Plan generation method, plan generation apparatus, plan generation program, and article handling system

Abstract

To provide a plan generation method configured to improve utilization efficiency of space in a warehouse.SOLUTION: A plan generation method is configured to: generate a second article handling plan to move target second article moving equipment based on at least a second order list, out of a first order list related to articles stored in each of a plurality of first article moving equipment arranged in a first region, and the second order list related to articles stored in each of a plurality of second article moving equipment arranged in a second region smaller than the first region and located above the first region; and output the second article handling plan to a control apparatus which controls moving the first and second article moving equipment. The second article handling plan is a plan for moving one or more first article moving equipment by a first article moving device to secure extended travel space in the first region, and moving the second article moving equipment by a second article moving device traveling in the secured extended travel space.SELECTED DRAWING: Figure 6

Description

[Technical field]

[0001] An embodiment of the present invention relates to a plan generation method, a plan generation device, a plan generation program, and an item processing system. [Background technology]

[0002] In recent years, the amount of various products (hereinafter referred to as "goods") handled at warehouses such as distribution centers for logistics has increased, and automation of goods processing is being promoted to reduce the workload of staff. For example, various automated devices work together according to instructions from a higher-level device to transport equipment that stores goods. Known examples of automated devices include shelf transport devices that transport equipment such as movable shelves placed on the floor, and pallet transport devices that take in and transport equipment such as pallets placed at high altitudes. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Patent No. 6957690 Summary of the Invention [Problem to be solved by the invention]

[0004] For example, a warehouse is equipped with pallet racks, with multiple movable shelves about 2.5m high lined up below the pallet racks, and multiple pallets lined up on the shelves. A shelf transport device travels along the floor of the warehouse, transporting the movable shelves lined up below the shelves. A pallet transport device also travels along the floor of the warehouse, picks up pallets lined up on the shelves of the pallet racks, and transports the received pallets.

[0005] When the aisles of the shelf transport device and the pallet transport device are shared, the aisle width is determined depending on the wider transport device. For example, when the width of the pallet transport device is wider than that of the shelf transport device, the aisle width in the warehouse is determined according to the aisle width of the pallet transport device. This can result in a decrease in the efficiency of space utilization in the warehouse, and there is a demand for technology to improve the efficiency of space utilization.

[0006] An object of the present invention is to provide a plan generation method, a plan generation device, a plan generation program, and an item processing system that improve the efficiency of space utilization in a warehouse. [Means for solving the problem]

[0007] The plan generating method according to the embodiment generates a second item processing plan for moving a target second item moving equipment based on at least the second order list among a first order list for items stored in each of a plurality of first item moving equipment arranged in a first area and a second order list for items stored in each of a plurality of second item moving equipment arranged in a second area smaller than the first area in a space above the first area, and outputs the second item processing plan to a control device that controls the movement of the first item moving equipment by a first item moving device traveling in the first area and the movement of the second item moving equipment by a second item moving device traveling in the first area. The second item processing plan is a plan for moving one or more of the first item moving equipment by the first item moving device to secure an extended travel space in the first area, and moving the target second item moving equipment by the second item moving device traveling in the secured extended travel space. [Brief description of the drawings]

[0008] [Figure 1] FIG. 1 is a conceptual diagram illustrating an example of a logistics system according to an embodiment. [Diagram 2] FIG. 2 is a top view showing an example of the arrangement of movable shelves and reserve shelves (without pallets) in a warehouse according to the embodiment. [Diagram 3] FIG. 3 is a top view showing an example of the arrangement of the movable shelves and the reserve shelves (with pallets) in the warehouse according to the embodiment. [Figure 4] FIG. 4 is a side view showing an example of the arrangement of the movable shelves and the reserve shelves (with pallets) in the warehouse according to the embodiment. [Diagram 5] FIG. 5 is a diagram illustrating an example of the positional relationship between the legs supporting the reserve shelf and the movable shelf according to the embodiment. [Figure 6] FIG. 6 is a diagram showing an example of a passage formed by an expanded traveling space caused by movement of the movable rack according to the embodiment. [Figure 7] FIG. 7 is a flowchart illustrating an example of a plan generation and plan execution process according to the embodiment. [Figure 8] FIG. 8 is a flowchart showing an example of generation and execution of a material arrangement plan according to the embodiment. [Figure 9] FIG. 9 is a diagram illustrating an example of an item processing based on an item processing plan generation according to an embodiment. [Figure 10] FIG. 10 is a sequence diagram showing an example of an operation plan for item processing according to an embodiment. [Figure 11] FIG. 11 is a diagram illustrating an example of a layout of stations according to the embodiment. [Figure 12] FIG. 12 is a flowchart showing an example of a warehousing process (station use) for a pallet that is removed from a reserve shelf and stored on an active shelf (mobile shelf) according to the embodiment. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0009] Each embodiment will be described below with reference to the drawings. FIG. 1 is a conceptual diagram illustrating an example of a logistics system according to an embodiment. As shown in FIG. 1, a logistics system S includes a warehouse management system (WMS) 1 and a warehouse processing system 2.

