Information processing program, information processing method, and information processing device

Abstract

Improve throughput by selecting shelves to rearrange, taking into account information about their placement and when they will be used. [Solution] The information processing program according to the embodiment includes instructions to be executed by the processor of the information processing device, the instructions include: obtaining an order list including orders; determining that a trigger has occurred; obtaining usage information based on the unprocessed orders in the order list; extracting candidate shelves to be relocated based on whether the usage information satisfies the area conditions corresponding to the shelf placement position ID; determining whether the usage information of the candidate shelves to be relocated exceeds the area conditions; extracting pairs of shelves from the relocation candidate list showing the results of the determination; and outputting instructions to the automated guided vehicle to relocate the extracted pairs.

Description

Technical Field

[0001] Embodiments of the present invention relate to an information processing program, an information processing method, and an information processing apparatus.

Background Art

[0002] In a logistics center, a shelf where picking target items are stored according to an order list is transported from a storage location to a picking station by an automated transport vehicle such as an AGV (Automated Guided Vehicle), and the shelf after the picking operation is transported back to the storage location by the AGV, and a shelf transport robot system is provided. In such a shelf transport robot system, the time required for the AGV to transport the shelf has a great influence on the picking processing capacity (throughput) per unit time of the shelf transport robot system.

[0003] For example, Patent Document 1 discloses a technique for improving the throughput of a shelf transport robot system by returning a shelf transported by an automated transport vehicle to a position where the transport distance is the shortest among the positions where the shelf can be returned.

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0005] The transport time for shelves is greatly influenced by the positional relationship between the shelves being transported and the picking station. Therefore, to improve throughput, it is desirable to dynamically change the shelf layout according to the progress of orders, such as placing shelves that are not planned to be used far away and shelves that are planned to be used nearby. However, while it would be desirable to plan and operate shelf rearrangement for all shelves, this is not practical due to limitations in the number of AGVs and time constraints.

[0006] This invention was made in view of the above circumstances, and its purpose is to provide a technology that can improve throughput by selecting shelves to rearrange, taking into account information regarding the installation location of the shelves and the timing of shelf use. [Means for solving the problem]

[0007] The information processing program according to the embodiment includes instructions to be executed by the processor of the information processing device, the instructions to acquire an order list including an order indicating a shelf to store items to be picked, determine whether a trigger has occurred, and if it is determined that a trigger has occurred, acquire usage information including a shelf placement position ID associated with the shelf ID of the shelf and the order until the shelf is used, based on the unprocessed orders in the order list, extract relocation candidate shelves that should be relocated based on whether the usage information satisfies the area conditions corresponding to the shelf placement position ID, determine whether the usage information of the relocation candidate shelves exceeds the area conditions, extract pairs of shelves that exceed the area conditions and shelves that do not exceed the area conditions from the relocation candidate list showing the results of the determination for each of the relocation candidate shelves, and output an instruction to an automated guided vehicle that transports the shelves to relocate the shelves based on the shelf placement position IDs of the extracted pairs. [Brief explanation of the drawing]

[0008] [Figure 1]Figure 1 shows an example configuration of a shelf transport robot system according to the first embodiment. [Figure 2] Figure 2 is a block diagram showing an example of the configuration of the control system of a shelf transport robot system according to the first embodiment. [Figure 3] Figure 3 shows an example of the configuration of a planning device according to the first embodiment. [Figure 4] Figure 4 is a block diagram showing an example configuration of an AGV according to the first embodiment. [Figure 5] Figure 5 is a diagram showing an example of the functional configuration of the processor of the planning device according to the first embodiment. [Figure 6] Figure 6 is a diagram showing an example of the functional configuration of the RAM of the planning device according to the first embodiment. [Figure 7] Figure 7 is a flowchart illustrating an example of the operation of the planning device according to the first embodiment. [Figure 8] Figure 8 shows an example of a shelf information database stored in the shelf information storage unit. [Figure 9] Figure 9 shows an example of an area setting method for AGV shelves arranged in a warehouse according to the first embodiment. [Figure 10] Figure 10 shows an example of area condition information stored in the area condition memory unit. [Figure 11] Figure 11 is a flowchart that further explains the extraction process in step ST104. [Figure 12] Figure 12 is a diagram illustrating the process for determining whether an area category has been exceeded. [Figure 13] Figure 13 shows an example of the rearrangement candidate list before and after rearrangement according to the first embodiment. [Figure 14] Figure 14 is a flowchart that further explains the decision process in step ST106. [Figure 15] Figure 15 shows an example of rearranging the AGV shelves according to the first embodiment. [Figure 16]FIG. 16 is a diagram showing an example of shelf arrangement according to the second embodiment. [Figure 17] FIG. 17 is a flowchart for explaining an operation example of the planning device according to the second embodiment. [Figure 18] FIG. 18 is a flowchart for explaining the extraction process in step ST204 in more detail.

Embodiments for Carrying out the Invention

[0009] Hereinafter, an information processing program, an information processing method, and an information processing apparatus will be described in detail with reference to the drawings. In the following embodiments, parts denoted by the same numbers are assumed to perform the same operations, and repeated explanations will be omitted. For example, when there are a plurality of identical or similar elements, a common reference numeral may be used to explain each element without distinction, or a branch number may be used in addition to the common reference numeral to explain each element separately.

[0010] Also, in the following description, the description "A or B" means at least one of A or B, and "A, B, or C" means at least one of A, B, or C. Further, the description "A and B" also means at least one of A and B, and "A, B, and C" means at least one of A, B, and C.

[0011] [First Embodiment] (Configuration) The shelf conveyance robot system according to the first embodiment picks up articles from a shelf in a logistics system or the like based on an order list. The shelf conveyance robot system conveys the shelf to a picking station using an automatic guided vehicle (AGV). The shelf conveyance robot system picks up articles from the shelf at the picking station. The shelf conveyance robot system causes an operator or a robot to pick up articles from the shelf. For example, the shelf conveyance robot system is used in a logistics center or a warehouse.

[0012] FIG. 1 is a diagram showing a configuration example of a shelf conveyance robot system 100 according to the first embodiment. As shown in FIG. 1, the shelf conveyance robot system 100 includes picking stations P (P1 to P4), an AGV 7, an AGV shelf 8, a picking robot 111, and a display device 112.

[0013] The picking robot 111 and the display device 112 are respectively installed at the picking stations P1 to P4. The shelf conveyance robot system 100 can operate the picking robot 111 at each of the picking stations P1 to P4 and pick up articles by the picking robot 111. Further, the shelf conveyance robot system 100 can also stop the operation of the picking robot 111, arrange an operator 113, and let the operator 113 pick up articles. The operator 113 can visually confirm an article processing schedule or the like displayed on the display device 112 and process the articles. Note that the display device 112 may be a wireless communication terminal assigned to the operator 113.

[0014] Also, the display device 112 may be installed at the picking stations P1 to P4, and the picking robot 111 may be installed at some of the picking stations P. In this case, the picking stations P where the picking robot 111 is not installed are used as picking stations P for the operator 113. Note that the picking stations P where the picking robot 111 is installed can be used as picking stations P for both the picking robot 111 and the operator 113.

