Simulation method, simulation apparatus, and program

Abstract

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

Description

[Technical Field]

[0001] The present disclosure relates to a simulation method, a simulation device, and a program. [Background technology]

[0002] Conventionally, in automated warehouses, the movement of goods is automated by an automatic conveyance device. For example, Patent Document 1 discloses a conveyance system that performs an operation simulation for the automatic conveyance device, sets a travel route, and moves the device to a destination position. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Publication No. 2022-183002 Summary of the Invention [Problem to be solved by the invention]

[0004] Incidentally, there are cases where users other than automated warehouse manufacturers wish to run a simulation of transportation by an automated conveying device, for example, to check the performance of the automated warehouse. However, the algorithms used for path search of the automated conveying device may not be made public except to some users, such as automated warehouse manufacturers. In addition, estimating the algorithm requires operational data of the actual device, which is difficult for users other than the automated warehouse manufacturers. Furthermore, for users who are not highly skilled in automated warehouse simulations, even if any algorithm is available, setting the parameters required to run the simulation can be time-consuming.

[0005] The present disclosure has been devised in view of the above-described conventional situation, and aims to simplify the execution of a simulation of transportation within an automated warehouse. [Means for solving the problem]

[0006] The present disclosure provides a simulation method that displays one or more presets in which a plurality of parameters including at least path search parameters used to search for a travel path within an automated warehouse for a transport robot deployed in the automated warehouse, loads a specific preset based on user input, sets the plurality of parameters based on the loaded specific preset, and causes the transport robot to perform a task in the automated warehouse based on the set plurality of parameters, inventory information for items stored in the automated warehouse, and inbound and outbound information for the items.

[0007] The present disclosure also provides a simulation device including a processor and a memory, in which the processor and the memory work together to display one or more presets in which a plurality of parameters including at least path search parameters for a transport robot deployed in an automated warehouse are predefined, load a specific preset based on user input, set the plurality of parameters based on the loaded preset, and have the transport robot perform a task in the automated warehouse based on the set plurality of parameters, inventory information of items stored in the automated warehouse, and inbound and outbound information of the items.

[0008] The present disclosure also provides a program for causing a computing device to display one or more presets in which a plurality of parameters including at least path search parameters for a transport robot deployed in an automated warehouse are predefined, causing a specific preset to be loaded based on user input, causing the plurality of parameters to be set based on the loaded preset, and causing the transport robot to perform tasks in the automated warehouse based on the set parameters, inventory information for items stored in the automated warehouse, and inbound and outbound information for the items.

[0009] Any combination of the above components, and conversion of the expression of the present disclosure into a method, device, system, storage medium, computer program, etc., are also valid aspects of the present disclosure. [Effects of the Invention]

[0010] According to the present disclosure, it is possible to simplify the execution of a simulation of transportation within an automated warehouse. [Brief explanation of the drawings]

[0011] [Figure 1] FIG. 1 is a block diagram showing an example of a hardware configuration of a simulation device according to a first embodiment. [Figure 2] Block diagram showing functions of an automated warehouse simulation system according to the first embodiment. [Figure 3] 1 is a flowchart showing the overall processing flow of the simulation device according to the first embodiment. [Figure 4] 1 is a flowchart showing a parameter setting process performed by the simulation device according to the first embodiment; [Figure 5] FIG. 1 is a schematic diagram illustrating a parameter preset database according to the first embodiment; [Figure 6] Schematic diagram showing an example of a display screen according to the first embodiment. [Figure 7] FIG. 1 is a schematic diagram illustrating a travel path of a transport robot according to the first embodiment; [Figure 8] FIG. 1 is a table diagram illustrating a bin inventory table according to the first embodiment. [Figure 9] FIG. 1 is a table diagram illustrating a bin arrangement table according to the first embodiment. [Figure 10] FIG. 1 is a table diagram illustrating an arrival table according to the first embodiment. [Figure 11] FIG. 1 is a table diagram illustrating a shipping table according to the first embodiment. [Figure 12] FIG. 1 is a table diagram illustrating a shipping task table according to the first embodiment. [Figure 13] FIG. 1 is a table diagram illustrating a transport robot table according to the first embodiment. [Figure 14] 1 is a flowchart showing task execution processing by the simulation device according to the first embodiment; DETAILED DESCRIPTION OF THE INVENTION