[0010] The warehouse processing system 2 is an example of an item processing system, and includes a warehouse execution system (WES) 30, a shelf transport robot system 40, a shelf transport robot (shelf transport device) 41, an automatic forklift (AGF) system 50, an AGF robot (pallet transport device) 51, and an inventory management system 60.

[0011] The WMS1 can be configured with one or more computers, i.e., a processor, a memory, an interface, etc. The processor is a central processing unit (CPU), a micro processing unit (MPU), a digital signal processor (DSP), etc. The WMS1 receives an order list from an upper server and transmits it to the WES30.

[0012] An order list is an order list for items stored in multiple storage locations that are used according to purpose, application, frequency, etc., and specifies one or more items. For example, the order list includes a first and a second list. The first order list (picking list) is a list of active items that are moved with a first movement frequency. The second order list (warehousing list) is a list of reserved items that are moved with a second movement frequency that is lower than the first movement frequency.

[0013] For example, the first list includes item information, order information, and delivery information, etc. The second list includes item information. The item information includes the number of items, item identification information, item name, etc. The order information includes the order date and time, the orderer, etc. The delivery information includes the delivery destination, the delivery date and time, the recipient, etc.

[0014] WES30 (server) is an example of a plan generation device, which can be configured with one or more general-purpose computers, and includes a processor 301, a memory 302, and an interface 303. Processor 301 is a CPU, an MPU, a DSP, or the like. Processor 301 is a subject that executes the plan generation method. Memory 302 stores an operation program for processor 301, and the like. Interface 303 communicates with WMS1, shelf transport robot system 40, AGF system 50, and inventory management system 60.

[0015] The processor 301 includes an acquisition unit 3011, a generation unit 3012, and an output unit 3013. The processor 301 executes a program stored in the memory 302 to realize the functions of each unit.

[0016] For example, the interface 303 receives an inventory management database from the inventory management system 60, and receives an order list from the WMS1. The acquisition unit 3011 acquires the inventory management database and the order list. The generation unit 3012 generates an equipment arrangement plan based on the inventory management database, etc. The generation unit 3012 also generates an item processing plan based on the inventory management database, the order list, etc. The output unit 3013 outputs the generated equipment arrangement plan and item processing plan. The interface 303 transmits the equipment arrangement plan and item processing plan to the shelf transport robot system 40 and the AGF system 50. The interface 303 also receives item processing results from the shelf transport robot system 40 and the AGF system 50, and transmits the item processing results to the WMS1. The processor 301 updates the inventory management database in accordance with the item processing results.

[0017] The shelf transport robot system 40 can be configured with one or more general-purpose computers and includes a processor, a memory, and an interface. The processor is a CPU, an MPU, a DSP, etc. The processor controls the shelf transport robot 41 based on a program stored in the memory, an equipment arrangement plan, or an item processing plan transmitted from the WES 30.

[0018] The shelf transport robot 41 processes items or equipment for moving items based on the control of the shelf transport robot system 40. For example, the shelf transport robot 41 is equipped with a camera, analyzes an image captured by the camera, and travels horizontally along the floor of the warehouse based on the analysis results to move the mobile shelf A, which is the first equipment for moving items. The shelf transport robot 41 may travel using the results of reading position identification information affixed to the floor of the warehouse.

[0019] The AGF system 50 can be configured with one or more general-purpose computers, and includes a processor, a memory, and an interface. The processor is a CPU, an MPU, a DSP, etc. The processor controls the AGF robot 51 based on a program stored in the memory, an equipment arrangement plan, or an item processing plan transmitted from the WES 30.

[0020] The AGF robot 51 processes items or equipment for moving items based on the control of the AGF system 50. For example, the forks of the AGF robot 51 move vertically up and down relative to the floor of the warehouse to raise and lower a pallet, which is a second equipment for moving items. The AGF robot 51 is also equipped with a camera, analyzes images captured by the camera, and travels horizontally along the warehouse based on the analysis results to move (transport) the pallet. The AGF robot 51 may travel using the results of reading position identification information affixed to the floor of the warehouse.

[0021] In this embodiment, a case is described in which the shelf transport robot system 40 controls the shelf transport robot 41 and the AGF system 50 controls the AGF robot 51, but a single control device may also control the shelf transport robot 41 and the AGF robot 51.

[0022] The inventory management system 60 can be configured with one or more general-purpose computers, and includes a processor, a memory, and an interface. The processor is a CPU, an MPU, a DSP, etc. The memory stores an inventory management database, etc.