[0015] The shelf transport robot system 100 may be equipped with multiple cameras. Furthermore, one or more of the multiple cameras may be fixed cameras, and the rest may be mobile cameras. Fixed cameras are, for example, cameras fixed to the ceiling, walls, and the top and sides of picking stations P1 to P4, and they photograph the entire warehouse and the items processed within the warehouse, outputting the captured data in real time. The captured data includes shooting date and time data (including the time of shooting) and captured image data. The captured image data includes still image data and video data. The fixed cameras may also rotate up, down, left, and right based on shooting control signals from the higher-level management device 1, which will be described later. By rotating the fixed cameras up, down, left, and right, a wide area of ​​the warehouse can be monitored.

[0016] AGV7 operates based on control signals from the AGV control device 4, which will be described later. AGV7 is an example of an automated guided vehicle. Therefore, AGV7 can be any robot capable of transporting the AGV shelf 8, such as an AMR (Autonomous Mobile Robot). For example, AGV7 travels towards a designated loading position and lifts the AGV shelf 8 at the designated loading position. AGV7 then travels towards a designated unloading position and lowers the AGV shelf 8 at the designated unloading position.

[0017] The AGV shelf 8 is a shelf for storing goods. For example, the AGV shelf 8 is composed of multiple shelf levels. Goods are stacked on each shelf level of the AGV shelf 8.

[0018] Furthermore, the AGV shelf 8 stands upright on four support columns. The height of the shelf under the AGV shelf 8 (height from the floor to the bottom of the shelf) is higher than the height of the AGV 7. This allows the AGV 7 to get underneath the AGV shelf 8. Once underneath, the AGV 7 uses its pusher to lift the AGV shelf 8 so that the tips of the support columns are a few centimeters above the floor, and then moves while the AGV shelf 8 is lifted. In this way, the AGV 7 transports the AGV shelf 8.

[0019] Furthermore, shelf identification information that can be read by a fixed camera or a mobile camera may be attached to the AGV shelf 8. Item identification information that can be read by a fixed camera or a mobile camera may also be attached to the items. For example, the shelf identification information and item identification information may be barcodes or two-dimensional codes. The shelf transport robot system 100 may also be equipped with multiple readers for reading this shelf identification information and item identification information, in addition to the fixed or mobile cameras.

[0020] Furthermore, each AGV shelf 8 is assigned an ID (shelf ID) to identify it. For example, the shelf ID can be a number, a string, a symbol, or a combination thereof.

[0021] Furthermore, each location where an AGV shelf 8 can be placed (shelf placement location 3) is assigned an ID (location ID) to identify that location. For example, the location ID can be a number, a string, a symbol, or a combination thereof.

[0022] In the example shown in Figure 1, the shelf transport robot system 100 includes a shelf placement position 3 where the AGV shelf 8 can be placed.

[0023] Picking stations P1 to P4 receive AGV shelves 8 transported by AGV 7. Items are stored in the AGV shelves 8 received by picking stations P1 to P4. If item processing by a picking robot 111 is specified, the picking robot 111 grasps (grips) the items stored in the AGV shelves 8 and picks them. If item processing by an employee 113 is specified, the assigned employee 113 manually grasps the items stored in the AGV shelves 8 and picks them. In addition, a display device 112 provided in conjunction with picking stations P1 to P4 displays the item processing schedule as well as information to support the employee 113's picking work, such as an image of the item to be processed and item identification information. The employee 113 visually confirms the contents of the display device 112 and picks the items.

[0024] Furthermore, picking stations P1 to P4 may also store items on AGV shelves 8 using picking robots 111 or staff members 113.

[0025] Next, we will describe the control system of the shelf transport robot system 100. Figure 2 is a block diagram showing an example of the configuration of the control system of the shelf transport robot system 100 according to the first embodiment. As shown in Figure 2, the shelf transport robot system 100 includes a higher-level management device 1, a planning device 2, an AGV control device 4, a switch 5, a wireless LAN access point 6, an AGV 7, a charging station 9, a picking robot 111, a display device 112, and picking stations P1 to P4.

[0026] The higher-level management device 1 is called a Warehouse Management System (WMS) and can be implemented with one or more computers. The higher-level management device 1 stores item management information related to the items stored in the warehouse. The item management information indicates the items stored in each AGV shelf 8.

[0027] The higher-level management device 1 acquires information indicating items to be dispatched from an external device. Based on this information, the higher-level management device 1 generates an order indicating the items to be picked and the AGV rack 8 in which those items will be stored. The higher-level management device 1 generates an order list containing multiple orders. The higher-level management device 1 outputs the order list to the planning device 2. Here, the order list indicates orders that are scheduled to be processed within a predetermined period (for example, within the same day).

[0028] Planning device 2 (information processing device) is called a Warehouse Execution System (WES) and can be implemented with one or more computers. Planning device 2 is connected to the higher-level management device 1. Planning device 2 sets the return position of AGV rack 8 based on order lists, etc. Planning device 2 will be described in detail later.

[0029] The AGV control device 4 is called a Warehouse Control System (WCS) and can be implemented with one or more computers. The AGV control device 4 is connected to the planning device 2. The AGV control device 4 is also connected to picking stations P1 to P4 via switch 5. The AGV control device 4 is also connected to a wireless LAN access point 6 via switch 5.

[0030] The AGV control device 4 uses the AGV 7 to transport the AGV rack 8, which stores the items to be picked, to the picking stations P1 to P4. Once picking is complete, the AGV control device 4 uses the AGV 7 to transport the AGV rack 8 to a predetermined return location.

[0031] The charging station 9 is equipped with a power output unit. The AGV 7 is equipped with a power input unit and a battery. The charging station 9 supplies power output from the power output unit to the AGV 7. The AGV 7 supplies power received via the power input unit to its battery. For example, the height of the power output unit from the floor is the same as the height of the power input unit of the AGV 7 from the floor. Based on control from the AGV control device 4, the AGV 7 travels to a position corresponding to the power output unit of the charging station 9, connects its power input unit to the power output unit, and receives power. The connection between the power input unit and the power output unit may be either contact or non-contact.

[0032] The wireless LAN access point 6 transmits and receives data with communication devices such as the AGV 7 and the charging station 9. Furthermore, if the shelf transport robot system is equipped with fixed and mobile cameras, the wireless LAN access point 6 transmits and receives data with both the fixed and mobile cameras. The switch 5 selects the destination for the received data and transmits the data to the selected destination.

[0033] Next, we will describe the planning device 2. Figure 3 shows an example of the configuration of the planning device 2 according to the first embodiment. Figure 3 is a block diagram showing an example configuration of the planning device 2. As shown in Figure 3, the planning device 2 includes a processor 21, ROM 22, RAM 23, NVM 24, communication unit 25, operation unit 26, and display unit 27, among others.

[0034] The processor 21, ROM 22, RAM 23, NVM 24, communication unit 25, operation unit 26, and display unit 27 are connected to each other via a data bus or the like. In addition to the configuration shown in Figure 3, the planning device 2 may have other configurations as needed, or certain configurations may be excluded from the planning device 2.

