Conveyance system, indication device, conveyance method, and storage medium

Abstract

Provided is a conveyance system, an instruction device, a conveyance method, and a storage medium, capable of reducing the time required for conveyance. According to an embodiment, a conveyance system includes a first mobile robot, a first transfer robot, and a sorting robot. The first mobile robot transports a first container in which an article is accommodated from a placement site of the first container. The first transfer robot transfers the first container from one of the first mobile robot and a first placement table to the other of the first mobile robot and the first placement table. The sorting robot moves the article from the first container placed on the first placement table to a second container placed on a second placement table.

Description

TECHNICAL FIELD

[0001] Embodiments of the present application generally relate to a conveying system, an instruction device, a conveying method, and a storage medium. BACKGROUND

[0002] There is a conveying system that conveys a container and moves an article housed in the container to another container. For this system, a technique capable of shortening the time required for conveying is required. SUMMARY

[0003] Embodiments of the present application provide a conveying system, an instruction device, a conveying method, and a storage medium capable of shortening the time required for conveying.

[0004] According to an embodiment of the present application, a conveying system is provided with a first mobile robot, a first transfer robot, and a sorting robot. The first mobile robot conveys a first container housing an article from a placement site of the first container. The first transfer robot transfers the first container from one of the first mobile robot and a first placement table to the other of the first mobile robot and the first placement table. The sorting robot moves the article from the first container placed on the first placement table to a second container placed on a second placement table.

[0005] According to the embodiment, the time required for conveying can be shortened. BRIEF DESCRIPTION OF DRAWINGS

[0006] Figure 1 is a schematic view showing a conveying system of an embodiment.

[0007] Figure 2 is a perspective view showing a specific example of a mobile robot.

[0008] Figure 3 is a perspective view showing a specific example of a mobile robot.

[0009] Figure 4 is a perspective view showing a specific example of a transfer robot.

[0010] Figure 5 is a perspective view showing a specific example of a transfer robot.

[0011] Figure 6 is a perspective view showing a specific example of a transfer robot.

[0012] Figure 7 is a perspective view showing a specific example of a sorting robot.

[0013] Figure 8 is a table showing a specific example of data related to an article.

[0014] Figure 9 This is a table showing a specific example of data related to an item.

[0015] Figure 10 This is a specific example of an order list.

[0016] Figure 11 This is a diagram used to explain the rules related to instructions.

[0017] Figure 12 This is a diagram used to explain the rules related to instructions.

[0018] Figure 13 Yes Figure 11 (a)~ Figure 11 (d) and Figure 12 (a)~ Figure 12 (d) is a timing chart showing the timing of each process.

[0019] Figure 14 This is a diagram used to explain the rules related to instructions.

[0020] Figure 15 This is a diagram used to explain the rules related to instructions.

[0021] Figure 16 Yes Figure 14 (a)~ Figure 14 (d) and Figure 15 (a)~ Figure 15 (d) is a timing chart showing the timing of each process.

[0022] Figure 17 This is a diagram used to explain the rules related to instructions.

[0023] Figure 18 This is a diagram used to explain the rules related to instructions.

[0024] Figure 19 Yes Figure 17 (a)~ Figure 17 (d) and Figure 18 (a)~ Figure 18 (d) is a timing chart showing the timing of each process.

[0025] Figure 20 This is a diagram used to explain the rules related to instructions.

[0026] Figure 21 This is a diagram used to explain the rules related to instructions.

[0027] Figure 22 Yes Figure 20 (a)~ Figure 20 (d) andFigure 21 (a) to (d) of the present application. Figure 21 (a) to (d) of the present application.

[0028] Figure 6 (a) to (d) of the present application.

[0029] Figure 6 (a) to (d) of the present application.

[0030] Figure 20 (a) to (d) of the present application.

[0031] Figure 20 (a) to (d) of the present application.

[0032] Figure 21 (a) to (d) of the present application.

[0033] Figure 21 (a) to (d) of the present application.

[0034] Figure 23 (a) to (d) of the present application.

[0035] Figure 24 (a) to (d) of the present application.

[0036] Figure 25 (a) to (d) of the present application.

[0037] Figure 26 (a) to (d) of the present application.

[0038] Figure 27 (a) to (d) of the present application.

[0039] Figure 28 (a) to (d) of the present application.

[0040] Figure 29 (a) to (d) of the present application.

[0041] Figure 30 (a) to (d) of the present application.

[0042] Figure 31 (a) to (d) of the present application. DETAILED DESCRIPTION

[0043] Hereinafter, each embodiment of the present application will be described with reference to the accompanying drawings.

[0044] In the present application specification and drawings, the same reference numerals are applied to the same elements, and detailed description is appropriately omitted.

[0045] Each embodiment of the present application will be described below with reference to the drawings.

[0046] The drawings are schematic or conceptual, and the relationship between the thickness and width of each portion, the ratio of sizes between portions, and the like are not necessarily the same as in reality. Even in the case of the same portion, the size and ratio of each other are represented differently depending on the drawing.

[0047] In the present application specification and drawings, the same reference numerals are applied to the same elements, and detailed description is appropriately omitted.

[0048] Figure 32 is a schematic view of a conveyance system of an embodiment.

[0049] As Figure 33 The conveyance system 1 of the embodiment is provided with a first mobile robot 11, a second mobile robot 12, a first transfer robot 21, a second transfer robot 22, a sorting robot 31, a first placement stage 41, a second placement stage 42, and an instruction device 90.

[0050] The first mobile robot 11 carries out a first container from a placement site where the first container is placed. An article is housed in the first container. One first container can house a plurality of articles of the same kind, or a plurality of kinds of articles. The first mobile robot 11 can be able to carry only one first container at a time, or can be able to carry a plurality of first containers at a time. For example, the first mobile robot 11 can also carry a shelf housing a plurality of first containers. The first mobile robot 11 moves while holding the shelf or the first container, thereby carrying the first container. The first mobile robot 11 carries the first container to a site where the first transfer robot 21 is provided.

[0051] The first transfer robot 21 transfers a first container from one of the first mobile robot 11 and the first placement stage 41 to the other of the first mobile robot 11 and the first placement stage 41. That is, the first transfer robot 21 transfers a first container housing an article to be sorted from the first mobile robot 11 to the first placement stage 41. In addition, the first transfer robot 21 transfers the first container from the first placement stage 41 to the first mobile robot 11 after sorting is completed.

[0052] The first container can be placed on the first placement table 41. For example, the first transfer robot 21 can transfer one first container at a time. For example, a plurality of first containers can be placed on the first placement table 41. Alternatively, a plurality of first placement tables 41 each of which can place one first container can be provided.

[0053] The sorting robot 31 moves the article from the first container to the second container. More specifically, the sorting robot 31 picks up the article from the first container and places the article into the second container.

[0054] Here, the picking up and placing of the article by the sorting robot 31 are referred to as "sorting" of the article. In addition, a series of processes including the transport of the first container by the first mobile robot 11, the transfer of the first container by the first transfer robot 21, the sorting by the sorting robot 31, the transfer of the second container by the second transfer robot 22, and the transport of the second container by the second mobile robot 12 are referred to as "handling" of the article.

[0055] The second container can be placed on the second placement table 42. The sorting robot 31 can be able to sort one article at a time or can be able to sort a plurality of articles at a time. For example, a plurality of second containers can be placed on the second placement table 42. Alternatively, a plurality of second placement tables 42 each of which can place one second container can be provided.

[0056] The second transfer robot 22 transfers the second container from one of the second mobile robot 12 and the second placement table 42 to the other of the second mobile robot 12 and the second placement table 42. That is, the second transfer robot 22 transfers the second container in which the article is to be accommodated from the second mobile robot 12 to the second placement table 42. In addition, the second transfer robot 22 transfers the second container in which the article is accommodated by the sorting from the second placement table 42 to the second mobile robot 12.

[0057] The second mobile robot 12 moves while holding the second container in which the article is accommodated. Thus, the second mobile robot 12 transports the second container. For example, the second mobile robot 12 can transport a plurality of second containers at a time. The second mobile robot 12 transports a plurality of second containers from a place where the second transfer robot 22 is provided to another place.

[0058] The instructing device 90 sends instructions to the first mobile robot 11, the second mobile robot 12, the first transfer robot 21, the second transfer robot 22, and the sorting robot 31. The first mobile robot 11, the second mobile robot 12, the first transfer robot 21, the second transfer robot 22, and the sorting robot 31 act in accordance with the instructions from the instructing device 90.

[0059] In Figure 34In the example of Fig. 1, the first container C1 is placed on the shelf A. The first container C1 can also be placed on the floor. The plurality of first mobile robots 11 respectively transport the plurality of first containers C1 placed on a part of the plurality of shelves A to the place of the first transfer robot 21. Each first mobile robot 11 transports the plurality of first containers C1 by transporting one shelf A.

[0060] The first transfer robot 21 transfers one of the plurality of first containers C1 transported by one of the first mobile robots 11 to the first placement table 41 in one transfer.

[0061] Two first containers C1 can be placed on the first placement table 41. Two second containers C2 can be placed on the second placement table 42. The sortation robot 31 moves one article from one of the first containers C1 placed on the first placement table 41 to one of the second containers C2 placed on the second placement table 42 in one sortation.

[0062] The plurality of second mobile robots 12 respectively transport the plurality of second containers C2 to the place of the second transfer robot 22. Each second mobile robot 12 transports the plurality of second containers C2 by transporting one shelf.

[0063] The second transfer robot 22 transfers one of the second containers C2 placed on the second placement table 42 to one of the second mobile robots 12 in one transfer.

[0064] Figure 35 (a) to (c) of Fig. 1 are perspective views showing specific examples of the mobile robot. Figure 36 (a) to (c) of Fig. 1 are perspective views showing specific examples of the mobile robot.

[0065] Figure 37 The mobile robot 100 shown in (a) of Fig. 1 can transport a shelf, a first container, or a second container placed on the upper portion. The mobile robot 100 includes a vehicle body 101, a holding portion 102, a traveling portion 103, and a detection portion 104.

[0066] The holding portion 102 is provided on the upper portion of the vehicle body 101. The holding portion 102 is movable up and down with respect to the vehicle body 101. The traveling portion 103 includes a motor, a wheel, or the like, and causes the vehicle body 101 to travel. The detection portion 104 detects a shelf, a container, or the like, which is a transport target. The detection portion 104 includes a sensor such as a camera. The detection portion 104 can also include a distance measuring sensor or the like.

[0067] In transporting the shelf Al, as shown in (b) of Fig. 2, the mobile robot 100 moves under the shelf Al. The holding portion 102 is raised to support the shelf Al from below. In this state, the traveling portion 103 is activated, so that the shelf Al can be transported. As shown in (c) of Fig. 2, the mobile robot 100 moves to the place of the first transfer robot 21 with the shelf Al placed on the upper portion. Figure 1 Figure 1 ​As shown in (c), the holding portion 102 may support the container C from below. The container C is the first container or the second container.

[0068] Figure 1 It is a perspective view showing another specific example of the mobile robot.