[0023] The inventory management database includes map management information, equipment management information, and item management information. The map management information includes map data (three-dimensional coordinate data) of the warehouse, position identification information associated with the map data, and storage location identification information associated with the map data. The equipment management information includes movable shelf identification information assigned to movable shelves, container identification information assigned to containers and the like stored on the movable shelves, and pallet identification information assigned to pallets. The item management information includes item identification information assigned to items. Furthermore, the movable shelf identification information, container identification information, and pallet identification information are associated with the map data or storage location identification information, and the positions of each movable shelf, each container, and each pallet are managed. Furthermore, the item identification information of a specified item is associated with the movable shelf identification information and container identification information or pallet identification information in which the specified item is stored, and the storage location of the specified item is managed.

[0024] As described above, the interface 303 receives item processing results from the shelf transport robot system 40 and the AGF system 50. The processor 301 updates the inventory management database based on the item processing results, and the interface 303 transmits the updated inventory management database to the inventory management system 60. The inventory management system 60 stores the updated inventory management database. For example, when a specific item, a specific movable shelf, a specific container, or a specific pallet is moved, an item processing result indicating this movement result is received, and the processor 301 reflects the movement result in the inventory management database.

[0025] For example, position identification information that can be read by the shelf transport robot 41 and the AGF robot 51 is attached to the floor of the warehouse. Readable movable shelf identification information, container identification information, pallet identification information, and item identification information are attached to the movable shelves, containers, pallets, and items, respectively. For example, each piece of identification information is a two-dimensional code such as an optically readable QR code (registered trademark).

[0026] A reserve shelf is installed on the floor of the warehouse using the position identification information as a marker, the space below the reserve shelf is designated as a first storage location, and the space above the reserve shelf is designated as a second storage location, with items or mobile shelves being stored in the first storage location and items or pallets being stored in the second storage location.

[0027] An example of the arrangement of the mobile shelves, reserve shelves, and pallets in a warehouse will be described with reference to Figures 2 to 5. The mobile shelves are called active shelves and store items to be removed from the warehouse. The pallets store items to be replenished to the active shelves.

[0028] Fig. 2 is a top view showing an example of the arrangement of a movable shelf and a reserve shelf (without a pallet) in a warehouse according to an embodiment. Fig. 3 is a top view showing an example of the arrangement of a movable shelf and a reserve shelf (with a pallet) in a warehouse according to an embodiment. Fig. 4 is a side view showing an example of the arrangement of a movable shelf and a reserve shelf (with a pallet) in a warehouse according to an embodiment. Fig. 5 is a diagram illustrating the positional relationship between the movable shelf and the legs supporting the reserve shelf according to an embodiment.

[0029] A plurality of movable shelves A are arranged in a first area E1 in the warehouse. The movable shelves A store a plurality of items that are moved with a first frequency. The movable shelves A are moved by a shelf transport robot 41 that travels along an aisle X serving as a first aisle.

[0030] A reserve shelf R supported by multiple legs R1 is also installed, and a second area E2 extends on the upper surface of the reserve shelf R. That is, the second area E2 extends in the space above the first area E1. Multiple pallets P are placed in the second area E2, which is smaller than the first area E1. The pallets P store multiple items that are moved at a second frequency that is lower than the first frequency. The pallets P are moved by the AGF robot 51 that travels in an extended traveling space secured by the movement of the movable shelf A. For example, the AGF robot 51 travels in a second aisle formed by the aisle X and the extended traveling space, and transports the pallets P.

[0031] For example, group G1 is formed by the shelf rows of movable shelves A11-A16 and A21-A26 arranged in the first area E1. Group G2 is formed by the shelf rows of movable shelves A31-A36 and A41-A46 arranged in the first area E1. Group G3 is formed by the shelf rows of movable shelves A51-A56 and A61-A66 arranged in the first area E1. Group G4 is formed by the shelf rows of movable shelves A71-A76 and A81-A86 arranged in the first area E1.

[0032] Also, a passage X1 is formed between the groups G1 and G2, a passage X2 is formed between the groups G2 and G3, and a passage X3 is formed between the groups G3 and G4. Furthermore, a passage X4 is formed around the groups G1 to G4.

[0033] The reserve shelf R is provided so as to straddle multiple aisles X in an upper space that spreads over a part of the first area E1. For example, the reserve shelf R is provided so as to straddle aisles X1 and X2. The legs R1 of the reserve shelf R are provided in a position that does not impede the movement of the movable shelves A by the shelf transport robot 41. The legs R1 are provided between two adjacent movable shelves A, or at the center of four movable shelves A arranged in a 2×2 pattern (see FIGS. 2, 3, and 5). For example, the legs R1 are located between the movable shelves A11 and A21, between the movable shelves A51 and A61, at the center of the movable shelves A13, A14, A23, and A24, and at the center of the movable shelves A53, A54, A63, and A64.

