Article inspecting device, article inspecting program and article inspecting system

Abstract

To detect a problem difficult to detect with a picking robot and to update inventory information in a warehouse system in accordance with the problem.SOLUTION: A device for inspecting an article according to an embodiment comprises a receiving section that receives an instruction for inspection including an article ID of an article picked up by a picking robot based on an order list and a weight of the article, a weight sensor that measures the weight of the article, a determining section that determines whether or not a problem has occurred in the article based on the weight of the article included in the instruction for inspection and a measured weight of the article, a generating section that generates an inspection result corresponding to the determination, and a transmitting section that sends the inspection result.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] An embodiment of the present invention relates to an item inspection device, an item inspection program, and an item inspection system. [Background technology]

[0002] In recent years, digital transformation (DX) has been progressing in logistics warehouses and other facilities. As a result, various robots are working together to automate tasks in logistics as well. For example, a picking robot picks products from an inventory box and passes them on to a later stage. However, when picking with a picking robot, there are problems that are difficult for the picking robot to detect, such as damage to the item or picking multiple items.

[0003] For example, Patent Document 1 discloses a technique for improving the work efficiency of a picking robot by utilizing operation history information of the picking robot. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] JP 2020-040159 A Summary of the Invention [Problem to be solved by the invention]

[0005] Even if the work efficiency of the picking robot is improved as described in the patent document, problems such as damage to items or picking multiple items that are difficult for the picking robot to detect still occur. When a problem occurs with the picked items, a discrepancy occurs between the number of items shown in the inventory information held by the warehouse system and the actual number of items. Therefore, even if the actual inventory is 0, the warehouse system shows that there is inventory, and the inventory system issues a shipping instruction for the item.

[0006] This invention has been made in light of the above-mentioned circumstances, and its object is to provide technology that can detect problems that are difficult for a picking robot to detect and update inventory information in a warehouse system in response to the problem. [Means for solving the problem]

[0007] The item inspection device of the embodiment includes a receiving unit that receives an inspection instruction including an item ID of an item picked by a picking robot based on an order list and the weight of the item, a weight sensor that measures the weight of the item, a determination unit that determines whether a problem has occurred with the item based on the weight of the item included in the inspection instruction and the measured weight of the item, a generation unit that generates an inspection result according to the determination, and a transmission unit that transmits the inspection result. [Brief description of the drawings]

[0008] [Figure 1] FIG. 1 is a conceptual diagram showing an example of the arrangement of devices in an article inspection system according to the first embodiment. [Diagram 2] FIG. 2 is a block diagram showing an example of the configuration of the WCS according to the first embodiment. [Diagram 3] FIG. 3 is a block diagram illustrating an example of the configuration of the picking robot according to the first embodiment. [Figure 4] FIG. 4 is a block diagram illustrating an example of the configuration of the inspection unit according to the first embodiment. [Diagram 5] FIG. 5 is an image diagram showing an example of an inspection operation by the article inspection system. [Figure 6] FIG. 6 is a sequence diagram for explaining an example of an inspection operation of an item according to the first embodiment. [Figure 7] FIG. 7 is a diagram showing an example of information included in an inspection instruction. [Figure 8] FIG. 8 is a flowchart illustrating step ST105 in further detail. [Figure 9]FIG. 9 is a diagram illustrating an example of information included in the inspection result. [Figure 10] FIG. 10 is a sequence diagram for explaining an example of an inspection operation of an item according to the second embodiment. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0009] Hereinafter, the article inspection device, the article inspection program, and the article inspection system will be described in detail with reference to the drawings. In the following embodiments, the parts with the same numbers perform the same operations, and the repeated description will be omitted. For example, when there are a plurality of identical or similar elements, a common symbol may be used to describe each element without distinguishing between them, and a subnumber may be used in addition to the common symbol to describe each element with distinction between them.

[0010] In the following description, the description A or B means at least one of A or B, and A, B, or C means at least one of A, B, or C. Furthermore, the description A and B also means at least one of A and B, and A, B, and C mean at least one of A, B, and C.

[0011] [First embodiment] (composition) FIG. 1 is a conceptual diagram showing an example of the arrangement of devices in an article inspection system according to the first embodiment. 1, the article inspection system includes a warehouse operation system (WES) 1, a warehouse control system (WCS) 2, an article transport system 3, a picking robot system 4, and a sorter 5. Furthermore, the picking robot system 4 includes a picking robot 41 and an inspection unit .