[0069] Figure 2 The mobile robot 110 shown includes a body 111, a storage section 112, a conveying section 113, a drive mechanism 114, a travel section 115, and a detection section 116. The storage section 112 is provided on the body 111. The storage section 112 has a plurality of storage spaces arranged in the vertical direction, each of which can accommodate a container C. The container C is a first container or a second container. The conveying section 113 conveys the container C from one side of the shelf A2 and the storage section 112 to the other side of the shelf A2 and the storage section 112. The drive mechanism 114 drives the conveying section 113 in the vertical direction. The travel section 115 includes a motor, wheels, etc., and moves the body 111. The detection section 116 detects the shelf, container, etc. being transported. The detection section 116 includes a sensor such as a camera. The detection section 116 may also include a distance measuring sensor, etc.

[0070] For example, when transporting container C from shelf A2, mobile robot 110 activates drive mechanism 114 to position conveyor unit 113 at the same height as the target container C. Conveyor unit 113 removes container C from shelf A2. Drive mechanism 114 drives conveyor unit 113 vertically, positioning container C at the same height as the designated storage space. Conveyor unit 113 stores container C in the storage space. Mobile robot 110 can store multiple first containers in storage unit 112 and transport them. Similarly, mobile robot 110 can store and transport multiple second containers. Mobile robot 110 can transport the transported second containers to the shelf. This allows the second containers to be stored on the shelf.

[0071] You can Figure 2 or Figure 2 The mobile robot 100 or 110 shown is used as the first mobile robot 11 or the second mobile robot 12. The mobile robots 100 and 110 are automated guided vehicles (AGVs) that include a plurality of rollers and a drive source in a traveling portion. The mobile robots 100 and 110 travel along guides provided on the floor. Alternatively, the mobile robots 100 and 110 may travel along a travel route set by the indicating device 90 or another computer. The mobile robots 100 and 110 may also use sensors in a detection portion to autonomously travel according to surrounding conditions.

[0072] The first mobile robot 11 and the second mobile robot 12 Figure 2 or Figure 2In addition to the examples shown, it can also be an unmanned forklift, an unmanned crane or a drone.

[0073] Figure 3 、 Figure 3 (a) Figure 2 (b) Figure 3 (a) and Figure 2 (b) is a perspective view showing a specific example of the transfer robot.

[0074] Figure 3 The transfer robot 200 shown includes a base 201, a drive mechanism 202, a manipulator 203, and an end effector 210. The base 201 is mounted on a floor. The drive mechanism 202 is mounted on the base 201. The drive mechanism 202 drives the manipulator 203 vertically above the base 201. In this example, the manipulator 203 is a horizontal multi-jointed type. The end effector 210 is mounted at the front end of the manipulator 203.

[0075] The end effector 210 includes a fork-shaped support portion 211 and an adsorption portion 212. The adsorption portion 212 moves horizontally on the support portion 211. The adsorption portion 212 adsorbs the side of the container C. The support portion 211 supports the container C from below. The support portion 211 and the adsorption portion 212 are used to hold the container C. After holding, the adsorption portion 212 is moved horizontally relative to the support portion 211 to push out and release the adsorption, thereby transferring the container C from one side of the shelf A1 and the loading platform 40 to the other side of the shelf A1 and the loading platform 40. A plurality of containers C can be placed on the loading platform 40. For example, a guide mechanism 40a is provided on the loading platform 40. The guide mechanism 40a can accurately position the container C relative to the loading platform 40. The end effector 210 can also hold the container C by inserting the support portion 211 under the container C or clamping a part of the container C.

[0076] You can Figure 4 The transfer robot 200 shown is used as the first transfer robot 21 or the second transfer robot 22. The loading platform 40 can be used as the first loading platform 41 or the second loading platform 42. Figure 5 In addition to the examples shown, the manipulator 203 may also include a vertical multi-joint robot, a parallel link robot, or an orthogonal robot. Figure 5 In the illustrated example, the transfer robot 200 transfers the container C between the rack A1 transported by the mobile robot 100 and the placement table 40 . The transfer robot 200 can also transfer the container C between the storage section 112 of the mobile robot 110 and the placement table 40 .

[0077] Figure 6 (a) and Figure 6The transfer robot 220 shown in (b) includes a holding mechanism 221 for transferring the container between the mobile robot and the placement table 40, and a driving mechanism 222. In addition, the transfer robot 220 includes a driving mechanism 223, a sensor 224, a sensor 225, and the placement table 40. The holding mechanism 221 is fork-shaped, and holds the container C by supporting the container C from below. The driving mechanism 222 moves the holding mechanism 221 in the front-rear direction. The driving mechanism 223 drives the holding mechanism 221 and the driving mechanism 222 in the up-down direction. The sensor 224 detects that the container C is transferred between the mobile robot and the placement table 40. The sensor 225 detects that the article is held by the sorting robot 31. The sorting robot 31 can also be linked to the detection results of the sensors 224 and 225.

[0078] An example of the transfer robot 220 transferring one container C from the shelf carried by the mobile robot will be described. The driving mechanism 223 positions the holding mechanism 221, the driving mechanism 222, and the placement table 40 at the same height as the container C stored in the shelf. As shown in (a) of FIG. 17, the driving mechanism 222 drives the holding mechanism 221 forward, and inserts the holding mechanism 221 under the container C. The driving mechanism 222 drives the holding mechanism 221 backward, and places the container C on the placement table 40. As shown in (b) of FIG. 17, the driving mechanism 223 moves the holding mechanism 221 and the placement table 40 in the up-down direction. For example, the driving mechanism 223 positions the placement table 40 at the height at which the article is sorted by the sorting robot 31. Figure 4 Figure 4

[0079] Figure 4 The transfer robot 230 shown in (a) and (b) includes a driving mechanism 231 for transferring the container between the mobile robot and the placement table 40. In addition, the transfer robot 230 includes a driving mechanism 232, a housing 233, a driving mechanism 234, a sensor 235, a sensor 236, and the placement table 40. As shown in (a) of FIG. 18, the driving mechanism 231 transfers the container C in the left-right direction between the mobile robot 110 and the placement table 40. The driving mechanism 232 drives the placement table 40 in the up-down direction. The housing 233 has a housing space for the container C. The transfer robot 230 has a plurality of housing spaces arranged in the up-down direction and the left-right direction. The driving mechanism 234 conveys the container C in the front-rear direction between the housing 233 and the placement table 40. The sensor 235 detects that the container C is transferred between the housing 233 and the placement table 40. The sensor 236 detects that the article is held by the sorting robot 31. The sorting robot 31 can also be linked to the detection results of the sensors 235 and 236. Figure 4 Figure 5

[0080] ​​​​The transfer robot 230 includes a replacement mechanism 250 composed of a drive mechanism 232, a storage section 233, and a drive mechanism 234. The replacement mechanism 250 can replace the container C placed on the loading platform 40. Specifically, the replacement mechanism 250 stores the container C placed on the loading platform 40 in one of the storage sections 233. The replacement mechanism 250 places the container C stored in another storage section 233 on the loading platform 40. In addition, the drive mechanism 231 of the transfer robot 230 and the mobile robot 110 constitute a shipping mechanism 251. The shipping mechanism 251 ships the target container C. Shipping is the process of transporting the container C containing the items from a location where the second mobile robot, the second transfer robot, the second loading platform 42, etc. are configured to a collection yard where the goods to be shipped are collected.

[0081] Figure 5 (a) and Figure 5 The transfer robot 220 shown in (b) or Figure 5 (a) and Figure 6 The transfer robot 230 shown in (b) can also be used as the first transfer robot 21 or the second transfer robot 22. In particular, the transfer robot 220 can easily transfer items from the shelf and is suitable as the first transfer robot 21. The transfer robot 230 can replace the container C on the loading platform 40 and is suitable as the second transfer robot 22.

[0082] Figure 6 It is a perspective view showing a specific example of a sorting robot.

[0083] Figure 6 The sorting robot 300 shown includes a manipulator 310 and an end effector 320. The manipulator 310 is a multi-joint robot driven by a plurality of servo motors. Figure 5 In the example shown, manipulator 310 is a vertical multi-jointed robot having six axes: first axis 311 through sixth axis 316. Manipulator 310 may also include a combination of two or more robots selected from a vertical multi-jointed robot, a horizontal multi-jointed robot, a linear motion robot, and a parallel link robot. An end effector 320 is attached to the front end of manipulator 310.

[0084] The end effector 320 includes a suction cup 321, a bending axis 322, and a force sensor 323. The suction cup 321 is located at the front end of the end effector 320 and absorbs the object. The bending axis 322 of the suction cup 321 can be rotated relative to the front end of the manipulator 310. The force sensor 323 detects the contact of the end effector 320 with the object. In addition to suction, the end effector 320 can also grasp the object through clamping, gripping, and gripping based on a multi-finger mechanism. The end effector 320 can also have multiple modes. This allows for the processing of a wider variety of objects.

[0085] The sorting robot 300 is provided above the frame 301. In the illustrated example, the end effector 320 holds an article by suctioning the upper surface of the article. The sorting robot 300 also includes a controller 330. The controller 330 receives the instruction from the instruction device 90. The controller 330 controls the sorting robot 300 to perform a sorting process in accordance with the instruction transmitted from the instruction device 90. Thus, the sorting process is automatically performed by the sorting robot 300. The sorting process includes a process of taking out an article from a container C, a process of replacing the article to a different container or tray, a process of boxing the article, and the like.

[0086] The sorting robot 300 illustrated in Figure 5 may be used as the sorting robot 31.

[0087] The system for the sorting process includes, in addition to the sorting robot 300, a sensor group, the first placement table 41, the second placement table 42, various sensors, a power supply, a tank, a compressor, a vacuum pump, an external interface such as a UI, a safety mechanism, and the like. On the first placement table 41, the first container C1 that accommodates an article that is a sorting target is placed. On the second placement table 42, the second container C2 that accommodates a taken-out article is placed. The power supply supplies electric power to various driving sections of the sorting robot 300 and the like. The tank stores compressed air. The safety mechanism includes, for example, a light curtain, a collision sensor, and the like.

[0088] For example, the sensor system 400 illustrated in Figure 6 is provided. The sensor system 400 includes a sensor 401, a sensor 402, a sensor 403, a sensor 404, and a sensor 405. The sensor 401 is provided above the first placement table 41 and measures the state of the inside of the first container C1. The sensor 402 is provided above the second placement table 42 and measures the state of the inside of the second container C2. The sensor 403 is provided in the vicinity of the sensor 401 and measures an object held by the robot hand 310. The sensors 401 to 403 are respectively supported by support sections 411 to 413. The sensors 401 to 403 include an RGB image camera, a distance image camera, a laser range finder, a LiDAR (Light Detection and Ranging), and the like that can acquire image information or three-dimensional information. The sensor 404 measures the weight of the first container C1 placed on the first placement table 41. The sensor 405 measures the weight of the second container C2 placed on the second placement table 42.

[0089] As the first placement table 41 and the second placement table 42, as illustrated in Figure 6 , a dedicated table can also be used. The holding section 102 of the mobile robot 100 or the conveyance section 113 of the mobile robot 110 can also be used as the placement table.

[0090] For example, the instructing device 90 instructs the order of conveyance of the first container by the first mobile robot 11, the order of conveyance of the second container by the second mobile robot 12, the order of transfer of the first container by the first transfer robot 21, the order of transfer of the second container by the second transfer robot 22, and the order of sorting by the sorting robot 31.

