Information processing device, information processing method, and information processing program

Abstract

To provide a technology that can improve the throughput of a picking system.SOLUTION: According to an embodiment, an information processing device includes: an interface that acquires an order list including a conveyance order of a shelf conveyed by an unmanned conveyance vehicle, a shelf ID of the shelf, and a status; and a processor that acquires the order list via the interface, identifies a target shelf ID of each of a plurality of target shelves whose shelf return positions are to be changed based on the order list, acquires use schedule information for each target shelf based on an unprocessed order that calls up each target shelf ID from the order list, calculates a conveyance distance that the unmanned conveyance vehicle will convey each target shelf in order to process unprocessed order included in use schedule information, calculates a return score for each target shelf based on use schedule information and the conveyance distance, and changes the shelf return position of the target shelf with the highest return score.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] An embodiment of the present invention relates to an information processing device, an information processing method, and an information processing program. [Background technology]

[0002] In recent years, picking systems have been provided that use automated guided vehicles to transport shelves that store items specified in an order list to a picking station. At the picking station, an attendant (worker) or a robot picks the items from the shelves transported by the automated guided vehicle. When the picking system detects that the picking operation is complete, it uses the automated guided vehicle to return the shelf from the picking station to the shelf storage area. The time required for the automated guided vehicle to transport the shelf has a significant impact on the picking processing capacity (throughput) per hour of the picking system.

[0003] For example, Patent Document 1 discloses a technique for improving the throughput of a picking system by returning a frequently used shelf to a shelf arrangement position where the transport distance is shortest among the shelf arrangement positions where the shelf can be returned. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Japanese Patent Publication No. 2023-102068 Summary of the Invention [Problem to be solved by the invention]

[0005] For example, in Patent Document 1, when determining the shelf return position of a shelf, information regarding the time or order in which the shelf is to be carried out is not taken into consideration. As a result, a shelf that is scheduled to be reused in a shorter time than other shelves is returned to a distant shelf transport position, resulting in a problem of reduced throughput.

[0006] This invention was made in light of the above circumstances, and its purpose is to provide a technology that can improve the throughput of a picking system by dynamically planning shelf layout by taking into account information regarding the timing of shelf use. [Means for solving the problem]

[0007] According to an embodiment, the information processing device comprises an interface that acquires an order list including the transport order of shelves transported by an automated guided vehicle, the shelf IDs of the shelves, and statuses; and a processor that acquires the order list via the interface, identifies from the order list the target shelf IDs of each of a plurality of target shelves for which the shelf return position of the shelf is to be changed based on the order list, acquires from the order list usage schedule information for each of the target shelves based on unprocessed orders that call for each of the target shelf IDs, calculates the transport distance for the automated guided vehicle to transport each of the target shelves in order to process the unprocessed orders included in the usage schedule information, calculates a return score for each of the target shelves based on the usage schedule information and the transport distance, and changes the shelf return position of at least the target shelf with the highest return score. [Brief explanation of the drawings]

[0008] [Figure 1] FIG. 1 is a diagram illustrating an example of the configuration of a picking system according to the first embodiment. [Figure 2] FIG. 2 is a block diagram showing an example of the configuration of a control system of the picking system according to the first embodiment. [Figure 3] FIG. 3 shows an example of the configuration of the planning device according to the first embodiment. [Figure 4] FIG. 4 is a diagram showing some of the functions of the processor according to the first embodiment. [Figure 5] FIG. 5 is a flowchart illustrating an example of the operation of the planning device according to the first embodiment. [Figure 6]FIG. 6 is a diagram showing a specific example of the shelf arrangement position. [Figure 7] FIG. 7 is a diagram showing an example of an order list. [Figure 8] FIG. 8 is a flowchart illustrating the process of step ST105 in more detail. [Figure 9] FIG. 9 is a table showing an example of the calculated return score according to the first embodiment. [Figure 10] FIG. 10 is a flowchart illustrating an example of the operation of the planning device according to the first modification of the first embodiment. [Figure 11] FIG. 11 is a flowchart illustrating the process of step ST109' in more detail. [Figure 12] FIG. 12 is a diagram showing an example of shelf IDs acquired as peripheral shelves corresponding to vacant position IDs. [Figure 13] FIG. 13 is a diagram showing an example of an order list in the first modified example of the first embodiment. [Figure 14] FIG. 14 is a diagram showing an example of the total transport cost calculated based on the order list shown in FIG. 13 for the vacant position ID shown in FIG. [Figure 15] FIG. 15 is a flowchart illustrating an example of the operation of the planning device 2 according to the second modification of the first embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0009] Hereinafter, an information processing device, an information processing method, and an information processing program will be described in detail with reference to the drawings. In the following embodiments, parts with the same numbers perform the same operations, and redundant description will be omitted. For example, when there are multiple identical or similar elements, a common symbol may be used to describe each element without distinguishing between them, or 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 term "A" or "B" means at least one of A or B, and the term "A," "B," or "C" means at least one of A, B, or C. Furthermore, the term "A" and "B" also means at least one of A and B, and the term "A," "B," and "C" means at least one of A, B, and C.

[0011] First, the problems with Patent Document 1 will be explained in more detail. Consider a situation in which shelf A and shelf B are simultaneously returned from a picking station. If shelf A has been used once and shelf B has been used three times, the total transport distance of shelf B will be greater than the transport distance of shelf A. In such a case, the invention of Patent Document 1 would return shelf B to a position closer to the picking station, and shelf A to a position farther from the picking station. Here, assume shelf A is scheduled for reuse in an extremely short time. If shelf A is returned farther away, the number of times the automated guided vehicles must temporarily stop or slow down to avoid collisions increases in proportion to the transport distance. This results in shelf A not arriving in time for its scheduled reuse time, delaying its delivery to the picking station and reducing the throughput of the entire system.

[0012] Therefore, in the embodiment described below, the return position of the shelf is dynamically changed taking into consideration not only the transport distance of the shelf but also the timing of use of the shelf.

[0013] [First embodiment] (composition) FIG. 1 is a diagram showing an example of the configuration of a picking system 100 according to the first embodiment. 1, the picking system 100 includes a picking station P (shown as picking stations P1 to P4 in FIG. 1), an automated guided vehicle (AGV) 7, an AGV shelf 8, a picking robot 111, and a display device 112. In the following description, for simplicity, when there is no need to separately describe the picking stations P (P1 to P4), they will simply be referred to as picking stations P.

[0014] A picking system 100 according to an embodiment picks items from shelves in a logistics system or the like. The picking system 100 transports an AGV shelf 8 to a picking station P using an automated guided vehicle. The picking system 100 picks items from the AGV shelf 8 at the picking station P. The picking system 100 causes an attendant 113 or a picking robot 111 to pick the items from the AGV shelf 8.

[0015] For simplicity, an example is described here in which an AGV 7 is used as the automated guided vehicle. However, the automated guided vehicle in one embodiment is not limited to the AGV 7, and may be any vehicle or robot capable of transporting shelves, such as an autonomous mobile robot (AMR). Similarly, the AGV shelf 8 is not limited to a shelf that can be transported by the AGV 7, and may be any shelf that can be transported by an automated guided vehicle.

