Distribution warehouse control device

Abstract

To provide a distribution warehouse control device capable of reducing a calculation load when calculating a conveyance route for conveying an article.SOLUTION: An automatic warehouse 100 includes a temporary storage area 125 adjacent to a conveyor 22. A route calculation section 13 calculates conveyance information so as to satisfy first standard logical equations (for example Equations (84) to (86)) expressing constraints relevant to delivery of an article 150 into the temporary storage area 125 and second standard logical equations (for example Equations (112) to (121)) expressing constraints relevant to transfer of the article 150 into the temporary storage area. Using the first and second standard logical equations, the route calculation section 13 can easily eliminate an action prohibited on the conveyance route and thereby efficiently searching the conveyance route utilizing the temporary storage area 125.SELECTED DRAWING: Figure 32

Description

[Technical field]

[0001] The present invention relates to a control device for a logistics warehouse. [Background technology]

[0002] Conventionally, as a logistics warehouse for storing items, for example, the one described in Patent Document 1 is known. This logistics warehouse carries in items through a transport lane and stores them in an automated warehouse. This logistics warehouse also transports and takes out the items stored in the automated warehouse at a predetermined timing. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2018-81008 A Summary of the Invention [Problem to be solved by the invention]

[0004] In this case, a large number of items are stored in the automated warehouse. Therefore, when the control device receives and takes out an item, it is necessary to calculate an efficient transport route. However, there is a problem in that the calculation load for calculating such a transport route is enormous.

[0005] Therefore, an object of the present invention is to provide a control device for a logistics warehouse that can reduce the calculation load when calculating a transport route for transporting an item. [Means for solving the problem]

[0006] A logistics warehouse control device according to one embodiment of the present invention is a logistics warehouse control device equipped with an automated warehouse for storing items, a transport lane for transporting a plurality of lined up items, and a transport machine provided between the transport lane and the automated warehouse, and has an item information acquisition unit that acquires item information indicating an initial state and a completed state of the item's movement when the item moves in the order of the transport lane, the transport machine, and the automated warehouse, a route calculation unit that calculates transport route information from the item information so as to satisfy a reference logical formula based on constraint conditions, and an operation control unit that controls the transport operation of the logistics warehouse based on the transport route information, wherein the automated warehouse is provided with a temporary placement area adjacent to the transport machine, and the route calculation unit calculates the transport route information so as to satisfy a first reference logical formula related to the constraint conditions regarding the entry of items into the temporary placement area and a second reference logical formula related to the constraint conditions regarding the movement of items to the temporary placement area.

[0007] In the control device for the logistics warehouse, the item information acquisition unit acquires item information indicating an initial state and a completed state of the item when the item moves in the order of the transport lane, the transport machine, and the automated warehouse, or when the item moves in the order of the automated warehouse, the transport machine, and the transport lane. The path calculation unit calculates transport path information from the item information so as to satisfy a reference logical formula based on a constraint condition. In this case, the path calculation unit can calculate what transport path the item should take between the initial state of the item and the completed state of the item. At this time, the path calculation unit can easily eliminate operations that are constrained in the transport path by calculating the reference logical formula by calculating so as to satisfy the reference logical formula based on the constraint condition. As a result, the path calculation unit can calculate an appropriate transport path with a small calculation load. In addition, the automated warehouse is provided with a temporary placement area adjacent to the transport machine. The path calculation unit calculates the transport path information so as to satisfy a first reference logical formula related to the constraint condition regarding the entry of the item into the temporary placement area and a second reference logical formula related to the constraint condition regarding the movement of the item to the temporary placement area. In this way, the route calculation unit can easily eliminate the motions that are restricted on the transport route by using the first and second reference logical expressions, and can efficiently search for a transport route using the temporary placement area. As a result, the calculation load when calculating the transport route for transporting the article can be reduced.

[0008] The conveyor is a vertical conveyor that performs vertical conveyance by moving an article in a horizontal direction while alternately raising and lowering a first conveyor shelf adjacent to the temporary placement area and a second conveyor shelf adjacent to the first conveyor shelf, and the path calculation unit may perform calculations using three phases of operation that enable the article to move in the horizontal direction and one lifting and lowering operation of the conveyor as one step, and may define a floor of the temporary placement area to which the vertical conveyor can be moved. In this way, due to the structure of the vertical conveyor, there are cases where efficient movement is possible by consecutively moving in the horizontal direction three times, but consecutive lifting and lowering operations do not cause the article to move. Therefore, the path calculation unit makes it easier to calculate an efficient conveyance path by setting the horizontal movement to an appropriate number of phases, namely three phases, while setting the lifting and lowering operation as one step. In addition, since the floor of the temporary placement area to which the vertical conveyor can be moved is defined, the path calculation unit can calculate the conveyance path by appropriately considering the temporary placement area on each floor.

[0009] The conveyor is a vertical conveyor that performs vertical conveyance by moving articles laterally while alternately raising and lowering a first conveyor shelf adjacent to the temporary placement area and a second conveyor shelf adjacent to the first conveyor shelf, and the path calculation unit calculates conveyance path information by referring to an auxiliary logical formula related to a constraint condition related to the first conveyor shelf. This allows the path calculation unit to efficiently search for a conveyance path using the temporary placement area while easily eliminating operations that are restricted by the relationship with the first conveyor shelf by using the auxiliary logical formula.

[0010] The route calculation unit may define the acquired multiple transport route information as a sufficiency maximization problem and search for transport route information that minimizes the lateral cost of the item. In this case, the route calculation unit can adopt a transport route that can move the item most efficiently based on the lateral movement cost of the item. Effect of the Invention

[0011] According to the present invention, it is possible to reduce the calculation load when calculating a transport path for transporting an article. [Brief description of the drawings]

[0012] [Figure 1] 1 is a schematic side view showing a logistics warehouse equipped with a control device according to an embodiment of the present invention. [Diagram 2] 1 is a schematic diagram showing a configuration of a logistics warehouse according to an embodiment of the present invention; [Diagram 3] This is a diagram showing a model of a logistics warehouse. [Figure 4] FIG. 2 is a block diagram of a control device according to the present embodiment. [Diagram 5] This is a diagram showing a model of a logistics warehouse. [Figure 6] This is a diagram showing a model of a logistics warehouse. [Figure 7] FIG. 11 is a diagram illustrating the specific content of a logical expression. [Figure 8] FIG. 11 is a diagram illustrating the specific content of a logical expression. [Figure 9] FIG. 2 is a diagram illustrating a specific example of a logical expression. [Figure 10] (a) is a diagram showing the relationship between phases and movement directions, and (b) is a diagram modeling a logistics warehouse. [Figure 11] 1A is a diagram illustrating the specific content of a logical expression, and 1B and 1C are diagrams modeling a logistics warehouse. [Figure 12] 1A is a diagram illustrating the specific content of a logical expression, and 1B and 1C are diagrams modeling a logistics warehouse. [Figure 13] This is a diagram showing a model of a logistics warehouse. [Figure 14] 1A is a diagram illustrating the specific content of a logical expression, and 1B and 1C are diagrams modeling a logistics warehouse. [Figure 15] This is a diagram showing a model of a logistics warehouse. [Figure 16] 1A is a diagram illustrating the specific content of a logical expression, and 1B and 1C are diagrams modeling a logistics warehouse. [Figure 17] 1A is a diagram illustrating the specific content of a logical expression, and 1B and 1C are diagrams modeling a logistics warehouse. [Figure 18] 1A is a diagram illustrating the specific content of a logical expression, and 1B and 1C are diagrams modeling a logistics warehouse. [Figure 19] This is a diagram showing a model of a logistics warehouse. [Figure 20] This is a diagram showing a model of a logistics warehouse. [Figure 21] This is a diagram showing a model of a logistics warehouse. [Figure 22] FIG. 2 is a diagram illustrating a specific example of a logical expression. [Diagram 23] FIG. 2 is a diagram illustrating a specific example of a logical expression. [Figure 24] FIG. 2 is a diagram illustrating a specific example of a logical expression. [Diagram 25] This is a diagram showing a model of a logistics warehouse. [Figure 26] This is a diagram showing a model of a logistics warehouse. [Figure 27] FIG. 2 is a diagram illustrating a specific example of a logical expression. [Figure 28] This is a diagram showing a model of a logistics warehouse. [Figure 29] FIG. 2 is a diagram illustrating a specific example of a logical expression. [Diagram 30] 4 is a flowchart showing the processing contents of the control device. [Diagram 31] This is a diagram showing a model of a logistics warehouse. [Diagram 32] This is a diagram showing a model of a logistics warehouse. [Diagram 33] This is a diagram showing a model of a logistics warehouse. [Diagram 34] This is a diagram showing a model of a logistics warehouse. [Diagram 35] This is a diagram showing a model of a logistics warehouse. [Diagram 36] This is a diagram showing a model of a logistics warehouse. [Figure 37] This is a diagram showing a model of a logistics warehouse. [Figure 38] This is a diagram showing a model of a logistics warehouse. [Figure 39] This is a diagram showing a model of a logistics warehouse. [Diagram 40]This is a diagram showing a model of a logistics warehouse. [Diagram 41] This is a diagram showing a model of a logistics warehouse. [Diagram 42] This is a diagram showing a model of a logistics warehouse. [Diagram 43] This is a diagram showing a model of a logistics warehouse. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0013] Hereinafter, an embodiment of the present invention will be described in detail with reference to the drawings.

[0014] FIG. 1 is a schematic side view showing a logistics warehouse 1 equipped with a control device according to an embodiment of the present invention. As shown in FIG. 1, the logistics warehouse 1 is a system that receives and stores a plurality of items 150, and can retrieve items to be retrieved from among the stored items 150. The logistics warehouse 1 includes an automated warehouse 100, an outgoing elevator 104 (conveyor), an incoming elevator 105 (conveyor), an outgoing lane 121 (conveyor lane), and an incoming lane 21 (conveyor lane). The automated warehouse 100 is a warehouse that stores the items 150. The automated warehouse 100 includes a warehouse main body 101, an outgoing transfer passage 102, and an incoming transfer passage 103. The warehouse main body 101 has a plurality of shelves 110. The shelves 110 extend from one end of the warehouse main body 101 to the other end. In the shelf 110, the transfer device 111 transfers the goods from the entrance path to the exit path. The entrance transfer passage 103 is provided at one end of the warehouse main body 101, and is a mechanism for entering the goods 150 to each shelf 110. The exit transfer passage 102 is provided at the other end of the warehouse main body 101, and is a mechanism for removing the goods 150 from each shelf 110. The entrance elevator 105 raises and lowers the goods 150 entering from the entrance lane 21, and supplies the goods 150 to the entrance transfer passage 103 of the stage corresponding to the desired shelf 110. The exit elevator 104 receives the goods 150 to be removed from the shelf 110 and the exit transfer passage 102, and raises and lowers the goods 150 to an exit port (not shown). The goods 150 removed from the exit elevator 104 are transported to the exit lane 121.