[0091] Advantages of the embodiments are described.

[0092] In order to shorten the time required for the conveyance of the articles, it is effective to shorten the standby time during which the robots do not operate. Generally, the conveyance of the containers by the mobile robots and the transfer of the containers by the transfer robots take longer than the sorting by the sorting robots. If the frequency of the conveyance and the transfer of the containers is higher than the sorting, the standby time of the sorting robots is prolonged, and the time required for the conveyance is prolonged.

[0093] In the conveyance system 1 of the embodiment, the first transfer robot 21 transfers the first container from one of the first mobile robot 11 and the first placement table 41 to the other. Then, the sorting robot 31 sorts the articles from the first container placed on the first placement table 41 to the second container placed on the second placement table 42. By providing the first transfer robot 21 and the first placement table 41, even if the first mobile robot 11 conveys a plurality of first containers as in the mobile robots 100 or 110, any of the first containers can be placed on the first placement table 41. The sorting robot 31 can automatically sort the articles from the placed first container to the second container. According to the conveyance system 1 of the embodiment, the processing required for the conveyance of the articles can be made more automated, and the work of the person can be reduced.

[0094] It is preferable that the first mobile robot 11 convey a plurality of first containers in which a plurality of articles of different kinds are accommodated. By this, the number of times the first mobile robot 11 moves for the conveyance of the first containers can be reduced, and the time required for the conveyance can be shortened.

[0095] It is preferable that the instructing device 90 generate the instruction in compliance with at least any of the first to sixth rules to be described later and transmit the instruction to each robot. By this, the standby time of the sorting robot 31 can be shortened, and the time required for the conveyance can be shortened.

[0096] The instructing device 90 generates the instruction in compliance with a plurality of rules with reference to the data related to the articles and the order list.

[0097] Figure 7 and Figure 7 is a table showing specific examples of the data related to the articles.

[0098] Figure 7The illustrated article management data D1 includes article ID, article name, article information, storage management information, and the like. The article information includes the weight of the article and the size of the article. The article management data D1 can also include the characteristics of the article and the like. The storage management information includes the number of articles stored and the storage location of the article. Specifically, the storage management information includes shelf ID, sub-shelf ID, container ID, and sub-container ID. The shelf ID is an identification number of a shelf storing an article. The sub-shelf ID is an identification number indicating which layer of the shelf. The container ID is an identification number of a container housed in the shelf. The sub-container ID is an identification number of a region distinguished within the container. As with the article ID [MMMM002], even if the same article, sometimes, is stored in multiple locations.

[0099] Figure 7 The illustrated shelf management data S1 includes shelf ID, shelf position information, and shelf status. The shelf position information includes floor ID, area ID, and orientation, and the like. The floor ID is an identification number indicating the floor on which the shelf is placed. The area ID is an identification number indicating the position of the area within the floor. The orientation indicates the arrangement of the shelf within the area in a checkerboard-like position information. The shelf status indicates the status of the shelf. In the shelf status, information indicating whether the shelf can be moved or whether it is already being transported by a mobile robot or the like is updated sequentially.

[0100] Figure 7 is a specific example of an order list.

[0101] Figure 7 The illustrated order list L1 includes list number, shipment box number, destination ID, article number, quantity, shipment information, and accompanying information, and the like. The shipment box number includes order number and small order number. The small order number is information for identifying that the order is divided into multiple small orders. The destination is identified with the destination ID. The shipment information includes information such as the deadline for shipment. The accompanying information includes attention information and the like related to the processing of the article of the order.

[0102] The instruction device 90 can search which container of which shelf the article in the order list is stored using the article management data D1. Further, the instruction device 90 can search which orientation the shelf is placed using the shelf management data S1. Further, the instruction device 90 can confirm that the searched shelf can be moved using the shelf management data S1, and instruct the first mobile robot 11 to transport the shelf.

[0103] Figure 8 (a) to (d) of Figure 9 (d) of Figure 8 (a) to (d) of Figure 9 (d) of are schematic diagrams for explaining rules related to the instruction.

[0104] According to the first rule, the instruction of the processing is an instruction of deciding the order to move the articles from two or more first containers to one second container placed on the second loading table. According to the second rule, the instruction of the processing is an instruction of deciding the order to move the articles from one first container placed on the first loading table 41 to a plurality of second containers. With respect to the first rule and the second rule, the instructions are given using (a) to (d) of the first embodiment and (a) to (d) of the second embodiment, respectively. Figure 10 Figure 10 Figure 11 Figure 11

[0105] The instruction device 90 refers to the article data and the order list. The instruction device 90 searches whether there are a plurality of articles included in one order and stored in a plurality of first containers different from each other, in compliance with the first rule. As a result, for example as shown in (a) of the first embodiment, the first mobile robot 11a is instructed to transport the container group including the first container Cl a. The first mobile robot lib is instructed to transport the container group including the first container Clb. Here, the article Bl stored in the first container Cl a and the article B2 stored in the first container Clb are included in one order. Figure 12

[0106] As shown in (b) of the first embodiment, the instruction device 90 sends an instruction to the first transfer robot 21 to transfer the first container Cl a to the first loading table 41a. The instruction device 90 sends an instruction to the second transfer robot 22 to transfer one second container C2a to the second loading table 42a. The second container C2a is associated with the order. Figure 12 As shown in (c) of the first embodiment, the instruction device 90 sends an instruction to the sorting robot 31 to move the article Bl stored in the first container Cl a to the second container C2a. In addition, the instruction device 90 sends an instruction to the first transfer robot 21 to transfer the first container Clb to the first loading table 41b. The instruction device 90 sends an instruction to the first mobile robot lie to transport the container group including the first container Clc to the place where the first loading table 41a is provided.

[0107] Figure 11

[0108] Next, the instruction device 90 searches whether there is another order including the article B2 stored in the first container Clb, in compliance with the second rule. As a result, the instruction device 90 sends an instruction to the second transfer robot 22 to transfer the second container C2b to the second loading table 42b. The transfer of the first container Clb and the transfer of the second container C2b are performed in parallel with the sorting of the article Bl.

[0109] Figure 11 ​​​​​​​​As shown in (d) of FIG. 10, the instructing device 90 sends an instruction to the sorting robot 31 to move the article B2 housed in the first container Clb to the second container C2a. In addition, the instructing device 90 sends an instruction to the first transfer robot 21 to transfer the first container Cla to the first mobile robot 11a. The transfer of the first container Cla is performed in parallel with the sorting of the article B2. In addition, the instructing device 90 sends an instruction to the first mobile robot 11a to carry out the container group including the first container Cla from the place where the first loading table 41a is provided.

[0110] As shown in (a) of FIG. 11, the instructing device 90 sends an instruction to the first transfer robot 21 to transfer the first container C1c to the first loading table 41a. In addition, the instructing device 90 sends an instruction to the second transfer robot 22 to transfer the second container C2a housing the articles Bl and B2 to the second mobile robot 12. The instructing device 90 sends an instruction to the sorting robot 31 to move the article B2 housed in the first container Clb to the second container C2b. The transfer of the first container C1c and the transfer of the second container C2a are performed in parallel with the sorting of the article B2. By applying the second rule, it is possible to successively transfer the articles from the first container Clb to both the second container C2a and the second container C2b. Figure 12 As shown in (b) of FIG. 11, the instructing device 90 sends an instruction to the sorting robot 31 to move the article B3 housed in the first container C1c to the second container C2b. In addition, the instructing device 90 sends an instruction to the first transfer robot 21 to transfer the first container Clb to the first mobile robot 11b. The instructing device 90 sends an instruction to the second transfer robot 22 to transfer the second container C2c to the second loading table 42a. The transfer of the first container Clb and the transfer of the second container C2c are performed in parallel with the sorting of the article B3.

[0111] Figure 12 As shown in (c) of FIG. 11, the instructing device 90 sends an instruction to the sorting robot 31 to move the article B3 housed in the first container C1c to the second container C2c. In addition, the instructing device 90 sends an instruction to the first transfer robot 21 to transfer the first container C1d to the first loading table 41b. The instructing device 90 sends an instruction to the second transfer robot 22 to transfer the second container C2b housing the articles B2 and B3 to the second mobile robot 12. The transfer of the first container C1d and the transfer of the second container C2b are performed in parallel with the sorting of the article B3.

[0112] As shown in (d) of FIG. 11, the instructing device 90 sends an instruction to the sorting robot 31 to move the article B3 housed in the first container C1d to the second container C2d. In addition, the instructing device 90 sends an instruction to the first transfer robot 21 to transfer the first container C1e to the first loading table 41c. The transfer of the first container C1e is performed in parallel with the sorting of the article B3. In addition, the instructing device 90 sends an instruction to the second transfer robot 22 to transfer the second container C2d housing the articles B2 and B3 to the second mobile robot 12. The transfer of the second container C2d is performed in parallel with the sorting of the article B3. Figure 11 As shown in (e) of FIG. 11, the instructing device 90 sends an instruction to the sorting robot 31 to move the article B3 housed in the first container C1e to the second container C2e. In addition, the instructing device 90 sends an instruction to the first transfer robot 21 to transfer the first container C1f to the first loading table 41d. The transfer of the first container C1f is performed in parallel with the sorting of the article B3. In addition, the instructing device 90 sends an instruction to the second transfer robot 22 to transfer the second container C2e housing the articles B2 and B3 to the second mobile robot 12. The transfer of the second container C2e is performed in parallel with the sorting of the article B3.

[0113] Figure 11 ​​As shown in (d) of FIG. 10, the instructing device 90 sends an instruction to the sorting robot 31 so as to move the article B4 housed in the first container C1d to the second container C2c. In addition, the instructing device 90 sends an instruction to the first transfer robot 21 so as to transfer the first container C1c to the first mobile robot 11c. The instructing device 90 sends an instruction to the second transfer robot 22 so as to transfer the second container C2d to the second placement table 42b. The transfer of the first container C1c and the transfer of the second container C2d are performed in parallel with the sorting of the article B4.

[0114] Figure 11 is a time chart showing the timing of each process shown in Figure 11 (a) to Figure 12 (d) of FIG. 10. Figure 12 (a) to Figure 12 (d) of FIG. 10.

[0115] In Figure 12 , the list shows elapsed time. The row shows the process performed. The cells with hatching show the time of each robot action. The number written in the cell shows the number of the first container, the second container, and the article handled by each robot. According to the first rule, the order is decided so that articles are moved from two or more first containers to one second container in succession, respectively. According to the second rule, the order is decided so that articles are moved from one first container to a plurality of second containers in succession. As a result, the standby time of each robot can be reduced, and the throughput of the article carrying is improved.

[0116] Figure 13 (a) to Figure 11 (d) of FIG. 10. Figure 11 (a) to Figure 12 (d) of FIG. 10.

[0117] According to the third rule, the instruction of the process is an instruction in which, in one first container placed on the first placement table, in the case where the number of articles to be transferred to the second container (first number) is small, another first container in which the number of articles to be transferred to the second container is larger than the first number is selected and placed on the first placement table. Regarding the third rule, (a) to (d) of FIG. 11 are used for explanation. Figure 12 (a) to Figure 13 (d) of FIG. 11. Figure 14 (a) to Figure 14 (d) of FIG. 11.