[0012] The WES1 can be configured with one or more general-purpose computers. The WES30 includes a processor, a memory, and an interface. The processor is a central processing unit (CPU), a micro processing unit (MPU), a digital signal processor (DSP), or the like. The memory stores the operating program of the processor, and the like. The interface communicates with the WCS2, etc., via a network.

[0013] The WES1 receives item management information such as an order list from an external device such as a host server, etc. The WES1 transmits the received item management information, etc. to the WCS2.

[0014] The WCS 2 is composed of one or more computers, i.e., a processor, a memory, an interface, and the like. The processor is a CPU, an MPU, a DSP, or the like. The WCS 2 also outputs an item transport instruction to the item transport system 3 based on the order list, and controls the item transport system 3. The WCS 2 also outputs a picking instruction to the picking robot 41 of the picking robot system 4, and controls the picking of items by the picking robot 41. The WCS also outputs an inspection instruction for the picking robot 41 to the inspection unit 42.

[0015] An order list is a list of items stored on shelves in a warehouse or the like, and specifies one or more items. For example, an order list includes item information, ordering information, and delivery information. Furthermore, an order list includes a flag indicating that an item is first received, a flag indicating that an image is not registered or that a recognition dictionary is not supported, and an item grasping success rate, etc. Note that the flag indicating that an item is first received, a flag indicating that an image is not registered or that a recognition dictionary is not supported, and an item grasping success rate, etc. may be information held as an item database by the WCS 2, the picking robot 41, etc.

[0016] The item information includes the number of items, the name of the item, the item ID, whether picking was successful, 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.

[0017] The article transport system 3 is a system for transporting shelves or boxes, etc., arranged in a warehouse to the picking robot system 4. For example, the article transport system 3 includes an automated guided vehicle (AGV) that transports shelves containing necessary articles to the picking robot system 4 according to an order list.

[0018] The picking robot 41 is composed of one or more computers, i.e., a processor, a memory, and an interface. The processor is a CPU, an MPU, or a DSP. Under the control of the processor, the picking robot 41 communicates with the WCS 2, receives a picking instruction from the WCS 2, and grasps an item from a shelf conveyed by the item conveyance system 3 in accordance with the picking instruction, and moves the item from the grasping position to a target position. Here, the target position is, for example, a predetermined position where the inspection unit 42 is disposed. The picking instruction may simply be an instruction to start picking. In this case, the picking robot 41 grasps an item arriving at the grasping position or an item contained in a case based on a detection signal of the item or case arriving at the grasping position, and moves the item from the grasping position to a target position of the inspection unit 42.

[0019] For example, when the picking robot 41 moves an article to a predetermined position, it is difficult to detect the following problems. (1) 0 pieces taken (even though the picking robot 41 judges that it has picked up the item, it has not actually picked up the item) (2) Multiple item pick-up (3) Picking a different item (i.e., wrong item) (4) Damage to items (damaging items while picking) (5) Falling during transportation Therefore, an inspection unit 42, described below, is used to detect these problems.

[0020] The inspection unit 42, which is an item inspection device, is composed of one or more computers, i.e., a processor, a memory, an interface, etc. The processor is a CPU, an MPU, a DSP, etc. The inspection unit 42 transports the inspected items to the sorter 5, which is a subsequent processing stage. The inspection unit 42 recognizes the items placed on the inspection unit 42 with a sensor, a camera, etc., to grasp the condition of the items picked by the picking robot 41. The inspection unit 42 transmits the grasped condition of the items to the warehouse control system 2.

[0021] For example, the inspection unit 42 receives item information and picking information from the picking robot 41 or the WCS 2. Then, the inspection unit 42 determines whether or not there is a problem with the item picked by the picking robot 41. The method of determining whether or not there is a problem will be described in detail later.

[0022] The sorter 5 is a sorting device that sorts the articles transported by the inspection unit 42 to sorting destinations called sorting surfaces. The sorter 5 sends the articles that have passed through the picking robot system 4 to the sorting destinations (sorting destinations) in accordance with sorting instructions received from the WCS 2.

[0023] FIG. 2 is a block diagram showing an example of the configuration of the WCS 2 according to the first embodiment. As shown in FIG. 2, the WCS 2 includes a processor 201, a ROM 202, a RAM 203, an auxiliary storage device 204, a communication interface 205, and the like.