[0016] Furthermore, the picking system 100 changes the shelf return position to which the AGV shelf 8 is returned from the picking station P. That is, the picking system 100 transports the AGV shelf 8 to a shelf allocation return position different from the original shelf allocation return position where the AGV shelf 8 was located. For example, the picking system 100 is used in a distribution center or a warehouse.

[0017] A picking robot 111 and a display device 112 are installed in each of the picking stations P (P1 to P4). The picking system 100 can operate the picking robot 111 in each of the picking stations P and have the picking robot 111 pick items. The picking system 100 can also stop the operation of the picking robot 111 and assign an attendant 113 to pick the items. The attendant 113 can process the items by visually checking the item processing schedule, etc. displayed on the display device 112. The display device 112 may be a wireless communication terminal assigned to the attendant 113.

[0018] Also, the display devices 112 may be installed in the picking stations P, and the picking robots 111 may be installed in some of the picking stations P. In this case, the picking stations P that do not have the picking robots 111 installed are used as picking stations P for the staff 113. Note that the picking stations P that have the picking robots 111 installed can be used as picking stations P for both the picking robots 111 and the staff 113.

[0019] The picking system 100 may be equipped with multiple cameras. One or more of the multiple cameras may be fixed cameras, and the remaining cameras may be mobile cameras. The fixed cameras are cameras fixed to, for example, the ceiling, walls, and the top and sides of the picking station P, and capture images of the entire warehouse and the items being processed within the warehouse, outputting the captured data in real time. The captured data includes capture date and time data (including the capture time) and captured image data. The captured image data is still image data and video data. The fixed cameras may also rotate up, down, left, and right based on a capture control signal from the higher-level management device 1, which will be described later. By rotating the fixed cameras up, down, left, and right, a wide area within the warehouse can be monitored.

[0020] The AGV 7 operates based on a control signal from the AGV control device 4, which will be described later. For example, the AGV 7 travels toward a designated loading position and lifts up the AGV shelf 8 at the designated loading position. The AGV 7 travels toward a designated unloading position and lowers the AGV shelf 8 at the designated unloading position.

[0021] The AGV shelf 8 is a shelf for storing goods. For example, the AGV shelf 8 is made up of a plurality of shelf levels. On each shelf level of the AGV shelf 8, goods are loaded.

[0022] The AGV shelf 8 is supported by four support pillars. The height below the AGV shelf 8 (height from the floor to the bottom of the shelf) is higher than the height of the AGV 7. This allows the AGV 7 to slip under the shelf of the AGV shelf 8. After slipping under the shelf, the AGV 7 uses a pusher to lift the AGV shelf 8 so that the tips of the support pillars are a few centimeters above the floor, and then travels with the AGV shelf 8 lifted. In this way, the AGV 7 transports the AGV shelf 8.

[0023] Furthermore, shelf identification information that can be read by a fixed camera or a mobile camera may be attached to the AGV shelves 8. Item identification information that can be read by a fixed camera or a mobile camera may also be attached to the items. For example, the shelf identification information and item identification information are barcodes or two-dimensional codes. Note that the picking system may be equipped with multiple readers that read this shelf identification information and item identification information, in addition to the fixed or mobile cameras.

[0024] Furthermore, an ID (shelf ID) is assigned to the AGV shelf 8 to identify the AGV shelf 8. For example, the shelf ID is a numerical value, a character string, a symbol, or a combination thereof.

[0025] Furthermore, an ID (position ID) is assigned to a position (shelf placement position 3) where the AGV shelf 8 can be placed to identify the shelf placement position 3. For example, the position ID is a numerical value, a character string, a symbol, or a combination thereof.

[0026] 1, the picking system 100 has a shelf arrangement position 3 where an AGV shelf 8 is not arranged. In other words, the shelf arrangement position 3 is an empty position where an AGV shelf 8 that has completed picking work can be returned. The shelf arrangement position 3 is the shelf arrangement position 3 where the AGV shelf 8 that is being taken out by the AGV 7 was arranged.

[0027] Each picking station P receives an AGV shelf 8 transported by an AGV 7. Items are stored on the AGV shelf 8 received at each picking station P. When item processing by a picking robot 111 is specified, the picking robot 111 grips and picks the item stored on the AGV shelf 8. When item processing by an attendant 113 is specified, the assigned attendant 113 manually grips and picks the item stored on the AGV shelf 8. Furthermore, a display device 112 provided corresponding to each picking station P displays, in addition to the item processing schedule, information to support the picking work of the attendant 113, such as images and item identification information of the items to be processed. The attendant 113 visually checks the content displayed on the display device 112 and picks the items.

[0028] Furthermore, the picking station P may store items on the AGV shelf 8 using a picking robot 111 or an attendant 113.

[0029] Next, the control system of the picking system 100 will be described. FIG. 2 is a block diagram showing an example of the configuration of a control system of the picking system 100 according to the first embodiment. As shown in Figure 2, the picking system 100 includes an upper management device 1, a planning device 2, an AGV control device 4, a switch 5, a wireless LAN access point 6, an AGV 7, a charging station 9, a picking robot 111, a display device 112, and a picking station P (P1 to P4).

[0030] The host management device 1 is called a warehouse management system (WMS) and can be realized by one or more computers. The host management device 1 stores item management information about items stored in the warehouse. The item management information indicates the items stored on each AGV shelf 8.

[0031] The host management device 1 acquires information indicating the items to be shipped from an external device. Based on the information, the host management device 1 generates an order indicating the items to be picked and the AGV shelf 8 on which the items will be stored. The host management device 1 generates an order list including multiple orders. The host management device 1 outputs the order list to the planning device 2.

[0032] Here, the order list includes the transport order of the shelves transported by the automated guided vehicle, the shelf IDs of the shelves, and their statuses. The transport order indicates the order in which the shelves should be transported to the picking station, and the statuses include information such as "transported," "in transport," and "not yet processed." The order list may also include information such as orders scheduled to be processed in a specified period (e.g., the next day), and a list of items to be picked from the shelves transported by the automated guided vehicle.

[0033] The planning device 2 (information processing device) is called a warehouse execution system (WES) and can be realized by one or more computers. The planning device 2 is connected to the upper management device 1. The planning device 2 sets the shelf return position of the AGV shelf 8 based on an order list, etc. The planning device 2 will be described in detail later.

[0034] The AGV control device 4 is called a warehouse control system (WCS) and can be realized by one or more computers. The AGV control device 4 is connected to the planning device 2. The AGV control device 4 is also connected to picking stations P1 to P4 via a switch 5. The AGV control device 4 is also connected to a wireless LAN access point 6 via the switch 5.

[0035] The AGV control device 4 uses the AGV 7 to transport the AGV shelf 8 that stores the items to be picked to the picking station P. When the picking is completed, the AGV control device 4 uses the AGV 7 to transport the AGV shelf 8 to a predetermined shelf arrangement position 3.