[0035] The processor 21 has the function of controlling the operation of the entire planning device 2. The processor 21 may also be equipped with an internal cache and various interfaces. The processor 21 performs various processes by executing programs pre-stored in the internal memory, ROM 22, or NVM 24.

[0036] Furthermore, some of the various functions realized by the execution of a program by the processor 21 may be realized by hardware circuits. In this case, the processor 21 controls the functions executed by the hardware circuits.

[0037] ROM22 is a non-volatile memory in which control programs and control data are pre-stored. The control programs and control data stored in ROM22 are pre-programmed according to the specifications of the planning device 2.

[0038] RAM23 is volatile memory. RAM23 temporarily stores data being processed by processor 21. RAM23 stores various application programs based on instructions from processor 21. RAM23 may also store data necessary for the execution of application programs and the execution results of application programs.

[0039] NVM24 is a non-volatile memory that allows data to be written to and rewritten. For example, NVM24 can be composed of HDD, SSD, or flash memory. NVM24 stores control programs, applications, and various data depending on the operational use of the planning device 2.

[0040] The communication unit 25 is an interface for sending and receiving data with the higher-level management device 1 and the AGV control device 4, etc. The communication unit 25 connects to the higher-level management device 1 and the AGV control device 4, etc. For example, the communication unit 25 is an interface that supports wired or wireless LAN connections.

[0041] The communication unit 25 may also consist of an interface connected to the higher-level management device 1 and an interface connected to the AGV control device 4.

[0042] The control unit 26 receives various operation inputs from the operator. The control unit 26 transmits signals indicating the input operation to the processor 21. For example, the control unit 26 is composed of a mouse, keyboard, or touch panel.

[0043] The display unit 27 displays image data from the processor 21. For example, the display unit 27 is composed of a liquid crystal monitor. If the operation unit 26 is composed of a touch panel, the display unit 27 may be formed integrally with the touch panel of the operation unit 26.

[0044] Next, I will explain AGV7. Figure 4 is a block diagram showing an example configuration of the AGV7 according to the first embodiment. As shown in Figure 4, the AGV7 includes a processor 71, ROM 72, RAM 73, auxiliary storage device 74, communication interface 75, drive unit 76, sensor 77, battery 78, charging mechanism 79, and tires 70.

[0045] The processor 71 has the function of controlling the operation of the entire AGV7. The processor 71 may also be equipped with an internal cache and various interfaces. The processor 71 performs various processes by executing programs that are pre-stored in the internal memory, ROM 72, or auxiliary storage device 74.

[0046] For example, processor 71 is a CPU. Processor 71 may also be implemented using hardware such as an LSI (Large Scale Integration), ASIC (Application Specific Integrated Circuit), or FPGA (Field Programmable Gate Array).

[0047] The processor 71 performs calculations and control processes necessary for operations such as acceleration, deceleration, stopping, changing direction, and loading and unloading of the AGV rack 8. Based on control signals from the AGV control device 4 and the like, the processor 71 generates drive signals and outputs them to each unit by executing a program stored in the ROM 72 or the like.

[0048] For example, the AGV control device 4 transmits a control signal to move the AGV 7 from its current position to a first position (the shelf placement position of the target AGV shelf 8) and then from the first position to a second position (the position of the target picking station P). The AGV control device 4 also transmits a control signal to move the AGV 7 from the second position back to the first position. The processor 71 of the AGV 7 outputs a drive signal corresponding to the control signals transmitted from the AGV control device 4. As a result, the AGV 7 moves from its current position to the first position, from the first position to the second position, and back to the first position. The processor 71 also outputs a drive signal corresponding to the loading and unloading instruction for the AGV shelf 8 included in the control signals transmitted from the AGV control device 4. As a result, the AGV 7 lifts the AGV shelf 8 using its pusher and then lowers the lifted AGV shelf 8.

[0049] ROM72 is a non-temporary computer-readable storage medium that stores the above-mentioned program. ROM72 also stores data and various settings used by the processor 71 in performing various processes.

[0050] RAM73 is memory used for reading and writing data. RAM73 is used as a so-called work area, where it stores data that the processor 71 will temporarily use when performing various processes.

[0051] The auxiliary storage device 74 is a non-temporary computer-readable storage medium and may store the above-mentioned program. The auxiliary storage device 74 also stores data used by the processor 71 in performing various processes, data generated by processing by the processor 71, or various setting values.

[0052] The communication interface 75 is an interface that sends and receives data with the AGV control device 4 and other devices via a wireless LAN access point 6 or the like. For example, the communication interface 75 supports wireless LAN connectivity.

[0053] The drive unit 76 is a motor, etc., and rotates or stops the motor based on a drive signal output from the processor 71. The power from the motor is transmitted to the tires 70 and then to the steering mechanism. With this power from the motor, the AGV 7 moves to the target position. The drive unit 76 functions as a transport mechanism that transports the AGV 7 and the AGV shelf 8.

[0054] Furthermore, with AGV7 positioned beneath AGV shelf 8, the drive unit 76 rotates the motor (forward rotation) based on the drive signal output from processor 71. This power from the motor causes the pusher to rise, lifting AGV shelf 8. After AGV7 reaches the target position, the drive unit 76 rotates the motor (reverse rotation) based on the drive signal output from processor 71. This power from the motor causes the pusher to descend, lowering AGV shelf 8 to the floor.

[0055] Sensor 77 consists of multiple reflection sensors. Each reflection sensor is mounted around the AGV 7. Each reflection sensor emits a laser beam, detects the time it takes for the laser beam to reflect off an object and return, detects the distance to the object based on the detected time, and notifies the processor 71 of the detection signal. Based on the detection signals from Sensor 77, the processor 71 outputs control signals to control the movement of the AGV 7. For example, based on the detection signals from Sensor 77, the processor 71 outputs control signals such as deceleration or stopping to avoid collisions with objects. In addition to Sensor 77, a camera may also be provided, which captures images of the surroundings and outputs the captured images to the processor 71. In this case, the processor 71 analyzes the captured images and outputs control signals such as deceleration or stopping to avoid collisions with objects.

[0056] The battery 78 supplies the necessary power to the drive unit 76 and other components. The charging mechanism 79 connects the charging station and the battery 78, and the battery 78 is charged by power supplied from the charging station or the like via the charging mechanism 79.

[0057] Next, the functions implemented by the planning device 2 will be described. The functions implemented by the planning device 2 are achieved by the processor 21 executing a program stored in the ROM 22 or NVM 24, etc.

[0058] Figure 5 is a diagram showing an example of the functional configuration of the processor 21 of the planning device 2 according to the first embodiment. First, the processor 21 includes a shelf usage timing extraction unit 211 and a repositioning position determination unit 212.

[0059] The shelf usage timing extraction unit 211 functions as an acquisition unit that obtains an order list from the higher-level management device 1 or NVM24. The shelf usage timing extraction unit 211 also has the function of extracting unprocessed orders that call the AGV shelf 8 (target shelf) from the acquired order list. Furthermore, the shelf usage timing extraction unit 211 acquires information on the planned use of the AGV shelf 8 based on the extracted orders. For example, the shelf usage timing extraction unit 211 extracts the order in which the AGV shelf 8 is called in the order list.

