Simulation method, simulation apparatus, and program

Abstract

To facilitate the execution of the simulation of conveyance in an automatic warehouse.SOLUTION: A simulation method includes the steps of: displaying one or more presets in which plural parameters at least including a path search parameter used for the search of a travel route of each conveyance robot in an automatic warehouse are predetermined; reading a specified preset based on user input; setting plural parameters based on the read specified preset; and allowing each conveyance robot to execute each task in the automatic warehouse based on the set plural parameters, inventory information on an item(s) stored in the automatic warehouse, and receiving and shipping information on the item(s).SELECTED DRAWING: Figure 5

Description

Technical Field

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[0001] The present disclosure relates to a simulation method, a simulation apparatus, and a program.

Background Art

[0002] Conventionally, in an automated warehouse, the movement of goods is automated by an automatic conveying device. For example, Patent Document 1 discloses a conveying system that performs a running simulation on an automatic conveying device, sets a traveling route, and moves it to a target position.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0007] Furthermore, this disclosure provides a processor and a memory, wherein the processor and the memory cooperate to search for a travel path within the automated warehouse for a transport robot deployed in the automated warehouse, and which has a plurality of predefined parameters, including at least one of the path search parameters, which include the maximum speed of the transport robot, the acceleration of the transport robot, and the time required for the transport robot to change direction. Created by each manufacturer of the aforementioned automated warehouse Multiple presets On the display screen Display, From the above-mentioned display screen, Based on user input Selected The present invention provides a simulation device that loads a specific preset, sets a plurality of parameters based on the loaded preset, and causes the transport robot to perform a task in the automated warehouse based on the set plurality of parameters.

[0008] Furthermore, this disclosure provides a computing device in which a plurality of parameters are predefined, including at least one of the path search parameters used to search for a travel path for a transport robot deployed in an automated warehouse, the maximum speed of the transport robot, the acceleration of the transport robot, and the time required for the transport robot to change direction. Created by each manufacturer of the aforementioned automated warehouse Multiple presets On the display screen Display, From the above-mentioned display screen, Based on user input SelectedThe present invention provides a program for loading a specific preset, setting a plurality of parameters based on the loaded preset, and causing the transport robot to perform a task in the automated warehouse based on the set parameters.

[0009] Furthermore, any combination of the above components, as well as any conversion of the expressions of this disclosure between methods, apparatus, systems, storage media, computer programs, etc., are also valid as aspects of this disclosure. [Effects of the Invention]

[0010] According to this disclosure, it is possible to simplify the execution of simulations of transportation within an automated warehouse. [Brief explanation of the drawing]

[0011] [Figure 1] Block diagram showing an example of the hardware configuration of the simulation device according to Embodiment 1. [Figure 2] Block diagram showing the functions of the automated warehouse simulation system according to Embodiment 1 [Figure 3] Flowchart showing the overall processing flow by the simulation device according to Embodiment 1 [Figure 4] Flowchart showing the parameter setting process by the simulation device according to Embodiment 1 [Figure 5] Schematic diagram illustrating the parameter preset database according to Embodiment 1 [Figure 6] Schematic diagram showing an example of a display screen according to Embodiment 1 [Figure 7] Schematic diagram illustrating the travel path of the transport robot according to Embodiment 1 [Figure 8] Table diagram illustrating the bin inventory table according to Embodiment 1 [Figure 9] Table diagram illustrating the bin arrangement table according to Embodiment 1 [Figure 10] Table diagram illustrating the receiving table according to Embodiment 1 [Figure 11] Table diagram for explaining the shipping table according to Embodiment 1 [Figure 12] Table diagram for explaining the shipping task table according to Embodiment 1 [Figure 13] Table diagram for explaining the transport robot table according to Embodiment 1 [Figure 14] Flowchart showing the execution process of tasks by the simulation device according to Embodiment 1

Mode for Carrying Out the Invention

[0012] Hereinafter, embodiments specifically disclosing the simulation method, simulation device, and program according to the present disclosure will be described in detail with reference to the drawings as appropriate. However, detailed descriptions that are more than necessary may be omitted. For example, detailed descriptions of well-known matters and duplicate descriptions of substantially the same configurations may be omitted. This is to avoid making the following description unnecessarily redundant and to facilitate the understanding of those skilled in the art. Note that the accompanying drawings and the following description are provided for those skilled in the art to fully understand the present disclosure, and it is not intended to limit the subject matter described in the claims thereby.

[0013] (Embodiment 1) First, referring to FIG. 1, an example of the hardware configuration of the simulation device 10 according to Embodiment 1 will be described. FIG. 1 is a block diagram showing an example of the hardware configuration of the simulation device 10 according to Embodiment 1.

[0014] The simulation device 10 performs a simulation of the automated warehouse using the automated warehouse simulation system 30 (see Figure 2), which will be described later, to reproduce the operation of transport robots deployed in the automated warehouse and calculate the Key Performance Indicators (hereinafter referred to as "KPIs") of the automated warehouse. In this specification, KPIs are synonymous with indicators corresponding to warehouse management targets. Examples of KPIs include the throughput of the automated warehouse. The throughput of an automated warehouse is one of the indicators for evaluating the efficiency of the automated warehouse, and is defined, for example, as the amount of goods shipped from the automated warehouse over a certain period of time. In this specification, goods include products, materials, parts, or combinations thereof. Hereinafter, transport robots may be referred to as Automatic Guided Vehicles (hereinafter referred to as "AGVs"). Transport robots may also be referred to as Autonomous Mobile Robots (hereinafter referred to as "AMRs").