[0034] FIG. 6 is a diagram showing an example of a passage formed by an expanded traveling space caused by movement of the movable rack according to the embodiment. The first aisle, designated by aisle X, has a first aisle width corresponding to the size of the mobile shelf A, which is the first item moving equipment. The second aisle formed by the first aisle and extended traveling space ES has a second aisle width corresponding to the size of the second item moving equipment, a pallet P, which is larger than the first item moving equipment. It is assumed that the width of the pallet P is wider than the width of the mobile shelf A, and the width of the AGF robot 51 that moves the pallet P is wider than the width of the shelf transport robot 41. In this case, the minimum width of the second aisle along which the AGF robot 51 travels is wider than the minimum width of the first aisle along which the shelf transport robot 41 travels.

[0035] Therefore, control devices such as the shelf transport robot system 40 and the AGF system 50 move one or more movable shelves A using one or more shelf transport robots 41 based on an item processing plan generated by the processor 301 of the WES 30, thereby securing an extended traveling space ES in the first area E1, and move the target pallet P using the AGF robot 51 traveling in the secured extended traveling space ES.

[0036] As shown in FIG. 6, the control device moves the movable shelves A44, A45, and A46 to secure an extended running space ES in the first area E1, and moves the target pallet P32 by the AGF robot 51 traveling on the second aisle formed by the aisle X2 and the extended running space ES.

[0037] An example of the plan generation and plan execution process according to the embodiment will be described below. For example, the main body of the plan generation process is the WES 30, and the processor 301 generates a plan. The main bodies of the plan execution are the shelf transport robot system 40, the shelf transport robot 41, the AGF system 50, and the AGF robot 51.

[0038] FIG. 7 is a flowchart illustrating an example of a plan generation and plan execution process according to the embodiment. The interface 303 of the WES 30 receives the inventory management database from the inventory management system 60, and receives the first and second order lists from the WMS 1. The memory 302 stores the received inventory management database and the first and second order lists.

[0039] The first order list is a list of items stored on each of the multiple movable shelves A arranged in the first area E1, and the second order list is a list of items stored on each of the multiple pallets P arranged in a second area E2 in an upper space that is smaller than the first area E1 and extends over a part of the first area E1.

[0040] In the WES 30, an acquisition unit 3011 of the processor 301 acquires an inventory management database stored in the memory 302, a generation unit 3012 generates an equipment layout plan based on the inventory management database, and the shelf transport robot system 40 and the AGF system 50 execute equipment layout based on the equipment layout plan (ST100). The generation and execution of the equipment layout plan will be described in detail with reference to FIG. 8.

[0041] Furthermore, in the WES 30, the acquisition unit 3011 of the processor 301 acquires the inventory management database and the first and second order lists etc. stored in the memory 302, the generation unit 3012 generates an item processing plan based on at least one of the inventory management database and the first and second order lists, and the shelf transport robot system 40 and the AGF system 50 execute item processing based on the item processing plan (ST200, ST300). The generation and execution of the item processing plan will be described in detail with reference to Figs. 9 and 12.

[0042] FIG. 8 is a flowchart showing an example of generation and execution of a material arrangement plan according to the embodiment. In the WES 30, the acquisition unit 3011 of the processor 301 acquires the inventory management database stored in the memory 302. The inventory management database includes map management information, equipment management information, and item management information.

[0043] The generating unit 3012 sets a first equipment area in which a plurality of movable shelves A are arranged in the first area E1 and an aisle area for moving the movable shelves A arranged in the first equipment area by the shelf transport robot 41 based on the first map data related to the first area E1 included in the map management information (ST101). For example, as shown in Fig. 2, a first equipment area corresponding to groups G1-G4 and an aisle area corresponding to aisles X1-X4 are set.

[0044] Furthermore, the generating unit 3012 may set a second equipment area in which a plurality of pallets P are arranged in the second area E2, based on second map data relating to the second area E2 included in the map management information.

[0045] The generating unit 3012 generates a first equipment layout plan for arranging the multiple movable shelves A in the first equipment area by the shelf transport robot 41 based on the first equipment management information related to the multiple movable shelves A arranged in the first area E1 (ST102). The output unit 3013 outputs the first equipment layout plan.

[0046] The interface 303 outputs the first equipment arrangement plan to the shelf transport robot system 40. The first equipment arrangement plan is a plan for arranging at least one side of the multiple movable shelves A toward the aisle area.

[0047] Furthermore, the generation unit 3012 may generate a second equipment arrangement plan for causing the AGF robot 51 to arrange the multiple pallets P in the second equipment area, based on the second equipment management information regarding the multiple pallets P to be arranged in the second area E2. The output unit 3013 outputs the second equipment arrangement plan.

[0048] The interface 303 outputs a second equipment arrangement plan to the AGF system 50. The second equipment arrangement plan is a plan for arranging at least one side of the multiple pallets P toward the outer edge of the second area E2. By arranging the pallets P toward the outer edge, it becomes possible for the AGF robot 51 traveling on the second passage to pick up the pallets P.

[0049] The shelf transport robot system 40 causes the shelf transport robot 41 to place a plurality of movable shelves A in the first equipment area based on the first equipment arrangement plan (ST103).