[0036] The charging station 9 includes a power output unit. The AGV 7 includes a power input unit and a battery. The charging station 9 supplies the power output from the power output unit to the AGV 7. The AGV 7 supplies the power input via the power input unit to the battery. For example, the height of the power output unit from the floor is the same as the height of the power input unit of the AGV 7 from the floor. Based on control from the AGV control device 4, the AGV 7 travels to a position corresponding to the power output unit of the charging station 9, connects the power input unit to the power output unit, and receives power. The connection between the power input unit and the power output unit may be either contact or contactless.

[0037] The wireless LAN access point 6 transmits and receives data to and from communication devices such as the AGV 7 and the charging station 9. If the picking system 100 is equipped with a fixed camera and a mobile camera, the wireless LAN access point 6 transmits and receives data to and from the fixed camera and the mobile camera. The switch 5 selects a destination of the received data and transmits the data to the selected destination.

[0038] Next, the planning device 2 will be described. FIG. 3 shows an example of the configuration of the planning device 2 according to the first embodiment. Fig. 3 is a block diagram showing an example of the configuration of the planning device 2. As shown in Fig. 3, the planning device 2 includes a processor 21, a ROM 22, a RAM 23, an NVM 24, a communication unit 25, an operation unit 26, a display unit 27, and the like.

[0039] The processor 21, the ROM 22, the RAM 23, the NVM 24, the communication unit 25, the operation unit 26, and the display unit 27 are connected to one another via a data bus or the like. The planning device 2 may include other components as needed in addition to the components shown in FIG. 3, or certain components may be excluded from the planning device 2.

[0040] The processor 21 has a function of controlling the overall operation of the planning device 2. The processor 21 may include an internal cache and various interfaces. The processor 21 realizes various processes by executing programs stored in advance in the internal memory, the ROM 22, or the NVM 24.

[0041] Note that some of the various functions realized by the processor 21 executing the programs may be realized by hardware circuits. In this case, the processor 21 controls the functions executed by the hardware circuits.

[0042] The ROM 22 is a non-volatile memory that stores in advance control programs, control data, etc. The control programs and control data stored in the ROM 22 are installed in advance in accordance with the specifications of the planning device 2.

[0043] The RAM 23 is a volatile memory. The RAM 23 temporarily stores data being processed by the processor 21. The RAM 23 stores various application programs based on instructions from the processor 21. The RAM 23 may also store data necessary for executing the application programs and the execution results of the application programs.

[0044] The NVM 24 is a nonvolatile memory to which data can be written and rewritten. For example, the NVM 24 is configured with an HDD, an SSD, or a flash memory. The NVM 24 stores control programs, applications, various data, and the like according to the operational use of the planning device 2.

[0045] The communication unit 25 is an interface for transmitting and receiving data to and from the upper management device 1, the AGV control device 4, etc. The communication unit 25 is connected to the upper management device 1, the AGV control device 4, etc. For example, the communication unit 25 is an interface that supports wired or wireless LAN connections.

[0046] The communication unit 25 may be configured with an interface connected to the upper management device 1 and an interface connected to the AGV control device 4.

[0047] The operation unit 26 receives input of various operations from an operator who manages the planning device 2. The operation unit 26 transmits a signal indicating the input operation to the processor 21. For example, the operation unit 26 is configured with a mouse, a keyboard, a touch panel, or the like.

[0048] Display unit 27 displays image data from processor 21. For example, display unit 27 is configured with a liquid crystal monitor. Note that, when operation unit 26 is configured with a touch panel, display unit 27 may be formed integrally with the touch panel serving as operation unit 26.

[0049] Next, a description will be given of functions realized by the planning device 2. The functions realized by the planning device 2 are realized by the processor 21 executing a program stored in the ROM 22, the NVM 24, or the like.

[0050] FIG. 4 is a diagram showing some of the functions of the processor 21 according to the first embodiment. The processor 21 includes a shelf use timing extraction unit 211 and a return score calculation unit 212.

[0051] First, the processor 21 operating as the shelf use timing extraction unit 211 has a function of acquiring an order list in advance from the upper management device 1 through the communication unit 25. That is, the communication unit 25, which is an interface, acquires the order list. Furthermore, the processor 21 has a function of transmitting transport instructions based on the order list to the AGV control device 4. The processor 21 stores the order list in the NVM 24 or the like.

[0052] The processor 21 determines whether a trigger for changing the shelf return position has occurred. For example, the processor 21 has a function of determining whether a trigger has occurred by determining whether the AGV shelf 8 has been taken out by the AGV 7.

[0053] The processor 21 operating as the shelf use timing extraction unit 211 has a function of acquiring the position ID (vacant position ID) of a position where an AGV shelf 8 is not placed (i.e., shelf placement position 3). Here, it is assumed that the AGV 7 has taken out several AGV shelves 8. For example, the processor 21 transmits a request requesting a vacant position ID to the AGV control device 4 via the communication unit 25. The processor 21 receives a response indicating the vacant position ID from the AGV control device 4 via the communication unit 25. The processor 21 may also acquire the vacant position ID from the NVM 24.

[0054] Furthermore, the processor 21 operating as the shelf use timing extraction unit 211 has a function of acquiring the shelf ID (target shelf ID) of the AGV shelf 8 being taken out. For example, the processor 21 sends a request to the AGV control device 4 via the communication unit 25, requesting the shelf ID of the AGV shelf 8 being taken out by the AGV 7. The processor 21 receives a response from the AGV control device 4 via the communication unit 25, indicating the shelf ID of the AGV shelf 8 being taken out by the AGV 7. Upon receiving the response, the processor 21 acquires the shelf ID as the shelf ID (target shelf ID) of the AGV shelf 8 (target shelf) for which the shelf return position is to be changed. The processor 21 may acquire the target shelf ID from the NVM 24.

[0055] The processor 21 operating as the shelf use timing extraction unit 211 acquires planned use information for the target shelf. From the acquired order list, the processor 21 extracts unprocessed orders that call the shelf ID (target shelf ID) corresponding to the AGV shelf 8 (target shelf) for which the shelf return position is to be changed. Then, the processor 21 acquires planned use information for the target shelf based on the unprocessed orders. Details of the planned use information will be described later.

[0056] The processor 21, which operates as the return score calculation unit 212, has a function of calculating a return score based on the transport distance and usage schedule information of each target shelf that the AGV 7 transports to process an unprocessed order. Here, the method of calculating the return score will be described later.

[0057] Processor 21 has a function for performing sorting. After calculating the return score for each target shelf, processor 21 sorts the target shelf IDs in descending order of return score. Here, processor 21 generates a sequence of numbers (n(i): i is a natural number) indicating the target shelf IDs sorted in descending order of return score. For example, n(1) indicates the target shelf ID with the highest return score. n(2) indicates the target shelf ID with the next highest return score.

[0058] The processor 21 has a function of generating a sequence n(i) and then substituting 1 for i. When 1 is substituted for i, the processor 21 obtains n(1). The processor 21 also has a function of determining whether i is equal to or less than N.