[0015] The simulation device 10 is configured using a general-purpose computer device, such as a personal computer or a server computer. The simulation device 10 is used, for example, by managers of automated warehouses, users considering the introduction of automated warehouses, etc. Hereinafter, the simulation device 10 may be referred to as the computing device.

[0016] The simulation device 10 comprises a processor 11, memory 12, input device 13, display device 14, communication device 15, and external interface device 16. Each component of the simulation device 10 is connected via an internal bus 17 for data communication. Note that the configuration shown in Figure 1 is an example and is not limited thereto.

[0017] The processor 11 is composed of components such as a Central Processing Unit (hereinafter referred to as "CPU"), a Graphics Processing Unit (hereinafter referred to as "GPU"), a Micro Processing Unit (hereinafter referred to as "MPU"), a Digital Signal Processor (hereinafter referred to as "DSP"), or a Field Programmable Gate Array (hereinafter referred to as "FPGA"). The processor 11 realizes the functions of the simulation device 10 by reading and executing various data and programs stored in the memory 12.

[0018] Memory 12 is a storage area for storing and holding various data and programs. Memory 12 consists of, for example, a non-volatile storage area called Read Only Memory (hereinafter referred to as "ROM"), a Hard Disk Drive (hereinafter referred to as "HDD"), and a volatile storage area called Random Access Memory (hereinafter referred to as "RAM"). RAM is, for example, work memory used during the operation of the simulation device 10. ROM stores and holds, for example, programs for controlling the simulation device 10.

[0019] Memory 12 holds the parameter preset database 20. The parameter preset database 20 stores and holds presets in which multiple parameters used for simulating the automated warehouse are predetermined. The parameter preset database 20 may store and hold one or more presets. The parameter preset database 20 will be described later with reference to Figure 5. Although Figure 1 shows a configuration in which memory 12 holds the parameter preset database 20, it is not limited to this, and the parameter preset database 20 may be stored on a cloud (not shown) or an external device (not shown) in a manner that allows the simulation device 10 to access it. Furthermore, the parameter preset database 20 may be configured using a storage medium such as flash memory, HDD, or Solid State Drive (hereinafter referred to as "SSD").

[0020] The input device 13 comprises a keyboard, mouse, touch panel, or other input device. The input device 13 accepts various types of data input through user operation.

[0021] The display device 14 is a device that displays data such as information or images. Examples of the display device 14 include liquid crystal displays or organic electroluminescence (hereinafter referred to as "EL") displays.

[0022] The input device 13 and the display device 14 may be configured as an integrated device. An example of an input device 13 and display device 14 configured as an integrated device is a touch panel display.

[0023] The communication device 15 communicates with external systems or devices via a network (not shown) and transmits and receives various data or signals. The communication device 15 may support either wired or wireless communication. The communication method used by the communication device 15 may be, for example, a Wide Area Network (hereinafter referred to as "WAN"), a Local Area Network (hereinafter referred to as "LAN"), a Long Term Evolution (hereinafter referred to as "LTE"), a mobile communication such as 5G, a power line communication, a short-range wireless communication such as Wi-Fi (registered trademark) and Bluetooth (registered trademark), or a combination thereof.

[0024] The external interface device 16 is an interface for sending and receiving data with an external system or device.

[0025] The processor 11 of the simulation device 10 works in cooperation with the memory 12 to execute the automated warehouse simulation system 30. Figure 2 is a block diagram showing the functions of the automated warehouse simulation system 30 according to Embodiment 1. Hereinafter, simulation may be referred to as SIM.

[0026] The automated warehouse simulation system 30 has the functions of an initial value setting unit 31, a SIM execution unit 32, and a result output unit 33.

[0027] The initial value setting unit 31 sets various initial values ​​for simulation using the automated warehouse structure setting unit 31-1, the inbound / outbound master 31-2, the inventory master 31-3, and the parameter setting unit 31-4.

[0028] The automated warehouse structure setting unit 31-1 sets various layout parameters that define the structure of the automated warehouse. For example, the automated warehouse structure setting unit 31-1 sets layout parameters that define the capacity of the automated warehouse, the paths that AGVs can travel and paths they cannot travel in the automated warehouse, and other structural elements.

[0029] The inbound / outbound master 31-2 holds inbound and outbound information for items stored in the automated warehouse. The initial value setting unit 31 uses the inbound / outbound master 31-2 to set information about items that are received or shipped to the automated warehouse. Examples of inbound / outbound information will be described later with reference to Figures 10 and 11.

[0030] The inventory master 31-3 holds inventory information of items stored in the automated warehouse. The initial value setting unit 31 uses the inventory master 31-3 to set information about items stored in the automated warehouse. Examples of inventory information will be described later with reference to Figures 8 and 9.