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

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

[0014] The simulation device 10 executes a simulation of an automated warehouse using an automated warehouse simulation system 30 (see FIG. 2 ), which will be described later, to reproduce the behavior of a transport robot deployed in the automated warehouse and calculate the key performance indicators (hereinafter referred to as “KPIs”) of the automated warehouse. In this specification, KPI is synonymous with an indicator corresponding to a warehouse management goal. An example of a KPI is the throughput of an automated warehouse. The throughput of an automated warehouse is one of the indicators for evaluating the efficiency of an automated warehouse and is defined, for example, as the amount of goods shipped from the automated warehouse in a certain period of time. In this specification, “goods” includes products, materials, parts, or a combination thereof. Hereinafter, a transport robot may be referred to as an automatic guided vehicle (hereinafter referred to as an “AGV”). A transport robot may also be referred to as an autonomous mobile robot (hereinafter referred to as an “AMR”).

[0015] The simulation device 10 is configured using a general-purpose computer device, such as a personal computer or a server computer. The simulation device 10 is used, for example, by an automated warehouse manager or a user considering introducing an automated warehouse. Hereinafter, the simulation device 10 may be referred to as a computing device.

[0016] The simulation device 10 includes a processor 11, a memory 12, an input device 13, a display device 14, a communication device 15, and an external interface device 16. The components of the simulation device 10 are connected to each other via an internal bus 17 so as to enable data communication. Note that the configuration shown in Fig. 1 is an example and is not limited to this.

[0017] The processor 11 is configured using, for example, a central processing unit (hereinafter referred to as "CPU"), a graphics processing unit (hereinafter referred to as "GPU"), a micro processing unit (hereinafter referred to as "MPU"), a digital signal processor (hereinafter referred to as "DSP"), or a field programmable gate array (hereinafter referred to as "FPGA"), etc. The processor 11 realizes the functions of the simulation device 10 by reading and executing various data and programs stored and held in the memory 12.

[0018] The memory 12 is a storage area for storing and holding various data, programs, etc. The memory 12 is composed of, for example, a read only memory (hereinafter referred to as "ROM"), which is a non-volatile storage area, a hard disk drive (hereinafter referred to as "HDD"), and a random access memory (hereinafter referred to as "RAM"), which is a volatile storage area. The RAM is, for example, a work memory used during operation of the simulation device 10. The ROM stores and holds, for example, programs for controlling the simulation device 10 in advance.

[0019] The memory 12 holds a parameter preset database 20. The parameter preset database 20 stores and holds presets in which a plurality of parameters used in a simulation of an automated warehouse are defined in advance. The parameter preset database 20 may store and hold one or a plurality of presets. The parameter preset database 20 will be described later with reference to FIG. 5. Note that while FIG. 1 shows a configuration in which the memory 12 holds the parameter preset database 20, this is not limiting, and the parameter preset database 20 may be held on a cloud (not shown) or in an external device (not shown) so that it is accessible to the simulation device 10. The parameter preset database 20 may also be configured using a storage medium such as a flash memory, an HDD, or a solid state drive (hereinafter referred to as "SSD").

[0020] The input device 13 includes a keyboard, a mouse, a touch panel, or other input devices, and receives input of various data and the like through user operations.

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

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

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

[0024] The external interface device 16 is an interface for transmitting and receiving data to and from an external system or device.

[0025] The processor 11 of the simulation device 10 operates in cooperation with the memory 12 to execute the automated warehouse simulation system 30. Fig. 2 is a block diagram showing the functions of the automated warehouse simulation system 30 according to the first embodiment. Hereinafter, simulation may be abbreviated as SIM.

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

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

[0028] The automated warehouse structure setting unit 31-1 sets various layout parameters that define the structure of the automated warehouse. For example, the automated warehouse structure setting unit 31-1 sets layout parameters that define the capacity of the automated warehouse, the structure of AGVs in the automated warehouse, and routes that can and cannot be traveled.