[0050] 2, movable shelves A11-A16 and A21-A26 are arranged in the first equipment area corresponding to group G1. Furthermore, movable shelves A31-A36 and A41-A46 are arranged in the first equipment area corresponding to group G2. Furthermore, movable shelves A51-A56 and A61-A66 are arranged in the first equipment area corresponding to group G3. Furthermore, movable shelves A71-A76 and A81-A86 are arranged in the first equipment area corresponding to group G4.

[0051] As a result, a passage X1 is formed between the groups G1 and G2, a passage X2 is formed between the groups G2 and G3, a passage X3 is formed between the groups G3 and G4, and a passage X4 is formed around the groups G1 to G4.

[0052] Furthermore, the AGF system 50 may be configured to cause the AGF robot 51 to place multiple pallets P in the second equipment area based on the second equipment placement plan.

[0053] 3, one side of each of pallets P11, P21, P31, and P41 is arranged to face the aisle X4. Also, a part of one side of each of pallets P12, P22, P32, and P42 is arranged to face the aisle X1 or X2.

[0054] FIG. 9 is a diagram illustrating an example of an item processing based on an item processing plan generation according to an embodiment. In the WES 30, the acquisition unit 3011 of the processor 301 acquires the inventory management database and the first and second order lists, etc., stored in the memory 302, and the generation unit 3012 generates an operation plan for item processing based on at least one of the inventory management database and the first and second order lists (ST201). The output unit 3013 outputs the operation plan for item processing. Furthermore, the interface 303 outputs the operation plan for item processing to the shelf transport robot system 40 and the AGF system 50.

[0055] For example, the generation unit 3012 plans the outgoing of items stored on mobile shelf A in a first time period based on a first order list, and plans the incoming of items loaded on pallet P in a second time period based on a second order list. The generation unit 3012 may preferentially determine the first time period based on the first order list, and may determine a time period that does not overlap with the first time period (a slow period for processing based on the first order list) as the second time period.

[0056] Furthermore, the generating unit 3012 generates an optimal operation plan for item processing based on at least one of the inventory management database and the first and second order lists (ST202). For example, the generating unit 3012 generates an optimal operation plan for a first item processing (hereinafter, the first item processing plan) based on the inventory management database and the first order list, and generates an optimal operation plan for a second item processing (hereinafter, the second item processing plan) based on the inventory management database and the second order list. The output unit 3013 outputs the first and second item processing plans. Furthermore, the interface 303 outputs the first and second item processing plans to the shelf transport robot system 40 and the AGF system 50.

[0057] The first item processing plan is a plan to move a target movable shelf A from the first area E1 to a station by a shelf transport robot 41 traveling on an aisle X, which is a first aisle of the first area E1. The second item processing plan is a plan to move a target pallet P from the second area E2 to a station by an AGF robot 51 traveling on a second aisle formed by the aisle X, which is the first aisle, and the extended traveling space ES.

[0058] Here, the second item processing plan will be described in detail. The second item processing plan includes optimization of the time for entering and leaving the pallet P and the energy consumption, a plan for evacuation of the mobile shelf A, and a plan for the operation path of the AGF robot 51. The second item processing plan is a plan for moving one or more mobile shelves A by one or more shelf transport robots 41 to secure an extended traveling space ES in the first area E1, and for moving the target pallet P by the AGF robot 51 traveling in the secured extended traveling space ES.

[0059] 6, the shelf transport robot system 40 as a control device moves the movable shelves A44, A45, and A46 to the evacuation space by one or more shelf transport robots 41 based on the second article processing plan, and secures an extended travel space ES in the first area E1 (ST203). For example, in order to shorten the time, the movable shelves A44, A45, and A46 may be moved to the evacuation space by three shelf transport robots 41. The evacuation space for the movable shelves A44, A45, and A46 is a space that does not hinder the movement of the target pallet P32 by the AGF robot 51 later.

[0060] When the movement of the movable shelves A44, A45, and A46 is completed (ST204, YES), the shelf transport robot system 40 outputs a completion notification. The AGF system 50 as a control device receives the completion notification, and based on the second article processing plan, causes the AGF robot 51 to travel along the second aisle formed by the aisle X2 and the extended travel space ES, causes the AGF robot 51 to acquire the target pallet P32 (ST205), and causes the pallet P32 to be moved to the station (ST206).

[0061] In the WES30, the interface 303 outputs work instructions for the pallet P32 (ST207). Based on the work instructions displayed on the station terminal (interface such as a GUI), the operator retrieves the required number of specified items from the cardboard box containing the items, and places the cardboard box back on the pallet P32. The interface 303 receives a work completion notification input via the terminal (ST208, YES), and outputs a pallet return instruction to the AGF system 50.