[0031] The parameter setting unit 31-4 sets various parameters for the simulation. However, among the various parameters for the simulation, the layout parameters are set by the automated warehouse structure setting unit 31-1. In this embodiment, the various parameters include at least the maximum speed of the AGV, the acceleration of the AGV, and the time required for the AGV to change direction. The parameters for the maximum speed of the AGV, the acceleration of the AGV, and the time required for the AGV to change direction may be referred to as pathfinding parameters. Note that the various parameters may also include parameters other than pathfinding parameters. The setting of parameters will be described later with reference to Figures 4, 5, and 6.

[0032] The SIM execution unit 32 executes the simulation using the task generation unit 32-1, the task assignment unit 32-2, and the task execution unit 32-3.

[0033] The task generation unit 32-1 generates tasks to be performed in the automated warehouse during the simulation. Examples of tasks include tasks to transport goods to AGVs deployed in the automated warehouse, or tasks to charge the AGVs themselves. In this embodiment, tasks are assigned to AGVs, and the AGVs execute the assigned tasks.

[0034] The task assignment unit 32-2 assigns the tasks generated by the task generation unit 32-1 to the AGVs deployed in the automated warehouse.

[0035] The task execution unit 32-3 causes the AGV to which the task has been assigned to execute the task. The task execution unit 32-3 at least causes the AGV to move in order to have the AGV execute the task. The task execution unit 32-3 also uses a path search algorithm to find a travel path for the AGV in order to cause the AGV to move. The travel time of the AGV is used as the path evaluation function of the path search algorithm. The path search algorithm searches for a travel path for the AGV in such a way that the path evaluation function is small, that is, in such a way that the travel time of the AGV is short.

[0036] The result output unit 33, using the KPI calculation unit 33-1 and the dashboard display unit 33-2, calculates KPIs and generates a display screen showing the simulation results including the calculated KPIs.

[0037] The KPI calculation unit 33-1 calculates the KPIs of the automated warehouse based on the simulations that have been performed.

[0038] The dashboard display unit 33-2 generates a display screen showing the simulation results, including the calculated KPIs. The generated display screen is shown on the display device 14. This allows the user to check the simulation results.

[0039] Figure 3 is a flowchart showing the overall processing flow by the simulation device 10 according to Embodiment 1. Each process in the flowchart shown in Figure 3 is executed by the automated warehouse simulation system 30, which is performed in cooperation with the processor 11 and the memory 12. For the sake of explanation, it is assumed that the simulation performed by the automated warehouse simulation system 30 in this flowchart is the receiving and shipping of goods stored in the automated warehouse.

[0040] The processor 11 of the simulation device 10 sets various parameters for the simulation (step S40). Details of step S40 will be described later with reference to Figure 4.

[0041] Processor 11 sets the initial inventory (step S41). Processor 11 sets the initial inventory using inventory master 31-3.

[0042] The processor 11 reads the incoming and outgoing shipment information (step S42). The incoming and outgoing shipment information may be pre-configured and stored in the incoming and outgoing shipment master 31-2.

[0043] The processor 11 determines whether all inbound and outbound operations have been completed based on the inbound and outbound information (step S43). The process in step S43 is executed repeatedly, but in the first execution of step S43, the processor 11 determines whether all inbound and outbound operations have been completed based on the inbound and outbound information read in step S42.

[0044] If processor 11 determines that not all inbound and outbound shipments are complete (step S43; NO), it generates one or more tasks to complete the inbound and outbound shipments (step S44).

[0045] The processor 11 causes the AGV to execute one or more tasks generated in step S44 (step S45). Details of step S45 will be described later with reference to Figure 14.

[0046] The processor 11 updates the inbound / outbound information (step S46) based on one or more tasks performed in step S45. This removes, for example, information about shipments completed in step S45 from the inbound / outbound information.

[0047] The processor 11 returns to step S43 and repeats the process. That is, the processor 11 determines whether all incoming and outgoing shipments have been completed based on the incoming and outgoing shipment information (step S43). In the second and subsequent steps of step S43, the processor 11 determines whether all incoming and outgoing shipments have been completed based on the incoming and outgoing shipment information updated in step S46.

[0048] If processor 11 determines that all incoming and outgoing shipments are complete (step S43; YES), it terminates this processing flow.

[0049] Furthermore, when determining whether all inbound and outbound transactions in step S43 have been completed, the processor 11 may make this determination based on the inbound and outbound information read in step S42 and one or more tasks executed in step S45. In this case, the processor 11 may omit updating the inbound and outbound information in step S46.

[0050] Next, the parameter setting in step S40 of the flowchart shown in Figure 3 will be explained with reference to Figures 4, 5, and 6. Figure 4 is a flowchart showing the parameter setting process by the simulation device 10 according to Embodiment 1.

[0051] The processor 11 of the simulation device 10 accepts user input via the input device 13 (step S50). Hereinafter, user input may be referred to as user input. In this embodiment, user input is either the selection of a preset or the input of parameters by the user. The preset selected by the user is one of the presets pre-stored and held in the parameter preset database 20.

