Article sorting method, and sorting system

Abstract

To provide an article sorting method capable of efficiently performing secondary sorting in a TC2 type distribution center.SOLUTION: Provided is a method for sorting articles, sorted for each kind, for each delivery destination, inside a TC2 type distribution center where a station 3, composed by installing predetermined number of frontages 31 with a shutter 33 assigned for each delivery destination in a state of being made as one set, is arranged. A robot 6 on which a predetermined article is loaded is sequentially stopped at staying positions 24, and, when a quantity of the articles on the basis of weight of the articles unloaded from the robot at the staying position coincides with a preset quantity, the robot can be moved to the next staying position, and the shutter of the predetermined frontage is opened, and, when a quantity on the basis of the weight of the articles put into the predetermined frontage from the articles unloaded at the staying position coincides with the quantity to be thrown into the predetermined frontage, the shutter of the frontage is closed.SELECTED DRAWING: Figure 6

Description

[Technical Field]

[0001] The present invention relates to a method and system for sorting articles, and more particularly to a method and system for sorting articles in a TC2 type logistics center, and a computer system and a robot for implementing the method. [Background technology]

[0002] Logistics is the process by which goods and other items are transported as cargo from the place of production (farm, factory, etc.) to the place of consumption (store, consumer's home, etc.). Logistics-related tasks include packaging, loading and unloading, storage, and transportation, and a logistics center is a facility that manages logistics from receiving to shipping. There is also a type of logistics center called the TC (transit type).

[0003] At TC logistics centers, incoming goods are transshipped and shipped without being stored. TC logistics centers are classified into TC1 and TC2 types, and TC2 logistics centers differ from TC1 logistics centers in that their operational processes include sorting goods by delivery destination. In other words, at TC1 logistics centers, goods arrive sorted for each delivery destination and are then shipped to each destination, whereas at TC2 logistics centers, goods for multiple delivery destinations arrive in bulk, and after unpacking and inspection, the goods are sorted by type and then further sorted by delivery destination.

[0004] As described above, the sorting work at a TC2 logistics center consists of a primary sorting stage in which incoming goods are sorted by type, and a secondary sorting stage in which the primary sorted goods are further sorted by delivery destination. Typical methods for secondary sorting include the sowing method and the picking method. The following Non-Patent Document 1 describes the differences between the sowing method and the picking method.

[0005] Furthermore, the following Non-Patent Document 2 describes an outline of a TC-type logistics center, and the following Patent Document 1 describes a sorting method for performing secondary sorting by a picking method using a computer system and a manual picking cart equipped with a load-mounted scale. Furthermore, as technologies related to the embodiments of the present invention, the following Non-Patent Document 3 describes an article transport system using a self-propelled robot in a logistics center, and the following Non-Patent Document 4 describes a frontage equipped with an automatic opening and closing shutter. [Prior art documents] [Patent documents]

[0006] [Patent Document 1] Patent No. 3530015 [Non-patent literature]

[0007] [Non-Patent Document 1] Kaizen Base Co., Ltd., "What is picking? Explaining the difference between the picking method and the sowing method," [online], [Retrieved March 22, 2024], Internet<URL:https: / / kaizen-base.com / column / 31325 / > [Non-patent document 2] Japan Logistics Development Co., Ltd., "Basics of Logistics: What is a Logistics Center (TC Edition)," [online], [Retrieved March 22, 2024], Internet <URL: https: / / jl-d.co.jp / column / %E7%89%A9%E6%B5%81%E3%81%AE%E3%82%AD%E3%83%9B%E3%83%B3%EF%BC%9A%E7%89%A9%E6%B5%81%E3%82%BB%E3%83%B3%E3%82%BF%E3%83%BC%E3%81%A8%E3%81%AF%EF%BC%88t%EF%BD%83%E7%B7%A8%EF%BC%89 / 2022 / 10 / 27 / > [Non-patent document 3] Tsubakimoto Machinery Co., Ltd., "T-Carry system", [online], [searched March 22, 2024], Internet<URL:https: / / www.tsubakimoto.jp / tmc / products / lp / t-carry / > [Non-patent document 4] APT Co., Ltd., "Sorting System (SAS)", [online], [searched March 22, 2024], Internet<URL:https: / / n-apt.com / sas> Summary of the Invention [Problem to be solved by the invention]