[0059] Processor 21 has a function to determine whether i is equal to or less than N. Here, N is the total number of n(i), i.e., the total number of target shelves. If it is determined that i is equal to or less than N, processor 21 has a function to calculate the transport distance when the target shelf indicated by n(i) is returned to the shelf arrangement position 3 indicated by each vacant position ID. For example, processor 21 assumes that the target shelf indicated by n(i) has been returned to the shelf arrangement position 3 indicated by the vacant position ID. Based on this assumption, processor 21 calculates the transport distance when placed at each vacant position.

[0060] The processor 21 has a function of setting a shelf return position. For example, the processor 21 sets the empty position ID with the shortest transport distance among the calculated transport distances as r(n(i)).

[0061] The processor 21 has a function of deleting the corresponding vacant position ID. When the vacant position ID with the shortest transport distance is set as r(n(i)), the processor 21 deletes r(n(i)) from the shelf return position list.

[0062] The processor 21 has a function of incrementing i so that i=i+1.

[0063] If processor 21 determines that i exceeds N, it determines whether there is an unprocessed order. If there is an unprocessed order, processor 21 again determines whether a trigger has occurred.

[0064] (operation) Next, an example of the operation of the planning device 2 will be described. FIG. 5 is a flowchart illustrating an example of the operation of the planning device 2 according to the first embodiment. The operation of this flowchart is realized by the processor 21 of the planning device 2 reading and executing a program stored in the internal memory of the processor 21, the ROM 22, or the NVM 24.

[0065] For example, the processor 21 acquires an order list through the communication unit 25 and transmits a transport instruction based on the order list to the AGV control device 4, thereby starting this flowchart.

[0066] In step ST101, the processor 21 of the planning device 2 operating as an information processing device determines whether a trigger for changing the shelf return position has occurred. If it is determined that a trigger has occurred, the process proceeds to step ST102. On the other hand, if it is determined that a trigger has not occurred, the process repeats step ST101.

[0067] For example, the processor 21 determines that a trigger has occurred when there is a change in the position of the AGV shelf 8. For example, the processor 21 determines whether a trigger has occurred by determining whether the AGV shelf 8 has been taken out by the AGV 7. The processor 21 determines that a trigger has occurred when it determines that the AGV shelf 8 has been taken out by the AGV 7. Alternatively, the processor 21 determines whether the AGV shelf 8 has been returned by the AGV 7. When it determines that the AGV shelf 8 has been taken out by the AGV 7 or that the AGV shelf 8 has been returned by the AGV 7, the processor 21 determines that a trigger has occurred.

[0068] The processor 21 may also determine whether the AGV 7 has not been instructed to carry an AGV shelf 8 into the picking station P within a certain period of time. For example, when it is determined that no carrying-in instruction has been given, the processor 21 determines that a trigger has occurred.

[0069] The processor 21 may determine whether an order list has been added. If it is determined that an order list has been added, the processor 21 determines that a trigger has occurred. For example, the processor 21 may determine that a trigger has occurred for each batch of the order list. Furthermore, if it is determined that a trigger has occurred when a batch is added, the processor 21 may also take into account information about subsequent batches and perform the operation described below.

[0070] Alternatively, the processor 21 may determine that a trigger has occurred when a certain period of time has elapsed. That is, the processor 21 determines that a trigger has occurred every time a certain period of time has elapsed. Furthermore, the processor 21 may determine whether a trigger has occurred by combining the above multiple determinations.

[0071] In step ST102, the processor 21 acquires an empty position ID. For example, the processor 21 transmits a request for an empty position ID to the AGV control device 4 via the communication unit 25. The processor 21 receives a response indicating the empty position ID from the AGV control device 4 via the communication unit 25.

[0072] In step ST103, the processor 21 acquires the target shelf ID. For example, upon receiving a response, the processor 21 acquires the target shelf ID of the AGV shelf 8 (target shelf) for which the shelf return position is to be changed. For example, the processor 21 sends a request to the AGV control device 4 via the communication unit 25, requesting the shelf ID of the AGV shelf 8 being taken out by the AGV 7. The processor 21 receives a response from the AGV control device 4 via the communication unit 25, indicating the shelf ID of the AGV shelf 8 being taken out by the AGV 7. Upon receiving the response, the processor 21 acquires the shelf ID as the target shelf ID of the AGV shelf 8 (target shelf) for which the shelf return position is to be changed.

[0073] FIG. 6 is a diagram showing a specific example of the shelf arrangement position 3. In FIG. In the example of Figure 6, shelf arrangement position 3 with shelf IDs 12, 26, and 46 indicates a shelf return possible position, i.e., an empty position. Furthermore, it shows that three AGV shelves 8 with shelf IDs A, B, and C are currently being transported. In the following explanation, it is assumed that the three AGV shelves 8 (A, B, and C) currently being transported shown in Figure 7 are target shelves, and shelf arrangement position 3 with empty position IDs 12, 26, and 46 are shelf return positions.

[0074] In one embodiment, the target shelf is not limited to the AGV shelf 8 being taken out as shown in the example of FIG. 7, but may be all AGV shelves 8 or any AGV shelf 8.

[0075] In step ST104, the processor 21 acquires planned use information for the target shelf. When the processor 21 acquires the target shelf ID, the processor 21 extracts, from the order list stored in the NVM 24 or the like, an unprocessed order that calls up the shelf ID (target shelf ID) corresponding to the AGV shelf 8 (target shelf) for which the shelf return position is to be changed. Then, the processor 21 acquires planned use information for the target shelf based on the unprocessed order.

[0076] FIG. 7 is a diagram showing an example of an order list. The order list shown in Fig. 7 includes the order, the shelf to which the item is to be transported (shelf ID), and the status (in transport, transported, not yet processed (simply indicated as not yet in Fig. 7)). However, the order list shown in Fig. 7 is merely an example, and it goes without saying that the order list may include information other than that shown in Fig. 7.

[0077] In the example of FIG. 7, an order to call a target shelf among the AGV shelves 8 with a shelf ID of A, B, or C is indicated by diagonal lines. The processor 21 extracts the number of times the AGV shelf 8 to be transported is called in the order list and the number that will be called first. For example, in FIG. 8, information is extracted that the target shelf A will be called in the eighth order in the order list (the first order is excluded because it is already being transported). The processor 21 then determines that the first to third orders in the order list are already being processed. Therefore, the processor 21 determines that the target shelf A will be used first, in the fifth order (8-3=5) of the unprocessed orders. The processor 21 acquires the determined information that it is fifth as planned use information. In other words, the planned use information is information that indicates the order in which the target shelf will be used in the unprocessed order in the order list (i.e., the order in which it will be used first). The processor 21 similarly acquires planned use information for the other target shelves.

[0078] In step ST105, the processor 21 calculates the return score of the target shelf. The processor 21 calculates the return score based on the transport distance that the AGV 7 will travel to each target shelf to process the unprocessed orders and the usage schedule information.