[0015] FIG. 2 is a schematic diagram showing the configuration of a logistics warehouse 1 equipped with a control device 10 according to an embodiment of the present invention. In the following description, the receiving elevator 105 and the outgoing elevator 104 may be simply referred to as the "conveyor 22". FIG. 2 shows the configuration of the receiving side of the logistics warehouse 1. The outgoing side of the logistics warehouse 1 has the same configuration as the receiving side except that the flow of the goods 150 flows through the automated warehouse 100, the conveyor 22 (outgoing elevator 104), and the outgoing lane 121, so the description will be omitted. As shown in FIG. 2, the logistics warehouse 1 includes a conveyor system 2 that conveys the goods 150 and a control device 10 that controls the conveyor system 2. The conveyor system 2 includes a receiving lane 21, a conveyor 22, and a conveyor 23 of the automated warehouse 100. Of these, the conveyor 22 is a device that constitutes the above-mentioned receiving elevator 105. The receiving lane 21 is a device that conveys the goods 150 horizontally and transfers them to the conveyor 22. The storage lane 21 is provided for a predetermined stage of the conveyor 22. The conveyor 23 is a device that receives articles from the conveyor 22 and transports them horizontally on each floor of the automated warehouse 100. The conveyor 23 is provided on each floor (the fourth floor in this example) of the storage connecting passage 103.

[0016] The conveying machine 22 is equipped with a horizontal movement means (e.g., a conveyor) and a vertical movement means, and is a device that moves the goods 150 in the vertical and horizontal directions. Each of the goods 150 to be stored is linked to a destination floor to which it is to be transported. As a result, the conveying machine 22 moves each of the goods 150 to the destination floor in the storing walkway 103. In the figure, the number "n" is attached to goods 150 whose destination is the "nth floor". This is the same in the subsequent figures. In the following explanation, goods 150 whose destination is the nth floor may be referred to as "goods to the nth floor".

[0017] The conveyor 22 is a vertical conveyor that performs vertical conveyance by moving the article 150 in a horizontal direction (sideways) while alternately raising and lowering the adjacent conveyor boxes 22a. The conveyor 22 is an alternating-operation lifting device, and has a conveyor shelf 22A on the storage lane 21 side and a conveyor shelf 22B on the conveyor 23 side. The conveyor shelves 22A and 22B each have a storage area CE of "the number of floors of the automated warehouse + one floor". And, they have consecutive conveyor boxes 22a in the number of stages (four stages in this case) of "the number of floors of the automated warehouse". The consecutive conveyor boxes 22a move up and down at the same time. When the consecutive conveyor boxes 22a move downward, each conveyor box 22a is arranged in the storage area CE of the first stage to the fourth stage from the bottom. When the consecutive conveyor boxes 22a move upward, each conveyor box 22a is arranged in the storage area CE of the second stage to the fifth stage from the bottom. In the following description, when the number of stages is simply mentioned, it refers to the number of stages counted from the bottom unless otherwise noted. The transport boxes 22a on the transport shelf 22A and the transport boxes 22a on the transport shelf 22B move up and down alternately. That is, when the transport box 22a on the transport shelf 22A moves upward, the transport box 22a on the transport shelf 22B moves downward. This allows the item 150 on the transport shelf 22A to be raised by one stage (see operation M1). When the transport box 22a on the transport shelf 22A moves downward, the transport box 22a on the transport shelf 22B moves upward. This allows the item 150 on the transport shelf 22B to be raised by one stage. In addition, the item 150 can be moved horizontally between the transport box 22a on the transport shelf 22A and the transport box 22a on the transport shelf 22B at the same stage, and the item 150 can be handed over and received between them (see operation M2). Also, the article 150 can be delivered from the transport box 22a on the transport shelf 22B to the conveyor 23 on the destination floor (see operation M3).

[0018] In this embodiment, an input lane 21 is provided for the second storage area CE from the bottom, and four conveyors 23 are provided for the first to fourth storage areas CE from the bottom. Note that the locations indicated as "S1" and "S2" in the storage area CE in Fig. 2 are spaces provided for the lifting and lowering of the transport shelves 22A and 22B. However, the positional relationship between the storage area CE, the input lane 21, and the conveyors 23 is not particularly limited, and may be set appropriately depending on the configuration of the logistics warehouse 1.

[0019] In the following description, the logistics warehouse 1 may be modeled as shown in FIG. 3. The transport box 22a of the transport machine 22 is shown as a single rectangle. Each item 150 can move simultaneously in the horizontal direction unless there is an obstruction. As for vertical movement, the item 150 in the transport machine 22 cannot move while the transport shelf of the transport machine 22 is moving vertically. During the vertical movement of the transport machine 22, the storage lane 21 and the conveyor 23 can move horizontally. In the following description, the transport shelf 22A may be referred to as the "right (R) transport shelf" and the transport shelf 22B may be referred to as the "left (L) transport shelf". The state in which the left transport shelf 22B is raised as shown in FIG. 3(a) may be referred to as the "left transport shelf raised state", and the state in which the right transport shelf 22A is raised as shown in FIG. 3(b) may be referred to as the "right transport shelf raised state". Furthermore, each transport box 22a on the transport shelves 22A and 22B is assigned an identification number, such as "0, 1, 2, 3," in order from the bottom up. In the drawing, the identification number is indicated by a number enclosed in a circle on the transport box 22a.

[0020] Next, a block configuration of the control device 10 will be described with reference to FIG. 4. FIG. 4 is a block configuration diagram of the control device 10 according to this embodiment. The control device 10 is a unit that controls the conveying system 2. The control device 10 includes an ECU [Electronic Control Unit] that performs overall management of the logistics warehouse 1. The ECU is an electronic control unit that includes a CPU [Central Processing Unit], a ROM [Read Only Memory], a RAM [Random Access Memory], and a communication circuit such as a CAN [Controller Area Network]. For example, the ECU loads a program stored in the ROM into the RAM and executes the program loaded into the RAM with the CPU to realize various functions. The control device 10 includes an operation control unit 11, an item information acquisition unit 12, and a route calculation unit 13.

[0021] The operation control unit 11 is a unit that controls the transport operation of the logistics warehouse 1 so that each item 150 is transported based on the transport route calculated by the route calculation unit 13. The operation control unit 11 controls the transport operation by sending a control signal to the transport system 2. The operation control unit 11 operates each drive unit by sending a control signal to each drive unit of the storage lane 21, the transport machine 22, and the conveyor 23 of the transport system 2.

[0022] The item information acquisition unit 12 acquires item information indicating an initial movement state and a completed movement state of the item 150 when the item 150 moves in the order of the storage lane 21, the conveyor 22, and the automated warehouse 100, or when the item moves in the order of the automated warehouse 100, the conveyor 22, and the outgoing lane 121. The initial movement state is a state in which the item 150 to be transported is present in the storage lane 21, as shown in FIG. 5(a). The completed movement state is a state in which all of the items 150 to be transported have been transported to the automated warehouse 100, as shown in FIG. 5(b). The item information includes information such as the floor number of the destination of the item 150 present in the storage lane 21 at the time of storage, the number of items 150 for each floor, and the order of storage. The item information also includes information such as the number of items 150 to be taken out from which floor of the automated warehouse 100, and the order of their outgoing.

[0023] The route calculation unit 13 is a unit that calculates transport route information from the item state information so as to satisfy a reference logical formula based on constraint conditions. The route calculation unit 13 searches for a transport route for each item 150 in the transport system 2. Here, between the initial movement state and the movement completion state shown in FIG. 5(a), the transport system 2 simultaneously moves each item 150 horizontally and vertically, and transports each item 150 to its destination by combining each operation. At this time, the control device 10 moves the items 150 under the operational restrictions of the transport system 2 so that the items 150 do not interfere with each other and can be sorted quickly. At this time, the route calculation unit 13 calculates what route each item 150 will take in the transport system 2 to reach the destination. The route calculation unit 13 searches for a route for each item 150 in a predetermined number of items 150 using a shortest route search method or the like, with each part of the transport system 2 as a search node.

[0024] Here, the path calculation unit 13 defines the constraint conditions as a satisfiability problem (SAT problem). The SAT problem is a problem of determining whether there exists a value assignment to a proposition variable that makes a logical formula including a proposition variable true. The SAT problem is to solve a decision problem, that is, to find whether there is a solution that satisfies the constraints. For example, in response to the question "Can all the items 150 arrive at the destination floor with five or fewer up and down movements of the transport shelves 22A and 22B of the transport machine 22?", the answer is "Yes. The specific schedule is...". The reference logical formula includes a movement constraint regarding the movement of the items 150, an initial constraint regarding the initial state of the items, and an arrival constraint regarding the arrival of the items 150 at the destination.

[0025] In addition, the route calculation unit 13 defines the acquired multiple transport route information as a Maximum Satisfiability Problem (MaxSAT problem). The MaxSAT problem is a problem of finding a variable ratio that maximizes the number of satisfied clauses for a set of clauses given as input. The MaxSAT problem is to solve an optimization problem, that is, to find an optimal solution that satisfies constraints. For example, for the question, "What is the shortest time for all 150 items to arrive at the destination floor?", the answer is "10 seconds. The specific schedule is ~." The route calculation unit 13 calculates at least one of a solution that satisfies all hard clauses and maximizes the sum of the weights of the satisfied soft clauses, and a solution that satisfies all hard clauses and minimizes the sum of the weights of the unsatisfied soft clauses. A hard clause is a clause that must be satisfied. A soft clause is a clause that should be satisfied as much as possible, and the degree of satisfaction is represented by a weight (a positive integer).

[0026] [Preparation for explanation] First, before explaining the constraints of the SAT problem and the MaxSAT problem, we will explain the terminology. From now on, we will explain it as a common point for the SAT problem and the MaxSAT problem. A "constraint" is expressed as a set of clauses. A "clause" is the logical sum of literals, and is shown in the following formula (1). A "literal" is a logical variable or its negation, and is shown in formula (2). A "variable" takes the value of "True" or "False", and True may be considered as "1" and False as "0". In this specification, formulas (3), (4), and (5) are used as substitutes for clauses. Formula (3) can also be shown as formula (6).