[0008] In order to more efficiently carry out the process from receiving to shipping at a logistics center, it is conceivable to replace the work of transporting goods using hand-pushed carts used in the sorting method described in Patent Document 1 with a transport robot such as that described in Non-Patent Document 3. However, in the current situation in the logistics industry where the amount of goods distributed and the types of goods handled by the industry are increasing year by year, it is important to more quickly sort the huge number of diverse goods that arrive according to their destinations, and rather than simply replacing hand-pushed carts with robots, procedures and mechanisms are needed that allow robots and workers to work together more effectively in sorting work at logistics centers, especially in work for secondary sorting.

[0009] However, secondary sorting involves sorting a specified number of items of a specified type for each delivery destination. To sort the specified number of items, the quantity of the specified items must be calculated based on the mass of each item. For this reason, conventional carts and robots are equipped with scales. Specifically, the sorting method described in Patent Document 1 is a secondary sorting method using a picking method, in which a worker manually moves a cart, picks out specified items from a specified location, and loads them onto the cart. The scale mounted on the cart then measures the mass of the loaded items, and the number of loaded items is confirmed based on the measured mass. Therefore, even if the cart were replaced with a robot, the robot would still need to wait at the location until the specified number of items had been loaded onto the robot, making it difficult to reduce this waiting time.

[0010] In secondary sorting using the seeding method, a specified quantity of a specified item is placed into multiple openings corresponding to multiple delivery destinations. Each robot transports one type of item. Therefore, the worker performing the secondary sorting must repeat the following series of tasks for each delivery destination: remove the specified quantity of the item from the robot that delivered it and place it into the opening corresponding to the specified delivery destination. A scale mounted on the robot measures the mass of each item removed by the worker each time it is removed for a delivery destination. Since each secondary sorting worker is responsible for multiple openings, once a robot has delivered items to a certain worker's work location, that robot cannot transport items to the openings assigned to other workers until the robot has completed its work of placing items into some of the openings assigned to that worker. Thus, even in secondary sorting using the seeding method, it is difficult to improve the robot's operating rate.

[0011] Therefore, the present invention aims to provide an item sorting method that enables more efficient secondary sorting in TC2 type logistics centers, and a sorting system that implements the item sorting method using a computer system and a robot. [Means for solving the problem]

[0012] One aspect of the present invention for achieving the above object is a method for sorting items sorted by type into delivery destinations using a seeding method within a TC2 type logistics center, using a computer system and multiple robots that move around the center, Stations are arranged at multiple locations within the premises, each of which is provided for each delivery destination and has a plurality of entrances equipped with shutters that open and close automatically, and each station is equipped with a counting scale, the computer system storing the type and quantity of goods for each delivery destination, the mass of each of the goods, the delivery destinations corresponding to the entrances arranged at each station, the type and quantity of goods loaded onto each robot, and the stopping positions of the robots arranged within the premises corresponding to each station; The robot loaded with predetermined items is stopped sequentially at the stopping positions of the stations where the entrances corresponding to the delivery destinations of the items are installed; In the station, the mass of the items unloaded from the robot that has arrived at the stopping position is measured by the counting scale, and when the quantity of the items based on the mass matches a preset quantity, the robot is allowed to move to the next stopping position; At the station, the shutter of the entrance into which the articles unloaded from the robot and placed on the counting scale are to be put is opened; When a mass of articles corresponding to a preset quantity is placed into the opening with the shutter open, the shutter is closed. This is a method for sorting items.

[0013] The method may also be such that adjacent stations are spaced apart within the premises.