[0029] The receipt / shipment master 31-2 holds receipt / shipment information of items stored in the automated warehouse. The initial value setting unit 31 uses the receipt / shipment master 31-2 to set information on items arriving at or being shipped from the automated warehouse. Examples of receipt / shipment information will be described later with reference to FIGS. 10 and 11.

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

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

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

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

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

[0035] The task execution unit 32-3 causes the AGV to which the task has been assigned to execute the task. The task execution unit 32-3 at least causes the AGV to travel in order to have the AGV execute the task. In addition, the task execution unit 32-3 uses a route search algorithm to search for a route for the AGV to travel. The route search algorithm uses the AGV's travel time as a route evaluation function. The route search algorithm searches for a route for the AGV so that the route evaluation function becomes small, that is, so that the AGV's travel time becomes short.

[0036] The result output unit 33 uses a KPI calculation unit 33-1 and a dashboard display unit 33-2 to calculate KPIs and generate a display screen showing simulation results including the calculated KPIs.

[0037] The KPI calculation unit 33-1 calculates the KPI of the automated warehouse based on the executed simulation.

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

[0039] Fig. 3 is a flowchart showing the overall processing flow by the simulation device 10 according to the first embodiment. Each process in the flowchart shown in Fig. 3 is executed by the automated warehouse simulation system 30, which is executed by the processor 11 and the memory 12 in cooperation with each other. For ease of explanation, it is assumed that the simulation executed by the automated warehouse simulation system 30 in this flowchart is the inbound and outbound of goods stored in an automated warehouse.

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

[0041] The processor 11 sets the initial stock (step S41). The processor 11 sets the initial stock using the stock master 31-3.

[0042] The processor 11 reads the receipt / shipment information (step S42). The receipt / shipment information may be set in advance and stored in the receipt / shipment master 31-2.

[0043] Processor 11 determines whether all shipments and receipts have been completed based on the shipment and receipt information (step S43). The process of step S43 is executed repeatedly, but in the first process of step S43, processor 11 determines whether all shipments and receipts have been completed based on the shipment and receipt information read in step S42.

[0044] When determining that all shipments and receipts have not been completed (step S43; NO), the processor 11 generates one or more tasks to complete shipments and receipts (step S44).

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

[0046] The processor 11 updates the shipment / receipt information based on one or more tasks executed in step S45 (step S46), thereby deleting, for example, information about the shipment completed in step S45 from the shipment / receipt information.

[0047] Processor 11 returns to step S43 and repeats the process. That is, processor 11 determines whether or not all shipments and receipts have been completed based on the shipment and receipt information (step S43). In the second and subsequent processing of step S43, processor 11 determines whether or not all shipments and receipts have been completed based on the shipment and receipt information updated in step S46.

[0048] When processor 11 determines that all shipments and receipts have been completed (step S43; YES), it ends this processing flow.

[0049] When determining in step S43 whether all shipments and receipts have been completed, processor 11 may make the determination based on the shipment and receipt information read in step S42 and one or more tasks executed in step S45. In this case, processor 11 may omit updating the shipment and receipt information in step S46.

[0050] Next, the parameter setting in step S40 of the flowchart shown in Fig. 3 will be described with reference to Fig. 4, Fig. 5, and Fig. 6. Fig. 4 is a flowchart showing the parameter setting process performed by the simulation device 10 according to the first embodiment.

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

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

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

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

[0055] Processor 11 sets parameters based on the user input of the parameters accepted in step S53 (step S54). More precisely, processor 11 sets various parameters based on the preset loaded in step S52 and the user input of the parameters accepted in step S53. Note that if processor 11 loaded a preset in step S52 but did not accept any user input in step S53, it sets the various parameters defined by the preset loaded in step S52 as the various parameters for the simulation.

[0056] FIG. 5 is a schematic diagram for explaining the parameter preset database 20 according to the first embodiment.

[0057] The parameter preset database 20 stores and holds a plurality of presets in which a plurality of parameters are defined in advance. Presets may be created in advance for each manufacturer of automated warehouses, for example. For example, preset 21 defines various parameters to correspond to a large-scale automated warehouse made by company A. Furthermore, for example, preset 22 defines various parameters to correspond to a large-scale automated warehouse made by company B.