[0060] The relocation position determination unit 212 has the function of determining the relocation position of the AGV shelf 8 to be relocated based on the order extracted by the shelf usage timing extraction unit 211 and the information from the shelf information storage unit 231, which will be described later. Details of the method for determining the relocation position of the AGV shelf 8 will be described later.

[0061] Furthermore, the processor 21 may be configured to perform functions other than those described above. For example, the processor 21 may have a function to create a layout plan for the AGV shelves 8 based on the order list. The processor 21 may perform the layout plan for each batch of the order list, or it may perform it while taking into account the information of subsequent batches when a batch is added.

[0062] The processor 21 has a function to determine whether a trigger has occurred. Details of the trigger will be described later. The processor 21 extracts candidate shelves for relocation of the AGV shelf 8 based on the shelf information database stored in the shelf information storage unit 231 (described later) and the area condition information stored in the area condition storage unit 232 (described later). Details of the method for extracting candidate shelves for relocation will be described later.

[0063] Processor 21 has the function of rearranging the list of relocation candidates. Details on how to rearrange the relocation candidate shelves will be described later.

[0064] The processor 21 has the function of outputting a move command to the AGV 7 that is transporting the AGV shelf 8 that is to be relocated. For example, the processor 21 outputs a move command to the AGV 7 via the AGV control device 4 and the switch 5.

[0065] Figure 6 is a diagram showing an example of the functional configuration of the RAM 23 of the planning device 2 according to the first embodiment. RAM23 includes a shelf information storage unit 231, an area condition storage unit 232, a relocation candidate shelf storage unit 233, and an AGV operation status recording unit 234.

[0066] The shelf information storage unit 231 is a storage unit used to store shelf information databases, etc. The area condition storage unit 232 is a storage unit used to store area condition information, etc. The relocation candidate shelf storage unit 233 is a storage unit used to store relocation candidate lists, etc. The AGV operation status recording unit 234 is a recording unit that records the operation status of AGV 7, such as whether it is performing a transport task for AGV shelf 8, performing a movement task to acquire / return AGV shelf 8, or whether it is unassigned to a task. The updating of the AGV operation status recording unit 234 is assumed to be done as needed when the task assigned to AGV 7 changes, and therefore the explanation is omitted in this document. Details of the shelf information database, area condition information, and relocation candidate list will be described later.

[0067] In addition to the above information, RAM23 may also store information such as the shelf placement position 3 and the AGV shelf 8's removal information when processing based on the order list (information indicating whether AGV shelf 8 is currently being removed by AGV7 or is installed).

[0068] (operation) Next, we will explain an example of the operation of the planning device 2. Figure 7 is a flowchart illustrating an example of the operation of the planning device 2 according to the first embodiment. The operation of this flowchart is achieved by the processor 21 of the planning device 2 reading and executing a program stored in the processor 21's internal memory, ROM 22, or NVM 24.

[0069] For example, this flowchart is initiated when the processor 21, which acts as an acquisition unit, acquires an order list through the communication unit 25 and transmits a transport instruction based on the order list to the AGV control device 4.

[0070] In step ST101, the processor 21 of the planning device 2, which operates as an information processing device, determines whether a trigger has occurred. If it determines that a trigger has occurred, the process proceeds to step ST102. On the other hand, if it determines that no trigger has occurred, the process repeats step ST101.

[0071] Here, the trigger is set using at least one of the following: the installation status of AGV shelf 8, the operating status of AGV 7, and information about the order list. When using the installation status of AGV shelf 8, the trigger may be set when AGV shelf 8 is taken out by AGV 7, or when AGV shelf 8 is returned by AGV 7. When setting a trigger based on the operating status of AGVs, it may be determined whether any number of AGV 7s have not been instructed to bring AGV shelf 8 to the picking station for a certain period of time. When setting a trigger based on information about the order list, the trigger may be set when an order is added to the order list or when an order is processed. Furthermore, the processor 21 may make a decision by combining the above multiple conditions.

[0072] In step ST102, the processor 21 acquires information on the planned use of the AGV shelf 8. For example, the processor 21, acting as a shelf usage timing extraction unit 211, extracts unprocessed orders from the order list and acquires information on the planned use of the AGV shelf 8 based on the extracted orders. For example, the processor 21 extracts the order in which the AGV shelf 8 is called in the order list. The processor 21 may also refer to RAM 23 or the like to acquire shelf placement location and shelf removal information and include it in the planned use information.

[0073] In step ST103, the processor 21 updates the shelf information database. For example, the processor 21 reflects the planned usage information extracted by the shelf usage timing extraction unit 211 into the shelf information database stored in the shelf information storage unit 231 of the RAM 23.

[0074] Figure 8 shows an example of a shelf information database stored in the shelf information storage unit 231. In the case of shelf ID 1 shown in Figure 8, the next time it will be used will be the 60th, and the destination at that time will be picking station P1. It is also shown that it is currently being taken out, and AGV shelf 8 is not installed at shelf placement position ID 214 in shelf placement position 3.

[0075] In step ST104, the processor 21 extracts candidate shelves for relocation. For example, the processor 21 extracts candidate shelves for relocation of the AGV shelf 8 based on the shelf information database stored in the shelf information storage unit 231 and the area condition information stored in the area condition storage unit 232.

[0076] Here, the area condition storage unit 232 stores area condition information, which includes the correspondence between the areas within the warehouse where the shelf transport robot system 100 is in operation and the shelf placement positions 3, as well as the conditions (area conditions) that the AGV shelves 8 placed at shelf placement positions 3 within each area must satisfy.

[0077] Figure 9 shows an example of an area setting method for AGV shelves 8 arranged in a warehouse according to the first embodiment. Figure 9 shows an example where a warehouse is divided into 10 areas, with consecutive shelf placement locations 3 considered as one area. For example, the consecutive shelf placement locations 3 in the upper left are designated as Area A, and from Area A to the right are Area B, Area C, Area D, and Area E. The consecutive shelf placement locations 3 below Area A are designated as Area F, and from Area F to the right are Area G, Area H, Area I, and Area J. However, Figure 9 is merely an example, and non-consecutive shelf placement locations 3 may also be set as a single area. For example, shelf placement locations 3 within an arbitrary range of Manhattan distance from each picking station P may be set as a single area. In this case, the range may be set based on the usage frequency information of the AGV shelves 8. Alternatively, the area may be set based on the transport time required to move the AGV shelves 8 to each picking station P. Note that while Figure 9 shows an example with two picking stations P, there may be only one, or two or more picking stations. Furthermore, if there are multiple picking stations, the area can be set for each picking station, or it can be set for the entire warehouse regardless of the number of picking stations.

[0078] Figure 10 shows an example of area condition information stored in the area condition storage unit 232. In the example in Figure 10, as shown in Figure 9, consecutive shelf placement positions 3 are set as a single area. For example, Area A is assigned shelf placement position IDs 1 to 8, and Area B is assigned shelf placement position IDs 9 to 16. Similarly, Areas C to J are assigned the shelf placement position IDs shown in Figure 10.

