1, 1A picking assistance system 10 management server 40 article 41 RFID tag 100 picking assistance robot 101 picking instruction management section 104 information reception section 107 article management section 110 transport vehicle (moving body)
130A, 130B Box (accommodating part)
140 RFID reader 141A switching control unit 141B accommodation determination unit 142A, 142B antenna 150 tablet computer (terminal)

Claims (8)

  1. 　管理サーバと、
    　ピッキング補助ロボットと、
    を備え、
    　前記ピッキング補助ロボットは、
    　ＲＦＩＤタグが付された物品を収容する収容部と、
    　前記物品が前記収容部に収容される際に前記ＲＦＩＤタグを読み取り可能な位置に設けられたアンテナを有するＲＦＩＤリーダと、
    　ピッキングの指示を前記管理サーバから受信する端末機と、
    　前記収容部及び前記ＲＦＩＤリーダが搭載され、前記ピッキングの指示に含まれる物品の位置に関する情報に基づき、前記物品が配置される位置に移動する移動体と、
    を有し、
    　前記物品に付された前記ＲＦＩＤタグには、当該物品の種類を特定するための特定情報と、当該物品に係る前記種類以外の情報を含む固有情報とが書き込まれており、
    　前記管理サーバは、
    　前記ピッキングの指示を前記ピッキング補助ロボットに送信するピッキング指示管理部と、
    　前記ＲＦＩＤリーダが読み取った物品に付されている前記ＲＦＩＤタグに書き込まれている前記特定情報と前記固有情報とを受信する情報受信部と、
    　前記固有情報に基づいて、前記ピッキングの対象の前記物品の管理を行う物品管理部と、
    を有する、
    ピッキング補助システム。     a management server;
    a picking assistant robot,
    with
    The picking assistance robot is
    a storage unit that stores an article attached with an RFID tag;
    an RFID reader having an antenna provided at a position where the RFID tag can be read when the article is stored in the storage unit;
    a terminal that receives a picking instruction from the management server;
    a moving body on which the storage section and the RFID reader are mounted and which moves to a position where the article is placed based on information regarding the position of the article included in the picking instruction;
    has
    Specific information for specifying the type of the article and unique information including information other than the type related to the article are written in the RFID tag attached to the article,
    The management server is
    a picking instruction management unit that transmits the picking instruction to the picking assistance robot;
    an information receiving unit that receives the specific information and the unique information written in the RFID tag attached to the article read by the RFID reader;
    an article management unit that manages the article to be picked based on the unique information;
    having
    Picking assistance system.
  2. 　前記物品管理部は、前記特定情報により特定される前記ピッキングの対象の物品群の中から、前記固有情報に基づきピッキングすべき物品を限定する、
    請求項１に記載のピッキング補助システム。     The item management unit limits items to be picked based on the unique information from among the items to be picked specified by the specific information.
    The picking aid system of claim 1.
  3. 　前記物品には消費期限が設定され、
    　前記固有情報は前記物品の消費期限に関する情報を含み、
    　前記物品管理部は、前記固有情報に基づき、前記ピッキングの対象の物品群の中でピッキングされた物品の他に消費期限が近いものがある場合に、前記物品を前記消費期限が近いものに取り直す指令を前記端末機に表示させる、
    請求項２に記載のピッキング補助システム。     An expiration date is set for the goods,
    The unique information includes information on the expiration date of the item,
    Based on the unique information, the article management unit, if there is an article whose expiry date is near in addition to the picked article in the article group to be picked, retakes the article with an article whose expiry date is near. causing a command to be displayed on the terminal;
    3. A picking aid system according to claim 2.
  4. 　前記固有情報は販売促進のキャンペーンに関する情報を含み、
    　前記物品管理部は、前記固有情報に基づき、前記ピッキングの対象の物品群の中でピッキングされた物品の他に前記キャンペーンの対象のものがある場合に、前記物品を前記キャンペーンの対象のものに取り直す指令を前記端末機に表示させる、
    請求項２に記載のピッキング補助システム。     the unique information includes information about promotional campaigns;
    Based on the unique information, if there is an item targeted for the campaign in addition to the picked item in the item group to be picked, the item management unit designates the item as the target item for the campaign. causing the terminal to display a retake command;
    3. A picking aid system according to claim 2.
  5. 　前記固有情報は、前記物品の生産地または生産時期に関する情報を含み、
    　前記物品管理部は、前記物品の不良品発生の情報を取得すると、前記固有情報に基づき前記ピッキングの対象の物品群の中に前記不良品と同一の前記生産地または前記生産時期のものがある場合に、前記物品群の中に前記不良品があると判定し、前記不良品をピッキングする指令を前記端末機に表示させる、
    請求項１に記載のピッキング補助システム。     The unique information includes information on the place of production or the time of production of the item,
    When the article management unit acquires the information on the occurrence of defective articles, the article management unit includes an article group to be picked based on the unique information that has the same production place or production period as the defective article. In this case, it is determined that the defective item is present in the item group, and a command to pick the defective item is displayed on the terminal device;