[0024] The processor 201 is a CPU, an MPU, a DSP, or the like. The processor 201 operates based on a program stored in a ROM 202 or the like. The processor 201 acquires an order list, generates a picking instruction for the picking robot 41 to pick an item based on the order list, and outputs the generated picking instruction to the picking robot 41. Furthermore, the processor 201 acquires picking result information including the result of picking an item according to the picking instruction from the picking robot 41. Then, the processor 201 generates picking information based on the picking result information. Furthermore, the processor 201 generates an inspection instruction for the item picked by the picking robot 41, and outputs the picking information and the inspection instruction to the inspection unit 42.

[0025] The ROM 202 is a non-transitory computer-readable storage medium, and stores the above-mentioned programs. The ROM 202 also stores data or various setting values ​​used by the processor 201 when performing various processes. For example, the ROM stores inventory information. The inventory information includes information such as item IDs, number of items, item names, and item weights contained on shelves or boxes in the warehouse.

[0026] The RAM 203 is a memory used for reading and writing data, and is used as a so-called work area for storing data that is temporarily used when the processor 201 performs various processes.

[0027] The auxiliary storage device 204 is a non-transitory computer-readable storage medium, and may store the above-mentioned programs. The auxiliary storage device 204 also stores data used by the processor 201 in performing various processes, data generated by the processes in the processor 201, various setting values, and the like.

[0028] The communication interface 205 is an interface for transmitting and receiving data to and from various devices. The communication interface 205 is connected to the article transport system 3, the picking robot system 4, the sorter 5, and the like. The communication interface 205 also acquires order lists and the like from external systems and the like. For example, the communication interface 205 supports LAN (local area network) connections and the like. The communication interface 205 may also be configured to include separate interfaces for transmitting and receiving data to and from various devices.

[0029] FIG. 3 is a block diagram showing an example of the configuration of the picking robot 41 according to the first embodiment. As shown in FIG. 3, the picking robot 41 includes a processor 411, a ROM 412, a RAM 413, an auxiliary storage device 414, a communication interface 415, a picking means 416, and the like.

[0030] The processor 411 is a CPU, an MPU, a DSP, or the like. The processor 411 operates based on a program stored in a ROM 412 or the like. The processor 411 receives a picking instruction. Then, the processor 421 picks an item using a picking means 416 described later. Furthermore, the processor 421 moves the picked item to a predetermined position in the inspection unit 42 described later. The processor 421 may generate a picking result including information about the picked item and transmit it to the WCS 2.

[0031] The ROM 412 is a non-transitory computer-readable storage medium, and stores the above-mentioned programs. The ROM 412 also stores data or various setting values ​​used by the processor 411 when performing various processes.

[0032] The RAM 413 is a memory used for reading and writing data, and is used as a so-called work area for storing data that is temporarily used when the processor 411 performs various processes.

[0033] The auxiliary storage device 414 is a non-transitory computer-readable storage medium, and may store the above-mentioned programs. The auxiliary storage device 414 also stores data used by the processor 411 in performing various processes, data generated by the processes in the processor 411, various setting values, and the like.

[0034] The communication interface 415 is an interface for transmitting and receiving data to and from various devices. The communication interface 415 is connected to the WCS2 and the like. The communication interface 415 also acquires picking information, inspection instructions, and the like from the WCS2. For example, the communication interface 415 supports a LAN (local area network) connection, and the like. The communication interface 415 may also be configured to include separate interfaces for transmitting and receiving data to and from various devices.

[0035] The picking means 416 is a device for picking an item. The picking means 416 may be a general device capable of picking an item and moving the picked item to a predetermined position, and therefore a detailed description thereof will be omitted here.

[0036] FIG. 4 is a block diagram showing an example of the configuration of the inspection unit 42 according to the first embodiment. As shown in FIG. 4, the picking robot 41 includes a processor 421, a ROM 422, a RAM 423, an auxiliary memory device 424, a communication interface 425, a conveyor 426, a flipper 427, a sensor 428, a camera 429, a code reader 430, and the like.

[0037] The processor 421 is a CPU, an MPU, a DSP, or the like. The processor 421 operates based on a program stored in a ROM 422 or the like. When the processor 421 acquires an inspection instruction, the processor 421 performs an inspection to check whether or not there is a problem with the item picked by the picking robot 41. Furthermore, if the processor 421 determines that there is a problem as a result of the inspection, the processor 421 generates an inspection result and outputs the generated inspection result to the WCS 2.

[0038] The ROM 422 is a non-transitory computer-readable storage medium, and stores the above-mentioned programs. The ROM 422 also stores data or various setting values ​​used by the processor 421 when performing various processes.