[0079] Furthermore, in the example in Figure 10, the area conditions are set so that shelves with a shorter reuse order can be placed in areas closer to picking station P. For example, since area A is farther from picking station P1 compared to area E, etc., the conditions are set so that AGV shelf 8 with a longer reuse order (AGV shelf 8 within the 150th position in the example in Figure 10) can be placed there. Also, although the example in Figure 10 shows an example where only the upper limit is set, it is of course possible to set a lower limit condition as well (for example, AGV shelf 8 that is 50th or higher).

[0080] Furthermore, in the example shown in Figure 10, sequential numbering is set so that the order until reuse is shortened in ascending order of area conditions. By associating the positional relationship with picking station P with the order conditions until reuse, it becomes possible to extract AGV shelves 8 that are located in an area close to picking station P but are not scheduled for reuse, or AGV shelves 8 that are located in an area far from picking station P but are scheduled for use soon.

[0081] The area conditions described above illustrate an example where consecutive shelf placement positions 3 are set as a single area. However, area conditions may also be determined as described below.

[0082] First, the user of the shelf transport robot system 100 sets the number of area conditions Z. Here, Z can be set to any natural number up to the number of shelf placement positions 3. For example, the user sets an appropriate value as the number of area conditions Z depending on the warehouse being operated. For example, if there is a large bias in the usage frequency of AGV shelves 8, such as 10% of the total number of shelves being used 90% of the time, then reducing the number of area conditions Z can suppress the repositioning of AGV shelves 8, making it possible to use the AGV 7 that would normally be used for repositioning for regular transport. On the other hand, if there is no large bias in usage frequency, it is necessary to increase the number of area conditions Z according to the number of AGV shelves 8. In other words, reducing the number of area conditions is equivalent to reducing the number of areas to be separated.

[0083] Once the number of area conditions Z is determined, the user of the shelf transport robot system 100 determines the sequential number of the area conditions to be applied to each area. That is, the number of shelf placement positions 3 to be applied to each area condition number i is determined. Finally, a condition is set for each sequential number of area conditions. Below, we will describe how to determine the condition expression for each area condition, using the example of setting the sequential numbers so that the order in which the area conditions are reused in ascending order is short.

[0084] An example of an area condition for area number i is that the order of reuse satisfies the following condition x. The number of shelf placement positions to which area conditions numbered 1 to i-1 are applied - k ≤ x ≤ the number of shelf placement positions to which area conditions 1 to i are applied + k Here, k is an arbitrary constant. When i=0, that is, the area condition with sequential number 1 of the area conditions, the condition is that shelves can be placed in the order of reuse 0≦x≦number of shelf placement positions to which area condition 1 is applied + k. Therefore, if the constant k is not considered, shelves that can be placed in an area to which area condition 1 is applied will be placed in order from the earliest reuse order. For example, k may be set to the average number of orders that progress while transporting AGV shelf 8 to another area. The reason for setting a constant k here is to prevent the shelf from being reused while it is being swapped between areas.

[0085] Furthermore, area conditions may be dynamically adjusted based on factors such as whether each picking station is operational, the time it takes to process orders at each picking station, and the degree of variation in processing time.

[0086] Figure 11 is a flowchart that further explains the extraction process in step ST104. In step ST1041, the processor 21 determines whether all shelves have been checked. If it determines that not all shelves have been checked, the process proceeds to step ST1042. On the other hand, if it determines that all shelves have been checked, the process ends and proceeds to step ST105.

[0087] In one embodiment, an example is described in which all AGV shelves 8 are checked, but it is also possible to check only arbitrary shelves. For example, it is certainly possible to check the AGV shelves 8 in a predetermined area of ​​the picking station P and the AGV shelves 8 in an area far from the picking station P. In other words, the processor 21 may be configured to check the AGV shelves 8 in an area set by the user.

[0088] In step ST1042, processor 21 selects an unverified shelf. Processor 21 selects an AGV shelf 8 from among the AGV shelves 8 that has not yet been verified.

[0089] In step ST1043, the processor 21 determines whether the area conditions are met. For example, the processor 21 refers to the shelf information database stored in the shelf information storage unit 231 and extracts the shelf placement position ID and reuse schedule associated with the shelf ID of the selected AGV shelf 8. Then, the processor 21 refers to the area condition information stored in the area condition storage unit 232 and determines whether the AGV shelf 8 meets the area conditions. If it is determined that the area conditions are not met, the processor determines that the AGV shelf 8 is a shelf that may need to be relocated. The process then proceeds to step ST1044. On the other hand, if it is determined that the area conditions are met, the processor determines that the AGV shelf 8 does not need to be relocated. The process then returns to step ST1041, that is, it moves on to checking the next shelf.

[0090] In step ST1044, the processor 21 determines whether the AGV shelf 8 exceeds the area condition. The processor 21 determines whether the area condition is exceeded based on the reuse schedule and area condition of the AGV shelf 8. For example, if the selected AGV shelf 8 is in area F despite being the 200th scheduled reuse, the processor 21 determines that the area condition has been exceeded (i.e., it determines True). In this case, the processor 21 determines that the AGV shelf 8 needs to be moved away from that area. On the other hand, if the AGV shelf 8 is in area A despite being the 50th scheduled reuse, the processor 21 determines that the area condition has not been exceeded (i.e., it determines False). In this case, the processor 21 determines that the AGV shelf 8 needs to be moved closer to that area.

[0091] Figure 12 is a diagram illustrating the process for determining whether the area conditions are exceeded. The horizontal axis in Figure 12 shows the order of reuse. As shown in Figure 12, reuses from number 0 to number L may be excluded because they may issue transport instructions during repositioning. Note that L may be determined based on transport time, etc. Also, the areas that meet the area conditions are the areas that are determined to meet the area conditions in step ST1043. The areas from number L until the area conditions are met are areas that do not exceed the area conditions, i.e., areas that are determined to be False. AGV shelves 8 in these areas need to be repositioned to be closer to the picking station P from their current position. On the other hand, areas that exceed the area conditions, i.e., areas that are determined to be True, are areas that need to be repositioned to a position further away from the picking station from their current position.

[0092] In step ST1045, the processor 21 calculates the transport distance. The processor 21 calculates the transport distance from the shelf placement position 3 to the picking station P when the selected AGV shelf 8 processes the unprocessed orders. The method for calculating the transport distance can be any general method, so a detailed explanation is omitted here.

[0093] In step ST1046, the processor 21 stores the AGV shelf 8 in the relocation candidate shelf storage unit 233 as a shelf to be relocated. For example, the processor 21 stores the shelf ID, area condition number, area condition exceedance determination result, planned destination picking station, transport distance, and take-out information of the AGV shelf 8 that is to be relocated as a relocation candidate list in the relocation candidate shelf storage unit 233.