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[0027] Equation (3) and equation (6) are "a1 to a m If all of the above is true, then c1 to c n must be true." Using equations (3) and (6), for example, we can show that "If an item is in XX on the right-hand transport shelf (representing each a), then in the next state, it will either stay there or be in YY on the left-hand transport shelf (representing each c)." Equation (4) is "The number of items from l1 to l n Of l1 to l, at most one is True. n If all of the above are False, the left side of equation (4) will be "0". In other words, the left side of equation (4) will be "1" or "0". Using equation (4), it is possible to express, for example, that "Each transport box (each transport box represents l) on the transport shelf can contain at most one item." This means that the same item 150 cannot be present in the same transport box 22a at the same time. If a certain item 150 does not fit into any transport box 22a, the left side of equation (4) will be "0". Equation (5) expresses "The number of items from l1 to l nis interpreted as "exactly one of these is True." Using formula (5), it is possible to express, for example, "a certain item is always present in either the storage lane, the transport shelf, or the destination floor (each location represents l)." In the following explanation, when the constraint conditions are explained, simply referring to "entrance" is understood to mean storage lane 21. Furthermore, when the constraint conditions are explained, simply referring to "item" is understood to mean item 150.

[0028] [Steps and Phases] In this description, the initial state of the logistics warehouse 1 is a state in which the left transport shelf 22B is raised and the right transport shelf 22A is lowered, as shown in FIG. 3(a). The route calculation unit 13 performs calculations by considering three-phase operations that enable the lateral movement of the article 150 and one lifting and lowering operation of the transport machine 22 as one step. The route calculation unit 13 performs the operation repeatedly, with the operation of "three phases and one step" as the basic operation. As shown in FIG. 6, the article 150 can move horizontally (moving horizontally) to the next position in each phase. Note that the number of articles that are horizontally moved in one phase is not particularly limited, and no article may be moved horizontally at all. Note that the route calculation unit 13 may omit phases in which no horizontal movement is performed without allocating time when calculating the transport route in the subsequent calculation. When the three phases are completed, the step is switched. At the timing of the step switching, the transport shelves 22A and 22B are switched between the "left transport shelf raised state (see FIG. 3(a))" and the "right transport shelf raised state (see FIG. 3(b))". The inventors of the present application discovered that, while the movement of the article 150 does not progress even if the switching operations of the transport shelves 22A and 22B occur continuously, the movement of the article 150 progresses even if the horizontal movement of the article 150 is performed continuously. The inventors of the present application also adopted 3, which is an appropriate number for the number of phases in one step, because the movement of the article 150 does not progress even if the horizontal movement is performed four or more times continuously (with exceptions). The reason for the number of phases being 3 is that the horizontal movement during the period when the vertical movement in the transport shelves 22A and 22B is not performed (during one step), is a maximum of one right movement and a maximum of two left movements (with exceptions), so the total value is 3.

[0029] The variables for indicating steps and phases are explained. (7) shown below is a variable indicating that "the i-th item is lined up at the entrance in phase p of step t". (8) is a variable indicating that "the i-th item is at the destination floor in phase p of step t". (9) is a variable indicating that "the i-th item is in transport box j on the left transport shelf in phase p of step t". Note that "j" for identifying the transport box 22a is an identification number shown in a circle in FIG. 3. (10) is a variable indicating that "the i-th item is in transport box j on the right transport shelf in phase p of step t". "Phase p of step t" may be abbreviated as "(t,p)" indicating time and used in the following explanation. Note that the index is "0 origin". Also, the start is "step 0, phase 0". Therefore, (t,p) transitions as "(0,0) → (0,1) → (0,2) → (1,0) → (1,1) → ...". At the timing of the change in step t, the transport shelves 22A and 22B are switched. If step t is an even number, it indicates that the left transport shelf is in the raised state (see FIG. 3(a)), and if step t is an odd number, it indicates that the right transport shelf is in the raised state (see FIG. 3(b)). In order to express the transition of (t, p), the variable shown in (11) is adopted. (11) is a variable that returns the next step and phase of (t, p). Specifically, the variable (11) indicates the contents shown in FIG. 7(a).

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[0030] [Entrance constraints] The constraint conditions related to the entrance (i.e., the storage lane 21) will be explained. The reference logical formula includes the logical formulas (12) and (13) indicating the entrance constraints as initial constraints related to the initial state. Equation (12) is interpreted as "if item i is lined up at the entrance at (t, p), it was lined up before that." Equation (13) is interpreted as "if item i is lined up at the entrance at (t, p), item i+1 is also lined up." The specific content of equation (12) is shown in FIG. 7(b). The specific content of equation (13) is shown in FIG. 7(c). Note that "M" means the maximum value of the up and down movement of the transport shelves 22A and 22B. The meaning of "M" will be the same in the following explanations.

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[0031] [Destination Floor Constraint] The constraint conditions related to the destination floor of the automated warehouse 100 will be described. The reference logical formula includes the logical formula of formula (14) indicating the destination floor constraint as an arrival constraint related to the arrival of the item at the destination floor (destination). Formula (14) is interpreted as "if item i arrives at the destination floor at (t, p), it will remain the same thereafter." The specific content of formula (14) is shown in FIG. 8(a).

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[0032] [Conveyor box constraints on transport shelves] The constraint conditions for transport boxes 22a on transport shelves 22A and 22B will now be described. The reference logical formula includes logical formulas (15) and (16) which indicate transport box constraints as movement constraints on the movement of items. Equation (15) is interpreted as "at (t, p), two or more items cannot be placed in transport box j on the left transport shelf." Equation (16) is interpreted as "two or more items cannot be placed in transport box j on the right transport shelf." Note that "N" refers to the number of items. The same applies to the subsequent logical formulas. Equation (17) indicates the range of values ​​that (t, p) can take.

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[0033] [Item existence constraint] We will now explain the constraint condition regarding the presence of an item somewhere in the transport system 2. The reference logical formula includes, as a movement constraint, the logical formula of equation (18) which indicates the presence constraint regarding the presence of an item while the item is moving. Equation (18) is interpreted as "at (t, p), item i is either lined up at the entrance, is in the transport shelf, or has reached the destination floor." Equation (19) indicates the range of values ​​that (t, p) can take.

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[0034] [Auxiliary function (cartridge position)] An auxiliary function is set that indicates the relationship between transport boxes 22a on transport shelves 22A and 22B. (20) shown below is an auxiliary function that indicates "a transport box on the left transport shelf that can be moved from transport box j on the right transport shelf". (21) shown below is an auxiliary function that indicates "a transport box on the right transport shelf that can be moved from transport box j on the left transport shelf". (22) shown below is an auxiliary function that indicates "a transport box on the left transport shelf that is stopped at the entrance floor at step t". (23) shown below is an auxiliary function that indicates "a transport box on the right transport shelf that is stopped at the entrance floor at step t".

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[0035] The specific content of the auxiliary function (20) is shown in FIG. 9(a). The specific content of the auxiliary function (21) is shown in FIG. 9(b). The specific content of the auxiliary function (22) is shown in FIG. 9(c). The specific content of the auxiliary function (23) is shown in FIG. 9(d). If the step t is an even number, the state is "left transport shelf raised state (see FIG. 3(a))". Therefore, the relationship between the transport box 20a on the right transport shelf 22A and the transport box 22a on the left transport shelf 22B is shown in FIG. 3(a). In addition, for the transport boxes 22a on the transport shelves 22A and 22B parked on the second floor, which is the entrance floor, as shown in FIG. 3(a), the right transport shelf 22A has "identification number 1" and the left transport shelf 22B has "identification number 0". If the step t is an odd number, the state is "right transport shelf raised state (see FIG. 3(b))". Therefore, the relationship between the transport box 20a on the right transport shelf 22A and the transport box 22a on the left transport shelf 22B is shown in Fig. 3(b). Also, for the transport boxes 22a on the transport shelves 22A and 22B parked on the second floor, which is the entrance floor, as shown in Fig. 3(b), the right transport shelf 22A has an "identification number 0" and the left transport shelf 22B has an "identification number 1."

[0036] Movement Constraint (Entrance) We will now explain the constraints on the movement of items when they are lined up at the entrance. The reference logical formula includes the logical formula (24) that indicates the movement constraint of items on the entrance side as a movement constraint. Equation (24) is interpreted as "if item i is lined up at the entrance at (t, p), then in the next phase next(t, p), it will be on the transport shelf on the right side or will remain lined up at the entrance." The specific content of equation (24) is shown in Figure 8(b).

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[0037] [Movement constraints (transport shelf)] The constraint conditions for the movement of an item when the item is on the transport shelves 22A and 22B will be described. Here, the basic conditions for the movement constraints of the transport shelves 22A and 22B will be described. Of the three phases, the conditions are set such that the item moves to the left in the first two phases and moves to the right in the last phase. The specific relationship between the phases and the movement directions is shown in FIG. 10(a). By setting such conditions, it is possible to eliminate an operation in which the item A on the transport shelf 22B and the item B on the transport shelf 22A are suddenly replaced in the next phase when the items A and B are moving horizontally, as shown in FIG. 10(b). The reference logical formula includes, as the movement constraints, the logical formulas of formulas (25) and (26) which indicate the movement constraints of the item placed in the immovable transport box on the right transport shelf 22A. Formula (25) is interpreted as "when the item i is in the transport box "0" on the right transport shelf at (t, p) where t is an even number, in the next phase next(t, p), it is in the same transport box "0". Equation (26) is interpreted as "When item i is in box "3" on the right-side transport shelf at (t, p) where t is an odd number, in the next phase next(t, p), it is in the same box "3". The specific contents of equations (25) and (26) are shown in FIG. 11(a). When t is an even number, the bottommost transport box 22a with "identification number 0" on the right-side transport shelf 22A is not adjacent to any other transport box 22a, the automated warehouse 100, or the storage lane 21 (see FIG. 11(b)). When t is an odd number, the topmost transport box 22a with "identification number 3" on the right-side transport shelf 22A is not adjacent to any other transport box 22a, the automated warehouse 100, or the storage lane 21 (see FIG. 11(c)). Therefore, the items placed in those transport boxes 22a with "identification numbers 1, 3" cannot be moved to any other location in the next phase and remain there.