[0062] Based on the pallet return instruction, the AGF system 50 causes the AGF robot 51 to travel down the second aisle, and has the AGF robot 51 move the target pallet P32 to its original position on the reserve shelf R (ST209), and then moves the AGF robot 51 to the waiting space (ST210).

[0063] When the return of the pallet P32 and the movement of the AGF robot 51 are completed (ST211, YES), the AGF system 50 outputs a completion notification. The shelf transport robot system 40 receives the completion notification and causes one or more shelf transport robots 41 to move the mobile shelves A44, A45, and A46 in the evacuation space to their original positions (ST212), and moves one or more shelf transport robots 41 to the standby space, completing the work (ST213, YES).

[0064] FIG. 10 is a sequence diagram showing an example of an operation plan for item processing according to an embodiment. As shown in Fig. 10, for example, in relation to the transportation and delivery for warehousing around 9:00, the warehousing process is carried out with the arrival time of the goods as the starting point. The shipping process is carried out with the cut-off time of 18:00 as the starting point, and the transportation and delivery are carried out.

[0065] Furthermore, in the time periods of 9:00-12:00 and 13:00-17:00, the shelf transport robot 41 executes out-of-stock processing to move mobile shelf A. In response to the out-of-stock processing, an active picking process is executed. In response to the active picking process, a packaging quality inspection is performed and the item is released from stock. In the time period of 17:00-19:00, the shelf transport robot 41 executes active in-stock processing to move mobile shelf A. In response to the active in-stock processing, the required items are released from the reserve, and the required number of items released from the reserve are stored on mobile shelf A.

[0066] During the time period of 12:00-13:00, the AGF robot 51 executes a reserve warehousing process to move a pallet P. For example, this reserve warehousing is called new warehousing, and is realized by a one-way run of the AGF robot 51. That is, the AGF robot 51 moves the pallet P loaded with goods brought in from outside from the station to the reserve shelf R. Corresponding to the reserve entry processing, in a time zone after 17:00, the AGF robot 51 executes a reserve outgoing processing to move the pallet P from the reserve shelf R, and in a time zone after 19:00, the AGF robot 51 executes a reserve entry processing to move the pallet P to the reserve shelf R. For example, a set of the reserve outgoing processing and the reserve entry processing is called replenishment entry, and is realized by the reciprocating travel of the AGF robot 51. That is, the AGF robot 51 moves the pallet P reserved on the reserve shelf R to the station, and returns the pallet P replenished with items at the station to the reserve shelf R. ST203 to ST213 in FIG. 9 are included in this reserve entry / exit processing. The two purposes of the above-mentioned reserve retrieval processing will be explained in more detail. The first purpose is to carry out replenishment and retrieval to the reserve shelf R by combining this reserve retrieval processing and reserve retrieval processing (by the reciprocating movement of the AGF robot 51). The second purpose is to take out from the pallet P of the reserve shelf R the goods to be added to the mobile shelf A by the active retrieval processing by the shelf transport robot 41.

[0067] Next, an example of the optimization included in the second article processing plan will be described.

[0068] In WES30, for optimization, the generation unit 3012 generates a second article processing plan such that F = αT + βE is minimized. The optimization of the second article processing plan is as shown in Equation (1).

[0069]

Equation

[0070] When β = 0: A plan such that the processing time (T) is the fastest When α = 0: A plan such that the processing energy (E) is minimized (minimum value) α, β: Coefficients that can be arbitrarily set (set by the generation unit 3012) T: Processing time (sec) E: Total operating distance obtained by multiplying the energy count (e.g., power consumption) of each of the shelf transfer robot and the AGF robot E = A x L1 + B x L2 L1: Total operating distance of n shelf transfer robots, including the standby position L2: Total operating distance of m AGF robots, including the standby position A, B: Coefficients that can be arbitrarily set based on, for example, the power consumption according to the operating travel distance n: An integer of 1 or more, n < N (total number of shelf transfer robots) m: An integer of 1 or more, m < M (total number of AGF robots) t: Time l: Movement distance

[0071] FIG. 11 is a diagram showing an example of the layout of the station according to the embodiment. A picking station (reserve station) is provided within the warehouse, as well as a mobile shelf waiting position, a mobile shelf loading (STOW) position, and a pallet picking position. A mobile shelf A waiting to be loaded with goods is placed at the mobile shelf waiting position. A mobile shelf onto which goods are loaded is placed at the mobile shelf loading position. A pallet P loaded with goods is placed at the pallet picking position. Goods (required number) picked from pallet P are loaded onto the mobile shelf according to instructions from the user interface.

[0072] FIG. 12 is a flowchart showing an example of a warehousing process (station use) for a pallet that is removed from a reserve shelf and stored on an active shelf (mobile shelf) according to the embodiment. The AGF robot 51 or an operator transports the pallet P to be delivered and places it in the station (ST301). Also, the shelf transport robot 41 transports the mobile shelf A to be delivered and places it in the station (ST302).