[0094] Returning to Figure 7, in step ST105, the processor 21 rearranges the relocation candidate list. First, the processor 21 groups the relocation candidate list by the planned picking station. Furthermore, it rearranges it by the area condition exceedance result for each planned picking station. Next, the processor 21 sorts the area condition numbers in descending order within the same planned picking station. That is, in one embodiment, the larger the area condition number, the further the area is set from the picking station P, so the list is rearranged so that the areas further from the picking station are at the top. Finally, the processor 21 sorts the transport distances in descending order within the same area condition numbers. Then, the processor 21 stores the rearranged relocation candidate list in the relocation candidate shelf storage unit 233.

[0095] Figure 13 shows an example of the rearrangement candidate list before and after rearrangement according to the first embodiment. Figure 13 shows the shelf ID, area classification, planned picking station (labeled as destination PS in Figure 13), and transport distance included in the relocation candidate list. Here, the area classification indicates the result of the determination in step ST1044 described above. T indicates True, i.e., AGV shelf 8 that exceeds the area condition, and F indicates False, i.e., AGV shelf 8 that does not exceed the area condition.

[0096] As shown in Figure 13, if there are two planned picking stations, P1 and P2, the processor 21 sorts them so that they are separated by planned picking station P1 and P2, then sorts them again based on the result of exceeding the area condition, and further sorts them in descending order by area condition number among those with the same planned picking station and the result of exceeding the area condition, and sorts them in descending order by transport distance within the same area condition number.

[0097] In step ST106, the processor 21 determines the relocation location. The processor 21, acting as a relocation location determination unit 212, determines the AGV shelf 8 to be relocated and its relocation location based on the sorted list of relocation candidates stored in the relocation candidate shelf storage unit 233.

[0098] Figure 14 is a flowchart that further explains the decision process in step ST106. In step ST1061, the processor 21 determines whether the relocation candidate list is empty. If it determines that the relocation candidate list is empty, the process ends and proceeds to step ST107. On the other hand, if it determines that the relocation candidate list is not empty, the process proceeds to step ST1062. The processor 21 may also determine that the relocation candidate list is empty if the information contained in the relocation candidate list is only one AGV shelf 8.

[0099] In step ST1062, the processor 21 determines, based on the information stored in the AGV operation status recording unit 234, whether there is an AGV 7 capable of transporting the AGV shelf 8. If there is no AGV, the process proceeds to step ST1063. If there is an AGV, the process proceeds to step ST1064.

[0100] In step ST1063, the processor 21 removes candidates that require an available AGV7 from the list of relocation candidates. For example, the processor 21 refers to the take-out information included in the relocation candidate list and removes AGV racks 8 that are not currently being taken out, i.e., AGV racks 8 that are installed, from the list of relocation candidates.

[0101] Steps ST1062 to ST1063 are processes to prevent a problem from occurring where AGV7 cannot place AGV shelf 8 at the destination if AGV shelf 8 (i.e., AGV shelf 8 to be replaced) already exists there. For example, if AGV7 can move AGV shelf 8 at the destination, place the transported AGV shelf 8, and then transport the moved AGV shelf 8 to shelf placement position 3 where the transported AGV shelf 8 was placed, these processes may be skipped.

[0102] In step ST1064, the processor 21 determines the AGV shelf 8 to be relocated and the relocation location of the AGV shelf 8. First, the processor 21 refers to the list of relocation candidates and extracts pairs of AGV shelves 8 that exceed the area division and AGV shelves 8 that do not exceed the area division from the same picking station AGV shelf 8. In this case, shelves that exceed the area condition are selected in order of shortest transport distance, and shelves that do not exceed the area condition are selected in order of longest transport distance. By selecting in this way, it is possible to find combinations of AGV shelves 8 that exceed the area division and have a short transport distance (i.e., AGV shelves 8 that are not scheduled to be used for some time and are close to the picking station) and AGV shelves 8 that do not exceed the area condition and have a short transport distance (AGV shelves 8 that are scheduled to be used soon and are far from picking station P). Here, as a constraint, if there is one available AGV 7, AGV shelves 8 that are not being taken out by either AGV 7 are not extracted as a pair. Also, if there is one available AGV 7, combinations of shelves where both AGV 7 are being taken out cannot be selected. Additionally, a constraint may be added that the area conditions after rearrangement must be met when determining the pair.

[0103] For example, the processor 21 refers to the top and bottom AGV shelves 8 in the list of relocation candidates among the same picking stations scheduled for transport. If it determines that the area classification of the top AGV shelf 8 is F and the area classification of the bottom AGV shelf 8 is T, and that the constraints are met, it extracts them as a pair. For example, in Figure 13, as indicated by the arrows, shelf ID 1 and shelf ID 2 form a pair, and shelf ID 3 and shelf ID 4 form a pair. That is, the AGV shelves 8 in this pair are the AGV shelves 8 that need to be relocated, and the shelf placement position 3 of the paired AGV shelves 8 becomes the relocation position.

[0104] Here, we are explaining an example of determining pairs within the same picking station for the same destination, but of course, the example is not limited to this, and pairs can be extracted from AGV shelves 8 at different picking stations for the same destination.

[0105] In step ST1065, the processor 21 removes the corresponding AGV shelf 8 from the list of candidates for relocation. In step ST1064, the processor 21 removes the paired AGV shelf 8 from the list of candidates for relocation. Then, the process returns to step ST1061.

[0106] Returning to Figure 7, in step ST107, the processor 21 outputs a move instruction to the AGV 7 that is transporting the AGV shelf 8 that is to be relocated. For example, the processor 21 outputs a move instruction to the AGV 7 via the AGV control device 4 and switch 5. The processor 71 of the AGV 7 moves to the AGV shelf 8 that is to be relocated according to the move instruction and transports it until it is relocated.

[0107] Figure 15 shows an example of rearranging the AGV shelf 8 according to the first embodiment. For example, shelf A would normally be returned to the shelf return location. However, since shelf A will not be reused for some time, the planning device 2 returns shelf A to the location where another AGV shelf 8, which is scheduled for reuse soon, is located. Then, it returns the other AGV shelf 8, which is scheduled for reuse soon, to the shelf return location. As a result, when using the other AGV shelf 8 that is scheduled for reuse soon, the transport distance to the picking station P is shortened, and throughput is improved.

[0108] In step ST108, the processor 21 determines whether there are any unprocessed orders. If it determines that there are unprocessed orders, the process returns to step ST101. On the other hand, if it determines that there are no unprocessed orders, the process terminates.

[0109] (Effects of the first embodiment) According to the first embodiment described above, the planning device 2 selects AGV shelves 8 to rearrange, taking into account when they will be used. For example, AGV shelves 8 that are not scheduled for reuse for a while are returned to an area far from the picking station, and AGV shelves 8 that are scheduled for reuse soon are transported to a nearby area. This improves the overall throughput of the shelf transport robot system. [Second Embodiment] The first embodiment described a case where all AGV shelves 8 are directly accessible to the AGV 7. The second embodiment describes a case where the AGV shelves 8 are densely arranged and there are AGV shelves 8 that the AGV 7 cannot directly access.