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

[0059] Furthermore, presets may be created in advance to correspond to a virtual automated warehouse. For example, preset 25 defines various parameters to correspond to a virtual large-scale automated warehouse. For example, preset 26 defines various parameters to correspond to a virtual small-scale automated warehouse. This allows the user to simulate transportation in an automated warehouse of any design.

[0060] In this embodiment, the preset defines at least the path search parameters. In other words, the preset includes the path search parameters. The preset may also include, for example, layout parameters such as possible routes for AGVs in an automated warehouse. The preset may also include, for example, AGV parameters such as the number of AGVs, the initial position of the AGV, and the time an AGV pauses to avoid collision with another AGV. The preset may also include parameters other than the above parameters. This is because the parameters used in a simulation may vary depending on the content of the simulation.

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

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

[0063] The user can input various parameters to the user input receiving unit 62. For example, the user input receiving unit 62 may display various parameters defined in the preset selected by the user in the preset selecting unit 61. The user may then modify the displayed various parameters to desired values. Alternatively, the user may directly input parameters to the user input receiving unit 62 without selecting a specific preset in the preset selecting unit 61.

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

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

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

[0067] For example, an expert in simulations of AGVs in automated warehouses may create presets in advance that define various parameters used for the simulation and store and retain them in the parameter preset database 20. The expert may create multiple presets, for example, for each automated warehouse manufacturer or the size of the automated warehouse. This allows even a user who is not familiar with simulations to easily run a simulation by selecting a pre-created preset and using the various parameters defined in the preset. Furthermore, for example, a user who has some knowledge of simulations but is not as knowledgeable as an expert can select a pre-created preset, input parameters themselves as needed based on the various parameters defined in the preset, and run a desired simulation. Furthermore, an expert in simulations can input parameters themselves and run a desired simulation without selecting a preset.

[0068] In the simulation, when an AGV performs a task, a path search algorithm is used to search for a travel path for the AGV. In the simulation, if multiple AGVs travel simultaneously, a group control algorithm is used. In this embodiment, the path search algorithm and group control algorithm used in the simulation may be any algorithm. The path search algorithm uses the AGV's travel time as a path evaluation function, and the path search algorithm searches for a travel path for the AGV that shortens the AGV's travel time. This allows the position of the AGV, which changes over time, to be accurately reproduced in the simulation using any path search algorithm, without using a path search algorithm dedicated to a specific automated warehouse, for example.

[0069] An example of evaluation of the travel route of an AGV when there is one AGV in the simulation will be described with reference to Fig. 7. Fig. 7 is a schematic diagram for explaining the travel route of a transport robot according to the first embodiment. For ease of explanation, Fig. 7 shows the travel route of the AGV in the automated warehouse on an XY coordinate plane. In the example of Fig. 7, two travel routes are shown by displaying arrows superimposed on the dotted line representing the travel route of the AGV.

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

[0071] The AGV travels the same distance on route C1 and route C2. However, depending on the settings of the route search parameters, i.e., the maximum speed of the AGV, the acceleration of the AGV, and the time required for the AGV to change direction, the travel time of the AGV on route C1 and route C2 may differ.

[0072] For example, if the travel time of an AGV traveling along route C1 is shorter than the travel time of the AGV traveling along route C2, the route search algorithm evaluates route C1 as being better than route C2, in other words, as being a route with lower cost. Also, for example, if the travel time of an AGV traveling along route C2 is shorter than the travel time of the AGV traveling along route C1, the route search algorithm evaluates route C2 as being a route with lower cost than route C1.

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

[0074] Next, inventory information of items stored in the automated warehouse will be described with reference to Figures 8 and 9. Figure 8 is a table diagram for explaining a bin inventory table according to the first embodiment. Figure 9 is a table diagram for explaining a bin placement table according to the first embodiment. Note that a bin is a container for storing items in the automated warehouse. In this embodiment, items stored in the automated warehouse are stored in bins.

[0075] The bin inventory table indicates a bin ID for identifying a bin, an item ID for identifying an item stored in the bin, and the quantity of the item. For example, the bin inventory table shown in Figure 8 indicates that 10 items (e.g., 10 units) with an item ID of I-0001 are stored in a bin with a bin ID of B-0001.