[0079] FIG. 8 is a flowchart illustrating the process of step ST105 in more detail. In step ST1051, the processor 21 predicts the transport distance. After acquiring the use schedule information, the processor 21 predicts the transport distance that the AGV 7 will travel to transport the target shelf in order to process the unprocessed order included in the use schedule information. For example, the processor 21 calculates the distance that the AGV 7 will travel round trip from the original shelf return position to the picking station P, and calculates the transport distance by adding up the calculated distances. The processor 21 similarly predicts the transport distance for each target shelf.

[0080] If there is no unprocessed order that calls the target shelf ID, the processor 21 sets the transport distance of the target shelf corresponding to the target shelf ID to 0.

[0081] The prediction of the transport distance by the processor 21 is not limited to the above. For example, when predicting the transport distance, the processor 21 may use the time required for transport as the transport distance.

[0082] In step ST1052, processor 21 calculates the adjusted conveyance distance. Processor 21 calculates the adjusted conveyance distance by dividing the predicted conveyance distance by the maximum distance required for one conveyance. The maximum distance required for one conveyance refers to the distance required for a round trip between picking station P and shelf arrangement position 3 that is farthest from picking station P. Furthermore, since the maximum distance required for one conveyance takes a fixed value unless there is a change in shelf arrangement position 3, it is assumed that the maximum distance is calculated in advance and stored in NVM 24. On the other hand, if there is a change in shelf arrangement position 3, processor 21 stores the recalculated result in NVM 24.

[0083] In step ST1053, processor 21 calculates adjusted use schedule information. Processor 21 calculates the adjusted use schedule information by dividing the value (200-5=195) obtained by subtracting the use schedule information from the number of rows in the order list (200 rows in the example of FIG. 7) by the number of rows in the order list. In other words, processor 21 obtains the adjusted use schedule information by dividing the value obtained by subtracting the order in which the target shelf was used from the number of rows in the order list by the number of rows in the order list.

[0084] In step ST1054, the processor 21 calculates the return score. For example, the processor 21 calculates the return score based on the adjusted transport distance and the adjusted use plan information. For example, the processor 21 calculates the sum of the adjusted transport distance and the adjusted use plan information as the return score of the target shelf.

[0085] Here, processor 21 may calculate the sum of values ​​obtained by multiplying the adjusted transport distance and the adjusted use schedule information by any variable (a predetermined variable for each). By calculating the return score taking the variables into account as described above, it is possible to change which of the transport distance and the use schedule information is given more importance in determining the order in which shelf return positions are determined.

[0086] Furthermore, the above explanation is merely an example, and it goes without saying that any procedure may be used to derive the return score from the transport distance and the planned use information.

[0087] Returning to FIG. 5, in step ST106, processor 21 performs sorting. After calculating the return score for each target shelf, processor 21 sorts the target shelf IDs in descending order of return score. Here, processor 21 generates a sequence (n(i)) indicating the target shelf IDs sorted in descending order of return score. For example, n(1) indicates the target shelf ID with the highest return score. n(2) indicates the target shelf ID with the next highest return score.

[0088] FIG. 9 is a table showing an example of the calculated return score according to the first embodiment. 9 shows the target shelf ID, vacant position ID, transport distance, planned use information, adjusted transport distance, adjusted planned use information, and return score. The vacant position ID indicates the ID of shelf arrangement position 3 where the target shelf was originally scheduled to be returned.

[0089] For example, in the example of Fig. 9, when looking at the transport distance, the transport distance is the longest for the target shelf ID B. However, when looking at the return score, the return score is the largest for the target shelf ID A.

[0090] In step ST107, the processor 21 sets i=1. After generating the sequence n(i), the processor 21 assigns 1 to i. After assigning 1 to i, the processor 21 obtains n(1).

[0091] In step ST108, the processor 21 determines whether i is equal to or less than N. If it is determined that i is equal to or less than N, the process proceeds to step ST109. On the other hand, if it is determined that i is greater than N, the process proceeds to step ST113.

[0092] In step ST109, processor 21 calculates the transport distance when the target shelf indicated by n(i) is returned to shelf arrangement position 3 indicated by each vacant position ID. For example, processor 21 assumes that the target shelf indicated by n(i) is returned to shelf arrangement position 3 indicated by the vacant position ID. Based on this assumption, processor 21 calculates the transport distance when placed at each vacant position.

[0093] In step ST110, the processor 21 sets a shelf return position. For example, the processor 21 sets the empty position ID with the shortest transport distance among the calculated transport distances as r(n(i)).

[0094] In step ST111, the processor 21 deletes the corresponding empty position ID. After setting the empty position ID with the shortest transport distance as r(n(i)), the processor 21 deletes r(n(i)) from the shelf return position list.

[0095] In step ST112, the processor 21 increments i to i=i+1. Then, the process returns to step ST108. That is, the processes of steps ST108 to ST112 are repeated until i becomes greater than N.

[0096] In step ST113, processor 21 determines whether or not there is an unprocessed order. If it is determined that i exceeds N, processor 21 determines whether or not there is an unprocessed order. If it is determined that there is an unprocessed order, the processing returns to step ST101. On the other hand, if it is determined that there is no unprocessed order, the processing ends.

[0097] The processor 21 controls the AGV 7 so as to transport each target shelf to the shelf return position indicated by the position ID set in step ST110. For example, the processor 21 transmits an instruction to the AGV control device 4 to transport each target shelf to the shelf return position.

[0098] The processor 21 may also not change the shelf return position, that is, may set the target shelf to the original shelf return position. Furthermore, the functions (or some of the functions) realized by the planning device 2 may be realized by the upper management device 1. Furthermore, the functions (or some of the functions) realized by the planning device 2 may be realized by the AGV control device 4.

[0099] Here, N is explained as the total number of n(i), that is, the total number of target shelves, but it may be a value that can be freely set. For example, the processor 21 may freely change N depending on the frequency of trigger occurrence and the time to determine an empty position. When N=1, that is, when determining an empty position only for the target shelf with the highest return score (e.g., AGV shelf 8 A), the shelf return position will be swapped with the target shelf (e.g., AGV shelf 8 B) that was installed in that empty position.

[0100] (Operation and effect of the first embodiment) The picking system 100 according to the first embodiment configured as described above calculates the return cost based on the transport distance and the usage schedule information when the AGV 7 transports the AGV shelf 8 to process an unprocessed order. The picking system 100 can dynamically implement a layout plan for the AGV shelf 8 based on the return score. As a result, the picking system 100 can reduce the transport time of the entire system. In other words, the picking system 100 can improve the throughput of the entire system.

[0101] The picking system 100 can also determine which of the transport distance and the usage schedule information to prioritize. Therefore, the picking system 100 can also determine the shelf return position of the AGV shelf 8 while prioritizing either of them.

[0102] [First Modification of the First Embodiment] Next, a first modified example of the first embodiment will be described. In the first embodiment, the shelf return position to which the item should be returned was determined taking into consideration the return score of the target shelf. However, in the first modified example of the first embodiment, the shelf return position to which the item should be returned on the target shelf is determined taking into consideration the return costs of the AGV shelves 8 around the shelf return position (i.e., the empty position to which the item is to be returned).