[0073] The type, position, and quantity of the item (goods) to be removed from the pallet P are specified (displayed) by a terminal (interface such as a GUI) at the station (ST303). The station operator performs the removal process according to the instructions (ST304).

[0074] The type, position, and quantity of the item (goods) to be stored on the mobile shelf A are instructed (displayed) by the station interface (ST305). The station operator performs the storing process according to the instructions (ST306).

[0075] The operator inputs the completion of the process into the terminal (ST307).

[0076] The shelf transport robot 41 transports the movable shelf A to the inventory position and places it there (ST308). In addition, the AGF robot 51 or the operator transports the pallet P to the inventory position and places it there (ST309).

[0077] ST101 to ST109 are repeated until the process of pallet P being taken out from reserve and into active is completed (ST310, NO), and when the process of pallet P being taken out from reserve and into active is completed (ST310, YES), the process ends.

[0078] According to the above-described embodiments, it is possible to provide a plan generation method, a plan generation device, a plan generation program, and an item processing system that improve the efficiency of space utilization in a warehouse. The WES30 generates and outputs an equipment arrangement plan, thereby arranging a plurality of movable shelves A in the equipment area of ​​the first area E1, and arranging a plurality of pallets P in the equipment area of ​​the second area E2, as shown in Figures 2 to 5. The WES30 also generates and outputs an item processing plan, thereby moving some of the movable shelves A to secure an extended traveling space ES, as shown in Figure 6.

[0079] By outputting the equipment layout plan, the movable shelf A is placed in the equipment area of ​​the first area E1, and a first aisle (aisles X1-X4) corresponding to the width of the shelf transport robot 41 that moves the movable shelf A is secured. In addition, by outputting the item processing plan, a second aisle (aisle X2 and the area vacated by the movement of the movable shelves A44, 45, 46) corresponding to the width of the AGF robot 51 that moves the pallet P is secured.

[0080] The movable shelf A is moved (taken in and out) with a first frequency, but by securing the first aisle in the initial state, the processing efficiency of the movable shelf A can be maintained. On the other hand, the pallet P is moved (taken in and out) with a second frequency that is lower than the first frequency. Also, the pallet P is larger than the movable shelf A, and the second aisle according to the width of the AGF robot 51 that moves the pallet P requires more space than the first aisle. As described above, by securing the second aisle as needed (the second aisle is not constantly secured like the first aisle), it is possible to process the pallet P while making effective use of space.

[0081] The program according to the present embodiment may be transferred in a state stored in an electronic device such as the WES30, or in a state not stored in the electronic device. In the latter case, the program may be transferred via a network, or in a state stored in a storage medium. The storage medium is a non-transient tangible medium. The storage medium is a computer-readable medium. The storage medium may be an optical disk, a memory card, or any other medium capable of storing a program and being readable by a computer, and the form of the storage medium is not important. The electronic device downloads the program transferred (provided) via a network and installs it in memory, or reads the program from the storage medium and installs it in memory.

[0082] Although some embodiments of the present invention have been described, these embodiments are presented as examples and are not intended to limit the scope of the invention. These novel embodiments can be implemented in various other forms, and various omissions, substitutions, and modifications can be made without departing from the spirit of the invention. These embodiments and their modifications are included in the scope and spirit of the invention, and are included in the scope of the invention and its equivalents described in the claims. [Explanation of symbols]

[0083] S: Logistics system 1. Warehouse management system 2. Warehouse processing system 30…Warehouse operation system 40...Shelf transport robot system 41...Shelf transport robot 50…AGF system 51...AGF Robot 60...Inventory control system 301...Processor 302…Memory 303...Interface 3011…Acquisition Department 3012...Generation section 3013...Output section E1: First area E2: Second area ES…Extended driving space G1, G2, G3, G4...Group R…Reserve shelf R1…legs X…Aisle X1, X2, X3, X4...Aisle

Claims

1. generating a second item processing plan for moving a target second item moving equipment based on at least a first order list regarding items to be stored in each of a plurality of first item moving equipment arranged in a first area and a second order list regarding items to be stored in each of a plurality of second item moving equipment smaller than the first area and arranged in a second area in a space above the first area; A plan generating method for outputting the second item processing plan to a control device that controls movement of the first item moving equipment by a first item moving device traveling in the first area and movement of the second item moving equipment by a second item moving device traveling in the first area, the plan generating method comprising: A plan generating method, wherein the second item processing plan is a plan to move one or more of the first item moving equipment using the first item moving device to secure an extended running space in the first area, and to move a target second item moving equipment using the second item moving device running in the secured extended running space.

2. generating a first item processing plan for moving a target first item moving equipment by the first item moving device based on the first order list; The method of claim 1 , further comprising outputting the first material processing plan to the controller.

3. the first article processing plan is a plan for moving a target first article moving equipment from the first area to a station by the first article moving device traveling on a first aisle in the first area; 3. The plan generation method of claim 2, wherein the second material processing plan is a plan to move a target second material moving equipment from the second area to a station by the second material moving device traveling on a second path formed by the first path and the extended traveling space.