[0118] The instructing device 90 refers to the article data and the order list. The instructing device 90 determines whether the number of identical articles included in an order is one or whether the number of identical articles included in the order is less than the average number of identical articles of the entire order list that is the object. If it is determined that the number of identical articles is one or less than the average, the instructing device 90 decides the processing order in compliance with the third rule so that the carrying of the article is performed in parallel with the carrying of other articles. As the carrying of the other articles, the carrying of one or a plurality of orders that includes a larger number of identical articles than the former carrying is selected. For example, as the carrying of the other articles, the carrying of one or a plurality of orders that includes a larger number of identical articles than the average number of identical articles of the entire order list is selected. In the case where a plurality of selectable carriings are available, the instructing device 90 decides the order in such a manner that the average number of identical articles of the first containers that are processed simultaneously or in pairs on the first loading table 41 is as uniform as possible. Here, the identical articles refer to articles that are once housed in the first containers that can be loaded on the same first loading table. That is, even if the articles are different in article ID, as long as they are articles housed in the containers of the same container ID, their processing times can be processed equally.

[0119] As a result, for example, as shown in (a) of FIG. 10, the first mobile robot 11a is instructed to transport the container group including the first container Cl a. The first mobile robot lib is instructed to transport the container group including the first container Clb. The first mobile robots 11a and lib can also transport the shelves on which the container groups are housed. Here, the article Bl housed in the first container Cl a is ordered in a plurality, whereas the article B2 housed in the first container Clb is ordered in only one. Figure 15 As shown in (b) of FIG. 10, the instructing device 90 sends an instruction to the first transfer robot 21 so as to transfer the first container Cl a to the first loading table 41a. The instructing device 90 sends an instruction to the second transfer robot 22 so as to transfer one second container C2a to the second loading table 42a. The transfer of the first container Cl a and the transfer of the second container C2a are performed in parallel.

[0120] Figure 15 As shown in (c) of FIG. 10, the instructing device 90 sends an instruction to the sorting robot 31 so as to move the article Bl housed in the first container Cl a to the second container C2a. The instructing device 90 sends an instruction to the first transfer robot 21 so as to transfer the first container Clb to the first loading table 41b. The transfer of the first container Clb and the sorting of the article Bl are performed in parallel.

[0121] As shown in (d) of FIG. 10, the instructing device 90 sends an instruction to the first transfer robot 21 so as to transfer the second container C2a to the first loading table 41a. The instructing device 90 sends an instruction to the second transfer robot 22 so as to transfer the second container C2b to the second loading table 42b. The transfer of the second container C2a and the transfer of the second container C2b are performed in parallel. Figure 14 As shown in (e) of FIG. 10, the instructing device 90 sends an instruction to the sorting robot 31 so as to move the article B2 housed in the second container C2a to the second container C2b. The instructing device 90 sends an instruction to the first transfer robot 21 so as to transfer the second container C2b to the first loading table 41b. The transfer of the second container C2b and the sorting of the article B2 are performed in parallel.

[0122] Figure 14 ​​As shown in (d) of FIG. 10, the instructing device 90 sends an instruction to the sorting robot 31 so as to move the article B2 housed in the first container Clb to the second container C2a. In addition, the instructing device 90 sends an instruction to the second transfer robot 22 so as to transfer the second container C2b to the second placement stage 42b. The transfer of the second container C2b is performed in parallel with the sorting of the article B2.

[0123] As shown in (a) of FIG. 9, the instructing device 90 sends an instruction to the first transfer robot 21 so as to transfer the first container Clb to the first mobile robot lib. In addition, the instructing device 90 sends an instruction to the second transfer robot 22 so as to transfer the second container C2a housing the articles Bl and B2 to the second mobile robot 12. The instructing device 90 sends an instruction to the sorting robot 31 so as to move the article Bl housed in the first container Cla to the second container C2b. The transfer of the first container Clb and the transfer of the second container C2a are performed in parallel with the sorting of the article B2. Figure 15 As shown in (b) of FIG. 10, the instructing device 90 sends an instruction to the sorting robot 31 so as to move the article Bl housed in the first container Cla to the second container C2b. In addition, the instructing device 90 sends an instruction to the first transfer robot 21 so as to transfer the first container C1c to the first placement stage 41b. The instructing device 90 sends an instruction to the second transfer robot 22 so as to transfer the second container C2c to the second placement stage 42a. The transfer of the first container C1c and the transfer of the second container C2c are performed in parallel with the sorting of the article Bl.

[0124] As shown in (a) of FIG. 9, the instructing device 90 sends an instruction to the first transfer robot 21 so as to transfer the first container Clb to the first mobile robot lib. In addition, the instructing device 90 sends an instruction to the second transfer robot 22 so as to transfer the second container C2a housing the articles Bl and B2 to the second mobile robot 12. The instructing device 90 sends an instruction to the sorting robot 31 so as to move the article Bl housed in the first container Cla to the second container C2b. The transfer of the first container Clb and the transfer of the second container C2a are performed in parallel with the sorting of the article B2.

[0125] Figure 15 As shown in (b) of FIG. 10, the instructing device 90 sends an instruction to the sorting robot 31 so as to move the article Bl housed in the first container Cla to the second container C2b. In addition, the instructing device 90 sends an instruction to the first transfer robot 21 so as to transfer the first container C1c to the first placement stage 41b. The instructing device 90 sends an instruction to the second transfer robot 22 so as to transfer the second container C2c to the second placement stage 42a. The transfer of the first container C1c and the transfer of the second container C2c are performed in parallel with the sorting of the article Bl.

[0126] As shown in (a) of FIG. 9, the instructing device 90 sends an instruction to the first transfer robot 21 so as to transfer the first container Clb to the first mobile robot lib. In addition, the instructing device 90 sends an instruction to the second transfer robot 22 so as to transfer the second container C2a housing the articles Bl and B2 to the second mobile robot 12. The instructing device 90 sends an instruction to the sorting robot 31 so as to move the article Bl housed in the first container Cla to the second container C2b. The transfer of the first container Clb and the transfer of the second container C2a are performed in parallel with the sorting of the article B2. Figure 14 ​As shown in (c), the instructing device 90 instructs the sorting robot 31 to move the article B3 housed in the first container C1c to the second container C2c. In addition, the instructing device 90 instructs the first transfer robot 21 to transfer the first container C1a to the first mobile robot 11a. The instructing device 90 instructs the second transfer robot 22 to transfer the second container C2b, in which two articles B1 are housed, to the second mobile robot 12. The transfer of the first container C1a and the transfer of the second container C2b are performed in parallel with the sorting of the article B3.

[0127] As shown in (a), the instructing device 90 instructs the first mobile robot 11a to carry the container group including the first container C1a from the place where the first placement table 41a is provided. In addition, the instructing device 90 instructs the first mobile robot 11b to carry the container group including the first container C1d to the place where the first placement table 41a is provided.

[0128] As shown in (a), the instructing device 90 instructs the first mobile robot 11a to carry the container group including the first container C1a from the place where the first placement table 41a is provided. In addition, the instructing device 90 instructs the first mobile robot 11b to carry the container group including the first container C1d to the place where the first placement table 41a is provided. Figure 14 As shown in (d), the instructing device 90 instructs the sorting robot 31 to move the article B3 housed in the first container C1c to the second container C2c. In addition, the instructing device 90 instructs the first transfer robot 21 to transfer the first container C1d to the first placement table 41a. The instructing device 90 instructs the second transfer robot 22 to transfer the second container C2d to the second placement table 42b. The transfer of the first container C1d and the transfer of the second container C2d are performed in parallel with the sorting of the article B3.

[0129] Figure 14 is a time chart showing the timing of each process of Figure 14 (a) to Figure 15 (d), and Figure 15 (a) to Figure 15 (d).

[0130] In Figure 15 , the list indicates the elapsed time. The row indicates the process performed. The cell with the hatched line indicates the time of each robot action. The number written in the cell indicates the number of the first container, the second container, and the article handled by each robot. According to the third rule, for example, between 30 seconds and 60 seconds, a plurality of articles B1 are sorted from the first container C1a to the second containers C2a and C2b on the first placement table 41a, on the other hand, on the first placement table 41b, the sorting of the article B2 from the first container C1b and the replacement to the first container C1c are performed. Thus, the sorting process is performed at any time after 30 seconds.

[0131] Thus, by applying the third rule, it is possible to suppress the standby time of the sorting robot 31 due to replacement of the containers and the like. For example, it is possible to continuously perform the transfer or sorting of the articles. Normally, the replacement frequency of the first containers increases when the number of the same articles included in the order is less than average. Thus, there is a problem that the standby time of the sorting robot 31 increases due to replacement of the first containers at the place where the sorting robot 31 is installed. In contrast, according to the third rule, for the first placement table having two or more container placement places, when the first container having a small number of article removals is placed in one of the placement places, the first container having a large number of article removals is transferred to the other placement place. The transfer or sorting of the first container placed in one of the placement places is performed simultaneously with or before or after the transfer or sorting of another first container placed in the other placement place, so that it is possible to improve the throughput of the handling.

[0132] Figure 16 (a) to (d) of FIG. 1 Figure 14 (d) of FIG. 1 Figure 14 (a) to (d) of FIG. 1 Figure 15 (d) of FIG. 1

[0133] For example, in one of the second containers placed in the second placement table, the number of articles to be transferred (second number) is sometimes small. According to the fourth rule, the instruction of the process is an instruction to select, from the other second containers placed in the second placement table, a second container in which the number of articles to be transferred from the first container is larger than the second number. Regarding the fourth rule, (a) to (d) of FIG. 1 are used for explanation. Figure 15 (a) to (d) of FIG. 1 Figure 16 (d) of FIG. 1 Figure 17 (a) to (d) of FIG. 1 Figure 17 (d) of FIG. 1

[0134] The instruction device 90 refers to the article data and the order list. The instruction device 90 determines whether the number of articles included in the order is less than average or whether the number of articles that can be handled at a time included in the order is less than average. The instruction device 90 can also determine whether the number of articles included in the order or the number of articles that can be handled at a time included in the order is one. If it is determined that either of the numbers is less than average, the instruction device 90 decides the order of the process in compliance with the fourth rule so that the order can be processed in parallel with another order having a larger number of articles that can be handled at a time than the order. Here, in particular, when there are multiple options, the order is decided in such a manner that the average number of the same articles of the second containers that are simultaneously or in pairs processed on the second placement table 42 is as uniform as possible. Here, the number of articles that can be handled at a time means the number of articles that can be sorted in a state where the second container is continuously placed in the work area such as the second placement table.

[0135] As a result, for example as shown in (a) of FIG. 10, the first mobile robot 11a is instructed to transport the container group containing the first container Cla. The first mobile robot lib is instructed to transport the container group containing the first container Clb. The first mobile robots 11a and lib can also transport the shelves on which the container groups are stored. Figure 18 As shown in (b) of FIG. 10, the instructing device 90 sends an instruction to the first transfer robot 21 to transfer the first container Cla to the first placement table 41a. The instructing device 90 sends an instruction to the second transfer robot 22 to transfer the second container C2a to the second placement table 42a. The transfer of the first container Cla and the transfer of the second container C2a are performed in parallel.