[0103] For example, the modified example of the first embodiment is particularly useful when AGV shelves 8 are installed close together and when transporting other AGV shelves 8, the transport distance varies depending on the shelf return position of the target shelf. In such cases, throughput can be improved by determining the shelf return position taking into account information about surrounding AGV shelves 8.

[0104] (composition) The configuration of the picking system 100 of the modified example of the first embodiment may be the same as that of the first embodiment, so a duplicated description will be omitted here.

[0105] Next, a description will be given of functions realized by the planning device 2. The functions realized by the planning device 2 are realized by the processor 21 executing a program stored in the ROM 22, the NVM 24, or the like. The planning device 2 realizes the following functions in addition to the functions executed by the processor 21 according to the first embodiment.

[0106] The processor 21 has a function of calculating the total transportation cost when the item is placed at each vacant position. The method of calculating the total transportation cost will be described in detail later.

[0107] (operation) Next, an example of the operation of the planning device 2 according to the first modified example of the first embodiment will be described. FIG. 10 is a flowchart illustrating an example of the operation of the planning device 2 according to the first modification of the first embodiment. The operation of this flowchart is realized by the processor 21 of the planning device 2 reading and executing a program stored in the internal memory of the processor 21, the ROM 22, or the NVM 24.

[0108] For example, this flowchart starts when the processor 21 acquires an order list and transmits a transport instruction based on the order list to the AGV control device 4.

[0109] The operations of steps ST101 to ST108 may be the same as those explained with reference to FIG. 5, and therefore, a duplicate explanation will be omitted here.

[0110] In step ST109', the processor 21 calculates the total transportation cost when the item is placed at each vacant position.

[0111] FIG. 11 is a flowchart illustrating the process of step ST109' in more detail. In step ST1091, the processor 21 acquires the ID of a vacant position for which the total transportation cost has not been calculated.

[0112] In step ST1092, processor 21 acquires the shelf IDs of the surrounding shelves of shelf arrangement position 3 indicated by the acquired vacant position ID. Processor 21 acquires the shelf IDs (surrounding shelf IDs) of AGV shelves 8 (hereinafter referred to as surrounding shelves for simplification) located around shelf arrangement position 3 indicated by the acquired vacant position ID.

[0113] FIG. 12 is a diagram showing an example of shelf IDs acquired as peripheral shelves corresponding to vacant position IDs. As shown in Figure 12, when shelf arrangement position 3 with a position ID of 5 is selected as the vacant position ID, the shelf IDs to be acquired as the surrounding shelf IDs are B, C, F, G, and H. Similarly, when shelf arrangement position 3 with a position ID of 23 is selected, the shelf IDs to be acquired as the surrounding shelf IDs are C, D, E, F, H, I, and J. Furthermore, when shelf arrangement position 3 with a position ID of 32 is selected, the shelf IDs to be acquired as the surrounding shelf IDs are D, E, I, and J.

[0114] In step ST1093, the processor 21 acquires the use schedule information of the surrounding shelves. The processor 21 extracts the unprocessed order that calls the acquired surrounding shelf ID, and acquires the use schedule information (surrounding shelf use schedule information). The specific method of acquiring the use schedule information may be the same as the operation in step ST104. Therefore, a duplicated explanation will be omitted here.

[0115] In step ST1094, processor 21 predicts the transport distance for each of the surrounding shelves. For example, processor 21 calculates the distance traveled round trip from the original shelf return position of the surrounding shelves to picking station P, and calculates the transport distance (surrounding shelf transport distance) by adding up the calculated distances. Processor 21 predicts the transport distance for each surrounding shelf in the same manner. Note that if there is no unprocessed order that calls the surrounding shelf ID, processor 21 sets the return score of the surrounding shelf corresponding to the surrounding shelf ID to 0.

[0116] The prediction of the transport distance by the processor 21 is not limited to the above. For example, similar to the first embodiment, when predicting the transport distance, the processor 21 may use the time required for transport as the transport distance.

[0117] In step ST1095, processor 21 calculates the adjusted conveyance distance. Processor 21 calculates the adjusted conveyance distance (adjusted peripheral shelf conveyance distance) based on the conveyance distances corresponding to the peripheral shelves predicted in step ST1093. For example, processor 21 calculates the adjusted conveyance distance as a value obtained by dividing the predicted conveyance distance by the maximum distance required for one conveyance.

[0118] In step ST1096, the processor 21 calculates adjusted use schedule information. The processor 21 calculates a value obtained by subtracting the use schedule information from the number of lines in the order list and dividing the result by the number of lines in the order list as adjusted use schedule information (adjusted use shelf use schedule information).

[0119] In step ST1097, processor 21 calculates the return score. For example, processor 21 calculates the return score of each surrounding shelf (surrounding shelf return score) based on the adjusted transport distance and adjusted use plan information. For example, processor 21 calculates the sum of the adjusted transport distance and the adjusted use plan information as the return score of the surrounding shelf. Note that the method of calculating the return score may be the same as that of step ST1054.

[0120] In step ST1098, the processor 21 calculates the total transportation cost. The processor 21 calculates the sum of the return score of the target shelf and the return scores of each of the surrounding shelves as the total transportation cost. This total transportation cost is the total transportation cost when the item is placed at the shelf arrangement position 3 corresponding to the vacant position ID.

[0121] In step ST1099, the processor 21 determines whether the total transportation costs for all vacant position IDs have been calculated. If it is determined that the total transportation costs for all vacant position IDs have not been calculated, the processor 21 returns to step ST1091. On the other hand, if it is determined that the total transportation costs for all vacant position IDs have been calculated, the process proceeds to step ST110'.

[0122] FIG. 13 is a diagram showing an example of an order list in the first modified example of the first embodiment. FIG. 14 is a diagram showing an example of the total transport cost calculated based on the order list shown in FIG. 13 for the vacant position ID shown in FIG. In the example of FIG. 14, similar to FIG. 9, the target shelf ID, vacant position ID, transport distance, use plan information, adjusted transport distance, adjusted use plan information, and return score are shown, as well as the total transport cost.

[0123] 13, the surrounding shelves that are used are F, J, and G. Then, as described above, the processor 21 calculates the return score for these surrounding shelves and calculates the total transportation cost.

[0124] As shown in FIG. 14, it can be seen that the total transportation cost is highest when returning to the vacant position ID of 23, and lowest when returning to the vacant position ID of 32.

[0125] Returning to FIG. 10, in step ST110', the processor 21 sets the empty position ID corresponding to the lowest total transportation cost among the calculated total transportation costs as r(n(i)).

[0126] The operations in steps ST111 to ST113 may be the same as those explained with reference to FIG. 5, and therefore, a duplicate explanation will be omitted here.

[0127] (Operation and effect of the first modification of the first embodiment) The picking system 100 according to the first modification of the first embodiment configured as described above calculates the return cost for the AGV shelf 8 located near the shelf location position 3 corresponding to the vacant location ID when the AGV 7 transports the AGV shelf 8 to process an unprocessed order. Furthermore, the picking system 100 calculates the total transport cost based on the return score of the target shelf and the return scores of the surrounding shelves, and determines to return the AGV shelf 8 to the shelf location position 3 corresponding to the vacant location ID with the smallest total transport cost. As a result, the picking system 100 can reduce the transport time of the entire system. In other words, the picking system 100 can improve the throughput of the entire system.