[0039] The RAM 423 is a memory used for reading and writing data, and is used as a so-called work area for storing data that is temporarily used when the processor 421 performs various processes.

[0040] The auxiliary storage device 424 is a non-transitory computer-readable storage medium, and may store the above-mentioned programs. The auxiliary storage device 424 also stores data used by the processor 421 in performing various processes, data generated by the processes in the processor 421, various setting values, and the like.

[0041] The communication interface 425 is an interface for transmitting and receiving data to and from various devices. The communication interface 425 is connected to the WCS2 and the like. The communication interface 425 also acquires inspection instructions and the like from the WCS2. For example, the communication interface 425 supports a LAN (local area network) connection and the like. The communication interface 425 may also be configured to include separate interfaces for transmitting and receiving data to and from various devices.

[0042] The conveyor 426 is where the picking robot 41 places the items, and performs an inspection process while the items are moving along the conveyor 426. If the inspection process finds that there is no problem with the item, the conveyor 426 moves the item to the sorter 5, which is a subsequent device.

[0043] Flipper 427 is a sorter that, if an item is found to have a problem as a result of the inspection process, sends the item into a reject box instead of sending it to sorter 5. Note that flipper 427 is not necessarily a required component. For example, if sorter 5 is equipped with a sorter for sending items into the reject box, flipper 427 may be omitted.

[0044] The sensor 428 includes a weight sensor 4281, a proximity sensor 4282, and the like.

[0045] The weight sensor 4281 is a sensor for measuring the weight of an article flowing on the conveyor 426. For example, the measured weight of the article is used to determine whether or not a problem has occurred with the article, such as 0-item pick-up, multiple-item pick-up, wrong item pick-up, damaged item, dropped item, or the like.

[0046] The proximity sensor 4282 is a sensor for determining whether or not an article is flowing on the conveyor 426. The proximity sensor 4282 is used for determining whether or not a problem such as zero pick-up or a dropped article is occurring.

[0047] The camera 429 photographs the conveyor 426 and acquires a photographed image. The camera 429 may be a general camera. The photographed image taken by the camera 429 is used to determine whether or not a problem has occurred with the article, such as multiple pieces being picked up, damage to the article, or dropping of the article.

[0048] The code reader 430 is a reader for reading code information from a code (one-dimensional code, two-dimensional code, or RFID) attached to the top or side of an item when the picking robot 41 moves the item onto the conveyor 426. The code information may include at least one of the item ID and the item name. It goes without saying that the code information is not limited to the item ID and the item name, and may include any information that can identify the item. Therefore, the code information read by the code reader 430 is used to determine whether or not there is a problem with the item, such as a wrong item.

[0049] The inspection unit 42 does not have to include the proximity sensor 4282, the code reader 430, and the camera 429. The information acquired by these is information for further improving the accuracy of the inspection by the inspection unit 42, and is not necessarily a required component.

[0050] (operation) Next, the inspection operation by the inspection unit 42 according to the first embodiment will be described. FIG. 5 is an image diagram showing an example of an inspection operation by the article inspection system. As shown in FIG. 5 (1), the picking robot 41 picks up an item transported by the item transport system 3 and moves it to a predetermined position. Then, as shown in (2), the inspection unit 42 inspects the item picked by the picking robot 41 using, for example, a weight sensor 4281 or the like. As shown in (3), the inspection result is transmitted. For example, the inspection result may be transmitted when a problem has occurred. As shown in (4), if the inspection result shows no problem, the item on the conveyor 426 is transported to the sorter 5, which is a subsequent device. On the other hand, if the inspection result shows a problem, the inspection unit 42 uses the flipper 427 to sort the item into the reject box 6.

[0051] FIG. 6 is a sequence diagram for explaining an example of an inspection operation of an item according to the first embodiment. This sequence is realized by the processor 201 of the WCS, the processor 411 of the picking robot 41, and the processor 421 of the inspection unit 42 reading and executing programs stored in the ROM 202, ROM 412, and ROM 422, respectively.

[0052] First, the item transport system 3 transmits to the WCS 2 information indicating that a shelf containing an item to be picked up by the picking robot 41 has been transported, thereby starting the operation of this sequence.

[0053] In step ST101, the processor 201 of the WCS2 outputs a picking instruction to the picking robot 41. The processor 201 creates a picking instruction that instructs the picking robot 41 on the items to be picked up based on the order list, and outputs the created picking instruction to the picking robot 41.