[0110] (composition) The configuration of the shelf transport robot system 100 according to the second embodiment may be the same as that of the shelf transport robot system 100 according to the first embodiment. Therefore, redundant explanations are omitted here.

[0111] However, the AGV shelves 8 may be arranged as follows: Figure 16 shows an example of a shelf arrangement according to the second embodiment. As shown in Figure 16, AGV shelf 8 at shelf placement position 3 for E is surrounded by AGV shelves 8 located at shelf placement positions 3 for A through H (excluding E), and AGV 7 cannot access it directly. Therefore, when changing the placement of shelf placement position 3 for E, it is necessary to first change the placement of AGV shelves 8 located at shelf placement positions 3 for A through H (excluding E). In the following explanation, AGV shelf 8 at shelf placement position 3 for E will be referred to as the shelf to be changed first. Furthermore, AGV shelves 8 located at shelf placement positions 3 for A through H (excluding E) will be referred to as the surrounding shelves.

[0112] (operation) Figure 17 is a flowchart illustrating an example of the operation of the planning device 2 according to the second embodiment. The operation of this flowchart is achieved by the processor 21 of the planning device 2 reading and executing a program stored in the processor 21's internal memory, ROM 22, or NVM 24.

[0113] For example, this flowchart is initiated when the processor 21, which acts as an acquisition unit, acquires an order list through the communication unit 25 and transmits a transport instruction based on the order list to the AGV control device 4.

[0114] The operations in steps ST201 to ST203 may be the same as those in steps ST101 to ST104, as explained with reference to Figure 7. Therefore, redundant explanations are omitted here.

[0115] In step ST204, the processor 21 extracts candidate shelves for relocation. For example, the processor 21 extracts candidate shelves for relocation of the AGV shelf 8 based on the shelf information database stored in the shelf information storage unit 231 and the area condition information stored in the area condition storage unit 232.

[0116] Figure 18 is a flowchart that further explains the extraction process in step ST204. The operation of steps ST2041 to ST2043 may be the same as that of steps ST1041 to ST1043, as explained with reference to Figure 11. Therefore, redundant explanations are omitted here.

[0117] In step ST2044, the processor 21 determines whether there are any shelves that are subject to pre-arrangement changes. The processor 21 determines whether the selected AGV shelf 8 can be directly accessed by the AGV 7, as shown in shelf placement position 3 of E in Figure 16. If it is determined that it cannot be directly accessed, i.e., that it is a shelf subject to pre-arrangement changes, the process proceeds to step ST2045. On the other hand, if it is determined that it can be directly accessed, the process proceeds to step ST2047.

[0118] In step ST2045, the processor 21 determines whether all peripheral shelves meet the area conditions. For example, the processor 21 refers to the shelf information database stored in the shelf information storage unit 231 and extracts the shelf placement ID and reuse schedule for the peripheral shelves. Then, the processor 21 refers to the area condition information stored in the area condition storage unit 232 and determines whether each of the peripheral shelves matches the area conditions. If it is determined that at least one of the peripheral shelves does not meet the area conditions, i.e., is subject to relocation, the process proceeds to step ST2047. On the other hand, if it is determined that all peripheral shelves meet the area conditions, i.e., are not subject to relocation, the process proceeds to step ST2045.

[0119] In step ST2046, the processor 21 selects the peripheral shelf with the longest order number until reuse. If all peripheral shelves meet the area conditions, the peripheral shelves will not be relocated when the AGV shelf 8 located at shelf placement position 3 of E is relocated, and the AGV shelf 8 located at shelf placement position 3 of E will not be accessible. Therefore, in order to enable access to the AGV shelf 8 located at shelf placement position 3 of E, the processor 21 refers to the shelf information database (e.g., planned usage information) and selects the peripheral shelf with the longest order number until reuse as the target for relocation. The processor 21 may then add a flag to the selected peripheral shelf in the result of the determination of whether the area conditions have been exceeded, indicating that the selected peripheral shelf should be relocated before the shelf targeted for pre-relocation.

[0120] In step ST2047, the processor 21 determines whether the AGV shelf 8 exceeds the area conditions. The processor 21 determines whether the area conditions are exceeded based on the planned reuse and area conditions of the AGV shelf 8. The operation for determining whether the area conditions are exceeded may be the same as in step ST1044, which was explained with reference to Figure 11. Also, when determining whether the area conditions are exceeded for surrounding shelves, a flag may be added to prioritize processing, as this needs to be processed before shelves subject to prior relocation.

[0121] The operation of steps ST2048 to ST2049 may be the same as the operation of steps ST1045 to ST1046, as explained with reference to Figure 11. Therefore, redundant explanations are omitted here.

[0122] Returning to Figure 17, in step ST205, the processor 21 rearranges the list of relocation candidates. The basic operation may be the same as in step ST105, as described with reference to Figure 7. However, if there is a priority flag for the part that exceeds the area division, the AGV rack 8 with that priority flag may be placed at the top or bottom.

[0123] In step ST206, the processor 21 determines the relocation position. Based on the sorted list of relocation candidates stored in the relocation candidate shelf storage unit 233, the processor 21 determines the AGV shelf 8 to be relocated and its relocation position. Here, the details of the operation in step ST206 may be the same as those described in steps ST1061 to ST1065 with reference to Figure 14. However, a priority flag is included, meaning that in the relocation of peripheral shelves, the relocation of pre-positioned shelves is controlled to start before the AGV shelf 8 paired with the selected peripheral shelf AGV shelf 8 completes its movement.

[0124] The operations in steps ST207 to ST208 may be the same as those in steps ST107 to ST108, as explained with reference to Figure 7. Therefore, redundant explanations are omitted here.

[0125] (Effects of the second embodiment) According to the second embodiment described above, the planning device 2 selects AGV shelves 8 to be rearranged, taking into account when they will be used. For example, AGV shelves 8 that are not scheduled for reuse for a while are returned to an area far from the picking station, and AGV shelves 8 that are scheduled for reuse soon are transported to a nearby area. This improves the overall throughput of the shelf transport robot system.

[0126] Furthermore, according to the second embodiment, even with AGV shelves 8 that are inaccessible to AGV 7 only after surrounding shelves have been moved (repositioned) due to a densely packed shelf arrangement, repositioning can be performed. This improves the overall throughput of the shelf transport robot system.

[0127] [Other embodiments] In this embodiment, an example was described in which the planning device 2 determines whether or not to rearrange the AGV shelf 8, and if so, to what position to rearrange it. However, it is not limited to this. For example, the processor of the higher-level management device 1 or the AGV control device 4 may perform these processes.

[0128] The program according to this embodiment may be transferred while stored in an electronic device (computer) such as the planning device 2, or it may be transferred without being stored in an electronic device. In the latter case, the program may be transferred via a network, or it may be transferred while stored in a storage medium. The storage medium is a non-temporary tangible medium. The storage medium is a medium that can be read by a computer such as the planning device 2 (computer-readable medium). The storage medium can be any medium that is capable of storing a program and can be read by a computer, such as an optical disc (e.g., CD-ROM), a magnetic disc, or a semiconductor memory (e.g., a memory card), and its form is not limited.