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

[0077] Next, the receipt and shipment information of items stored in the automated warehouse will be described with reference to Fig. 10 and Fig. 11. Fig. 10 is a table diagram for explaining the arrival table according to the first embodiment. Fig. 11 is a table diagram for explaining the shipping table according to the first embodiment.

[0078] The arrival table indicates an arrival ID for identifying an arrival, the item ID of the item that will arrive at the automated warehouse as a result of the arrival, the quantity of the item, and the placement ID of the placement location of the item in the automated warehouse. The arrival table shown in Fig. 10 indicates, for example, that an arrival with an arrival ID of R-0001 will result in 10 items (e.g., 10 units) with an item ID of I-0010 being received at the automated warehouse, and that the items will be placed and stored at a location with a placement ID of V-1000 in the automated warehouse.

[0079] The shipping table indicates a shipping ID for identifying a shipment, the item ID of the item being shipped from the automated warehouse in that shipment, the quantity of the item, and the shipping location when the item is shipped, in other words, a shipping location ID that indicates the location where the shipping work for the item will be performed. The shipping table shown in FIG. 11 indicates, for example, that 10 items (e.g., 10 units) with item ID I-0001 are shipped from the automated warehouse in a shipment with shipping ID S-0001, and that the shipping work will be performed at a location in the automated warehouse with shipping location ID V-2000 during that shipment. The incoming / outgoing shipping information may be set in the format of, for example, the receiving table shown in FIG. 10 and the shipping table shown in FIG. 11. However, the format of the incoming / outgoing shipping information is not limited to these.

[0080] The processor 11 may, for example, read receipt / shipment information and generate a receiving task, a shipping task, etc., to complete receipt / shipment based on the read receipt / shipment information. Next, an example of a shipping task generated by the processor 11 will be described with reference to Fig. 12. Fig. 12 is a table diagram for explaining a shipping task table according to the first embodiment.

[0081] A shipping task is a task that causes an AGV to transport a specific item from a placement location to a shipping location in an automated warehouse. The shipping task table indicates a shipping task ID for identifying the shipping task, a bin ID of the bin that stores the item to be shipped, a placement ID of the bin, and a shipping location ID for the shipping work of the bin (the item). The shipping task table shown in FIG. 12 is generated, for example, based on the bin inventory table shown in FIG. 8 and the shipping table shown in FIG. 11. For example, the shipping task table shown in FIG. 12 indicates that in a shipping task with a shipping task ID of ST-0001, an AGV transports a bin with a bin ID of B-0002 that is located at a location ID of V-0002 to a shipping location ID of V-2000. By executing the shipping task with a shipping task ID of ST-0001, 10 items (e.g., 10 units) with an item ID of I-0001 and 5 items (e.g., 5 units) with an item ID of I-0002 are each transported to the shipping location. The shipping task may be generated, for example, in the format of the shipping task table shown in Fig. 12. However, the format of the generated shipping task is not limited to the format of the shipping task table shown in Fig. 12.

[0082] The tasks are not limited to shipping tasks, and other tasks such as receiving tasks and storage tasks may be generated. The receiving task may be a task that causes the AGV to transport items that are to be received into the automated warehouse from a receiving location to a specific storage location. The receiving location may be, for example, a location for storing the received items in a bin. The storage task may be, for example, a task that causes the AGV to transport items that are stored at a specific storage location to another storage location. In this way, various tasks that cause the AGV to transport items may be generated by the processor 11.

[0083] Furthermore, the tasks are not limited to tasks for causing the AGV to transport goods, and for example, a charging task may be generated. The charging task may be, for example, a task for causing the AGV to move to a charging spot provided in the automated warehouse and charge the AGV.

[0084] The operating status of the AGV during the simulation, for example, the status of the AGV, such as whether it is available, charging, or performing a task, may be grasped by the processor 11. The status of the AGV may be managed, for example, by a transport robot table shown in Fig. 13. Fig. 13 is a table diagram for explaining the transport robot table according to the first embodiment.

[0085] The transport robot table indicates an AGV ID for identifying the AGV, the operating status of the AGV, and a current position ID indicating the AGV's current location in the automated warehouse. The transport robot table may be updated, for example, every time a predetermined time elapses in a simulation. For example, if the transport robot table is updated at regular time intervals, the operating status and current position of the AGV are the operating status and current position at the time the transport robot table is updated. Hereinafter, an AGV whose operating status is empty may be referred to as an empty AGV.