[0054] In step ST102, the processor 411 of the picking robot 41 that has received the picking instruction uses the picking means 416 to pick up the item in accordance with the picking instruction. Then, the processor 411 moves the item picked up using the picking means 416 to a predetermined destination position on the conveyor 426 of the inspection unit 42. The processor 411 may generate a picking result including an item ID and the like related to the picked item, and transmit the generated picking result to the WCS2.

[0055] In step ST103, the code reader 430 acquires code information of the article from the code (one-dimensional code, two-dimensional code, or RFID) attached to the article. When the picking robot 41 places the article in a predetermined position, the code reader 430, under the control of the processor 421, reads the code information from the code attached to the top or side of the article.

[0056] In step ST104, the processor 201 outputs an inspection instruction. When the processor 201 receives the picking result from the picking robot 41, the processor 201 creates an inspection instruction for inspecting the item picked by the picking robot 41, and outputs the inspection instruction to the inspection unit 42. Note that the processor 201 may generate an inspection instruction immediately after outputting the picking instruction to the picking robot 41, and transmit the inspection instruction to the inspection unit 42. In this case, step ST104 is performed after step ST102 or in parallel.

[0057] FIG. 7 is a diagram showing an example of information included in an inspection instruction. As shown in FIG. 7, the inspection instruction includes information in the key column, namely, message ID, item ID, weight, and Jancode. Furthermore, type indicates the data type. The message ID is the ID of the inspection instruction, and is used to link it to the transmission of the inspection result. The item ID is an item ID managed by the WCS2 or the like, and indicates the ID of the item picked by the picking robot 41. The Jancode includes code information, namely, at least one of the item ID or the item name.

[0058] Returning to FIG. 6, in step ST105, the processor 421 inspects the article.

[0059] FIG. 8 is a flowchart illustrating step ST105 in further detail. In step ST201, the processor 421 determines whether the code information matches. The processor 421 compares the code information read from the item with the code information included in the Jancode included in the inspection instruction, and determines whether the code information matches. For example, the processor 421 determines whether the item name included in the read code information matches the item name included in the Jancode. If they match, the process proceeds to step ST202. On the other hand, if they do not match, the processor 421 determines that an incorrect item problem has occurred. Then, the process proceeds to step ST207.

[0060] In step ST202, the processor 421 starts tracking the article. The processor 421 starts tracking the article using the camera 429. The processor 421 may also start tracking the article using the proximity sensor 4282 in parallel with or instead of tracking using the camera 429.

[0061] In step ST203, the processor 421 determines whether there is an article on the conveyor 426. The processor 421 determines whether there is an article on the conveyor 426 based on the image captured by the camera 429. For example, if an article cannot be detected on the conveyor 426, the processor 421 determines that a problem of zero picking has occurred. Note that a case where an article cannot be detected refers to, for example, a case where an article cannot be detected for a predetermined period of time and a timeout occurs. In addition, the processor 421 may determine that a problem of multiple picking of articles has occurred when multiple articles are placed on the conveyor 426. Furthermore, if it is determined that an article on the conveyor 426 is damaged based on the captured image, the processor 421 may determine that a problem of article damage has occurred. In these cases, the process proceeds to step ST207.

[0062] On the other hand, if it is determined that no problem has occurred, that is, if it is determined that there is an article on the conveyor 426 that has no problem, the process proceeds to step ST204.

[0063] In step ST204, the processor 421 operates the conveyor 426. The processor 421 operates the conveyor 426 to move the article to the location where the weight sensor 4281 is installed. At this time, the processor 421 may repeatedly execute the process performed in step ST203. That is, the processor 421 may repeatedly execute the determination of whether or not there is an article on the conveyor 426.

[0064] In step ST205, it is determined whether the weight of the article is correct. For example, the processor 421 acquires the measurement result of the weight of the article by the weight sensor 4281. Then, the processor 421 compares the measurement result with the weight of the article included in the inspection instruction to determine whether the weight of the article is correct. If the weights are different, such as when the weight of the article is an integer multiple of approximately two or more of the weight of the article included in the inspection instruction, the processor 421 determines that a problem of taking multiple articles has occurred. If the measurement result is 0 and the article cannot be detected by the proximity sensor 4282, the processor 421 determines that a problem of taking 0 articles or dropping an article has occurred. Alternatively, if the bottom of the article has fallen out and the weight of the measurement result differs from the weight of the article included in the inspection instruction, the processor 421 determines that the article has been damaged or the wrong article has been taken. In these cases, the process proceeds to step ST207. On the other hand, if it is determined that the weight of the article is correct, the process proceeds to step ST206.