[0136] Figure 18 As shown in (c) of FIG. 10, the instructing device 90 sends an instruction to the sorting robot 31 to move the article Bl stored in the first container Cla to the second container C2a. The instructing device 90 sends an instruction to the first transfer robot 21 to transfer the first container Clb to the first placement table 41b. The instructing device 90 sends an instruction to the second transfer robot 22 to transfer the second container C2b to the second placement table 42b. The transfer of the first container Clb and the transfer of the second container C2b are performed in parallel with the sorting of the article Bl. Here, the order associated with the second container C2a contains a plurality of articles, and with respect to this, the order associated with the second container C2b contains only the article B2. That is, the number of articles contained in the order associated with the second container C2a is more than the average same article number. The number of articles contained in the order associated with the second container C2b is 1, which is less than the average same article number.

[0137] As shown in (d) of FIG. 10, the instructing device 90 sends an instruction to the sorting robot 31 to move the article B2 stored in the first container Clb to the second container C2b. In addition, the instructing device 90 sends an instruction to the first transfer robot 21 to transfer the first container Cla to the first mobile robot 11a. The transfer of the first container Cla is performed in parallel with the sorting of the article B2. Figure 17 As shown in (e) of FIG. 10, the instructing device 90 sends an instruction to the first mobile robot 11a to transport the container group containing the first container Cla from the place where the first placement table 41a is provided. In addition, the instructing device 90 sends an instruction to the first mobile robot lie to transport the container group containing the first container Clc to the place where the first placement table 41a is provided.

[0138] Figure 17 As shown in (f) of FIG. 10, the instructing device 90 sends an instruction to the first mobile robot 11a to transport the container group containing the first container Cla from the place where the first placement table 41a is provided. In addition, the instructing device 90 sends an instruction to the first mobile robot lib to transport the container group containing the first container Clb to the place where the first placement table 41a is provided.

[0139] As shown in (g) of FIG. 10, the instructing device 90 sends an instruction to the first mobile robot 11a to transport the container group containing the first container Cla from the place where the first placement table 41a is provided. In addition, the instructing device 90 sends an instruction to the first mobile robot lie to transport the container group containing the first container Clc to the place where the first placement table 41a is provided.

[0140] As shown in (h) of FIG. 10, the instructing device 90 sends an instruction to the first mobile robot 11a to transport the container group containing the first container Cla from the place where the first placement table 41a is provided. In addition, the instructing device 90 sends an instruction to the first mobile robot lib to transport the container group containing the first container Clb to the place where the first placement table 41a is provided. Figure 18 ​​As shown in (a) of FIG. 9, the instruction device 90 sends an instruction to the first transfer robot 21 to transfer the first container C1c to the first placement table 41a. In addition, the instruction device 90 sends an instruction to the second transfer robot 22 to transfer the second container C2b in which the article B2 is accommodated to the second mobile robot 12. The instruction device 90 sends an instruction to the sorting robot 31 to move the article B2 accommodated in the first container C1b to the second container C2a. The transfer of the first container C1c and the transfer of the second container C2b are performed in parallel with the sorting of the article B2.

[0141] As shown in (b) of FIG. 9, the instruction device 90 sends an instruction to the sorting robot 31 to move the article B3 accommodated in the first container C1c to the second container C2a. In addition, the instruction device 90 sends an instruction to the first transfer robot 21 to transfer the first container C1b to the first mobile robot 11b. The instruction device 90 sends an instruction to the second transfer robot 22 to transfer the second container C2c to the second placement table 42b. The transfer of the first container C1b and the transfer of the second container C2c are performed in parallel with the sorting of the article B3. Figure 18 The instruction device 90 sends an instruction to the first mobile robot 11b to carry out the container group including the first container C1b from the place where the first placement table 41b is provided. In addition, the instruction device 90 sends an instruction to the first mobile robot 11d to carry the container group including the first container C1d to the place where the first placement table 41b is provided.

[0142] As shown in (c) of FIG. 9, the instruction device 90 sends an instruction to the sorting robot 31 to move the article B3 accommodated in the first container C1c to the second container C2c. In addition, the instruction device 90 sends an instruction to the first transfer robot 21 to transfer the first container C1d to the first placement table 41b. The instruction device 90 sends an instruction to the second transfer robot 22 to transfer the second container C2a in which the articles B1, B2, and B3 are accommodated to the second mobile robot 12. The transfer of the first container C1d and the transfer of the second container C2a are performed in parallel with the sorting of the article B3.

[0143] Figure 17 As shown in (d) of FIG. 9, the instruction device 90 sends an instruction to the sorting robot 31 to move the article B3 accommodated in the first container C1d to the second container C2c. In addition, the instruction device 90 sends an instruction to the first transfer robot 21 to transfer the first container C1a to the first placement table 41a. The transfer of the first container C1a is performed in parallel with the sorting of the article B3.

[0144] As shown in (e) of FIG. 9, the instruction device 90 sends an instruction to the sorting robot 31 to move the article B3 accommodated in the first container C1a to the second container C2c. In addition, the instruction device 90 sends an instruction to the first transfer robot 21 to transfer the first container C1b to the first placement table 41b. The transfer of the first container C1b is performed in parallel with the sorting of the article B3. Figure 17 ​As shown in (d) of FIG. 9, the instruction device 90 sends an instruction to the sorting robot 31 so as to move the article B4 housed in the first container C1d to the second container C2c. In addition, the instruction device 90 sends an instruction to the first transfer robot 21 so as to transfer the first container C1c to the first mobile robot 11c. The instruction device 90 sends an instruction to the second transfer robot 22 so as to transfer the second container C2d to the second placement table 42b. The transfer of the first container C1c and the transfer of the second container C2d are performed in parallel with the sorting of the article B4.

[0145] Figure 17 is a time chart showing the timing of each process shown in (a) to (d) of FIG. 9. Figure 17 Figure 18 Figure 18 Figure 18 is a time chart showing the timing of each process shown in (a) to (d) of FIG. 9.

[0146] In (a) of FIG. 10, the row indicates the elapsed time. The column indicates the process performed. The cells with hatching are the times of each robot action, and the numbers written in the cells indicate the numbers of the first container, the second container, and the article handled by each robot. According to the fourth rule, for example, between 30 seconds and 60 seconds, the articles B1 to B3 are sorted to the second container C2a of the second placement table 42a, and, on the other hand, on the second placement table 42b, the sorting of the article B2 to the second container C2b and the replacement to the second container C2c are performed. Thus, the sorting process is performed at any time after 30 seconds. Figure 18 Thus, by applying the fourth rule, it is possible to suppress the standby time caused by the replacement of the containers and the like. For example, it is possible to perform the transfer or the sorting processes without interruption. Generally, in a case where the number of articles that can be handled at a time included in an order is small, for example, in a case where the number of articles included in an order is one or the like, the replacement frequency of the second containers increases. Along with the replacement of the containers, there is a problem that the standby time of the sorting robot 31 increases. In contrast to this, according to the fourth rule, in a case where the second container having a small number of sorting times of articles placed on one of the placement places is transferred to the other of the placement places, the other second container having a large number of sorting times of articles is transferred to the other of the placement places. The transfer or the sorting of the second container placed on one of the placement places is performed simultaneously with or before or after the transfer or the sorting of the other second container placed on the other of the placement places, and thus it is possible to improve the throughput of the conveyance.

[0147]

[0148] Figure 19 Figure 17 Figure 17 Figure 18 are schematic diagrams for explaining the rules related to the instructions.​​​​​​​

[0149] In Figure 18 (a) to Figure 19 (d) of (a) to Figure 20 (a) to Figure 20 (d) of (a) to Figure 21 (a) and Figure 21 (b) of (a) to

[0150] The replacement mechanism 50 replaces the second container in accordance with the processing status of the order. When the number of kinds of the articles of the order associated with one second container is large, the sorting of all the articles included in the order is not always completed in one processing in which the second container is placed on the second placement table 42. In this case, the second container in which a part of the plurality of articles included in the order is accommodated is temporarily transferred from the second placement table 42 to the replacement mechanism 50. During this period, the sorting into another second container is performed in the second placement table. After that, at the time when the first container in which the articles associated with the second container held in the replacement mechanism 50 are accommodated is transported to the setting place of the first placement table, the second container returns to the second placement table. For the returned second container, the sorting of the remaining articles of the order is started again. The mechanism that performs such replacement of the second container is the replacement mechanism 50. In addition, the second container in which the sorting of all the articles included in the order is completed is transported and shipped by the shipping mechanism 51a or 51b.

[0151] Figure 6 (a) to Figure 6 (d) of (a) to Figure 20 (a) to Figure 20 (d) of (a) to

[0152] According to the fifth rule, the instruction of the processing is an instruction in which the first mobile robot 11 simultaneously transports a plurality of first containers associated with the order that can be processed continuously. According to the sixth rule, the instruction device 90 determines whether the replacement interval of a certain second container by the replacement mechanism 50 is shorter than the average replacement interval of the entire order list. The instruction of the processing according to the sixth rule is an instruction of selecting the second container in which the shipping processing is to be performed on the other side of the second placement table in the case where the replacement interval of the second container on one side of the second placement table is shorter than the average. With regard to the fifth and sixth rules, the replacement mechanism 250 of the transfer robot 230 shown in (a) of Figure 21(a) to (d) of FIG. 1 Figure 21 (d) of FIG. 1 Figure 20 (a) to (d) of FIG. 1 Figure 20 (d) of FIG. 1

[0153] The instruction device 90 refers to the article data and the order list. The instruction device 90, in compliance with a fifth rule, moves a plurality of first containers capable of being processed successively at the same time. In addition, in compliance with a sixth rule, a second container processed after a second container to be processed next to the first container is assigned a processing with a shorter container replacement interval. As a result, for example, as shown in (a) of FIG. 1, a plurality of first mobile robots 11a and 11b are instructed to carry a plurality of first containers C la to C lc. Here, the first mobile robot 11a carries the first container C la and the first container C lc at the same time. Figure 21

[0154] As shown in (b) of FIG. 1, the instruction device 90 sends an instruction to the first transfer robot 21 to transfer the first container C la to the first placement table 41a. The instruction device 90 sends an instruction to the second transfer robot 22 to transfer a second container C2a to the second placement table 42a. Figure 21

[0155] As shown in (c) of FIG. 1, the instruction device 90 sends an instruction to the sorting robot 31 to move the article B l housed in the first container C la to the second container C2a. The transfer of the first container C lb and the transfer of the second container C2b are performed in parallel with the sorting of the article B l. Figure 6

[0156] As shown in (d) of FIG. 1, the instruction device 90 sends an instruction to the sorting robot 31 to move the article B2 housed in the first container C lb to the second container C2b. In addition, the instruction device 90 sends an instruction to the first transfer robot 21 to transfer the first container C la to the first mobile robot 11a. Also, an instruction is sent to the shipment mechanism 51a to ship out the second container C2a. In addition to this, an instruction is sent to the second transfer robot 22 to transfer the second container C2c to the second placement table 42b. The transfer of the first container C la, the second container C2a, and the second container C2c is performed in parallel with the sorting of the article B2. Figure 6

[0157] As shown in (e) of FIG. 1, the instruction device 90 sends an instruction to the first transfer robot 21 to transfer the first container C lb to the first mobile robot 11b. Also, an instruction is sent to the shipment mechanism 51a to ship out the second container C2b. In addition to this, an instruction is sent to the second transfer robot 22 to transfer the second container C2d to the second placement table 42c. The transfer of the first container C lb, the second container C2b, and the second container C2d is performed in parallel with the sorting of the article B2. Figure 20 ​​​​As shown in (a), the instruction device 90 sends an instruction to the first transfer robot 21 to transfer the first container C1c to the first loading platform 41a. Furthermore, the instruction device 90 sends an instruction to the shipping mechanism 51b to transport the second container C2b containing the item B2. Furthermore, the instruction device 90 sends an instruction to the second transfer robot 22 to transfer the second container C2d to the second loading platform 42b. Furthermore, the instruction device 90 sends an instruction to the sorting robot 31 to move the item B2 stored in the first container C1b to the second container C2c. The transfer of the first container C1c, and the transfer of the second containers C2b and C2d, are performed in parallel with the sorting of the item B2. This reduces the number of movements of the mobile robots. Since a smaller number of mobile robots can handle the process, system costs can be reduced. Furthermore, by simultaneously shipping the second container for completed orders and transferring the second container for uncompleted orders to the loading platform, processing parallelism is increased, thereby improving throughput.