[0086] Next, the execution of a task in step S45 of the flowchart shown in Fig. 3 will be described with reference to Fig. 14. Fig. 14 is a flowchart showing task execution processing by the simulation device 10 according to the first embodiment. For ease of explanation, the processor 11 of the simulation device 10 has already generated multiple tasks at the start of the flowchart shown in Fig. 14. The multiple tasks are tasks for causing an AGV to transport an article. In addition, multiple AGVs are operating in the simulation.

[0087] The processor 11 of the simulation device 10 determines whether or not all the generated tasks have been assigned to the AGVs (step S70).

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

[0089] When the processor 11 determines that there are tasks that have not been assigned to the AGVs (step S70; NO), it picks up one of the tasks that have not been assigned to the AGVs, in other words, one of the unassigned tasks (step S71). Picking up a task means noting and acquiring the task in question in order to assign it to an AGV.

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

[0091] If there is no available AGV (step S72; NO), the processor 11 waits for an available AGV to appear (step S73). Then, the processor 11 returns to step S72 and repeats the process. An available AGV appears, for example, when an AGV currently executing a task completes the task, or when an AGV currently charging has completed charging.

[0092] If there is an empty AGV (step S72; YES), the processor 11 assigns the unassigned task to the empty AGV that is closest to the bin position associated with the unassigned task picked up in step S71 (step S74). For example, if the unassigned task is a shipping task, the bin position associated with the unassigned task is the position of the bin transported to the shipping position by the shipping task. For example, if the unassigned task is a receiving task, the bin position associated with the unassigned task is the receiving position. For example, if the unassigned task is a storage task, the bin position associated with the unassigned task is the position (current position) of the bin transported by the storage task before it was transported.

[0093] When the processor 11 assigns the unassigned task picked up in step S71 to an empty AGV in step S74, the processor 11 causes the empty AGV to execute the unassigned task (step S75). Then, the processor 11 returns to step S70 and repeats the process. When the processor 11 completes the assignment of all the generated tasks to AGVs (step S71; YES), the processor 11 ends this flowchart.

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

[0095] For example, when a simulation of incoming and outgoing shipments at an automated warehouse is completed, the processor 11 of the simulation device 10 may calculate the throughput set as a KPI for the automated warehouse and output the calculation result. The output calculation result may be displayed on the display device 14, for example.

[0096] (Summary of the first embodiment) The above description of the first embodiment discloses at least the following techniques. Note that the components corresponding to the first embodiment are shown in parentheses, but the present invention is not limited to these.

[0097] (Technology 1) The simulation method displays one or more presets (e.g., preset 21) in which multiple parameters including at least path search parameters used to search for a travel path (e.g., path C1) within the automated warehouse for a transport robot deployed in the automated warehouse are predefined, loads a specific preset based on user input, sets multiple parameters based on the loaded specific preset, and has the transport robot perform tasks in the automated warehouse based on the set multiple parameters, inventory information for items stored in the automated warehouse, and item inbound and outbound information.

[0098] This means that even a user with little proficiency in simulating transportation by a transport robot in an automated warehouse, for example, can easily run a simulation by selecting a preset that defines the various parameters used in the simulation.

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

[0100] This allows presets that define various parameters for each manufacturer of automated warehouses to be created in advance, thereby realizing a simulation tailored to each manufacturer of automated warehouses.

[0101] (Technology 3) In the simulation method according to the first or second technique, the presets include layout parameters that define routes that the transport robots can travel in the automated warehouse, and transport robot parameters that include at least the number of transport robots.

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

[0103] (Technology 4) In the simulation method according to any one of the first to third techniques, a plurality of parameters are set based on a loaded preset and a user input for a plurality of parameters defined by the preset.

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

[0105] (Technology 5) In the simulation method according to any one of Techniques 1 to 4, when a task of the transport robot is executed, the simulation method uses the travel time as an evaluation function of an algorithm for searching for a travel path of the transport robot so that the travel time for the task of the transport robot is shortened.