[0052] If the user input received in step S50 is a selection of a preset (step S51; YES), the processor 11 loads the preset selected by the user (step S52).

[0053] When a user selects a specific preset, various parameters defined by that preset are provisionally set. The user can input parameters if they wish to modify the provisionally set parameters. The processor 11 accepts user input for parameters (step S53). However, if the user wishes to use the parameters defined by the selected preset as they are in the simulation, they do not need to input any parameters. In this case, in step S53, the processor 11 does not accept any user input and proceeds to step S54.

[0054] If the user input received in step S50 is a parameter input (step S51; NO), the processor 11 accepts the user input for the parameter (step S53). In this case, the various parameters defined by the preset are not provisionally set, and the user may input various parameters based on, for example, their own experience.

[0055] The processor 11 sets the parameters based on the user input for the parameters received in step S53 (step S54). More precisely, the processor 11 sets various parameters based on the preset read in step S52 and the user input for the parameters received in step S53. If the processor 11 reads a preset in step S52 and does not receive any user input in step S53, it sets the various parameters defined by the preset read in step S52 as the various parameters for the simulation.

[0056] Figure 5 is a schematic diagram illustrating the parameter preset database 20 according to Embodiment 1.

[0057] The parameter preset database 20 stores and maintains multiple presets, each with multiple parameters predefined. These presets may be created in advance for each automated warehouse manufacturer, for example. For instance, preset 21 defines various parameters to accommodate a large-scale automated warehouse of company A. Similarly, preset 22 defines various parameters to accommodate a large-scale automated warehouse of company B.

[0058] Furthermore, presets may be created in advance according to the scale of the automated warehouse. In this specification, the scale of the automated warehouse is synonymous with the capacity of the automated warehouse. For example, preset 23 specifies various parameters to correspond to a small automated warehouse of Company A. Also, for example, preset 24 specifies various parameters to correspond to a small automated warehouse of Company B. Note that the terms "large" and "small" in this specification are used to explain that presets may be created according to the scale of the automated warehouse. Therefore, there is no intention to limit the scale (capacity) of large and small automated warehouses.

[0059] Furthermore, presets may be pre-created to correspond to virtual automated warehouses. For example, preset 25 defines various parameters to correspond to a virtual large-scale automated warehouse. Similarly, preset 26 defines various parameters to correspond to a virtual small-scale automated warehouse. This allows users to perform simulations of transportation in automated warehouses of any design.

[0060] In this embodiment, the preset defines at least the pathfinding parameters. In other words, the preset includes pathfinding parameters. The preset may also include, for example, layout parameters such as the possible paths that AGVs can travel in an automated warehouse. The preset may also include, for example, AGV parameters such as the number of AGVs, the initial positions of the AGVs, and the amount of time that AGVs should pause to avoid collisions with other AGVs. Furthermore, the preset may include parameters other than those mentioned above. This is because the parameters used in the simulation may vary depending on the content of the simulation.

[0061] Figure 6 is a schematic diagram showing an example of a display screen according to Embodiment 1. The display screen 60 shown in Figure 6 is displayed on the display device 14, for example, when the automated warehouse simulation system 30 is executed by the processor 11.

[0062] The preset selection unit 61 displays one or more presets that have been created in advance and stored in the parameter preset database 20. The user can select a desired preset from the one or more presets displayed in the preset selection unit 61.

[0063] The user can input various parameters at the user input reception unit 62. The user input reception unit 62 may display, for example, various parameters defined in the preset selected by the user at the preset selection unit 61. The user may then modify these displayed parameters to their desired values. Alternatively, the user may directly input parameters into the user input reception unit 62 without selecting a specific preset at the preset selection unit 61.

[0064] The layout display unit 63 displays the layout of the automated warehouse based on various parameters set by the user. The layout display unit displays the layout of the automated warehouse, for example, in 3D. However, it is not limited to this, and for example, the layout of the automated warehouse may be displayed in 2D in response to user operations.

[0065] The user can switch between the Route, Layout, and AGV tabs using the tab selection unit 64. In the example in Figure 6, the Layout tab is selected. This may cause the Layout display unit 63 to be displayed. For example, if the Route tab is selected, the display screen 60 may show routes that AGVs can travel in the automated warehouse, according to various parameters set by the user. Also, for example, if the AGV tab is selected, the display screen 60 may show the initial position of the AGVs in the automated warehouse, according to various parameters set by the user.

[0066] Note that the screen configuration of the display screen 60 shown in Figure 6 is an example and is not limited to this. The display screen 60 displays at least one or more presets held in the parameter preset database 20 and a selection unit (e.g., preset selection unit 61) that accepts the selection of a preset by user operation. The display screen 60 also displays at least an input reception unit (e.g., user input reception unit 62) that accepts the input of parameters by user operation.

[0067] For example, an expert in simulations related to AGVs in automated warehouses may create presets that define various parameters used for such simulations and store them in the parameter preset database 20. This expert may create multiple presets, for example, depending on the manufacturer of the automated warehouse or the scale of the automated warehouse. This allows even users unfamiliar with simulations to easily run simulations by selecting a pre-created preset and using the various parameters defined in that preset. Furthermore, a user with some knowledge of simulations but not as much as an expert can select a pre-created preset, input parameters themselves as needed based on the parameters defined in that preset, and run the desired simulation. Additionally, a user skilled in simulations can input parameters themselves and run the desired simulation without selecting a preset.