number

[0038] The reference logical formula includes, as a movement constraint, logical formulas (27) and (28) that indicate the movement constraint of the item placed in the transport box that can move leftward on the right transport shelf 22A other than the entrance floor. The formula (27) is interpreted as "item i in transport box j on the right transport shelf moves leftward or remains in the same transport box j when transitioning from (t, 0) to (t, 1)". The formula (28) is interpreted as "item i in transport box j on the right transport shelf remains in the same transport box j when transitioning from (t, 1) to (t, 2) or when transitioning from (t, 2) to (t + 1, 0)". The specific contents of the formulas (27) and (28) are shown in FIG. 12(a). When t is an even number, as shown in FIG. 12(b), the transport box 22a with "identification number 2, 3" on the right transport shelf 22A corresponds to the transport box 22a that can move leftward other than the second floor, which is the entrance floor. When t is an odd number, as shown in FIG. 12(c), the transport box 22a with the "identification numbers 1, 2" on the right transport shelf 22A corresponds to the transport box 22a that can move left to any floor other than the second floor, which is the entrance floor.

number

[0039] The reference logical formula includes, as the movement constraints, the logical formulas of formula (29), formula (30), and formula (31) which indicate the movement constraints of the item placed in the transport box stopped at the entrance floor of the right transport shelf 22A. Formula (29) is interpreted as "item i in transport box j on the right transport shelf moves to the left or remains in the same transport box j when transitioning from (t,0) to (t,1)". Formula (30) is interpreted as "item i in transport box j on the right transport shelf remains in the same transport box j when transitioning from (t,1) to (t,2) or from (t,2) to (t+1,0) if it was there immediately before." Equation (31) is interpreted as "when the item i in the transport box j on the right transport shelf transitions from (t,1) to (t,2) or from (t,2) to (t+1,0), if the item i was not there immediately before, it moves to the left or stays in the same transport box j." When t is an even number, as shown in FIG. 13(a), the transport box 22a with "identification number 1" on the right transport shelf 22A corresponds to the transport box 22a stopped on the second floor, which is the entrance floor. When t is an odd number, as shown in FIG. 12(b), the transport box 22a with "identification number 0" on the right transport shelf 22A corresponds to the transport box 22a stopped on the second floor, which is the entrance floor.

number

[0040] The reference logical formula includes, as a movement constraint, the logical formula of formula (32) which indicates the movement constraint of the item placed in the transport box on the left transport shelf 22B that cannot be moved. Formula (32) is interpreted as "When item i is in transport box "3" on the left transport shelf at (t, p) where t is an even number, in the next phase next(t, p), it is in the same transport box "3". The specific content of formula (32) is shown in FIG. 14(a). When t is an even number, the top transport box 22a with "identification number 3" on the left transport shelf 22B is not adjacent to any other transport box 22a, the automated warehouse 100, or the storage lane 21 (see FIG. 14(b)). Therefore, the item placed in the transport box 22a with "identification number 3" cannot be moved to any place in the next phase and remains there. When t is an odd number, there is no transport box 22a that cannot be moved on the left transport shelf 22B (see FIG. 14(c)).

number

[0041] The reference logical formula includes, as movement constraints, logical formulas (33), (34), and (35) that indicate movement constraints of an item placed in a transport box on the left transport shelf 22B at the destination floor. Equation (33) is interpreted as "item i in transport box j on the left transport shelf moves to the left or remains in the same transport box j when transitioning from (t,0) to (t,1)." Equation (34) is interpreted as "item i in transport box j on the left transport shelf remains in the same transport box j when transitioning from (t,1) to (t,2) or from (t,2) to (t+1,0) if it was there immediately before." Equation (35) is interpreted as "when the item i in the transport box j on the left transport shelf transitions from (t,1) to (t,2) or from (t,2) to (t+1,0), if the item i was not there immediately before, it moves to the left or stays in the same transport box j." When t is an even number, as shown in FIG. 15(a), the transport box 22a with "identification numbers 0,1,2" on the left transport shelf 22B corresponds to the transport box 22a stopped at the target floor. When t is an odd number, as shown in FIG. 15(b), the transport box 22a with "identification numbers 0,1,2,3" on the left transport shelf 22B corresponds to the transport box 22a stopped at the target floor.

number

[0042] The reference logical formula includes, as a movement constraint, the logical formula of formula (36) which indicates the movement constraint of the item placed in the transport box stopped at a floor other than the destination floor of the left transport shelf 22B. Formula (36) is interpreted as "item i in transport box j of the left transport shelf remains in the same transport box j when transitioning from (t, 0) to (t, 1) or when transitioning from (t, 1) to (t, 2)". The specific content of formula (36) is shown in FIG. 16(a). When t is an even number, as shown in FIG. 16(b), the transport box 22a with "identification number 0, 1, 2" of the left transport shelf 22B corresponds to the transport box 22a stopped at a floor other than the destination floor. When t is an odd number, as shown in FIG. 16(c), the transport box 22a with "identification number 0, 1, 2, 3" of the left transport shelf 22B corresponds to the transport box 22a stopped at a floor other than the destination floor.

number

[0043] The reference logical formula includes, as a movement constraint, the logical formula of formula (37) which indicates the movement constraint of an item placed in a transport box that is stopped at a floor that is not the destination floor of the left transport shelf 22B and cannot be moved to the right. Formula (37) is interpreted as "item i in transport box j of the left transport shelf remains in the same transport box j when transitioning from (t, 2) to (t+1, 0)". The specific content of formula (37) is shown in FIG. 17(a). When t is an even number, as shown in FIG. 17(b), there is no floor in the left transport shelf 22B that is not the destination floor and cannot be moved to the right. When t is an odd number, as shown in FIG. 17(c), the transport box 22a with "identification number 0" on the left transport shelf 22B corresponds to the transport box 22a that is not the destination floor and cannot be moved to the right.

number

[0044] The reference logical formula includes, as a movement constraint, logical formulas (38) and (39) which indicate the movement constraint of the item placed in the transport box that is stopped at a floor that is not the destination floor of the left transport shelf 22B, is allowed to move to the right, and is not the entrance floor. The formula (38) is interpreted as "item i in transport box j of the left transport shelf will stay in the same transport box j if it is not there in phase 0 when transitioning from (t, 2) to (t + 1, 0)". The formula (39) is interpreted as "item i in transport box j of the left transport shelf will move to the right or stay in the same transport box j if it is there in phase 0 when transitioning from (t, 2) to (t + 1, 0)". The specific contents of the formulas (38) and (39) are shown in FIG. 18(a). When t is an even number, as shown in Fig. 18(b), the transport box 22a with "identification numbers 1, 2" on the left transport shelf 22B corresponds to the transport box 22a that is not the destination floor, can move to the right, and is not the entrance floor. When t is an odd number, as shown in Fig. 18(c), the transport box 22a with "identification numbers 2, 3" on the left transport shelf 22B corresponds to the transport box 22a that is not the destination floor, can move to the right, and is not the entrance floor.

number

[0045] Here, (40) shown below is an auxiliary variable indicating that "an item is contained in the transport box j at the entrance floor of the right transport shelf (p=2)". Using this auxiliary variable, and based on De Morgan's law, the fact that an item is contained in the transport box 22a at the entrance floor 2 of the right transport shelf 22A is expressed by formulas (41) and (42). When t is an even number, as shown in FIG. 19(a), the transport box 22a with "identification number 1" on the right transport shelf 22A corresponds to the transport box 22a at the entrance floor. When t is an odd number, as shown in FIG. 19(b), the transport box 22a with "identification number 0" on the right transport shelf 22A corresponds to the transport box 22a at the entrance floor.

number

[0046] The reference logical formula includes, as a movement constraint, logical formulas (43), (44), and (45) that indicate the movement constraint of an item placed in a transport box that is a floor that is not the destination floor of the left transport shelf 22B, can be moved to the right, and is stopped at the entrance floor. Formula (43) is interpreted as "if item i in transport box j on the left transport shelf is not present in phase 0 when transitioning from (t, 2) to (t + 1, 0), it will remain in the same transport box j." Formula (44) is interpreted as "if item i in transport box j on the left transport shelf is present in phase 0 when transitioning from (t, 2) to (t + 1, 0), and the transport box to the right is empty, it will either move to the right or remain in the same transport box j." Equation (45) is interpreted as "When the item i in the transport box j on the left transport shelf is in phase 0 during the transition from (t, 2) to (t+1, 0), if there is something in the transport box to the right, it will stay in the same transport box j." When t is an even number, as shown in FIG. 20(a), the transport box 22a with "identification number 0" on the left transport shelf 22B corresponds to the transport box 22a that is not the destination floor, but can move to the right and is stopped at the entrance floor. When t is an odd number, as shown in FIG. 20(b), the transport box 22a with "identification number 1" on the left transport shelf 22B corresponds to the transport box 22a that is not the destination floor, but can move to the right and is stopped at the entrance floor.

number

[0047] [Initial and arrival constraints] Let us explain the initial constraint. (46) shown below indicates that "initially, all items are lined up at the entrance," so it is True. Let us explain the arrival constraint. (47) shown below indicates that "after M up and down movements of the transport rack, all items must have arrived at the destination floor," so it is True.

number

[0048] [When items bound for the second floor are consecutive] When articles having the same entrance floor and destination floor pass the conveyor 22 consecutively, four phases are required (for example, when there are two articles) to pass through the conveyor 22. For example, as shown in FIG. 21(a), the article in front can reach the destination floor, the second floor, by horizontal movement in three phases, but the article in the back cannot reach the destination floor without horizontal movement in four phases. In this way, in the three-phase one-step system, such passing through is not scheduled. Therefore, the route calculation unit 13 regards multiple consecutive articles as one article. As shown in FIG. 21(b), the route calculation unit 13 regards two articles as one article as indicated by "150B". In this case, "150B" can reach the destination floor by horizontal movement in three phases. The number of articles to be combined is not particularly limited, and three or more articles may be combined.