[0106] As a result, the travel route of the transport robot in the simulation is searched for by a route search algorithm, and the route search algorithm searches for a travel route that shortens the travel time of the transport robot.

[0107] (Technology 6) In the simulation method according to any one of the first to fifth techniques, the path search parameters include a maximum speed of the transport robot, an acceleration of the transport robot, and a time required for the transport robot to change direction.

[0108] As a result, the path search parameters included in the presets at least include the maximum speed of the transport robot, the acceleration of the transport robot, and the time required for the transport robot to change direction.

[0109] (Technology 7) In the simulation method according to any one of the first to sixth techniques, when a task is completed, the simulation method outputs a calculation result of an index corresponding to a management target of the automated warehouse.

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

[0111] (Technology 8) In the simulation method according to any one of the first to seventh techniques, the tasks include shipping of goods, receiving of goods, storing of goods, and charging of a transport robot.

[0112] This makes it possible to simulate the shipping of goods by transport robots, the arrival of goods, the storage of goods, and the charging of transport robots.

[0113] (Technology 9) In the simulation method described in any one of Techniques 1 to 8, the simulation method generates a shipping task for transporting a specific item from a placement position to a shipping position in the automated warehouse based on inventory information of items stored in the automated warehouse and inbound and outbound information of the items.

[0114] This allows a shipping task to be generated based on inventory information and shipping / receiving information.

[0115] (Technology 10) In the simulation method described in any one of Techniques 1 to 9, the simulation method generates a task for a transport robot to transport an item based on inventory information and shipping and receiving information, assigns the generated task to a transport robot that is closest to the item among the transport robots, and causes the transport robot to execute the task.

[0116] As a result, the task of causing a transport robot to transport an item is assigned to the transport robot located closest to the location where the item is located.

[0117] (Technology 11) The simulation device (e.g., simulation device 10) includes a processor (processor 11) and a memory (e.g., memory 12), and the processor and memory work together to display one or more presets in which multiple parameters including at least path search parameters for a transport robot deployed in the automated warehouse are predefined, load a specific preset based on user input, set multiple parameters based on the loaded preset, and have the transport robot perform tasks in the automated warehouse based on the set multiple parameters, inventory information for items stored in the automated warehouse, and item inbound and outbound shipping information.

[0118] As a result, the simulation device achieves the same effect as that of the first technique.

[0119] (Technology 12) The program causes the computing device to display one or more presets in which multiple parameters including at least path search parameters for a transport robot deployed in the automated warehouse are predefined, load a specific preset based on user input, set multiple parameters based on the loaded preset, and cause the transport robot to perform tasks in the automated warehouse based on the set parameters, inventory information for items stored in the automated warehouse, and item inbound and outbound shipping information.

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

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

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

[0123] Although the embodiments of the present disclosure have been described above with reference to the drawings, it goes without saying that the present disclosure is not limited to such examples. It is clear that a person skilled in the art can conceive of various modifications, alterations, substitutions, additions, deletions, and equivalents within the scope of the claims, and it is understood that these also naturally fall within the technical scope of the present disclosure. Furthermore, the components of the above-described embodiments may be combined in any manner as long as they do not deviate from the spirit of the invention. [Industrial Applicability]

[0124] The present disclosure is useful as a simulation method, a simulation device, and a program. [Explanation of symbols]

[0125] 10 Simulation equipment 11 processors 12 Memory 13 Input Devices 14 Display device 15. Communications equipment 16 External interface device 17 Internal Bus 20 parameter preset database 30 Automated Warehouse Simulation System 31 Initial value setting section 31-1 Automated warehouse structure setting section 31-2 Inbound / Outbound Master 31-3 Inventory Master 31-4 Parameter setting section 32 SIM Execution Department 32-1 Task Generation Unit 32-2 Task allocation section 32-3 Task Execution Unit 33 Result output section 33-1 KPI calculation section 33-2 Dashboard display 60 display screen 61 Preset selection section 62 User input acceptance section 63 Layout display section 64 Tab selection section

Claims

1. displaying one or more presets in which a plurality of parameters including at least a path search parameter including any one of a maximum speed of the transport robot, an acceleration of the transport robot, and a time required for the transport robot to change direction, which are used to search for a travel path within the automated warehouse for the transport robot; Loads a specific preset based on user input, setting the plurality of parameters based on the particular preset loaded; causing the transport robot to execute a task in the automated warehouse based on the set plurality of parameters; Simulation method.