[0129] While several embodiments of the present invention have been described, these embodiments are presented as examples only and are not intended to limit the scope of the invention. These novel embodiments can be carried out in a variety of other forms, and various omissions, substitutions, and modifications can be made without departing from the spirit of the invention. These embodiments and their variations are included in the scope and spirit of the invention, as well as in the claims of the invention and its equivalents. [Explanation of Symbols]

[0130] 100...Shelf transport robot system 1...Upper management device 2…Planning device 21… Processor 211...Shelf usage timing extraction unit 212...Relocation position determination unit 22…ROM 23…RAM 231...Shelf information storage section 232... Area condition memory unit 233...Relocation candidate shelf storage section 24…NVM 25… Communications Department 26…Operation unit 27…Display section 3…Shelf placement position 4…AGV control device 5…Switch 6…Wireless LAN access point 7…AGV 70... Tires 71… Processor 72...ROM 73...RAM 74... Auxiliary storage devices 75…Communication Interface 76…Drive unit 77...Sensor 78... Battery 79…Charging mechanism 8…AGV shelf 9…Charging station P... Picking Station 111... Picking robot 112...Display device 113... Staff

Claims

1. An information processing program comprising instructions to be executed by the processor of an information processing device, wherein the instructions are: Obtain an order list that includes an order indicating the shelf where the items to be picked will be stored, To determine if a trigger has occurred, If it is determined that the trigger has occurred, the system retrieves, based on the unprocessed orders in the order list, the shelf placement position ID associated with the shelf ID of the shelf and the usage information including the order until the shelf is used. Based on whether the aforementioned planned usage information satisfies the area conditions corresponding to the shelf placement location ID, candidate shelves for relocation are extracted. To determine whether the planned usage information for the aforementioned relocation candidate shelves exceeds the area conditions, Extract pairs of shelves that exceed the area conditions and shelves that do not exceed the area conditions from the relocation candidate list showing the results of the above determination for each of the aforementioned relocation candidate shelves, Based on the extracted pair of shelf placement IDs, an instruction to rearrange the shelves is output to the automated guided vehicle transporting the shelves. An information processing program equipped with the following features.

2. The trigger is set by at least one of the following: the arrangement of the shelves, the operating status of the automated guided vehicle, and information regarding the order list. The information processing program according to claim 1.

3. The aforementioned instruction further comprises extracting candidates for relocation from all shelves located within the warehouse. The information processing program according to claim 1.

4. The instruction further comprises extracting relocation candidate shelves from shelves located in an area close to the picking station and shelves located in an area far from the picking station. The information processing program according to claim 1.

5. The aforementioned instruction is, If it is determined that the aforementioned area conditions have been exceeded, it is decided to move the candidate shelf for relocation away from the position where the candidate shelf for relocation is located relative to the picking station, If it is determined that the aforementioned area conditions are not exceeded, it is decided to move the candidate shelf for relocation closer to the picking station from the position where the candidate shelf for relocation is located, The information processing program according to claim 1, further comprising:

6. The aforementioned instruction is, The process involves determining whether the shelf being repositioned is a pre-arrangement change shelf that requires the surrounding shelves to be moved, The system determines whether all of the surrounding shelves meet the area conditions by referring to the planned usage information of the surrounding shelves, If it is determined that at least one of the surrounding shelves does not satisfy the area conditions, the surrounding shelf that was determined not to satisfy the conditions is extracted as a candidate shelf for relocation. The information processing program according to claim 1, further comprising:

7. The aforementioned instruction is, If it is determined that all of the surrounding shelves meet the area conditions, the system further includes referring to the planned usage information to extract the surrounding shelf with the longest order number until reuse as the candidate shelf for relocation. The information processing program according to claim 6.

8. The aforementioned instruction is, If the aforementioned surrounding shelf is included in the candidate shelf for relocation, control is performed to set a flag to indicate that relocation should be carried out before the pre-arranged shelf. The information processing program according to claim 6 or 7.

9. The aforementioned instruction is, The transportation distance from the current location of the relocation candidate shelf to the planned destination picking station is calculated, The relocation candidate list is sorted by grouping the relocation candidate shelves at the planned picking station, associating them with the area conditions, sorting them in descending order by area condition number (where a higher number indicates an area further from the planned picking station), and sorting them in descending order by transport distance. The information processing program according to claim 1, further comprising:

10. The aforementioned instruction is, The method further comprises extracting the top relocation candidate shelf and the bottom relocation candidate shelf of the relocation candidate list as a pair within the same planned delivery picking station of the relocation candidate list. The information processing program according to claim 9.

11. The instruction further comprises extracting pairs of shelves such that the shelves satisfy the area conditions in their rearranged positions. The information processing program according to claim 1.

12. The aforementioned instruction is, To determine whether there is a vacant space in the aforementioned automated guided vehicle, If there are no available slots in the aforementioned automated guided vehicle, the shelf indicating the installed state from the list of relocation candidates shall be removed from the list of relocation candidates, The information processing program according to claim 1, further comprising:

13. The aforementioned instruction is, Further information is obtained indicating whether the aforementioned shelf is being removed by an automated guided vehicle. If it is determined that there is one available automated guided vehicle, then the shelves that are in an installed state from the list of relocation candidates will not be extracted as a pair. The information processing program according to claim 12, further comprising the above.

14. An information processing method executed by the processor of an information processing device, Obtain an order list that includes an order indicating the shelf where the items to be picked will be stored, To determine if a trigger has occurred, If it is determined that the trigger has occurred, the system retrieves, based on the unprocessed orders in the order list, the shelf placement position ID associated with the shelf ID of the shelf and the usage information including the order until the shelf is used. Based on whether the aforementioned planned usage information satisfies the area conditions corresponding to the shelf placement location ID, candidate shelves for relocation are extracted. To determine whether the planned usage information for the aforementioned relocation candidate shelves exceeds the area conditions, Extract pairs of shelves that exceed the area conditions and shelves that do not exceed the area conditions from the relocation candidate list showing the results of the above determination for each of the aforementioned relocation candidate shelves, Based on the extracted pair of shelf placement IDs, an instruction to rearrange the shelves is output to the automated guided vehicle transporting the shelves. An information processing method comprising the following:

15. An interface for obtaining an order list that includes an order indicating the shelf where the items to be picked are stored, Determine if a trigger has occurred. If it is determined that the trigger has occurred, the system retrieves usage information, including the shelf placement position ID associated with the shelf ID of the shelf and the order in which the shelf will be used, based on the unprocessed orders in the order list. Based on whether the aforementioned planned usage information satisfies the area conditions corresponding to the shelf placement position ID, candidate shelves for relocation are extracted. Determine whether the planned usage information for the relocation candidate shelves exceeds the area conditions. From the list of relocation candidates showing the results of the above determination for each of the aforementioned relocation candidate shelves, pairs of shelves that exceed the area conditions and shelves that do not exceed the area conditions are extracted. Based on the extracted pair of shelf placement IDs, an instruction to rearrange the shelves is output to the automated guided vehicle transporting the shelves. Processor and An information processing device equipped with the following features.

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