[0128] [Second Modification of the First Embodiment] Next, a second modified example of the first embodiment will be described. In the second modified example of the first embodiment, the position to which the target shelf should be returned is determined, including the shelf arrangement position 3 where the AGV shelf 8 is arranged.

[0129] For example, in a certain order list, some of the AGV shelves 8 may not be used. If such unused AGV shelves 8 are located near the picking station P, the throughput of the system as a whole will decrease. Therefore, in the second modified example of the first embodiment, the location to which the target shelf should be returned is determined, including the location where the AGV shelves 8 are located, making it possible to improve the throughput of the entire system.

[0130] (composition) The configuration of the picking system 100 of the second modified example of the first embodiment may be the same as that of the first embodiment, so a duplicated description will be omitted here.

[0131] Next, a description will be given of functions realized by the planning device 2. The functions realized by the planning device 2 are realized by the processor 21 executing a program stored in the ROM 22, the NVM 24, or the like. The planning device 2 realizes the following functions in addition to the functions executed by the processor 21 according to the first embodiment.

[0132] The processor 21 has a function of acquiring a vacant position ID. The processor 21 also acquires, as a vacant position ID, a position ID corresponding to the shelf arrangement position 3 where the AGV shelf 8 is arranged.

[0133] (operation) Next, an operation example of the planning device 2 according to the second modified example of the first embodiment will be described. FIG. 15 is a flowchart illustrating an example of the operation of the planning device 2 according to the second modification of the first embodiment. The operation of this flowchart is realized by the processor 21 of the planning device 2 reading and executing a program stored in the internal memory of the processor 21, the ROM 22, or the NVM 24.

[0134] For example, this flowchart starts when the processor 21 acquires an order list and transmits a transport instruction based on the order list to the AGV control device 4.

[0135] The operation of step ST101 may be the same as the operation described with reference to FIG. 5, and therefore a duplicated description will be omitted here.

[0136] In step ST102'', the processor 21 acquires a vacant position ID. For example, the processor 21 sends a request requesting a vacant position ID to the AGV control device 4 through the communication unit 25. The processor 21 receives a response indicating the vacant position ID from the AGV control device 4 through the communication unit 25. The processor 21 acquires the acquired vacant position ID and position IDs corresponding to all shelf arrangement positions 3 as candidate return position IDs. Alternatively, the processor 21 acquires the acquired vacant position ID and position IDs corresponding to shelf arrangement positions 3 within a predetermined range of the picking station P as candidate return position IDs. Alternatively, the processor 21 refers to the order list and acquires, as candidate return position IDs, position IDs corresponding to shelf arrangement positions 3 that correspond to AGV shelves 8 that are not scheduled to be used.

[0137] For example, the processor 21 may determine the information to be included in the candidate return location ID depending on the processing capacity of the processor 21. For example, if the processor 21 has sufficient processing capacity, the processor 21 may include, in the candidate return location ID, location IDs corresponding to all shelf arrangement positions 3. If the processor 21 does not have sufficient processing capacity, the processor 21 may include, in the candidate return location ID, location IDs corresponding to shelf arrangement positions 3 within a predetermined range of the picking station P or location IDs corresponding to shelf arrangement positions 3 corresponding to AGV shelves 8 that are not scheduled to be used.

[0138] The operations of steps ST103 to ST108 and ST110 to ST113 may be the same as those described with reference to FIG. 5, and therefore a duplicated description will be omitted here.

[0139] In step ST109, when calculating the transport distance when the item is placed at each vacant position, shelf arrangement position 3 corresponding to the return candidate position ID is used as the vacant position. Furthermore, when calculating the transport distance when the item is placed at each vacant position in step ST109, the processor 21 may also take into consideration the transport distance of the AGV shelf 8 placed at shelf arrangement position 3. For example, when calculating the return distance, the processor 21 calculates the transport distance for placing the target shelf (first AGV shelf 8) at shelf arrangement position 3 (vacant position 1), and also calculates the transport distance for transporting the second AGV shelf 8 to picking station P when the AGV shelf 8 (second AGV shelf 8) placed at shelf arrangement position 3 is placed at another vacant position (vacant position 2).

[0140] Then, the processor 21 calculates the sum of these transport distances as the transport distance when placed at each vacant position. Also, the processor 21 may further add up the transport distances for placing the AGV shelf 8 (second AGV shelf 8) placed at the shelf placement position 3 at another vacant position, and calculate the sum as the transport distance when placed at each vacant position.

[0141] In steps ST109 and ST110, the total transport cost may be calculated as the sum of the return score when the first AGV shelf 8 is returned to vacant position 1 and the return score when the second AGV shelf 8 is placed in vacant position 2 based on the usage schedule information of the second AGV shelf 8, and the shelf may be returned to the vacant position corresponding to the lowest total transport cost. Here, the operational flow for calculating the total transport cost is basically the same as the operation described with reference to FIG. 11, so a description thereof will be omitted. Furthermore, when calculating the return score when the second AGV shelf 8 is placed in vacant position 2, the transport distance from vacant position 1 to vacant position 2 may be added in addition to the transport distance for transporting to the picking station P.

[0142] 15 has been described as an example in which the second modified example of the first embodiment is applied to the first embodiment. However, the second modified example of the first embodiment can also be applied to the first modified example of the first embodiment. In this case, in step ST109', the processor 21 calculates the total transportation cost taking into account the AGV shelf 8 arranged at shelf arrangement position 3. For example, when calculating the total transportation cost when arranging the target shelf at shelf arrangement position 3, the processor 21 may calculate the return score of the AGV shelf 8 arranged at shelf arrangement position 3 and incorporate the return score into the total transportation cost.

[0143] (Operation and effect of the second modification of the first embodiment) In the picking system 100 according to the second modification of the first embodiment configured as described above, when the AGV 7 transports the AGV shelf 8 to process an unprocessed order, the return score or total transport cost is calculated assuming that the shelf location 3 where the AGV shelf 8 is located is also an available shelf location 3. As a result, the AGV shelf 8 that is not scheduled for use in the order list is located at a position away from the picking station P. As a result, the picking system 100 can reduce the transport time of the entire system. In other words, the picking system 100 can improve the throughput of the entire system.

[0144] [Other embodiments] When calculating the return score for a target shelf, information on past usage can be added in addition to the transport distance and planned use information. A specific example is a method of adding information on the time remaining until an order is added and the AGV shelf 8 that will be used for that order. For example, if usage information within the past week shows that a certain AGV shelf 8 is frequently used for orders added in the afternoon, adding the above two pieces of information makes it possible to perform shelf allocation that incorporates orders that have not yet been added into the prediction. This makes it possible to improve the throughput of the entire system.