[0158] like Figure 20 As shown in (b), the instruction device 90 sends an instruction to the sorting robot 31 to move the article B3 stored in the first container C1c to the second container C2d. Furthermore, the instruction device 90 sends an instruction to the first transfer robot 21 to transfer the first container C1b to the first mobile robot 11b. The instruction device 90 sends an instruction to the unloading mechanism 51a to transport the second container C2c. Furthermore, the instruction device 90 sends an instruction to the second transfer robot 22 to transfer the second container C2e to the second loading platform 42a. The transfer of the first container C1b, the second container C2c, and the second container C2e is performed in parallel with the sorting of the article B3.

[0159] like Figure 21 As shown in (c), the instruction device 90 instructs the sorting robot 31 to move the article B3 stored in the first container C1c to the second container C2e. Furthermore, the instruction device 90 instructs the first transfer robot 21 to transfer the first container C1d to the first loading platform 41b. The instruction device 90 instructs the second transfer robot 22 to transfer the second container C2d containing the article B3 to the replacement mechanism 50. The transfer of the first and second containers C1d and C2d is performed concurrently with the sorting of the article B3.

[0160] like Figure 21As shown in (d), the instruction device 90 instructs the sorting robot 31 to move the article B4 stored in the first container C1d to the second container C2e. Furthermore, the instruction device 90 instructs the first transfer robot 21 to transfer the first container C1c to the first mobile robot 11a. The instruction device 90 instructs the second transfer robot 22 to transfer the second container C2f to the second loading platform 42b. The transfer of the first container C1c and the second container C2f is performed concurrently with the sorting of the article B4.

[0161] Figure 21 Yes Figure 21 (a)~ Figure 22 (d) and Figure 20 (a)~ Figure 20 (d) is a timing chart showing the timing of each process.

[0162] exist Figure 21 In the graph, columns represent elapsed time. Rows represent executed processing. The shaded cells represent the time each robot operated, and the numbers in the cells represent the numbers of the first container, second container, and article each robot processed.

[0163] By applying the fifth and sixth rules, the number of times the first mobile robot is called out can be reduced, and the waiting time caused by replacing containers, etc. can be reduced. For example, transfer and sorting processes can be performed uninterrupted. Typically, when the number of first mobile robots 11 is small relative to the number of orders, the first mobile robots will not be able to be called out in time, resulting in waiting time. In addition, if the frequency of replacing the second container is high, the replacement mechanism 50 will be more time-consuming and the waiting time of other robots will increase. In contrast, according to the fifth rule, multiple first containers associated with orders that can be processed continuously are transported simultaneously. In addition, according to the sixth rule, when the replacement interval of the second container is short, the other side of the second loading platform will transfer the second container to be shipped for processing. As a result, the throughput of the sorting process of items can be improved.

[0164] Figure 21 This is a timing diagram when the fifth and sixth rules are not applied.

[0165] exist Figure 22 In , the columns represent the elapsed time. The rows represent the processing performed. The cells with hatched lines are the time of each robot's action, and the numbers recorded in the cells represent the numbers of the first container, second container, and article processed by each robot. Figure 23 In the flowchart shown, sorting is performed at any time from 30 seconds to 80 seconds. Figure 23In the flowchart shown, the sorting robot 31 stands by at 50 seconds and 70 seconds. As such, it is known that, in the case where the rule is not applied, the stand-by time of the sorting robot increases, and the number of articles processed per unit time, that is, the throughput, decreases.

[0166] <Embodiment>

[0167] Figure 22 is a schematic view showing a specific embodiment of the conveyance system of the embodiment.

[0168] In Figure 23 , a plurality of shelves A are placed in each storage area. According to an instruction from the instruction device 90, the first mobile robot 11 transports a certain shelf A to a designated work station. The work station includes a plurality of work stations WS1 for a worker W to perform work and a plurality of work stations WS2 for a robot to perform work. In the work station WS2 for the robot to perform work, the first transfer robot 21 transfers a first container Cl from the transported shelf A to a first placement table 41 that is a part of the first transfer robot 21. In the work station WS2, the second transfer robot 22 transfers a second container C2 from a changeover mechanism 50 that is a part of the second transfer robot 22 to a second placement table 42. The sorting robot 31 sorts articles from the first container Cl placed on the first placement table 41 to the second container C2 placed on the second placement table 42. The second container C2, on which sorting is completed, is transferred to a delivery mechanism 51, and is transported to a collection site by the second mobile robot 12.

[0169] In the present embodiment, as the first transfer robot 21, a transfer robot 220 shown in (a) of Figure 24 and (b) of Figure 24 is used. As the second transfer robot 22, a transfer robot 230 shown in (a) of Figure 5 and (b) of Figure 5 is used. As the changeover mechanism 50 and the delivery mechanism 51, a changeover mechanism 250 and a delivery mechanism 251 of the transfer robot 230 are used, respectively.

[0170] Figure 6 is a schematic view showing a specific configuration of the instruction device in the conveyance system of the embodiment.

[0171] The instruction device 90 includes a robot group control section 91, a robot group control section 92, a warehouse management section 93, an equipment execution control section 94, a workstation control section 95, and a database management section 96. The control section 11p controls the first mobile robot 11. The robot group control section 91 is connected to each control section 11p and controls a plurality of first mobile robots 11. The control section 12p controls the second mobile robot 12. The robot group control section 92 is connected to each control section 12p and controls a plurality of second mobile robots 12. The warehouse management section 93 collectively manages the inventory status of the articles of the warehouse, the processing of orders, and the like. The equipment execution control section 94 controls a plurality of equipment in the warehouse and can jointly use the equipment. The workstation control section 95 controls the equipment of the workstation. The workstation control section 95 is connected to the control section 21p that controls the first transfer robot 21, the control section 22p that controls the second transfer robot 22, and the control section 31p that controls the sorting robot 31. Thus, the workstation control section 95 controls the equipment provided to the workstation. The workstation control section 95 is also connected to the display and I / O control section 35. The display and I / O control section 35 performs information transfer with the terminal device of the operator, equipment control of a security system, and the like. The database management section 96 manages order management data, article management data, shelf management data, equipment data, use status data, and the like.

[0172] Figure 6 is a flowchart showing the process of the conveyance system of the embodiment.

[0173] The conveyance system 1 starts the conveyance according to an order from the outside. In a first step S1-1, the instruction device 90 generates a processing list of the article based on the order and the information of the database. The information of the database referred to is the article management data D1, the shelf management data S1, the function data of various robots, the use status data of various robots, and the like. In a second step S1-2, the first mobile robot 11 transports the designated shelf to the workstation WS2 according to the instruction of the instruction device 90. In a third step S1-3, the second transfer robot 22 takes out the second container C2 designated by the instruction device 90 from the housing section of the exchange mechanism 50 to the second placement stage 42. At this time, the second container to which an ID has been assigned can be taken out. An empty second container can also be taken out, and the second container can be numbered with a label or the like, or the existing number can be re-assigned with a processing-use ID.

[0174] In the fourth step S1-4, the first transfer robot 21 takes out the designated first container C1 from the shelf A transported by the first mobile robot 11 to the first placement table 41. In the fifth step S1-5, the sorting robot 31 takes out the designated article from the designated first container C1 placed on the first placement table 41. In the sixth step S1-6, the sorting robot 31 stores the taken-out article in the designated second container C2. In the seventh step S1-7, the instruction device 90 determines whether or not the sorting of the article from the first container C1 of the first placement table 41 to the second container C2 of the second placement table 42 has been completed. In the case where there is an article to be sorted, the process moves to the fifth step S1-5. If the sorting of the article has been completed, the process moves to the eighth step S1-8.

[0175] In the eighth step S1-8, the first transfer robot 21 transfers the first container C1 from the first placement table 41 to the shelf A. In the ninth step S1-9, the second transfer robot 22 replaces the second container C2 of the second placement table 42 or ships out the second container C2 using the shipping mechanism 51. In the tenth step S1-10, the first mobile robot 11 transports the shelf A to which the first container C1 has been transferred to a prescribed shelf setting position or other work station in accordance with the instruction of the instruction device 90. In the eleventh step S1-11, the instruction device 90 determines whether or not all the processes have been completed. If it is determined that all the processes have been completed, the process ends. In the case where there is a process remaining, the process moves to the first step S1-1 and the process is repeated.

[0176] Figure 25 is a flowchart showing a method of generating a process list.

[0177] The instruction device 90 receives an order list from a higher-level system or an external system in the first step S2-1 when generating a process list. In the second step S2-2, a process list for sorting articles in accordance with the order is generated on the basis of the order list and data stored in a database. The data referred to is article management data, shelf management data, and the like. At this time, the instruction device 90 optimizes the batch division, order, and the like of the process list in accordance with equipment data, operation status data, and the like. Here, the batch refers to a data set in which data is collected in a certain period or a certain amount. In the third step S2-3, the optimized process list is transmitted, and the process list generation process is completed.

[0178] Figure 26 is a flowchart showing a method of optimizing a process list.

[0179] In the first step S3-1, the instruction device 90 performs analysis of the received order list, and associates the orders included in the order list with the article management data and the shelf management data. In the second step S3-2, the instruction device 90 divides the list in which the association has been made into batches for different time periods such as morning, afternoon, and the like, based on the shipment information. The instruction device 90 also divides the list into batches for each workstation. At this time, the same article, the same container are processed as much as possible in the same location, or the damaged articles are allocated to a specific workstation. In the third step S3-3, the instruction device 90 sorts the list divided into batches by the first container ID. In the fourth step S3-4, the sorted list is blockized by the container ID. In the fifth step S3-5, the blocks of the first container number are analyzed, and rearranged by each block.