    The picking aid system of claim 1.
  6. 　前記ピッキング補助ロボットは、
    　前記移動体が停止したことを表す停止条件が成立すると前記ＲＦＩＤリーダのアンテナを読み取り可能状態に切り替え、ピッキングが終了したことを表す終了条件が成立すると前記ＲＦＩＤリーダのアンテナを読み取り不能状態に切り替える、切替制御部を有する、請求項１に記載のピッキング補助システム。     The picking assistance robot is
    Switching the antenna of the RFID reader to a readable state when a stop condition indicating that the moving object has stopped is satisfied, and switching the antenna of the RFID reader to a non-readable state when a termination condition indicating that the picking is completed is satisfied. 2. A picking aid system according to claim 1, comprising a switching control.
  7. 　前記ピッキング補助ロボットは、
    　前記ＲＦＩＤリーダによって所定時間以内に同一の前記ＲＦＩＤタグが所定回数以上読み取られた場合、又は、前記ＲＦＩＤリーダによって所定時間以内に所定強度以上の電波強度で前記ＲＦＩＤタグが読み取られた場合に、当該ＲＦＩＤタグが付された物品が前記収容部に収容されたと判定する収容判定部を有する、
    請求項１に記載のピッキング補助システム。     The picking assistance robot is
    When the same RFID tag is read by the RFID reader a predetermined number of times or more within a predetermined time, or when the RFID tag is read by the RFID reader with a radio wave intensity equal to or greater than a predetermined strength within a predetermined time, Having a storage determination unit that determines that an article with an RFID tag is stored in the storage unit,
    The picking aid system of claim 1.
  8. 　ＲＦＩＤタグが付された物品を収容する収容部と、
    　前記物品が前記収容部に収容される際に前記ＲＦＩＤタグを読み取り可能な位置に設けられたアンテナを有するＲＦＩＤリーダと、
    　ピッキングの指示を管理サーバから受信する端末機と、
    　前記収容部及び前記ＲＦＩＤリーダが搭載され、前記ピッキングの指示に含まれる物品の位置に関する情報に基づき、前記物品が配置される位置に移動する移動体と、
    を有し、
    　前記物品に付された前記ＲＦＩＤタグには、当該物品の種類を特定するための特定情報と、当該物品に係る前記種類以外の情報を含む固有情報とが書き込まれており、
    　前記端末機は、前記ＲＦＩＤリーダが読み取った物品に付されている前記ＲＦＩＤタグに書き込まれている前記特定情報と前記固有情報とを前記管理サーバに送信し、前記管理サーバから、前記特定情報により特定される前記ピッキングの対象の物品群の中から、前記固有情報に基づきピッキングすべき物品を限定する指令を受信する、
    ピッキング補助ロボット。     a storage unit that stores an article attached with an RFID tag;
    an RFID reader having an antenna provided at a position where the RFID tag can be read when the article is stored in the storage unit;
    a terminal that receives a picking instruction from the management server;
    a moving body on which the storage section and the RFID reader are mounted and which moves to a position where the article is placed based on information regarding the position of the article included in the picking instruction;
    has
    Specific information for specifying the type of the article and unique information including information other than the type related to the article are written in the RFID tag attached to the article,
    The terminal device transmits the specific information and the unique information written in the RFID tag attached to the article read by the RFID reader to the management server, and receives the specific information from the management server. Receiving a command to limit the items to be picked based on the unique information from among the identified items to be picked;
    Picking assistance robot.
PCT/JP2022/010432 2021-09-30 2022-03-09 Picking assistance system and picking assistance robot WO2023053493A1 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2021-160539 2021-09-30
JP2021160539A JP2023050444A (en) 2021-09-30 2021-09-30 Picking auxiliary system and picking auxiliary robot

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JP3918455B2 (en) * 2001-05-21 2007-05-23 株式会社ダイフク Sorting equipment
JP2008056433A (en) * 2006-08-31 2008-03-13 Omron Corp Trace method and trace system of commodity shipping destination
JP6163819B2 (en) * 2013-03-27 2017-07-19 日本電気株式会社 Package management system, operation method and program of package management system
JP2021054604A (en) * 2019-09-30 2021-04-08 大王製紙株式会社 Picking system, server, method, program and terminal
JP2021070550A (en) * 2019-10-30 2021-05-06 シャープ株式会社 Picking assist system and picking assist method

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP3918455B2 (en) * 2001-05-21 2007-05-23 株式会社ダイフク Sorting equipment
JP2008056433A (en) * 2006-08-31 2008-03-13 Omron Corp Trace method and trace system of commodity shipping destination
JP6163819B2 (en) * 2013-03-27 2017-07-19 日本電気株式会社 Package management system, operation method and program of package management system
JP2021054604A (en) * 2019-09-30 2021-04-08 大王製紙株式会社 Picking system, server, method, program and terminal
JP2021070550A (en) * 2019-10-30 2021-05-06 シャープ株式会社 Picking assist system and picking assist method

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