[0068] In the simulation, a pathfinding algorithm is used to find the travel path of the AGV when it performs a task. Furthermore, if multiple AGVs are traveling simultaneously in the simulation, a group control algorithm is used. In this embodiment, the pathfinding algorithm and group control algorithm used in the simulation can be any algorithm. The AGV's travel time is used as the path evaluation function of the pathfinding algorithm, and the algorithm searches for a travel path that minimizes the AGV's travel time. This allows for the accurate reproduction of the AGV's position as it changes over time in the simulation, using any pathfinding algorithm, without the need to use, for example, a dedicated pathfinding algorithm for a specific automated warehouse.

[0069] Referring to Figure 7, an example of evaluating the travel path of an AGV in a simulation where there is only one AGV will be explained. Figure 7 is a schematic diagram illustrating the travel path of a transport robot according to Embodiment 1. In Figure 7, for the sake of explanation, the possible travel paths of the AGV in the automated warehouse are represented on the XY coordinate plane. In the example in Figure 7, two travel paths are shown by superimposing arrows on the dotted lines representing the possible travel paths of the AGV.

[0070] Both travel routes are from point S to point G. The coordinates of point S are (0,0) and the coordinates of point G are (4,4). Of the two travel routes, route C1 is the route in which the AGV travels from point S (0,0) to point (4,0) and then from point (4,0) to point G (4,4). Of the two travel routes, route C2 is the route in which the AGV travels from point S (0,0) to point G (4,4) via points (0,1), (1,1), (1,2), (2,2), (2,3), (3,3), and (3,4).

[0071] The distance traveled by the AGV is the same for both route C1 and route C2. However, depending on the settings of the route search parameters—namely, the AGV's maximum speed, acceleration, and the time required for the AGV to change direction—the AGV's travel time may differ between route C1 and route C2.

[0072] For example, if the travel time for an AGV traveling along route C1 is shorter than the travel time for an AGV traveling along route C2, the route search algorithm evaluates route C1 as better than route C2, or in other words, as a less costly route. Similarly, if the travel time for an AGV traveling along route C2 is shorter than the travel time for an AGV traveling along route C1, the route search algorithm evaluates route C2 as a less costly route than route C1.

[0073] In the simulation, the AGV travels the route with the lowest cost among the routes evaluated by the pathfinding algorithm. For example, if the cost of a route is evaluated by distance traveled, and multiple routes are evaluated to have the same cost, the simulation results, such as the throughput of the automated warehouse, may differ depending on which of those routes the AGV takes. However, if the cost of a route is evaluated by travel time, and multiple routes are evaluated to have the same cost, it is unlikely that the simulation results will differ regardless of which of those routes the AGV takes.

[0074] Next, with reference to Figures 8 and 9, the inventory information of items stored in the automated warehouse will be described. Figure 8 is a table diagram illustrating the bin inventory table according to Embodiment 1. Figure 9 is a table diagram illustrating the bin arrangement table according to Embodiment 1. A bin is a container used to store items in the automated warehouse. In this embodiment, items stored in the automated warehouse are stored in bins.

[0075] The bin inventory table shows the bin ID to identify the bin, the item ID to identify the item stored in that bin, and the quantity of that item. The bin inventory table shown in Figure 8, for example, shows that bin ID B-0001 contains 10 (e.g., 10) items of item ID I-0001.

[0076] The bin placement table shows the bin ID and the placement ID for identifying the bin's location in the automated warehouse. The bin placement table shown in Figure 9 shows, for example, that bin ID B-0001 is located at location V-0001. Inventory information, such as initial stock, may be set in the format of the bin inventory table shown in Figure 8 and the bin placement table shown in Figure 9, for example. However, the format of the inventory information is not limited to these.

[0077] Next, with reference to Figures 10 and 11, the inbound and outbound information of items stored in the automated warehouse will be described. Figure 10 is a table diagram illustrating the inbound table according to Embodiment 1. Figure 11 is a table diagram illustrating the outbound table according to Embodiment 1.

[0078] The receiving table shows the receiving ID to identify the receiving, the item ID of the item received into the automated warehouse by that receiving, the quantity of the item, and the placement ID of the item's location in the automated warehouse. The receiving table shown in Figure 10 shows, for example, that receiving ID R-0001 results in 10 (e.g., 10 units) of item I-0010 being received into the automated warehouse, and that it is placed and stored at location V-1000 in the automated warehouse.

[0079] The shipping table shows a shipping ID to identify the shipment, an item ID of the item shipped from the automated warehouse by that shipment, the quantity of the item, and a shipping location ID indicating the shipping location where the item is shipped, in other words, the location where the shipping operation for the item takes place. The shipping table shown in Figure 11 shows, for example, that a shipment with shipping ID S-0001 ships 10 (e.g., 10 units) of item I-0001 from the automated warehouse, and that the shipping operation takes place at the location V-2000 in the automated warehouse. Inbound and outbound information may be set up in the format of the inbound table shown in Figure 10 and the shipping table shown in Figure 11, for example. However, the format of inbound and outbound information is not limited to these.