4. the first passage has a first passage width corresponding to a size of the first article moving equipment; 4. The plan generating method of claim 3, wherein the second aisle has a second aisle width corresponding to a size of the second article moving equipment that is larger than the first article moving equipment.

5. the plurality of first item moving equipment arranged in the first area stores items to be moved at a first frequency; The plan generating method of claim 1 , wherein the second plurality of item moving equipment located in the second area stores items moved at a second frequency that is lower than the first frequency.

6. a memory that stores at least a second order list among a first order list related to items to be stored in each of a plurality of first item moving devices arranged in a first area and a second order list related to items to be stored in each of a plurality of second item moving devices smaller than the first area and arranged in a second area in a space above the first area; a processor for generating a second item processing plan for moving a second item moving equipment based on the second order list; an interface that outputs the second item processing plan to a control device that controls movement of the first item moving equipment by a first item moving device traveling in the first area and movement of the second item moving equipment by a second item moving device traveling in the first area; A plan generating device, wherein the second item processing plan is a plan to move one or more of the first item moving equipment using the first item moving device to secure an extended running space in the first area, and to move a target second item moving equipment using the second item moving device running in the secured extended running space.

7. On the computer, a step of generating a second item processing plan for moving a second item moving device based on at least a first order list regarding items to be stored in each of a plurality of first item moving devices arranged in a first area and a second order list regarding items to be stored in each of a plurality of second item moving devices smaller than the first area and arranged in a second area in a space above the first area; a step of outputting the second item processing plan to a control device that controls a movement of the first item moving equipment by a first item moving device traveling in the first area and a movement of the second item moving equipment by a second item moving device traveling in the first area, A plan generation program, wherein the second item processing plan is a plan to move one or more of the first item moving equipment using the first item moving device to secure an extended running space in the first area, and to move a target second item moving equipment using the second item moving device running in the secured extended running space.

8. based on first map data relating to a first area, a material area in which a plurality of first item moving equipment are arranged in the first area, and a passage area for moving the first item moving equipment arranged in the material area by a first item moving device; generating an equipment placement plan for placing the first plurality of items of equipment for moving an item in the equipment area by the first item moving device based on first equipment management information related to the first plurality of items of equipment for moving an item in the first area; outputting the equipment arrangement plan to a control device that controls the first article moving device, A plan generating method, wherein the equipment arrangement plan is a plan for arranging at least one side of the first item moving equipment toward the passage area.

9. generating a second item processing plan for moving a target second item moving equipment based on at least a first order list regarding items to be stored in each of the plurality of first item moving equipment arranged in the first area and a second order list regarding items to be stored in each of a plurality of second item moving equipment smaller than the first area and arranged in a second area in the space above the first area; A plan generating method for outputting the second item processing plan to the control device that controls movement of the first item moving equipment by the first item moving device traveling in the first area and movement of the second item moving equipment by a second item moving device traveling in the first area, the plan generating method comprising: The plan generating method of claim 8, wherein the second item processing plan is a plan to move one or more of the first item moving equipment using the first item moving device to secure an extended running space in the first area, and to move a target second item moving equipment using the second item moving device running in the secured extended running space.

10. 1. An article processing system comprising a plan generating device, a first article moving device, and a control device for controlling the first article moving device, The plan generating device comprises: storing first map data relating to a first area and first equipment management information relating to a plurality of first item moving equipment arranged in an equipment area of ​​the first area; setting, in the first area based on the first map data, an equipment area in which a plurality of first item moving equipment are arranged, and a passage area for moving the first item moving equipment arranged in the equipment area by a first item moving device; generating an equipment placement plan for placing the first plurality of first item movement equipment in the equipment area by the first item movement device based on the first equipment management information; outputting the equipment layout plan to the control device; the equipment arrangement plan is a plan for arranging at least one side of the first article moving equipment toward the passage area, The control device includes: receiving the equipment layout plan and generating a first control signal based on the equipment layout plan; The first article moving device is An article processing system that moves the plurality of first article moving equipment to the equipment area based on the first control signal.

11. The plan generating device comprises: storing at least the second order list among a first order list related to items to be stored in each of the plurality of first item moving equipment arranged in the first area and a second order list related to items to be stored in each of a plurality of second item moving equipment smaller than the first area and arranged in a second area in a space above the first area; generating a second item processing plan for moving a second item moving equipment based on the second order list; an interface that outputs the second item processing plan to a control device that controls movement of the first item moving equipment by the first item moving device traveling in the first area and movement of the second item moving equipment by a second item moving device traveling in the first area; The item processing system of claim 10, wherein the second item processing plan is a plan to move one or more of the first item moving equipment using the first item moving device to secure an extended running space in the first area, and to move a target second item moving equipment using the second item moving device running in the secured extended running space.

Images