[0065] In step ST206, the processor 421 determines that the inspection is passed. The processor 421 generates an inspection result indicating that the inspection is passed.

[0066] In step ST207, the processor 421 determines that the inspection has failed. The processor 421 generates an inspection result according to the problem that has occurred.

[0067] Here, the processes of steps ST201 to ST203 may not be performed. As described above, the code reader 430 and the camera 429 are not essential components, so if the inspection unit 42 does not include these devices, the above processes may not be performed.

[0068] 6, if it is determined in step ST105 that the article has passed inspection, then in step ST106, the article is moved to the sorter 5. For example, the processor 421 moves the conveyor 426 to move the article to the sorter 5.

[0069] In step ST107, the processor 421 outputs a sorting request to the sorter 5. If the inspection unit 42 and the sorter 5 are capable of communicating, the processor 421 transmits the sorting request to the sorter 5 through the communication interface 425. Alternatively, if the inspection unit 42 and the sorter 5 are not capable of communicating, the processor 421 generates a code (one-dimensional code or two-dimensional code) including the sorting request and displays it on a display or the like. For example, the sorter 5 reads the sorting request from the code using a code reader or the like.

[0070] If it is determined in step ST105 that the item has failed the inspection, the processor 421 controls the flipper 427 to move the item to the reject box 6 in step ST108.

[0071] In step ST109, the processor 421 outputs the inspection result. The processor 421 outputs the inspection result created in step ST206 or step ST207 to the WCS2.

[0072] FIG. 9 is a diagram illustrating an example of information included in the inspection result. For example, if it is determined to be successful in step ST206, the inspection result includes the message ID included in the inspection instruction and id 0. On the other hand, if it is determined to be unsuccessful in step ST207, the inspection result includes the message ID included in the inspection instruction described above and an id corresponding to the determined problem.

[0073] Also shown in FIG. 8 is a sensor 428 or camera 429 capable of determining the problem in question.

[0074] 8 and described above, a zero-item pick-up problem can be determined by the camera 429, or the weight sensor 4281 and the proximity sensor 4282. A multiple-item pick-up problem can be determined by the weight sensor 4281 or the camera 429. A wrong-item problem can be determined by the code reader 430 or the weight sensor 4281. An item damage problem can be determined by the weight sensor 4281 or the camera 429. Furthermore, an item drop problem can be determined by the weight sensor 4281 and the proximity sensor 4282, or the camera 429.

[0075] Returning to Fig. 6, in step ST110, the processor 201 performs processing according to the inspection result. For example, if the inspection result is any of id2 to id4, the processor 201 corrects the inventory information and outputs an instruction to the article transport system 3 to redeliver the article as necessary. Alternatively, if the required article is present on the shelf, a picking instruction may be output to the picking robot 41.

[0076] In addition, if the inventory information is revised so that the required items are zero and the item cannot be shipped, WCS2 may call an attendant to process the invoice information, etc.

[0077] If the inspection result is id5 or id6, i.e., the item is damaged or dropped, the processor 201 outputs a redelivery to the item delivery system 3. Alternatively, if the required item is on the shelf, a picking instruction may be output to the picking robot 41. Unlike id2 to id4, if the inspection result is id5 or id6, i.e., the item is damaged or dropped, the processor 201 does not correct the inventory information, but simply determines that it is necessary to pick one more damaged item, and outputs a picking instruction or the like to the picking robot 41. The dropped item may be picked up by a worker at any time and stored in the warehouse.

[0078] It should be noted that steps ST109 and ST110 do not have to be performed if the inspection result is successful, because these processes are performed to correct the inventory information.

[0079] (Effects of the first embodiment) According to the first embodiment described above, it is possible to determine whether or not a problem that is difficult for the picking robot 41 to detect has occurred through inspection by the inspection unit 42. Furthermore, if a problem has occurred with an item, the WCS 2 can correct the inventory information, thereby preventing a situation in which the inventory information differs from the actual inventory.

[0080] [Second embodiment] In the second embodiment, an example will be described in which an article in which a problem has occurred is moved to the side of the picking robot 41, and the picking robot 41 performs a reject process.