[0080] The processor 11 may, for example, read inbound and outbound information and, based on the read inbound and outbound information, generate inbound tasks and outbound tasks, etc., in order to complete inbound and outbound operations. Next, an example of an outbound task generated by the processor 11 will be described with reference to Figure 12. Figure 12 is a table diagram for illustrating the outbound task table according to Embodiment 1.

[0081] A shipping task is a task that instructs an AGV (Automated Guided Vehicle) to transport a specific item from its placement location to its shipping location in an automated warehouse. The shipping task table shows the shipping task ID to identify the shipping task, the bin ID of the bin containing the item to be shipped, the placement ID of the bin, and the shipping location ID for the shipping operation of the bin (the item). The shipping task table shown in Figure 12 is generated, for example, based on the bin inventory table shown in Figure 8 and the shipping table shown in Figure 11. The shipping task table shown in Figure 12 shows, for example, that in a shipping task with shipping task ID ST-0001, the AGV transports bin with bin ID B-0002, which is located at placement ID V-0002, to shipping location ID V-2000. When the shipping task with shipping task ID ST-0001 is executed, 10 items with item ID I-0001 (for example, 10 units) and 5 items with item ID I-0002 (for example, 5 units) are transported to the shipping location. Shipping tasks may be generated in the format of the shipping task table shown in Figure 12, for example. However, the format of the generated shipping tasks is not limited to the format of the shipping task table shown in Figure 12.

[0082] Furthermore, tasks are not limited to shipping tasks; for example, tasks such as receiving tasks and storage tasks may be generated. A receiving task may be a task that instructs an AGV to transport goods received into the automated warehouse from a receiving location to a specific placement location. The receiving location may be, for example, a location for storing the received goods in bins. A storage task may be a task that instructs an AGV to transport goods stored at a specific placement location to another placement location. In this way, various tasks for transporting goods by AGVs may be generated by the processor 11.

[0083] Furthermore, tasks are not limited to tasks that require the AGV to transport goods; for example, tasks such as charging tasks may be generated. A charging task, for example, may be a task that requires the AGV to move to a charging spot provided within the automated warehouse and to charge the AGV.

[0084] The operating status of the AGV during the simulation, such as idle, charging, or performing a task, may be monitored by the processor 11. The status of the AGV may be managed, for example, by the transport robot table shown in Figure 13. Figure 13 is a table diagram illustrating the transport robot table according to Embodiment 1.

[0085] The transport robot table displays the AGVID for identifying the AGV, the AGV's operating status, and the current position ID indicating the AGV's current location in the automated warehouse. The transport robot table may be updated, for example, at predetermined intervals during a simulation. For instance, if the transport robot table is updated at regular time intervals, the AGV's operating status and current position will reflect those at the time the transport robot table was updated. Hereinafter, an AGV with an idle status may be referred to as an idle AGV.

[0086] Next, the execution of the task in step S45 of the flowchart shown in Figure 3 will be explained with reference to Figure 14. Figure 14 is a flowchart showing the task execution process by the simulation device 10 according to Embodiment 1. For the sake of explanation, the processor 11 of the simulation device 10 has already generated multiple tasks at the start of the flowchart shown in Figure 14. These multiple tasks are tasks to transport items to the AGV. In addition, multiple AGVs are operating in the simulation.

[0087] The processor 11 of the simulation device 10 determines whether the assignment to the AGV has been completed for all generated tasks (step S70).

[0088] If processor 11 determines that all generated tasks have been assigned to the AGV (step S71; YES), it terminates this flowchart.

[0089] If processor 11 determines that there are tasks that have not yet been assigned to the AGV (step S70; NO), it picks up one of the tasks that have not yet been assigned to the AGV, in other words, an unassigned task (step S71). Picking up a task means that it is taken into consideration and acquired for the purpose of assigning that task to the AGV.

[0090] If the processor 11 picks up an unassigned task in step S71, it checks whether there is a free AGV to which the unassigned task can be assigned (step S72).

[0091] If there are no available AGVs (step S72; NO), processor 11 waits for an available AGV to become available (step S73). Then, processor 11 returns to step S72 and repeats the process. An available AGV may become available, for example, when an AGV performing a task completes that task, or when an AGV being charged finishes charging.

[0092] If there is an available AGV (step S72; YES), the processor 11 assigns the unassigned task to the available AGV closest to the bin location of the unassigned task picked up in step S71 (step S74). The bin location of the unassigned task is, for example, if the unassigned task is a shipping task, the location of the bin that will be transported to the shipping location by the shipping task. Also, for example, if the unassigned task is an receiving task, the bin location of the unassigned task is the receiving location. Also, for example, if the unassigned task is a storage task, the bin location of the unassigned task is the location of the bin before it is transported (current location) by the storage task.

[0093] If the processor 11 has assigned an unassigned task picked up in step S71 to an available AGV in step S74, it has the available AGV execute the unassigned task (step S75). Then, the processor 11 returns to step S70 and repeats the process. Finally, when the processor 11 has finished assigning all generated tasks to AGVs (step S71; YES), it terminates this flowchart.