[0180] The rearrangement is performed in accordance with the following rules. First, the initial block is decided. Second, a block including the same second container number as the second container number of the list of the initial block is selected as the second block. The second container number included in both the initial block and the second block is used as the basis (key) to associate the initial block and the second block. Third, in the case of selecting the next block, the second container number that becomes the new key is selected from the second container numbers that have not been used as the basis (key) for association in the preceding blocks, and the second block and the next block are associated using the second container number that becomes the new key. Fourth, in the case of having multiple options, the block including multiple identical second containers is given priority, and the priority order of the block in which the replacement of the second container is performed more frequently or the block in which the second container is less (for example, one) is lowered. Fifth, the block in which the replacement of the second container is performed more frequently is arranged immediately after the block in which the same second container can be processed continuously for multiple times, and pairs for continuous processing are set. Sixth, the smaller block is arranged immediately after the larger block, and pairs for continuous processing are set. At this time, in the case of having multiple options, the blocks including the same second container number are preferentially set as pairs with each other. In the sixth step S3-6, the larger-sized block is divided, and the smaller-sized block is inserted therebetween. In the seventh step S3-7, the processing order within the block is rearranged so that the same second block can be processed continuously between the blocks. Through the above processing, the optimization processing of the processing list is completed.

[0181] In the present embodiment, a rule-based optimization method is used, but the optimization of the list can also be optimized as a mathematical programming problem, or optimized using a machine learning method to satisfy the first to sixth rules.

[0182] Figure 27 is data for explaining a specific example of optimization.

[0183] UseFigure 28 The flow of the optimization of the Figures 29 to 36 is explained. Figures 29 to 36 (a) of the Figure 28 shows the selection information of the item data extracted from the database and the shelf management data. In the first step S3-1, the order list is associated with the item data and the management data to generate a list of Figure 29 Here, the instruction device 90 determines whether the same kind of item is stored in multiple places. For example, the item [YYYY001] is extracted. The instruction device 90 refers to the shelf ID or the like for such an item, and if there is an item using the same shelf among other items, the item is preferentially selected. In this case, the item [YYYY002] is also stored in the shelf ID [AAA002]. The instruction device 90 decides to transfer the item [YYYY001] from the shelf of the shelf ID [AAA002]. The instruction device 90 further analyzes the information and decides to process the order [XXX0003] having the accompanying information of the processing note (fragile) in a different batch from the order number [XXX0001] including the item [YYYY001]. In addition, the instruction device 90 decides to process the order [XXX0007] having the designation of the afternoon shipment (MAR 06 PM) and the order [XXX0008] having the item stored in the other floor (2F) in different batches from [XXX0001] and [XXX0003], respectively.

[0184] In the second step S3-2, the instruction device 90 extracts the list as each batch based on the analysis result. Then, the instruction device 90 refers to the operation condition data and the equipment database to decide the workstations capable of processing. Figure 29 One of the extracted batch lists is shown. Figure 30 and Figure 31 shows the list extracted from the data of the Figure 32 required for the next processing. Figure 33 The list of the Figure 31 is a list obtained by extracting data from the list shown in Figure 32 and converting it. In the conversion, the shelf ID is combined with the sub-shelf ID and converted into the first container number. The order number is combined with the small order number and unified into the second container number.

[0185] In the third step S3-3, the instruction device 90 sorts the list by the first container number. In the fourth step S3-4, the instruction device 90 blockizes using the first container number. Figure 33(a) shows the result after binning. In the fifth step S3-5, the instruction device 90 performs rearrangement of the bins based on the rules. For example, the instruction device 90 decides the next bin based on the second container number [XXX000101] of the [AAA0025] bin. The bins that can be associated with the [AAA0025] bin are the [AAA0028] bin, the [AAA0050] bin, and the [AAA0065] bin. Among them, the [AAA0065] bin contains one second container. As for the [AAA0050] bin, the number of replacements of the second container is two. This is more than the one replacement in the [AAA0028] bin, and more than the zero replacements in the [AAA065] bin. Therefore, the [AAA0028] bin is selected as the next bin.

[0186] Next, the instruction device 90 refers to the [AAA0028] bin. In the [AAA0028] bin, the second container number [XXX000201] is not used for association. The instruction device 90 decides the next bin based on the second container number [XXX000201]. Here, the [AAA0050] bin that contains more second containers [XXX000201] is selected. Thus, the order is decided based on the rules. Figure 32 (b) of (a) shows the result of the decision. Further, the instruction device 90 sets the [AAA0065] bin that has one second container and the [AAA0050] bin that has a large number of second containers as a pair. Figure 34 (a) of (a) is a list showing the result thereof.

[0187] In the sixth step S3-6, the instruction device 90 divides the large [AAA0050] bin and inserts the small [AAA0065] bin. In the seventh step S3-7, the instruction device 90 rearranges the list within the bins so that the second container numbers are continuous between the bins. Figure 34 (b) shows the result of the rearrangement. The list satisfies the first to sixth rules.

[0188] For example, [YYYY001] and [YYYY002] are sorted to the second container [XXX000101] from the first containers [AAA0025] and [AAA0028] placed on the first loading table, respectively. The instructions are based on the first rule.

[0189] [YYYY001] is sorted to the second containers [XXX000401] and [XXX000101] placed on the second loading table from the first container [AAA0025], respectively. The instructions are based on the second rule.

[0190] The sorting from the first container [AAA0065] is performed in parallel with the sorting from the first container [AAA0050]. The number of articles sorted from the first container [AAA0065] is 1. The number of articles sorted from the first container [AAA0050] is 4. These indications are based on the third rule.

[0191] When the first container [AAA0038] is placed to the first placement table, the number of articles sorted to the second container [XXX000501] is 1. On the other hand, three more articles are sorted to the second container [XXX000401] from the first containers [AAA0038] and [AAA0047]. These indications are based on the fourth rule.

[0192] The first containers [AAA0025] and [AAA0028] are housed in the same shelf ID [AAA002]. The first mobile robot 11 transports the shelf [AAA002] while transporting the first containers [AAA0025] and [AAA0028] associated with the order that can be processed continuously. This indication is based on the fifth rule.

[0193] Articles are sorted to the second container [XXX000501] from the first containers [AAA0096], [AAA0038], [AAA0047], and [AAA0073], respectively. Regarding the second container [XXX000501], the number of replacements to the second placement table is larger than that of the other second containers. When articles are sorted to the second container [XXX000501], the second containers [XXX000201], [XXX000401], [XXX000601], and the like are shipped. These indications are based on the sixth rule.

[0194] The indications generated by following the first to sixth rules enable efficient conveyance.

[0195] Figure 35 A flow of processing in the case where the list of (b) using Figure 35 is shown. In this case, the first to sixth rules are not applied. Figure 36In the table, ">>" indicates the action of the first transfer robot 21 taking out the designated first container from the shelf. "<<" indicates the action of the first transfer robot 21 returning the designated first container to the shelf. As to each cell of the first transfer robot within each processing time, the upper layer in the thick frame indicates the first placement table 41a, and the lower layer indicates the first placement table 41b. ">" indicates the action of the second transfer robot 22 taking out the designated second container from the exchange mechanism 50. "<" indicates the action of the second transfer robot 22 returning the designated second container to the exchange mechanism 50. As to each cell of the second transfer robot within each processing time, the upper layer in the thick frame indicates the second placement table 42a, and the lower layer indicates the second placement table 42b. "↓" indicates the action of shipping the second container using the shipping mechanism. "Sort →" indicates the action of moving the article from the first container of the first placement table to the second container of the second placement table. According to the table, the sorting robot moves almost without waiting, and efficient conveyance can be achieved. Figure 35 As is apparent from the table, the sorting robot moves almost without waiting, and efficient conveyance can be achieved.

[0196] Figure 36 is a schematic diagram showing the hardware configuration.

[0197] The instruction device 90 has, for example Figure 36 the hardware configuration shown in the figure. Figure 37 Figure 37 Figure 37 The computer 500 shown in the figure includes a CPU 501, a ROM 502, a RAM 503, a storage device 504, an input interface 505, an output interface 506, and a communication interface 507.

[0198] The ROM 502 stores a program that controls the action of the computer 500. In the ROM 502, a program necessary for the computer 500 to implement each processing described above is stored. The RAM 503 functions as a storage area in which the program stored in the ROM 502 is expanded.

[0199] The CPU 501 includes a processing circuit. The CPU 501 executes the program stored in at least one of the ROM 502 or the storage device 504, using the RAM 503 as a work memory. In the execution of the program, the CPU 501 controls each configuration via a system bus 508, and executes various processing.

[0200] The storage device 504 stores data necessary for executing the program, and data obtained by executing the program.

[0201] The input interface (I / F) 505 connects the computer 500 and an input device 505a. The input I / F 505 is, for example, a serial bus interface such as USB. The CPU 501 can read various data from the input device 505a via the input I / F 505.

[0202] An output interface (I / F) 506 connects the computer 500 with an output device 506a. The output I / F 506 is, for example, a digital video interface (DVI), a high-definition multimedia interface (HDMI (registered trademark)), or the like. The CPU 501 can transmit data to the output device 506a via the output I / F 506, and cause the output device 506a to output the data.

[0203] A communication interface (I / F) 507 connects a server 507a outside the computer 500 with the computer 500. The communication I / F 507 is, for example, a network card such as a LAN card. The CPU 501 can read various data from the server 507a via the communication I / F 507.

[0204] The storage device 504 includes one or more devices selected from a hard disk drive (HDD) and a solid state drive (SSD). The input device 505a includes one or more devices selected from a mouse, a keyboard, a microphone (voice input), and a touch panel. The output device 506a includes one or more devices selected from a monitor, a projector, and a printer. A device that has both the functions of the input device 505a and the output device 506a, such as a touch panel, can also be used.

[0205] According to the conveyance system, the instruction device, or the conveyance method described above, it is possible to make the processing required for the conveyance of the article more automated, and to reduce the work of a person. In addition, by using a program for causing a computer to function as the instruction device, the same effects can be obtained.

[0206] The processing of the various data described above can also be recorded as a program that can be executed by a computer, in a magnetic disk (floppy disk and hard disk, etc.), an optical disk (CD-ROM, CD-R, CD-RW, DVD-ROM, DVD±R, DVD±RW, etc.), a semiconductor memory, or other non-transitory computer-readable storage medium.

[0207] For example, the information recorded in the recording medium can be read by a computer (or an embedded system). In the recording medium, the recording form (storage form) is arbitrary. For example, the computer reads the program from the recording medium, and the CPU executes the instructions described in the program based on the program. In the computer, the acquisition (or reading) of the program can also be performed through a network.

[0208] The embodiments can also include the following technical solutions.

[0209] <Technical Solution 1>

[0210] A conveyance system, wherein the system includes:

[0211] a first mobile robot that transports a first container that houses an article from a placement site of the first container;

[0212] a first transfer robot that transfers the first container from one of the first mobile robot and the first placement table to the other of the first mobile robot and the first placement table; and

[0213] a sorting robot that moves the article from the first container placed on the first placement table to a second container placed on a second placement table.

[0214] <Technical Solution 2>

[0215] The transport system according to <Technical Solution 1>, further comprising:

[0216] a second mobile robot that transports the second container; and

[0217] a second transfer robot that transfers the second container from one of the second mobile robot and the second placement table to the other of the second mobile robot and the second placement table.

[0218] <Technical Solution 3>

[0219] The transport system according to <Technical Solution 1> or 2, wherein

[0220] the first mobile robot transports a plurality of the first containers that respectively house a plurality of the articles of different kinds from each other.