[0081] (composition) The configuration of the inspection system in the second embodiment is similar to that of the first embodiment, so a duplicated description will be omitted here. However, in the second embodiment, if the inspection process finds a problem with an item, the conveyor 426 can reverse its rotation to return the item to the picking robot 41. Alternatively, the conveyor 426 may include a conveyor (a second conveyor) different from the conveyor that moves the item to the sorter 5. For example, if the inspection process finds a problem with an item, the second conveyor can return the defective item to the picking robot 41. In this case, the flipper 427 may move the item from the conveyor 426 to the second conveyor.

[0082] (operation) FIG. 10 is a sequence diagram for explaining an example of an inspection operation of an item according to the second embodiment. This sequence is realized by the processor 201 of the WCS, the processor 411 of the picking robot 41, and the processor 421 of the inspection unit 42 reading and executing programs stored in ROM 202, ROM 412, and ROM 422, respectively.

[0083] The operations of steps ST301 to ST308 are the same as those of steps ST101 to ST107 and ST109 described with reference to Fig. 6. Therefore, the duplicated explanations will be omitted here. Note that, as in the first embodiment, the inspection result of step ST308 does not need to be performed.

[0084] If it is determined in step ST305 that the item has failed the inspection, in step ST309, the processor 421 moves the conveyor 426 to a predetermined position where the picking robot 41 places the item. For example, the processor 421 reverses the rotation of the conveyor 426 to move the conveyor 426 to the predetermined position where the picking robot 41 placed the item. Alternatively, the processor 421 moves the item to a second conveyor using a flipper 427 or the like, and moves the second conveyor to the predetermined position. Note that in this embodiment, the predetermined position may be any position as long as the picking robot 41 can pick up the item.

[0085] In step ST310, the picking robot 41 performs the reject process. For example, the processor 421 outputs a picking instruction to the picking robot 41. Alternatively, the processor 421 outputs the picking instruction to the picking robot 41 via the WCS2. The picking robot 41 performs the reject process according to the picking instruction. The reject process differs depending on the problem included in the inspection result.

[0086] For example, if the problem is picking zero items, the picking robot 41 picks an item from the shelf again. If the problem is picking multiple items, the picking robot 41 picks items from the multiple items on the conveyor 426 so that the correct number is picked. If the problem is picking the wrong item, the picking robot 41 returns the item on the conveyor 426 to the shelf and picks the correct item. If the item is damaged, the picking robot 41 moves the item to the reject box 6. Note that if the problem is an item falling, the reject process does not need to be carried out.

[0087] After step ST310, the inspection unit 42 may perform the inspection process in step ST305 again. If the inspection passes, the process proceeds to step ST306.

[0088] In step ST311, the processor 421 outputs inventory correction information to the WCS 2. The processor 421 generates inventory correction information according to the reject process, and outputs the generated inventory correction information to the WCS 2. The inventory correction information includes a request to re-pick the item, for example, if an item has been dropped or damaged. Also, in the case of zero picking, multiple picking, or wrong item, the correct item will be placed in the inspection unit 42 by the reject process, so the processor 421 does not need to generate inventory correction information.

[0089] In step ST312, the processor 201 performs processing according to the inventory correction information. The processor 201 corrects the inventory information based on the inventory correction information, and outputs an instruction to the item transport system 3 to redeploy the item as necessary. Alternatively, if the required item is present on the shelf, a picking instruction may be output to the picking robot 41.

[0090] In addition, if the inventory information is revised so that the required items are zero and the item cannot be shipped, WCS2 may call an attendant to process the invoice information, etc.

[0091] (Effects of the second embodiment) According to the second embodiment described above, defective items are returned to the picking robot 41, and the picking robot 41 performs the reject process. This makes it possible to solve the problems of incorrect items, zero picking, and multiple picking. This saves the trouble of a person repairing an item from the reject box 6. Furthermore, it is possible to reduce the problem of an insufficient inventory that prevents an item from being shipped because an item has been placed in the reject box 6.

[0092] [Other embodiments] In the above-described embodiment, an example in which the inspection unit 42 is provided between the picking robot 41 and the sorter 5 has been described, but the present invention is not limited to this. This embodiment can be implemented, for example, by placing the inspection unit 42 between any devices. For example, the present embodiment can also be applied to a case in which the inspection unit 42 is disposed between the articles sorted by the sorter 5 and the articles transported to a work area for packaging.