[0049] Movement Constraint (Entrance) The reference logical formula includes, as the movement constraints, the logical formulas of formula (48), formula (49), and formula (50) which indicate the movement constraints at the entrance. Formula (48) is interpreted as "item i at the entrance can be moved to the right-hand transport shelf only in phase 0." Formula (49) is interpreted as "item i at the entrance remains at the entrance in phase 1." Formula (50) is interpreted as "item i at the entrance remains at the entrance in phase 2."

number

[0050] Movement constraint (right delivery shelf) The reference logical formula includes logical formulas (51) and (52) that indicate the movement constraints on the transport box on the entrance floor of the right transport shelf as the movement constraints. The formula (51) is interpreted as "item i on the transport box on the entrance floor of the right transport shelf always moves to the left transport shelf when t is an even number and the transition is from (t, 1) to (t, 2)". The formula (51) is interpreted as "item i on the transport box on the entrance floor of the right transport shelf always moves to the left transport shelf when t is an odd number and the transition is from (t, 1) to (t, 2)". Note that there is "no constraint" when the transition is from (t, 0) to (t, 1) or from (t, 2) to (t+1, 0). When t is an even number, as shown in FIG. 19(a), the transport box 22a with "identification number 1" on the right transport shelf 22A corresponds to the transport box 22a on the entrance floor. When t is an odd number, as shown in FIG. 19(b), the transport box 22a with "identification number 0" on the right transport shelf 22A corresponds to the transport box 22a on the entrance floor.

number

[0051] Movement constraint (left delivery shelf) The reference logical formula includes logical formulas (53) and (54) that indicate the movement constraints of the transport box on the destination floor and entrance floor of the left transport shelf as the movement constraints. The formula (53) is interpreted as "item i of the transport box on the destination floor and entrance floor of the left transport shelf always moves to the left when t is an even number and transitions from (t, 2) to (t + 1, 0)". The formula (54) is interpreted as "item i of the transport box on the destination floor and entrance floor of the left transport shelf always moves to the left when t is an odd number and transitions from (t, 2) to (t + 1, 0)". Note that there is "no constraint" when transitioning from (t, 0) to (t, 1) or from (t, 1) to (t, 2). As shown in FIG. 20(a), the transport box 22a with "identification number 0" on the left transport shelf 22B corresponds to the transport box 22a stopped at the destination floor and entrance floor. When t is an odd number, as shown in FIG. 20(b), the transport box 22a with "identification number 1" on the left transport shelf 22B corresponds to the transport box 22a parked at the destination floor and the entrance floor.

number

[0052] [Optimal solution search possible with SAT] Next, we will explain the optimal solution search unique to SAT. M Let S be the set of constraints (clauses) obtained when M is given. M If there is a solution, it can be interpreted that all items can reach the destination floor within M up and down movements of the transport shelf. M If there is no solution, it can be interpreted as "all the items will not reach the destination floor within M up and down movements of the transport shelf." For example, "S0, S1, ... S m-1 " is "no solution" and "S m If “,…” has a solution, then “m” is the optimal value.

[0053] [MaxSAT] Next, the contents unique to MaxSAT will be explained. To explain MaxSAT, variables (55) and (56) are prepared. (55) shown below is a variable indicating that "all items have arrived at the destination floor in phase 0 of step t." (56) shown below is a variable indicating that "during the transition from (t,0) to (t,1) to (t,2) to (t+1,0), the items have made horizontal movements k+1 times." When the path calculation unit 13 calculates the MaxSAT problem, it also calculates the above-mentioned constraint conditions calculated as the SAT problem.

number

[0054] [Soft clauses and related hard clauses] The hard clauses related to the soft clauses will be explained. First, the variables in (55) above will be explained. (55) indicates the cost of the up and down movement of the transport shelves 22A and 22B, and "weight: 1" can be set. The logical formula shown in formula (57) holds for this variable. "N" means the number of items. The meaning of "N" will be the same in the following explanations. Formula (57) is interpreted as "All the items have arrived at the destination floor by phase 0 of step t." The specific content of formula (57) is shown in Figure 22(a).

number

[0055] We will explain the variable in (56) above. This variable is used in the negative form as shown in (58). (58) indicates the cost of horizontal movement of an item, and can be set to "weight: 1". Equation (59) is interpreted as "during the transition from (t, 0) to (t, 1) to (t, 2) to (t+1, 0), no horizontal movement of the item occurs."

number

[0056] Regarding horizontal movement from the entrance, formula (60) holds. Formula (60) can be interpreted as "if item i is lined up at the entrance at (t, 0) and is on the right-hand transport shelf at the next step (t+1, 0), the horizontal movement cost is 1." A specific example of formula (60) is shown in FIG. 22(b). When t is an even number, as shown in FIG. 19(a), transport box 22a with "identification number 1" on right-hand transport shelf 22A corresponds to transport box 22a through which items are moved from the entrance. When t is an odd number, as shown in FIG. 19(b), transport box 22a with "identification number 0" on right-hand transport shelf 22A corresponds to transport box 22a through which items are moved from the entrance.

number

[0057] Regarding horizontal movement from the entrance, formula (61) holds. Formula (61) is interpreted as "if item i is lined up at the entrance at (t, 0) and is on the left transport shelf at the next step (t+1, 0), the horizontal movement cost is 2." A specific example of formula (61) is shown in FIG. 23(a). When t is an even number, as shown in FIG. 20(a), the transport box 22a with "identification number 0" on the left transport shelf 22B corresponds to the transport box 22a through which an item is moved from the entrance. When t is an odd number, as shown in FIG. 20(b), the transport box 22a with "identification number 1" on the left transport shelf 22B corresponds to the transport box 22a through which an item is moved from the entrance.

number

[0058] Regarding horizontal movement from the entrance, equation (62) holds. Equation (62) can be interpreted as "If item i is lined up at the entrance at (t,0) and arrives at the destination floor at the next step (t+1,0), the horizontal movement cost is 3." A concrete example of equation (62) is shown in Figure 23(b).

number

[0059] Regarding horizontal movement from the entrance, formula (63) holds. Formula (63) is interpreted as "if item i is on the right transport shelf at (t, 0) and on the left transport shelf at the next step (t+1, 0), the horizontal movement cost is 1." A specific example of formula (63) is shown in FIG. 24(a). When t is an even number, as shown in FIG. 25(a), the transport box 22a with "identification numbers 1, 2, 3" on the right transport shelf 22A is the source transport box 22a, and the transport box 22a with "identification numbers 0, 1, 2" on the left transport shelf 22B is the destination transport box 22a. When t is an odd number, as shown in FIG. 25(b), the transport box 22a with "identification numbers 0, 1, 2" on the right transport shelf 22A is the source transport box 22a, and the transport box 22a with "identification numbers 1, 2, 3" on the left transport shelf 22B is the destination transport box 22a.

number

[0060] Regarding horizontal movement from the entrance, formula (64) holds. Formula (64) is interpreted as "if item i is on the right-hand transport shelf at (t, 0) and arrives at the destination floor in the next step (t+1, 0), the horizontal movement cost is 2." A specific example of formula (64) is shown in FIG. 24(b). When t is an even number, as shown in FIG. 26(a), the transport boxes 22a with "identification numbers 1, 2, 3" on the right-hand transport shelf 22A are the source transport boxes 22a. When t is an odd number, as shown in FIG. 26(b), the transport boxes 22a with "identification numbers 0, 1, 2" on the right-hand transport shelf 22A are the source transport boxes 22a.

number

[0061] Regarding horizontal movement from the entrance, formula (65) holds. Formula (65) is interpreted as "if item i is on the left transport shelf at (t, 0) and on the right transport shelf in the next step (t+1, 0), the horizontal movement cost is 1." A specific example of formula (65) is shown in FIG. 27(a). When t is an even number, as shown in FIG. 28(a), the transport box 22a with "identification numbers 0, 1, 2" on the left transport shelf 22B is the source transport box 22a. When t is an odd number, as shown in FIG. 28(b), the transport box 22a with "identification numbers 1, 2, 3" on the left transport shelf 22A is the source transport box 22a.

number

[0062] Regarding horizontal movement from the entrance, formula (66) holds. Formula (66) is interpreted as "if item i is on the left transport shelf at (t, 0) and arrives at the destination floor in the next step (t+1, 0), the horizontal movement cost is 1." A specific example of formula (66) is shown in FIG. 29. When t is an even number, as shown in FIG. 28(a), the transport box 22a with "identification numbers 0, 1, 2" on the left transport shelf 22B is the source transport box 22a. When t is an odd number, as shown in FIG. 28(b), the transport box 22a with "identification numbers 1, 2, 3" on the left transport shelf 22A is the source transport box 22a.

number

[0063] Regarding horizontal movement when multiple consecutive items go from the entrance to the destination floor on the second floor (the situation shown in FIG. 21 above), a variable (67) is prepared. This variable is set to "weight: s-1", where s is the number of consecutive items. Furthermore, equations (68) and (60) hold. "Item i" is a bundled item that bundles multiple consecutive items. Equations (68) and (69) are interpreted as "the horizontal movement cost of s consecutive items going to the second floor is S+2". Equation (68) is set to "weight: s-1", and equation (69) is set to "weight: 3".

number

[0064] Next, an example of processing contents showing a control method by the control device 10 will be described with reference to Fig. 30. As shown in Fig. 30, the item information acquisition unit 12 acquires item information showing an initial movement state and a movement completion state of the item 150 when the item 150 moves in the order of the storage lane 21, the conveyor 22, and the automated warehouse 100, or when the item moves in the order of the automated warehouse 100, the conveyor 22, and the outgoing lane 121 (step S10). Next, the route calculation unit 13 calculates transport route information from the item information acquired in step S10 so as to satisfy a reference logical formula based on a constraint condition (step S20).

[0065] At this time, the route calculation unit 13 calculates whether the scheduling can be performed with the up-down movement of the transport shelves 22A and 22B M times or less as a SAT problem. The route calculation unit 13 calculates the reference logical formula to include a movement constraint regarding the movement of the item 150, an initial constraint regarding the initial state of the item 150, and an arrival constraint regarding the arrival of the item 150 at the destination. That is, the route calculation unit 13 calculates the transport route information to satisfy the reference logical formula based on the basic constraints (entrance, destination floor, lift box, existence of item) and the movement constraint (movement from entrance to transport shelf to destination floor). Furthermore, the route calculation unit 13 calculates the acquired multiple transport route information as a MaxSAT problem. The route calculation unit 13 calculates at least one of a solution that satisfies all hard clauses and maximizes the sum of weights of the satisfied soft clauses, and a solution that satisfies all hard clauses and minimizes the sum of weights of the unsatisfied soft clauses. The path calculation unit 13 calculates soft costs (costs of vertical movement of the transport shelves 22A and 22B and horizontal movement of the article 150) in addition to the constraint conditions calculated as the above-mentioned SAT problem.

[0066] The operation control unit 11 controls the transport operation of the article 150 based on the transport route information calculated in step S20 (step S30). With the above, the control process shown in FIG. 30 ends.

[0067] Next, the operation and effects of the control device 10 and the control method of the logistics warehouse 1 according to this embodiment will be described.

[0068] In the control device 10 of the logistics warehouse 1, the item information acquisition unit 12 acquires item information indicating the initial movement state and the completed movement state of the item 150 when the item 150 moves in the order of the storage lane 21, the conveyor 22, and the automated warehouse 100, or when the item moves in the order of the automated warehouse 100, the conveyor 22, and the outgoing lane 121. In addition, the route calculation unit 13 calculates the transport route information from the item information so as to satisfy a reference logical formula based on the constraint condition. In this case, the route calculation unit 13 can calculate what transport route the item 150 should take between the initial movement state and the item completed state. At this time, the route calculation unit 13 can easily eliminate the operation that is constrained in the transport route by calculating the reference logical formula by calculating so as to satisfy the reference logical formula based on the constraint condition. As a result, the route calculation unit 13 can calculate an appropriate transport route with a small computation load. As a result, the computation load when calculating the transport route for transporting the item 150 can be reduced.