[0221] <Technical Solution 4>

[0222] The transport system according to any one of <Technical Solutions 1> to 3, wherein

[0223] the transport system further comprises an instruction device that sends an instruction to the first mobile robot, the first transfer robot, and the sorting robot,

[0224] the instruction device sends the instruction to the first mobile robot and the first transfer robot so as to transport the first container that houses the article to be moved into the second container from the placement site to the first placement table,

[0225] the instruction device sends the instruction to the sorting robot so as to move the article from the first container to the second container.

[0226] <Technical Solution 5>

[0227] The transport system according to <Technical Solution 4>, wherein

[0228] a plurality of the first containers can be placed on the first placement table,

[0229] a plurality of the second containers can be placed on the second placement table.

[0230] <Technical Solution 6>

[0231] The transport system according to any one of Technical Solutions 5 to 8, wherein

[0232] The instruction device sends the instruction to move a plurality of the articles from two or more of the first containers to one of the second containers.

[0233] <Technical Solution 7>

[0234] The transport system according to any one of Technical Solutions 5 to 6, wherein

[0235] The instruction device sends the instruction to move a plurality of the articles from one of the first containers to two or more of the second containers.

[0236] <Technical Solution 8>

[0237] The transport system according to any one of Technical Solutions 5 to 7, wherein

[0238] In a case where a first number of the articles moved from one of the plurality of the first containers placed on the first placement table to one of the plurality of the second containers is less than an average number of the same articles, the instruction device sends the instruction to move a number of the articles from another of the plurality of the first containers to another of the plurality of the second containers, the number being more than the first number.

[0239] <Technical Solution 9>

[0240] The transport system according to any one of Technical Solutions 5 to 8, wherein

[0241] In a case where a second number of the articles moved to one of the plurality of the second containers is less than an average number of the same articles, the instruction device sends the instruction to place another of the plurality of the second containers, the number of the articles moved to which is more than the second number, on the second placement table.

[0242] <Technical Solution 10>

[0243] The transport system according to any one of Technical Solutions 5 to 9, wherein

[0244] The instruction device sends the instruction to cause the first mobile robot to simultaneously transport two or more of the first containers associated with an order that can be processed continuously.

[0245] <Technical solution 11>

[0246] The conveying system according to any one of Technical solutions 5 to 10, wherein

[0247] The conveying system further comprises a replacement mechanism that replaces the second container placed on the second placement table between the replacement mechanism and the storage part,

[0248] In a case where a replacement interval of one of the plurality of second containers by the replacement mechanism is shorter than an average replacement interval, the instruction device transmits the instruction to place another one of the plurality of second containers, from which the article is to be moved in after moved out, on the second placement table.

[0249] <Technical solution 12>

[0250] An instruction device that transmits an instruction to a conveying system including a first mobile robot, a first transfer robot, and a sorting robot, wherein

[0251] The instruction device causes the first mobile robot to move out a first container in which an article is stored from a placement site of the first container,

[0252] The instruction device causes the first transfer robot to transfer the first container from one of the first mobile robot and a first placement table to the other of the first mobile robot and the first placement table,

[0253] The instruction device causes the sorting robot to move in the article from the first container placed on the first placement table to a second container placed on a second placement table.

[0254] <Technical solution 13>

[0255] The instruction device according to Technical solution 12, wherein

[0256] The conveying system further includes a second mobile robot and a second transfer robot,

[0257] The instruction device causes the second mobile robot to transport the second container,

[0258] The instruction device causes the second transfer robot to transfer the second container from one of the second mobile robot and the second placement table to the other of the second mobile robot and the second placement table.

[0259] <Technical solution 14>

[0260] A conveying method that causes a conveying system including a first mobile robot, a first transfer robot, and a sorting robot to convey an article, wherein

[0261] The conveyance method causes the first mobile robot to carry out the first container in which the article is accommodated from a placement place of the first container,

[0262] The conveyance method causes the first transfer robot to transfer the first container from one of the first mobile robot and the first placement table to the other of the first mobile robot and the first placement table,

[0263] The conveyance method causes the sorting robot to move the article from the first container placed on the first placement table to a second container placed on a second placement table.

[0264] <Technical Solution 15>

[0265] The conveyance method according to Technical Solution 14, wherein

[0266] The conveyance system further includes a second mobile robot and a second transfer robot,

[0267] The conveyance method causes the second mobile robot to carry the second container,

[0268] The conveyance method causes the second transfer robot to transfer the second container from one of the second mobile robot and the second placement table to the other of the second mobile robot and the second placement table.

[0269] <Technical Solution 16>

[0270] A storage medium in which a program that causes a computer to execute the conveyance method according to Technical Solution 14 or 15 is stored.

[0271] The above illustrates several embodiments of the present application, but these embodiments are presented as examples and are not intended to limit the scope of the application. These new embodiments can be implemented in other various ways, and various omissions, substitutions, changes, etc. can be made within the scope of the gist of the application. These embodiments and their modifications are included in the scope and gist of the application, and are included in the scope of the application and its equivalents as recited in the claims. In addition, the above-described embodiments can be implemented in combination with each other.

Claims

1. A handling system, characterized in that Possessing: a first mobile robot that transports a first container that houses an article from a placement site of the first container; a first transfer robot that transfers the first container from one of the first mobile robot and a first placement table to the other of the first mobile robot and the first placement table; a sorting robot that moves the article from the first container placed on the first placement table to a second container placed on a second placement table; and an instruction device that transmits an instruction to the first mobile robot, the first transfer robot, and the sorting robot; the instruction device transmits the instruction to the first mobile robot and the first transfer robot so as to transport the first container that houses the article to be moved to the second container from the placement site to the first placement table, the instruction device transmits the instruction to the sorting robot so as to move the article from the first container to the second container, a plurality of the first containers can be placed on the first placement table, a plurality of the second containers can be placed on the second placement table, in a case where a first number of the articles moved from one of the plurality of first containers placed on the first placement table to one of the plurality of second containers is less than an average of the same article number of an entire order list as an object, the instruction device transmits the instruction so that a number of the articles moved from another of the plurality of first containers to another of the plurality of second containers is more than the first number. Further possessing:

2. The handling system of claim 1, wherein, a second mobile robot that transports the second container; and a second transfer robot that transfers the second container from one of the second mobile robot and the second placement table to the other of the second mobile robot and the second placement table.

3. The handling system according to claim 1 or 2, wherein the first mobile robot transports a plurality of the first containers that respectively house a plurality of the articles of mutually different categories.

4. The handling system according to claim 1 or 2, wherein the instruction device transmits the instruction so as to move a plurality of the articles from two or more of the first containers to one of the second containers.

5. The handling system according to claim 1 or 2, wherein the instruction device transmits the instruction so as to move a plurality of the articles from one of the first containers to two or more of the second containers.

6. The handling system according to claim 1 or 2, wherein in a case where a second number of the articles moved to one of the plurality of second containers is less than an average of the same article number, the instruction device transmits the instruction so that another of the plurality of second containers in which the number of the articles moved is more than the second number is placed on the second placement table.

7. The handling system according to claim 1 or 2, wherein the instruction device transmits the instruction so that the first mobile robot simultaneously transports two or more of the first containers associated with orders that can be processed in series. ​ 8. The transport system according to claim 1 or 2, wherein the transport system further comprises a replacement mechanism that replaces the second container placed on the second placement table with another second container between the replacement mechanism and the storage section, in a case where the replacement interval of one of the plurality of second containers by the replacement mechanism is shorter than the average replacement interval, the instruction device transmits the instruction so that another one of the plurality of second containers to which the article is to be moved in after the article is moved out is placed on the second placement table.

9. An instruction device that transmits an instruction to a transport system that includes a first mobile robot, a first transfer robot, and a sorting robot, wherein the instruction device causes the first mobile robot to move out a first container that stores an article from a placement site of the first container, causes the first transfer robot to transfer the first container from one of the first mobile robot and a first placement table to the other of the first mobile robot and the first placement table, causes the sorting robot to move the article from the first container placed on the first placement table to a second container placed on a second placement table, the instruction device transmits the instruction to the first mobile robot and the first transfer robot so as to transport the first container that stores the article to be moved into the second container from the placement site to the first placement table, the instruction device transmits the instruction to the sorting robot so as to move the article from the first container to the second container, a plurality of the first containers can be placed on the first placement table, a plurality of the second containers can be placed on the second placement table, in a case where a first number of the article to be moved into one of the plurality of second containers from one of the plurality of first containers placed on the first placement table is less than an average number of the same article for an entire order list as an object, the instruction device transmits the instruction so that a number of the article to be moved into another one of the plurality of second containers from another one of the plurality of first containers is more than the first number.

10. The instruction device according to claim 9, wherein the transport system further includes a second mobile robot and a second transfer robot, the instruction device causes the second mobile robot to transport the second container, the second transfer robot transfers the second container from one of the second mobile robot and the second placement table to the other of the second mobile robot and the second placement table.

11. A transport method that causes a transport system that includes a first mobile robot, a first transfer robot, and a sorting robot to transport an article, wherein the transport method causes the first mobile robot to move out a first container that stores an article from a placement site of the first container, causes the first transfer robot to transfer the first container from one of the first mobile robot and a first placement table to the other of the first mobile robot and the first placement table, causes the sorting robot to move the article from the first container placed on the first placement table to a second container placed on a second placement table, the instruction device transmits the instruction to the first mobile robot and the first transfer robot so as to transport the first container that stores the article to be moved into the second container from the placement site to the first placement table, the instruction device transmits the instruction to the sorting robot so as to move the article from the first container to the second container, a plurality of the first containers can be placed on the first placement table, a plurality of the second containers can be placed on the second placement table, in a case where a first number of the article to be moved into one of the plurality of second containers from one of the plurality of first containers placed on the first placement table is less than an average number of the same article for an entire order list as an object, the instruction device transmits the instruction so that a number of the article to be moved into another one of the plurality of second containers from another one of the plurality of first containers is more than the first number. causing the sorting robot to move the article from the first container placed on the first placement table to a second container placed on a second placement table, the conveyance system further comprises an instruction device that sends an instruction to the first mobile robot, the first transfer robot, and the sorting robot, the conveyance method comprises: sending the instruction to the first mobile robot and the first transfer robot so as to convey the first container that contains the article to be moved to the second container from the placement site to the first placement table; and sending the instruction to the sorting robot so as to move the article from the first container to the second container; a plurality of the first containers can be placed on the first placement table, a plurality of the second containers can be placed on the second placement table, the conveyance method comprises: in a case where a first number of the articles moved from one of the plurality of first containers placed on the first placement table to one of the plurality of second containers is less than an average number of the same articles of an entire order list targeted, sending the instruction so that a number of the articles moved from another of the plurality of first containers to another of the plurality of second containers is more than the first number.

12. The conveyance method according to claim 11, wherein the conveyance system further comprises a second mobile robot and a second transfer robot, the conveyance method causes the second mobile robot to convey the second container, the conveyance method causes the second transfer robot to transfer the second container from one of the second mobile robot and the second placement table to the other of the second mobile robot and the second placement table.

13. A storage medium, characterized by a program that causes a computer to execute the conveyance method according to claim 11 or 12 is stored.

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