[0145] The program according to this embodiment may be transferred in a state where it is stored in an electronic device (computer) serving as the planning device 2, or may be transferred in a state where it is not stored in an electronic device. In the latter case, the program may be transferred via a network, or may be transferred in a state where it is 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 serving as the planning device 2 or the like (a computer-readable medium). The storage medium may be in any form, such as an optical disk (e.g., a CD-ROM), a magnetic disk, or a semiconductor memory (e.g., a memory card), as long as it is capable of storing a program and is readable by a computer.

[0146] Although several 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 embodied 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 within the scope and spirit of the invention, and are also included in the scope of the invention and its equivalents as defined in the claims. [Explanation of symbols]

[0147] 100...Picking system 1...Upper management device 2. Planning Device 211...Shelf use timing extraction unit 212...Return score calculation section 21...Processor 22...ROM 23...RAM 25…Communications Department 26…Operation unit 27…Display section 3…Shelf placement position 4...AGV control device 5...Switch 6...Wireless LAN access point 7...AGV 8...AGV shelf 9. Charging station 111...Picking robot 112...Display device 113...Staff member P: Picking station

Claims

1. an interface for acquiring an order list including the transport order of shelves transported by an automated guided vehicle, the shelf IDs of the shelves, and their statuses; obtaining the order list via the interface; Identifying, from the order list, target shelf IDs of a plurality of target shelves for which the shelf return positions of the shelves are to be changed, From the order list, obtain usage schedule information for each of the target shelves based on unprocessed orders that call each of the target shelf IDs; calculating a transport distance for the automated guided vehicle to transport each of the target shelves in order to process the unprocessed orders included in the usage schedule information; calculating a return score for each of the target shelves based on the use schedule information and the transport distance; changing the shelf return position of at least the target shelf having the largest return score; a processor; An information processing device comprising:

2. The processor determines that a trigger has occurred when the shelf arrangement position of the shelf is changed, an order list is added, no instruction for delivery of the automated guided vehicle is given for a certain period of time, or a certain period of time has passed. The information processing device according to claim 1 .

3. The processor acquires, as usage schedule information, the order in which the target shelf will be used first in the order of unprocessed items in the order list. The information processing device according to claim 1 .

4. the processor calculates a value obtained by subtracting the usage schedule information from the number of lines in the order list and dividing the result by the number of lines in the order list as adjusted usage schedule information, and calculates a value obtained by dividing the transport distance by the maximum distance required for one transport as adjusted transport distance. The information processing device according to claim 3 .

5. The processor calculates the sum of the adjusted transport distance and the adjusted use plan information as the return score. The information processing device according to claim 4 .

6. The processor calculates a return score by multiplying the adjusted transport distance and the adjusted use schedule information by a predetermined variable. The information processing device according to claim 4 .

7. The processor: Acquire a vacant position ID corresponding to a shelf placement position where the shelf is not placed, Calculating a transport distance when the target shelf is returned to the shelf arrangement position indicated by the vacant position ID; The target shelf is set to be returned to the shelf arrangement position corresponding to the vacant position ID with the shortest transport distance. The information processing device according to claim 1 .

8. The processor: Acquire a vacant position ID corresponding to a shelf placement position where the shelf is not placed, Acquire surrounding shelf IDs of surrounding shelves located around the shelf arrangement position indicated by the vacant position ID, Obtaining peripheral shelf use schedule information for each of the peripheral shelves based on an unprocessed order that calls each of the peripheral shelf IDs from the order list; calculating a peripheral shelf transport distance along which the automated guided vehicle transports each of the peripheral shelves in order to process the unprocessed orders included in the peripheral shelf use schedule information; calculating a surrounding shelf return score for each of the surrounding shelves based on the use schedule information and the transport distance; Calculating a total transportation cost based on the return score and the surrounding shelf return score; determining that the target shelf should be returned to the shelf arrangement position of the vacant position ID corresponding to the smallest of the calculated total transportation costs; The information processing device according to claim 1 .

9. The total transportation cost is the sum of the return score and the surrounding shelf return score. The information processing device according to claim 8 .

10. The processor: acquiring, as vacant position IDs, position IDs corresponding to the shelf arrangement positions where the shelves are not arranged and the shelf arrangement positions where the shelves are arranged; Calculating a transport distance when the target shelf is returned to the shelf arrangement position indicated by the vacant position ID; The target shelf is set to be returned to the shelf arrangement position corresponding to the vacant position ID with the shortest transport distance. The information processing device according to claim 1 .

11. The processor: acquiring, as vacant position IDs, position IDs corresponding to the shelf arrangement positions where the shelves are not arranged and the shelf arrangement positions where the shelves are arranged; Acquire peripheral shelf IDs of peripheral shelves located around the shelf arrangement position indicated by the vacant position ID, Obtaining peripheral shelf use schedule information for each of the peripheral shelves based on an unprocessed order that calls each of the peripheral shelf IDs from the order list; calculating a peripheral shelf transport distance along which the automated guided vehicle transports each of the peripheral shelves in order to process the unprocessed orders included in the peripheral shelf use schedule information; calculating a surrounding shelf return score for each of the surrounding shelves based on the use schedule information and the transport distance; calculating a total transportation cost based on the return score and the surrounding shelf return score; determining that the target shelf should be returned to the shelf arrangement position of the vacant position ID corresponding to the smallest of the calculated total transportation costs; The information processing device according to claim 1 .

12. The shelf arrangement position where the shelf is arranged is a shelf arrangement position within a predetermined distance from a picking station. The information processing device according to claim 10 or 11.

13. The shelf location where the shelf is located is a shelf location where a shelf not scheduled for use is located in the order list. The information processing device according to claim 10 or 11.

14. An information processing method executed by a processor of an information processing device, Acquiring an order list including the transport order of the shelves to be transported by the automated guided vehicle, the shelf IDs of the shelves, and their statuses; Identifying, from the order list, target shelf IDs of a plurality of target shelves for which the shelf return positions of the shelves are to be changed, based on the order list; Obtaining use schedule information for each of the target shelves from the order list based on an unprocessed order that calls each of the target shelf IDs; calculating a transport distance for the automated guided vehicle to transport each of the target shelves in order to process the unprocessed orders included in the usage schedule information; calculating a return score for each of the target shelves based on the use schedule information and the transport distance; changing at least the shelf return position of the target shelf having the largest return score; An information processing method comprising:

15. An information processing program comprising instructions to be executed by a processor of an information processing device, Acquiring an order list including the transport order of the shelves to be transported by the automated guided vehicle, the shelf IDs of the shelves, and their statuses; Identifying, from the order list, target shelf IDs of a plurality of target shelves for which the shelf return positions of the shelves are to be changed, based on the order list; Obtaining use schedule information for each of the target shelves from the order list based on an unprocessed order that calls each of the target shelf IDs; calculating a transport distance for the automated guided vehicle to transport each of the target shelves in order to process the unprocessed orders included in the usage schedule information; calculating a return score for each of the target shelves based on the use schedule information and the transport distance; changing at least the shelf return position of the target shelf having the largest return score; An information processing program comprising:

Images