[0069] The path calculation unit 13 defines the constraint conditions as a satisfiability determination problem, and the criteria formula may include a movement constraint regarding the movement of the item 150, an initial constraint regarding the initial state of the item 150, and an arrival constraint regarding the arrival of the item 150 at the destination.

[0070] The conveyor 22 is a vertical conveyor that performs vertical conveyance by moving the article 150 in the horizontal direction while alternately raising and lowering the conveyor boxes 22a on the adjacent conveyor shelves 22A and 22B, and the path calculation unit 13 may perform calculations by considering three phases of operation that enable the article 150 to move in the horizontal direction and one lifting and lowering operation of the conveyor 22 as one step. In this way, due to the structure of the vertical conveyor, there are cases where efficient movement is possible by performing horizontal movements three times in succession, but the article does not move even if the lifting and lowering operations are performed successively. Therefore, the path calculation unit 13 makes it easier to calculate an efficient conveyance path by setting the horizontal movement to an appropriate number of phases, namely three phases, while treating the lifting and lowering operation as one step.

[0071] The route calculation unit 13 may define the acquired multiple transport route information as a satisfiability maximization problem and calculate at least one of a solution that satisfies all hard clauses and maximizes the sum of weights of the satisfied soft clauses, and a solution that satisfies all hard clauses and minimizes the sum of weights of the unsatisfied soft clauses. In this case, the route calculation unit 13 can adopt a transport route that can move items most efficiently based on the weights of the soft clauses among the transport routes that can clear the necessary constraint conditions by satisfying the hard clauses.

[0072] When items whose numbers of floors of the incoming lane 21 and outgoing lane 121 are the same as the number of floors of the target position in the automated warehouse 100 pass through the conveyor 22 in succession, the path calculation unit 13 may regard the consecutive multiple items 150 as one item (see FIG. 21). For example, if there is a restriction on the number of times the items 150 can continuously move horizontally, there is a possibility that the rear item 150 of the consecutive multiple items 150 may not be able to reach the target position as it is. In response to this, the path calculation unit 13 may regard the consecutive multiple items 150 as one item, thereby allowing the rear item 150 to reach the target position as it is.

[0073] The control method of the logistics warehouse 1 includes an item information acquisition step S10 for acquiring item information indicating an initial movement state and a completion state of the item 150 when the item 150 moves in the order of the input lane 21, the conveyor 22, and the automated warehouse 100, or when the item 150 moves in the order of the automated warehouse 100, the conveyor 22, and the outgoing lane 121, a route calculation step S20 for calculating transport route information from the item information so as to satisfy a reference logical formula based on constraint conditions, and a transport control step S30 for controlling the transport operation of the item 150 based on the transport route information.

[0074] According to this control method for the logistics warehouse 1, it is possible to obtain the same functions and effects as those of the control device 10 described above.

[0075] Next, the process contents that can further improve the transport efficiency while reducing the computation load by computing the transport path information so as to satisfy the reference logical formula based on the constraint conditions as described above will be described with reference to FIGS. 31 to 43.

[0076] As described above, the control device 10 formulates the movement of the article 150 based on the basic operational concept of "three phases and one step" as shown in Fig. 31. Fig. 31(a) shows two phases of leftward movement and one phase of rightward movement. Fig. 31(b) shows one step of vertical movement. The part of the warehouse main body 101 adjacent to the transport shelf 22B becomes the goal position 120 of the article 150.

[0077] In addition, the control device 10 is capable of performing the following calculations. First, the automated warehouse 100 is provided with a temporary placement area 125 adjacent to the conveyor 22. The temporary placement area 125 serves as the goal position 120 of the item 150 in FIG. 31, and also serves as an area in which the item 150 is temporarily placed during its transportation. As a result, as shown in FIG. 32, the control device 10 can move the item 150 in "3 phases and 1 step" using the temporary placement area 125. As shown in FIG. 32(a), it is possible to move two areas in one phase of rightward movement. The path calculation unit 13 calculates the transport path information so as to satisfy a first reference logical formula related to the constraint conditions regarding the storage of the item 150 in the temporary placement area 125 and a second reference logical formula related to the constraint conditions regarding the movement of the item 150 to the temporary placement area 125. Hereinafter, the formulation of the movement of the item 150 focusing on the movement to the temporary placement area 125 will be described in detail.

[0078] [Define variables] This represents the presence of the item 150 relative to the placement position of the temporary placement area 125. Equation (70) is a variable indicating that "the i-th item is on the j-th floor of the temporary placement area in phase p of step t." As shown in FIG. 33, the temporary placement area 125 is indicated as "buff." For the sake of convenience in formulation, the temporary placement area 125 on the first floor is set as "j=0." In other words, the temporary placement areas 125 on the first to fourth floors are indicated as "buff0, buff1, buff2, buff3."

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[0079] [Auxiliary Functions] FIG. 33(a) shows a state in which the transport shelf 22B on the left side of the transport device 22 is raised. FIG. 33(b) shows a state in which the transport shelf 22B on the right side of the transport device 22 is raised. When a lateral movement occurs between the transport shelf 22B on the left side of the transport device 22 and the temporary placement area 125, the floor after the movement changes depending on whether the transport shelf 22B on the left side is lowered or raised. Therefore, the floor after the movement is expressed in a simplified manner. Equations (71) to (73) show "a floor in the temporary placement area to which the left transport shelf can be moved from the jth floor of the left transport shelf at step t". Equations (74) to (76) show "a floor in the left transport shelf to which the left transport shelf can be moved from the jth floor of the temporary placement area at step t". Note that when t is an even number, the state is that of FIG. 33(a), and when t is an odd number, the state is that of FIG. 33(b). This defines the floor in the temporary placement area 125 to which the vertical transport device can be moved.

[0080]

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[0081] When lateral movement occurs between the transport shelf 22A on the right side of the transport machine 22 and the temporary placement area 125, the floor after the movement changes depending on whether the right transport shelf 22A is lowered or raised. Therefore, the floor after the movement is expressed in a simplified manner. Equations (77) to (79) show the "floor of the temporary placement area to which movement can be made from the jth floor of the right transport shelf 22A at step t". Equations (80) to (82) show the "floor of the right transport shelf to which movement can be made from the jth floor of the temporary placement area at step t". Equation (83) shows the "floor of the temporary placement area to which movement can be made from the storage lane at step t".

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[0082] As described above, the route calculation unit 13 calculates the transport route information by referring to the above formulas (71) to (83) as the basic logical formula (auxiliary logical formula) related to the constraint conditions for the transport shelf 22B.

[0083] [Box constraints for temporary placement area] Each transport box 22a in the temporary placement area can contain only one item 150. Equation (84) shows the existence constraint. Equation (85) explains t and p in equation (84).

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[0084] [Item existence constraint] The presence constraint of item 150 is satisfied by adding temporary placement area 125 to the constraint (equation (18)) when temporary placement area 125 is not taken into consideration. Equation (86) shows the presence constraint of item 150 taking into consideration temporary placement area 125. Equation (86) is interpreted as "at (t, p), item i is either lined up at the entrance, in a transport shelf, in the temporary placement area, or has reached the destination floor."

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[0085] As described above, the route calculation unit 13 calculates the transport route information so as to satisfy the first reference logical formula related to the constraint conditions regarding the storage of the item 150 in the temporary storage area 125, that is, the formulas (84) to (86).

[0086] [Auxiliary variables for existence constraints] A variable is prepared to express whether an item 150 is present at a position (the hatched position in Fig. 34(a) and (b)) on the same floor as the storage lane 21, which is the entrance floor, in the left transport shelf 22B of the transport machine 22. Equation (87) indicates that "an item is present at a position on the same floor as the entrance floor in the left transport shelf in phase 2 of step t." The hatched positions in Fig. 34(a) and (b) indicate positions that are the subject of auxiliary variables. Using the auxiliary variables, and based on De Morgan's law, it is shown by equations (88) and (89) that an item is present in the transport box 22a on the second floor, which is the entrance floor of the left transport shelf 22B. Equations (88) and (89) are constraints when the item 150 is present.

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[0087] A variable expressing whether or not an item 150 is present in the temporary placement area 125 is prepared. The positions shaded in gray in Figures 34(a) and (b) indicate the positions that are the subject of the auxiliary variables. Equation (90) indicates that "an item is present in the temporary placement area in phase p of step t." Using this auxiliary variable, and based on De Morgan's law, equations (91) and (92) show that an item is present on each floor of the temporary placement area 125. Equations (91) and (92) are constraints when an item 150 is present.

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[0088] [Entrance constraints] Basically, the entrance constraint is the same as when the temporary placement area 125 is not considered, but a different constraint is applied to the item 150 immediately after the item (item bound for the second floor) moving to the same destination floor as the entrance floor and the item 150 further behind it. First, the constraints applied to the item 150 immediately after the item 150 bound for the second floor are shown. Equations (93) and (94) show the movement constraints of the item 150 immediately after in phase 0. Equation (93) is interpreted as "if item i is lined up at the entrance at (t, 0) and item i-1 is not lined up at the entrance at (t, 0), item i is on the right transport shelf at (t, 1) or remains lined up at the entrance." Equation (94) is interpreted as "if item i is lined up at the entrance at (t, 0) and item i-1 is lined up at the entrance at (t, 0), item i remains lined up at the entrance at (t, 1)." Equation (95) shows the movement constraints of 150 items immediately after in phase 1. Equation (95) is interpreted as "if item i is lined up at the entrance at (t, 1), item i will remain lined up at the entrance at (t, 2)." Equations (96) to (100) show the movement constraints of 150 items immediately after in phase 2. Equation (96) is interpreted as "if item i is lined up at the entrance at (t, 2) and item i-1 is not lined up at the entrance at (t, 0), item i will remain lined up at the entrance at (t+1, 0)." Equation (97) is interpreted as "if item i is lined up at the entrance at (t, 2), item i-1 is lined up at the entrance at (t, 0), and item i-1 is at the destination floor at (t+1, 0), item i will be in the left storage shelf, the right transport shelf, the temporary placement area, or will remain lined up at the entrance at (t+1, 0)." Equation (98) is interpreted as "If item i is lined up at the entrance at (t,2), item i-1 is lined up at the entrance at (t,0), and item i-1 is on the left storage shelf at (t+1,0), then item i will be on the right transport shelf or will remain lined up at the entrance at (t+1,0)." Equation (99) is interpreted as "If item i is lined up at the entrance at (t,2), item i-1 is lined up at the entrance at (t,0), and item i-1 is on the right storage shelf at (t+1,0), then item i will remain lined up at the entrance at (t+1,0)." Equation (100) is interpreted as "If item i is lined up at the entrance at (t,2), and item i-1 is lined up at the entrance at (t,0), then item i will remain lined up at the entrance at (t+1,0)."