[0094] Note that each process in this flowchart may be performed in parallel. For example, the processor 11 may have the AGV execute a task in step S75, and simultaneously pick up an unassigned task in step S71.

[0095] The processor 11 of the simulation device 10 may, for example, calculate the throughput set as a KPI for the automated warehouse when a simulation related to the receiving and shipping of the automated warehouse is completed, and output the calculation result. The output calculation result may be displayed on, for example, the display device 14.

[0096] (Summary of Embodiment 1) The above description of Embodiment 1 discloses at least the following technologies. Note that the components etc. in Embodiment 1 are examples, but are not limited to these.

[0097] (Technology 1) The simulation method displays one or more presets (e.g., preset 21) that predefine multiple parameters, including at least one pathfinding parameter used to find a travel path (e.g., path C1) for a transport robot deployed in the automated warehouse. Based on user input, a specific preset is loaded, multiple parameters are set based on the loaded preset, and the transport robot is made to perform tasks in the automated warehouse based on the set multiple parameters, inventory information of goods stored in the automated warehouse, and inbound / outbound information of goods.

[0098] This allows even users with limited experience in simulating transport robots in automated warehouses to easily run simulations by selecting presets that define the various parameters used in the simulation.

[0099] (Technology 2) In the simulation method described in Technology 1, presets are created in advance for each automated warehouse manufacturer.

[0100] This allows for the creation of presets that define various parameters for each automated warehouse manufacturer. This enables simulations tailored to the specific automated warehouse manufacturer.

[0101] (Technology 3) In the simulation method described in Technology 1 or 2, the preset includes layout parameters that define the paths that the transport robots can travel in the automated warehouse, and transport robot parameters that include at least the number of transport robots.

[0102] As a result, the pre-created presets include layout parameters that define the paths that transport robots can travel in the automated warehouse, and transport robot parameters that include at least the number of transport robots.

[0103] (Technology 4) In the simulation method described in any one of Techniques 1 to 3, the simulation method sets multiple parameters based on a loaded preset and user input for multiple parameters defined by the preset.

[0104] This allows the user to modify, for example, the various parameters defined by the selected preset. The user can then modify these parameters for the desired simulation, using the parameters defined by the preset as a reference.

[0105] (Technology 5) In the simulation method described in any one of Techniques 1 to 4, the simulation method uses the travel time as an evaluation function for the algorithm for searching the travel path of the transport robot, so as to shorten the travel time for the transport robot's task when the transport robot is performing the task.

[0106] As a result, the travel path of the transport robot in the simulation is searched by a pathfinding algorithm, and this algorithm searches for a travel path that minimizes the travel time of the transport robot.

[0107] (Technology 6) In the simulation method described in any one of Techniques 1 to 5, the pathfinding parameters include the maximum speed of the transport robot, the acceleration of the transport robot, and the time required for the transport robot to change direction.

[0108] This means that the pathfinding parameters included in the presets will include at least the maximum speed of the transport robot, the acceleration of the transport robot, and the time required for the transport robot to change direction.

[0109] (Technology 7) In the simulation method described in any one of Techniques 1 to 6, the simulation method outputs the calculation result of an indicator corresponding to the management target of the automated warehouse when the task is completed.

[0110] This allows, for example, a user running a simulation to verify the performance of the automated warehouse.

[0111] (Technology 8) In the simulation method described in any one of Techniques 1 to 7, the tasks include shipping goods, receiving goods, storing goods, and charging transport robots.

[0112] This allows for the simulation of goods being shipped by transport robots, goods being received, goods being stored, and transport robots being charged.

[0113] (Technology 9) In the simulation method described in any one of Techniques 1 to 8, the simulation method generates a shipping task to transport a specific item from its location to its shipping location in the automated warehouse, based on inventory information of items stored in the automated warehouse and information on the receipt and shipment of items.

[0114] This allows for the generation of shipping tasks based on inventory information and inbound / outbound information.

[0115] (Technology 10) In the simulation method described in any one of the technologies 1 to 9, the simulation method generates a task for transporting goods to a transport robot based on inventory information and inbound / outbound information, assigns the generated task to the transport robot closest to the goods, and causes the transport robot to execute the task.

[0116] This allows the task of transporting an item to be assigned to the transport robot closest to the location where the item is located.

[0117] (Technology 11) The simulation device (for example, simulation device 10) comprises a processor (processor 11) and a memory (for example, memory 12), and the processor and memory cooperate to display one or more presets of predefined parameters, each containing at least the pathfinding parameters for a transport robot deployed in an automated warehouse, load a specific preset based on user input, set multiple parameters based on the loaded preset, and cause the transport robot to perform tasks in the automated warehouse based on the set multiple parameters, inventory information of goods stored in the automated warehouse, and inbound / outbound information of goods.

[0118] As a result, the simulation device achieves the same effect as in Technique 1.