[0093] The program according to this embodiment may be transferred in a state stored in an electronic device (computer) as the WCS2 or the inspection unit 42, or may be transferred in a state not stored in the electronic device. In the latter case, the program may be transferred via a network, or may be transferred in a state stored in a storage medium. The storage medium is a non-transitory tangible medium. The storage medium is a medium that can be read by a computer as the WCS2 or the inspection unit 42 (a computer-readable medium). The storage medium may be any medium capable of storing a program and being readable by a computer, such as an optical disk (e.g., a CD-ROM), a magnetic disk, or a semiconductor memory (e.g., a memory card), and the form of the storage medium is not important.

[0094] 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]

[0095] 1. Warehouse operation system 2. Warehouse control system 201…Processor 202...ROM 203...RAM 204...Auxiliary storage device 205...Communication interface 3. Goods transport system 4. Picking robot system 41...Picking robot 411...Processor 412...ROM 413...RAM 414...Auxiliary storage device 415…Communication interface 416...Picking method 42…Inspection unit 421...Processor 422...ROM 423...RAM 424...Auxiliary memory device 425…Communication interface 426…Conveyor 427…Flipper 428…Sensor 4281...Weight sensor 4282…Proximity sensor 429...Camera 430…Code reader 5. Sorter 6…Reject box

Claims

1. a receiving unit that receives an inspection instruction including an item ID of an item picked by a picking robot based on an order list and a weight of the item; A weight sensor that measures the weight of the item; a determination unit that determines whether or not a problem has occurred with the item based on the weight of the item included in the inspection instruction and the measured weight of the item; A generating unit that generates an inspection result according to the determination; A transmission unit that transmits the inspection result; An article inspection device comprising:

2. If the measured weight of the item is different from the weight of the item included in the inspection instruction, the determination unit determines that a problem has occurred in which the item has been picked incorrectly or the item has been damaged.

2. An article inspection device according to claim 1.

3. Further comprising a proximity sensor for detecting the article; When it is determined that the weight of the item is not measured by the weight sensor and the item cannot be detected by the proximity sensor, the determination unit determines that a problem has occurred in which the item has fallen or the item has not been picked up by the picking robot.

2. An article inspection device according to claim 1.

4. Further comprising a camera for photographing the item, The determination unit determines, based on a captured image of the item captured by the camera, that a problem has occurred, such as the item not being picked up by the picking robot, multiple items being removed, the item being damaged, or the item being dropped.

2. An article inspection device according to claim 1.

5. The inspection instruction further includes at least one of an item name and an item ID, and the inspection device further includes a code reader that reads code information including at least one of the item name and the item ID from a code attached to the item; The determination unit determines whether the name or ID of the item included in the inspection instruction matches the name or ID of the item included in the code information, and if they do not match, determines that a problem has occurred in which the item has been erroneously picked.

2. An article inspection device according to claim 1.

6. The system further includes a flipper for sorting the item into a reject box when the determination unit determines that a problem has occurred with the item.

6. An article inspection device according to claim 1.

7. a conveyor that returns the item to the picking robot when the determination unit determines that a problem has occurred with the item; and A generation unit that generates an instruction for causing the picking robot to perform a reject process according to the problem; A transmission unit that transmits the instruction; The article inspection device according to claim 1 , further comprising:

8. the conveyor is a conveyor that moves the item to a subsequent device when the determination unit determines that no problem has occurred with the item, and when returning the item to the picking robot, the conveyor is rotated in a reverse direction to return the item.

8. An article inspection device according to claim 7.

9. The system further includes a second conveyor different from the conveyor, the second conveyor being configured to move the article to a subsequent device when the determining unit determines that no problem has occurred with the article.

8. An article inspection device according to claim 7.

10. An item inspection program executed by a processor of an item inspection device, receiving an inspection instruction including an item ID of an item picked by the picking robot based on the order list and a weight of the item; Weighing the item; and determining whether a problem has occurred with the item based on the weight of the item included in the inspection instruction and the measured weight of the item; generating an inspection result in response to the determination; Transmitting the inspection results; and An article inspection program that includes:

11. Picking robots and an item inspection device that inspects the items picked up by the picking robot; Equipped with the picking robot includes a picking means for picking an item according to a picking instruction and moving the picked item to a predetermined location of the item inspection device; The article inspection device includes: A receiving unit that receives an inspection instruction including an item ID of the item and a weight of the item; A weight sensor that measures the weight of the item; a determination unit that determines whether or not a problem has occurred with the item based on the weight of the item included in the inspection instruction and the measured weight of the item; A generating unit that generates an inspection result according to the determination; A transmission unit that transmits the inspection result; An article inspection system comprising:

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