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[0089] Next, the constraints applied to the next item 150 are shown. The movement constraints of the next item 150 in phase 0 are the same as equations (93) and (94). The movement constraints of the next item 150 in phase 1 are the same as equation (95). The movement constraints of the next item 150 in phase 2 are the same as equations (96), (98) to (100), except that equation (97) is changed to equation (101). Equation (101) is interpreted as "if item i is lined up at the entrance at (t, 2), item i-1 is lined up at the entrance at (t, 0), and item i-1 is in the temporary placement area at (t+1, 0), then item i is on the left storage shelf, on the right transport shelf, or lined up at the entrance as it is at (t+1, 0)."

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[0090] [Movement constraints on the transport shelf on the left side of the transport machine] The constraints when the item 150 moves from the left transport shelf 22B to the destination floor of the transport shelf 22B will be described. The difference from the case where the temporary placement area is not taken into consideration is the possibility that the item 150 exists in the temporary placement area 125. First, the constraints when the i-th item 150 is in a position where it can be moved to the destination floor in the left transport shelf 22B at step t and phase p are shown. The positions subject to the constraints are the positions shown by hatching in Figures 35(a) and (b). Equations (102) and (103) show the movement constraints in phase 0. Equation (102) is interpreted as "when the transition from (t,0) to (t,1) occurs, if there is an item in the temporary placement area in phase 1, the item i in the transport box j of the left transport shelf will remain in the same transport box j." Equation (103) is interpreted as "If item i is on the left storage shelf at (t, 0) and there is no item in the temporary placement area at (t, 1), item i will be at the destination floor at (t, 1) or will remain on the left transport shelf." "When transitioning from (t, 0) to (t, 1), if the temporary placement area is empty in phase 1, item i in transport box j on the left transport shelf will either move to the destination floor or remain in the same transport box j." Equations (104) to (106) show the movement constraints in phase 1 and phase 2. Equation (104) is interpreted as "When transitioning from (t, p) to the next phase (t, p), if item i in transport box j on the left transport shelf is there in phase p-1, it will remain in the same transport box j." Equation (105) is interpreted as "When item i in transport box j on the left transport shelf transitions from (t, p) to the next phase next(t, p), if item i is not present in phase p-1 and there is an item in the temporary placement area, it will stay in the same transport box j." Equation (106) is interpreted as "When item i in transport box j on the left transport shelf transitions from (t, p) to the next phase next(t, p), if item i is not present in phase p-1 and the temporary placement area is empty, it will move to the destination floor or stay in the same transport box j."

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[0091] Next, the constraints of phase 0 and phase 1 are shown for the case where the i-th item 150 is not in a position where it can be moved to the destination floor of the transport shelf 22B in step t, phase p, and is not an entrance floor (2nd floor). The positions subject to the constraints are the positions shown by hatching in Figures 36(a) and (b). Equation (107) shows the movement constraints of the item 150 in phase 0. Equation (107) is interpreted as "item i in transport box j on the left transport shelf moves to the temporary placement area or remains in the same transport box j when transitioning from (t,0) to (t,1)". Equations (108) and (109) show the movement constraints of the item 150 in phase 1. Equation (108) is interpreted as "item i in transport box j on the left transport shelf remains in the same transport box j if it is there in phase p-1 when transitioning from (t,p) to the next phase next(t,p)". Equation (109) is interpreted as "When the transition from (t,1) to (t,2) occurs, if item i in transport box j on the left transport shelf was not there in phase 0, it will either move to the temporary placement area or remain in the same transport box j."

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[0092] The constraints on the floor corresponding to the entrance floor (2nd floor) are shown. The positions subject to the constraints are the positions shown by hatching in Figures 37(a) and (b). In phase 0, formula (107) becomes the movement constraint for item 150. In phase 1, formulas (108) and (109) become the movement constraints for item 150. In phase 2, formulas (108), (110), and (111) become the movement constraints for item 150. Formula (110) is interpreted as "when transitioning from (t,2) to (t+1,0), if item i in transport box j on the left transport shelf was not present in phase 1 and the temporary placement area is empty, it will either move to the temporary placement area or remain in the same transport box j." Equation (111) is interpreted as "When item i in transport box j on the left transport shelf transitions from (t, 2) to (t+1, 0), if it was not there in phase 1 and there is an item in the temporary placement area, it will remain in the same transport box j."

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[0093] [Temporary placement area movement constraints] The constraint when the i-th item 150 is in the temporary placement area 125 and is in a position where it can be moved to the destination floor of the transport shelf 22B in step t, phase p is shown in formula (112). Formula (112) is interpreted as "item i on the jth floor of the temporary placement area moves to the destination floor when transitioning from (t, p) to the next phase next(t, p)." The positions subject to the constraint are the positions shown in gray in Figures 38(a) and (b). The constraint when the i-th item is in the temporary placement area 125 and is not in a position where it can be moved to the destination floor of the transport shelf 22B in step t, phase p, and the left transport shelf 22B is raised and the temporary placement area 125 is the lowest floor is shown in formula (113). The positions subject to the constraint are the positions shown in gray in Figure 38(c). Equation (113) is interpreted as "item i on floor j of the temporary placement area remains on the same floor j when transitioning from (t, p) to the next phase next(t, p)."

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[0094] When the i-th item 150 is in the temporary placement area 126 and is not in a position where it can be moved to the destination floor of the transport shelf in step t and phase p, and when the left lift of the transport device is raised and the temporary placement area is not the lowest floor, and when it is phase 0 and phase 1, the constraint is given by equation (113). The positions subject to the constraint are the positions shown in gray in Figures 39(a) and (b). The constraints when it is phase 2, the right transport shelf 22A is raised, and the temporary placement area 125 is the lowest floor are given by equations (114) and (115). The positions subject to the constraint are the positions shown in gray in Figure 39(c). Equation (114) is interpreted as "when the transition from (t, 2) to (t+1, 0) occurs, if the item i on the jth floor of the temporary placement area is not there in phase 0, it will remain on the jth floor." Equation (115) is interpreted as "When item i on floor j of the temporary placement area transitions from (t, 2) to (t+1, 0), if it was there in phase 0, it will either be moved to the left storage shelf or remain on floor j."

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[0095] The constraints when the temporary placement area is in phase 2 and the temporary placement area is on the third and fourth floors are shown in equations (114), (116), and (117). Equation (116) is interpreted as "When the transition from (t, 2) to (t+1, 0) occurs, if item i on floor j of the temporary placement area is there in phase 0, and there is an item on the left storage shelf, it will either move to the left storage shelf or stay on floor j." Equation (117) is interpreted as "When the transition from (t, 2) to (t+1, 0) occurs, if item i on floor j of the temporary placement area is there in phase 0, and there is an item on the left storage shelf, it will either move to the left storage shelf, move to the right storage shelf, or stay on floor j." The positions subject to the constraints are the positions shown in gray in Figure 40(a) and (b). The constraints when it is phase 2 and the temporary placement area 125 is the entrance floor (2nd floor) are shown in equations (114), (115), and (118) to (121). The positions subject to the constraints are shown in gray in Figures 40(c) and (d). Using the above movement constraints, it becomes possible to move and temporarily place the item in the temporary placement area 125. Equation (118) is interpreted as "when transitioning from (t, 2) to (t + 1, 0), if item i on floor j of the temporary placement area was there in phase 0, if the left storage shelf is empty at (t + 1, 0), and if there is an item on the left storage shelf at (t, 2), then it will either move to the left storage shelf or remain on floor j." Equation (119) is interpreted as "When the transition from (t,2) to (t+1,0) occurs, if item i on floor j of the temporary placement area is there in phase 0, if the left storage shelf is empty at (t+1,0), if the left storage shelf is empty at (t,2), and if there is an item on the right storage shelf at (t,2), it will either move to the left storage shelf or stay on floor j." Equation (120) is interpreted as "When the transition from (t,2) to (t+1,0) occurs, if item i on floor j of the temporary placement area is there in phase 0, if the left storage shelf is empty at (t+1,0), if the left storage shelf is empty at (t,2), if the right storage shelf is empty at (t,2), and if there is an item on the right storage shelf at (t+1,0), it will either move to the left storage shelf or stay on floor j."Equation (121) can be interpreted as, "When item i on floor j of the temporary placement area is located there in phase 0 during the transition from (t, 2) to (t+1, 0), if the left storage shelf is empty at (t+1, 0), if the left storage shelf is empty at (t, 2), if the right storage shelf is empty at (t, 2), or if the right storage shelf is empty at (t+1, 0), then it will move to the right storage shelf, the left storage shelf, or it will remain on floor j."

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[0096] As described above, the route calculation unit 13 calculates the transport route information so as to satisfy the second reference logical formula related to the constraint conditions regarding the movement of the article 150 to the temporary placement area 125, that is, the formulas (112) to (121).

[0097] [Soft clauses and related hard clauses] If the i-th item 150 is lined up in the storage lane 21 at step t, phase 0, and is in the temporary placement area 125 at step t+1, phase 0, the horizontal movement cost is 3. Equation (122) shows the constraints.

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[0098] Equation (123) is prepared for horizontal movement when an item 150 moves immediately after a non-adjacent item 150 bound for the second floor. Equation (123) shows the horizontal movement cost of item 150, and "weight: 1" can be set, just as in the case where the temporary placement area 125 is not taken into consideration. If the i-th item 150 is lined up in the storage lane 21 at step t, phase 0, and is in the temporary placement area at step t+1, phase 0, the horizontal movement cost is 4. Equation (124) shows the constraints.

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[0099] For the horizontal movement of consecutive items 150 bound for the second floor, equation (125) is prepared. Equation (125) indicates the horizontal movement cost of the items 150, and is set to "weight: s-1". Here, s is the number of consecutive items 150. If the i-th item (an item made up of multiple consecutive items) is lined up in the storage lane 21 at step t, phase 0, and is on the destination floor of the storage shelf in the warehouse main body 101 at step t+1, phase 0, the horizontal movement cost is s+2. Equations (126) and (127) show the related constraints. Equation (126) is set to "weight: s-1". Equation (127) indicates that "horizontal movement cost: s+3" is required.