[0119] (Technology 12) The program causes the computing unit to display one or more presets in which multiple parameters, including at least the pathfinding parameters for transport robots deployed in the automated warehouse, are predetermined. Based on user input, the program loads a specific preset, sets multiple parameters based on the loaded preset, and causes the transport robots to perform tasks in the automated warehouse based on the set parameters, inventory information of goods stored in the automated warehouse, and inbound / outbound information of goods.

[0120] This allows the program to achieve the same effect as Technique 1.

[0121] The functions of the above-described embodiment can also be realized by supplying programs and applications for realizing the functions of the above-described embodiment to a system or device using a network or storage medium, and by having one or more processors in the computer of that system or device read and execute the programs.

[0122] Furthermore, the functions of the above-described embodiment may be implemented by a circuit that implements one or more functions (for example, an Application Specific Integrated Circuit (hereinafter referred to as "ASIC") or an FPGA).

[0123] While embodiments of this disclosure have been described above with reference to the drawings, it goes without saying that this disclosure is not limited to such examples. It is clear to those skilled in the art that various modifications, alterations, substitutions, additions, deletions, and equivalents can be conceived within the scope of the claims, and these are also understood to fall within the technical scope of this disclosure. Furthermore, the components of the embodiments described above can be combined in any way without departing from the spirit of the invention. [Industrial applicability]

[0124] This disclosure is useful as a simulation method, simulation apparatus, and program. [Explanation of Symbols]

[0125] 10 Simulation device 11 processors 12 memory 13 Input device 14 Display device 15. Communication equipment 16 External Interface Device 17 Internal bus 20 Parameter Preset Database 30. Automated Warehouse Simulation System 31 Initial value setting section 31-1 Automated Warehouse Structure Setting Unit 31-2 Inbound / Outbound Master 31-3 Inventory Master 31-4 Parameter setting section 32 SIM Execution Unit 32-1 Task Generation Unit 32-2 Task Assignment Section 32-3 Task Execution Unit 33 Result Output Unit 33-1 KPI calculation department 33-2 Dashboard display unit 60 display screen 61 Preset Selection Section 62 User Input Reception Section 63 Layout display section 64 Tab Selection Section

Claims

1. Multiple presets, created for each manufacturer of the automated warehouse, are displayed on a display screen, each preset containing a set of parameters, each preset having at least one of the following parameters: the maximum speed of the transport robot, the acceleration of the transport robot, and the time required for the transport robot to change direction, which are used to search for a travel path for the transport robot deployed in the automated warehouse. The system loads a specific preset selected from the multiple presets displayed on the aforementioned display screen based on user input. Set the multiple parameters based on the loaded specific preset, Based on the set parameters, the transport robot is made to perform tasks in the automated warehouse. Simulation method.

2. The pathfinding parameters include the maximum speed of the transport robot, the acceleration of the transport robot, and the time required for the transport robot to change direction. The simulation method according to claim 1.

3. The preset includes layout parameters that define the paths that the transport robots can travel in the automated warehouse, and transport robot parameters that include at least the number of transport robots. The simulation method according to claim 1.

4. Based on the loaded preset and user input for the multiple parameters defined by the preset, the multiple parameters are set. The simulation method according to claim 1.

5. When the transport robot performs the task, the travel time for the task is shortened, and the travel time is used as an evaluation function for the algorithm for searching the transport robot's travel path. The simulation method according to claim 1.

6. When the above task is completed, the calculation result of an indicator corresponding to the management target of the automated warehouse is output. The simulation method according to claim 1.

7. The tasks include shipping goods stored in the automated warehouse, receiving the goods, storing the goods, and charging the transport robot. The simulation method according to claim 1.

8. Based on the inventory information of items stored in the automated warehouse and the receiving and shipping information of the items, a shipping task is generated in the automated warehouse to transport a specific item from its storage location to its shipping location. The simulation method according to claim 1.

9. Based on the inventory information of the items stored in the automated warehouse and the receiving and shipping information of the items, a task is generated to cause the transport robot to transport the items. The generated task is assigned to the transport robot closest to the item in question. The transport robot will perform the task. The simulation method according to claim 1.

10. Equipped with a processor and memory, The processor and the memory cooperate, Multiple presets, created for each manufacturer of the automated warehouse, are displayed on a display screen, each preset containing a set of parameters, each preset having at least one of the following parameters: the maximum speed of the transport robot, the acceleration of the transport robot, and the time required for the transport robot to change direction, which are used to search for a travel path for the transport robot deployed in the automated warehouse. The system loads a specific preset selected from the multiple presets displayed on the aforementioned display screen based on user input. Based on the loaded preset, set the multiple parameters, Based on the set parameters, the transport robot is made to perform tasks in the automated warehouse. Simulation device.

11. In the computing unit, Multiple presets, created for each manufacturer of the automated warehouse, are displayed on a display screen, each preset containing a set of parameters, each preset having at least one of the following parameters: the maximum speed of the transport robot, the acceleration of the transport robot, and the time required for the transport robot to change direction, which are used to search for a travel path for the transport robot deployed in the automated warehouse. The system loads a specific preset selected from among the multiple presets displayed on the aforementioned display screen based on user input. The multiple parameters are set based on the preset that has been loaded. Based on the parameters set, the transport robot is made to perform tasks in the automated warehouse. program.

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