2. Displaying one or more presets in which a plurality of parameters including at least a path search parameter used to search for a travel path within the automated warehouse for a transport robot deployed in the automated warehouse and a layout parameter that defines a path that the transport robot can travel, Loads a specific preset based on user input, setting the plurality of parameters based on the particular preset loaded; causing the transport robot to execute a task in the automated warehouse based on the set plurality of parameters, inventory information of the items stored in the automated warehouse, and shipping and receiving information of the items; Simulation method.

3. Displaying one or more presets in which a plurality of parameters including at least a route search parameter used to search for a travel route within the automated warehouse for a transport robot deployed in the automated warehouse and a transport robot parameter including at least the number of the transport robots are predefined; Loads a specific preset based on user input, setting the plurality of parameters based on the particular preset loaded; causing the transport robot to execute a task in the automated warehouse based on the set plurality of parameters, inventory information of the items stored in the automated warehouse, and shipping and receiving information of the items; Simulation method.

4. Displaying one or more presets in which a plurality of parameters including at least a path search parameter used to search for a travel path within the automated warehouse of a transport robot deployed in the automated warehouse are predefined; Loads a specific preset based on user input, setting the plurality of parameters based on the particular preset loaded; causing the transport robot to perform any one of tasks of shipping the items, receiving the items, storing the items, and charging the transport robot in the automated warehouse based on the set plurality of parameters, inventory information of the items stored in the automated warehouse, and shipping and receiving information of the items; Simulation method.

5. The preset is created in advance for each manufacturer of the automated warehouse. The simulation method according to any one of claims 1 to 4.

6. the preset includes a layout parameter that defines a route that the transport robot can travel in the automated warehouse, and a transport robot parameter that includes at least the number of the transport robots; The simulation method according to any one of claims 1 to 4.

7. setting the plurality of parameters based on the loaded preset and user inputs for the plurality of parameters defined by the preset; The simulation method according to any one of claims 1 to 4.

8. When the transport robot executes the task, the travel time is used as an evaluation function of an algorithm for searching a travel path for the transport robot so that the travel time for the task of the transport robot is shortened. The simulation method according to any one of claims 1 to 4.

9. the path search parameters include a maximum speed of the transport robot, an acceleration of the transport robot, and a time required for the transport robot to change direction; The simulation method according to any one of claims 1 to 4.

10. When the task is completed, output the calculation result of the index corresponding to the management goal of the automated warehouse. The simulation method according to any one of claims 1 to 4.

11. The tasks include shipping the item, receiving the item, storing the item, and charging the transport robot. The simulation method according to any one of claims 1 to 3.

12. generating a shipping task for transporting a specific item from a placement position to a shipping position in the automated warehouse based on inventory information of the items stored in the automated warehouse and shipping and receiving information of the items; The simulation method according to any one of claims 1 to 4.

13. generating a task for causing the transport robot to transport the item based on inventory information of the item stored in the automated warehouse and shipping and receiving information of the item; assigning the generated task to the transport robot that is closest to the item among the transport robots; causing the transport robot to execute the task; The simulation method according to any one of claims 1 to 4.

14. A processor and a memory, The processor and the memory cooperate to: displaying one or more presets in which a plurality of parameters including at least a path search parameter including any one of a maximum speed of the transport robot, an acceleration of the transport robot, and a time required for the transport robot to change direction, which are used to search for a travel path within the automated warehouse for the transport robot; Loading a particular said preset based on user input; setting the plurality of parameters based on the loaded preset; causing the transport robot to execute a task in the automated warehouse based on the set plurality of parameters; Simulation device.

15. The computing device displaying one or more presets in which a plurality of parameters including at least a path search parameter including any one of a maximum speed of the transport robot, an acceleration of the transport robot, and a time required for the transport robot to change direction, the path search parameter being used to search for a travel path within the automated warehouse for the transport robot; Loading a particular said preset based on user input; setting the plurality of parameters based on the loaded preset; causing the transport robot to execute a task in the automated warehouse based on the set parameters; program.

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