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[0100] Formula (128) is prepared for the horizontal movement of the item 150 immediately following the consecutive items 150 bound for the second floor. Formula (128) indicates the horizontal movement cost of the item 150, and is set to "weight: 1". Here, s is the number of consecutive items 150. If the i-th item (item that is a bundle of multiple consecutive items) is lined up in the storage lane 21 at step t, phase 0, and the i+1-th item 150 (item that is immediately following the item that is a bundle of multiple consecutive items) is at the destination floor of the storage shelf at step t+1, phase 0, the horizontal movement cost is s+3. Relevant constraints are shown in formulas (129) and (130). Figure 41 shows the situation that is the subject of formulas (129) and (130). In this case, there are three consecutive items 150 bound for the second floor. Therefore, "s=3". The i+1-th item 150 (item that is immediately following the item that is a bundle of multiple consecutive items) is the item 150 bound for the fourth floor. The path calculation unit 13 evaluates the number of horizontal movements using formulas (129) and (130) for a situation in which an item 150 to be transported to the fourth floor moves to the temporary placement area 125 after the item 150 to be transported to the second floor is transported continuously. Formula (129) is set to "weight: 1". Formula (130) indicates that "horizontal movement cost: s + 3" is required.

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[0101] If the i-th item 150 is present on the transport shelf 22A on the right side of the transport machine 22 at step t, phase 0, and is in the temporary placement area at step t+1, phase 0, then the horizontal movement cost is 2. The constraint at this time is shown in equation (131). The situation for evaluating the number of horizontal movements using equation (131) is shown in Figures 42(a) and (b). The path calculation unit 13 evaluates the number of horizontal movements using equation (131) for a situation in which the item 150 on the right transport shelf 22A is moved to the temporary placement area 125.

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[0102] If the i-th item 150 is present on the left transport shelf 22B of the transport machine 22 at step t, phase 0, and is in the temporary placement area 125 at step t+1, phase 0, then the horizontal movement cost is 1. The constraint in this case is shown in equation (132). The situation in which the number of horizontal movements is evaluated using equation (132) is shown in Figures 42(c) and (d). The path calculation unit 13 evaluates the number of horizontal movements using equation (132) for a situation in which the item 150 on the left transport shelf 22B is moved to the temporary placement area 125.

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[0103] If the i-th item 150 is present in the temporary placement area 125 at step t, phase 0, and is on the left transport shelf 22B lift of the transport machine 22 at step t+1, phase 0, then the horizontal movement cost is 1. The constraints are shown in equation (133). The situation in which the number of horizontal movements is evaluated using equation (133) is shown in Figures 43(a) and (b). The path calculation unit 13 evaluates the number of horizontal movements using equation (133) for a situation in which the item 150 in the temporary placement area 125 is moved to the left transport shelf 22B.

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[0104] If the i-th item 150 is present in the temporary placement area 125 at step t, phase 0, and is on the transport shelf 22A on the right side of the transport machine 22 at step t+1, phase 0, then the horizontal movement cost is 2. The constraints are shown in equation (134). The situation in which the number of horizontal movements is evaluated using equation (134) is shown in Figures 43(c) and (d). The path calculation unit 13 evaluates the number of horizontal movements using equation (134) for a situation in which the item 150 in the temporary placement area 125 is moved to the transport shelf 22A on the right side.

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[0105] The route calculation unit 13 can calculate a transport route with the least number of operations while allowing for movement for temporary placement in the temporary placement area 125 within the above-mentioned constraints. The route calculation unit 13 may search for transport route information that minimizes the cost of the article 150 in the horizontal direction (lateral direction).

[0106] As described above, the automated warehouse 100 is provided with a temporary placement area 125 adjacent to the conveyor 22. The route calculation unit 13 calculates the transport route information so as to satisfy a first reference logical formula (e.g., formulas (84) to (86)) related to the constraint conditions related to the storage of the item 150 in the temporary placement area 125 and a second reference logical formula (e.g., formulas (112) to (121)) related to the constraint conditions related to the movement of the item 150 to the temporary placement area. In this way, the route calculation unit 13 can easily eliminate the operations that are restricted in the transport route by using the first reference logical formula and the second reference logical formula, and can efficiently search for a transport route using the temporary placement area 125. As described above, the load of calculation when calculating the transport route for transporting the item 150 can be reduced.

[0107] The conveyor 22 is a vertical conveyor that performs vertical conveyance by moving the article 150 laterally while alternately raising and lowering the conveyor shelf 22B adjacent to the temporary placement area 125 and the conveyor shelf 22A adjacent to the conveyor shelf 22B, and the path calculation unit 13 calculates the conveyor path information by referring to auxiliary logical expressions (e.g., expressions (71) to (83)) related to the constraint conditions related to the conveyor shelf 22B. In this way, the path calculation unit 13 can efficiently search for a conveyor path using the temporary placement area 125 while easily eliminating operations that are restricted by the relationship with the conveyor shelf 22B by using the third reference logical expression.

[0108] The route calculation unit 13 may define the acquired multiple pieces of transport route information as a sufficiency maximization problem, and search for transport route information that minimizes the lateral cost of the item 150. In this case, the route calculation unit 13 can adopt a transport route that can move the item most efficiently based on the cost of moving the item 150 in the lateral direction.

[0109] The present invention is not limited to the above-described embodiments.

[0110] The above-mentioned SAT problem and various constraint conditions of MaxSAT are merely examples and can be changed as appropriate. In addition, the number of floors of the automated warehouse 100, the number of floors of the conveyors 22, the storage lanes 21, and the delivery lanes 121 can also be changed as appropriate, and the constraint conditions can be changed accordingly.

[0111] For example, the logistics warehouse is not limited to the one shown in FIG. 1. For example, a plurality of parallel automated warehouses may be provided for a pair of storage lanes 21 and outgoing lanes 121. The conveyor does not have to be a vertical conveyor having a pair of storage shelves that move up and down alternately as shown in FIG. 2. For example, a rotary type conveyor (a conveyor in which the storage shelves move in a fixed direction one level at a time and when the storage shelves do not move in a circular direction, an article can be moved between the storage shelves) may be used. Alternatively, an escalator type or traction type conveyor may be used. In this case, the control device may calculate the conveyor route information so as to satisfy a reference logical expression based on a constraint condition applicable to the conveyor.

[0112] [Form 1] An automated warehouse for storing items; A conveying lane for conveying a plurality of the arranged articles; A control device for a logistics warehouse comprising a conveyor provided between the conveying lane and the automated warehouse, an item information acquisition unit that acquires item information indicating an initial state and a completion state of the item when the item moves through the transport lane, the transport machine, and the automated warehouse in this order; a route calculation unit that calculates transport route information from the item information so as to satisfy a reference logical expression based on a constraint condition; an operation control unit that controls a transport operation of the logistics warehouse based on the transport route information; The automated warehouse is provided with a temporary placement area adjacent to the conveyor, The path calculation unit is A first criterion logical formula for a constraint condition regarding the entry of the item into the temporary placement area; a control device for a logistics warehouse that calculates the transport route information so as to satisfy a second standard logical formula related to a constraint condition related to the movement of the item to the temporary placement area. [Form 2] the conveyor is a vertical conveyor that performs vertical conveyance by moving the article in a lateral direction while alternately raising and lowering a first conveyor shelf adjacent to the temporary placement area and a second conveyor shelf adjacent to the first conveyor shelf, the path calculation unit performs calculations regarding a three-phase operation that enables the article to move in the lateral direction and one lifting and lowering operation of the conveyor as one step, 2. The control device for a logistics warehouse according to claim 1, wherein a hierarchical level of the temporary placement area to which the vertical conveyor can be moved is defined. [Form 3] the conveyor is a vertical conveyor that performs vertical conveyance by moving the article in a lateral direction while alternately raising and lowering a first conveyor shelf adjacent to the temporary placement area and a second conveyor shelf adjacent to the first conveyor shelf, 3. The control device for a logistics warehouse according to claim 1, wherein the route calculation unit calculates the transport route information by referring to an auxiliary logical expression related to a constraint condition related to a first transport shelf. [Form 4] The path calculation unit is The plurality of pieces of transportation route information obtained are defined as a satisfiability maximization problem; 4. The control device for a logistics warehouse according to any one of aspects 1 to 3, wherein the transport route information that minimizes a lateral cost of the article is searched for. [Explanation of symbols]

[0113] 1...logistics warehouse, 10...control device, 12...item information acquisition unit, 13...route calculation unit, 21...storage lane (transport lane), 22...transport machine, 22A...transport shelf (second transport shelf), 22B...transport shelf (first transport shelf), 100...automated warehouse, 121...outgoing lane (transport lane), 150...item.

Claims

1. An automated warehouse for storing items; A conveying lane for conveying the plurality of aligned articles; A control device for a logistics warehouse comprising a conveyor provided between the conveying lane and the automated warehouse, an item information acquisition unit that acquires item information indicating an initial movement state and a movement completion state of the item when the item moves in the conveying lane, the conveyor, and the automated warehouse in this order; a route calculation unit that calculates transport route information from the item information so as to satisfy a reference logical expression based on a constraint condition; an operation control unit that controls a transport operation of the logistics warehouse based on the transport route information; The automated warehouse is provided with a temporary placement area adjacent to the conveyor, The path calculation unit is a first criterion formula for a constraint on the entry of the item into the temporary placement area; a control device for a logistics warehouse that calculates the transport route information so as to satisfy a second standard logical expression relating to a constraint condition regarding the movement of the item to the temporary placement area.

2. the conveyor is a vertical conveyor that performs vertical conveyance by moving the article in a lateral direction while alternately raising and lowering a first conveyor shelf adjacent to the temporary placement area and a second conveyor shelf adjacent to the first conveyor shelf, the path calculation unit performs calculations regarding a three-phase operation that enables the article to move in the lateral direction and one lifting and lowering operation of the conveyor as one step, The control device for a logistics warehouse according to claim 1 , wherein a tier of the temporary placement area that is movable from the vertical conveyor is defined.

3. the conveyor is a vertical conveyor that performs vertical conveyance by moving the article in a lateral direction while alternately raising and lowering a first conveyor shelf adjacent to the temporary placement area and a second conveyor shelf adjacent to the first conveyor shelf, The control device for a logistics warehouse according to claim 1 , wherein the route calculation unit calculates the transport route information by referring to an auxiliary logical expression related to a constraint condition related to a first transport shelf.

4. The path calculation unit is The plurality of pieces of transportation route information obtained are defined as a satisfiability maximization problem; The control device for a logistics warehouse according to claim 1 , further comprising: a search unit for the transport route information that minimizes the lateral cost of the item.

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