[0014] Furthermore, each station is provided with a station terminal that has a display and can output information to the worker, The computer system comprises: When the robot arrives at the stopping position, the total amount of articles to be unloaded from the robot and placed on the counting scale, the number of articles to be taken out from the total amount, and the entrance into which the articles taken out from the total amount will be put are displayed on the station terminal. It can also be used as a method for sorting items.

[0015] In a TC2 type logistics center where the above stations are located on the premises, a system for sorting items sorted by type into delivery destinations using a seeding method is also within the scope of the present invention, and the system is as follows: The system comprises a plurality of robots that move autonomously within the premises, a database, a robot control unit, a station control unit, a counting scale that is installed at each of the stations and is capable of communicating with the station control unit, and a shutter that is installed at each of the entrances and automatically opens and closes; The database identifies the items received at the TC2 type logistics center by type, and manages item information including the mass of each item, delivery instruction information specifying the quantity of each item for each delivery destination, and transport information indicating the location and quantity of items being transported by each robot, the robot control unit manages the position information of each robot, and causes a predetermined robot to patrol a predetermined station based on the delivery instruction information and the transport information; The station control unit Identifying the quantity of the goods based on the mass of the goods placed on the counting scales installed at each station and the goods information, and controlling the opening and closing of the shutters at the entrances corresponding to each delivery destination; When the quantity of the items unloaded from the robot that has arrived at the station specified in the delivery instruction information and placed on the weighing scale matches the total quantity of the items to be sorted at the station, the arriving robot is allowed to depart for a next destination location; Opening the shutter at the entrance corresponding to the predetermined delivery destination based on the delivery instruction information; Identifying the quantity of the item removed from the total quantity of the item; When it is confirmed that the number of items that matches the specified quantity based on the delivery instruction information has been removed from the total amount and placed in the opening with the shutter open, the shutter is closed. It is a sorting system.

[0016] a station terminal provided at each of the stations for inputting and outputting information to and from a worker; The station control unit a total amount of the articles to be unloaded from the robot is displayed on the station terminal, and information indicating the quantity and the opening for an article to be taken out of the total amount of the articles and put into one of the openings is displayed on the station terminal; It can also be a sorting system. [Effects of the Invention]

[0017] According to the present invention, there is provided a method for sorting items that allows for more efficient secondary sorting in a TC2 type logistics center, and a sorting system that implements the method for sorting items. Other advantages will be made clear in the following description. [Brief explanation of the drawings]

[0018] [Figure 1] 1 is a diagram showing the layout of the premises of a TC2 type logistics center in which a sorting method according to an embodiment is implemented. [Figure 2] FIG. 2 is a diagram showing the arrangement of entrances at stations located within the premises. [Figure 3A]FIG. 10 is a diagram showing the configuration of the entrance, with the shutter installed at the entrance in a closed state. [Figure 3B] FIG. 10 is a diagram showing the configuration of the opening, with the shutter open. [Figure 4] FIG. 2 is a diagram showing a workbench arranged in the station and various devices provided on the workbench. [Figure 5] 1 is a diagram showing a configuration of a sorting system for carrying out a sorting method according to an embodiment. [Figure 6] 10A and 10B are diagrams showing a procedure of secondary sorting by the sorting method according to the embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0019] The present invention will be described with reference to the accompanying drawings. In the drawings used in the following description, the same or similar parts are designated by the same reference numerals, and redundant explanations may be omitted. If a part designated by a reference numeral in one drawing is unnecessary, the same reference numeral may not be designated in other drawings. ===Example=== An embodiment of the present invention is a method for sorting items in a TC2 type logistics center (hereinafter sometimes referred to as a "logistics center"), characterized by a seed-sowing secondary sorting method using a self-propelled robot. The following describes the method for sorting items and the sorting system according to the embodiment. <Planning layout> FIG. 1 is a layout diagram of a premises in a logistics center where a sorting method according to an embodiment of the present invention is implemented. As shown in FIG. 1, the premises are provided with an aisle (hereinafter sometimes referred to as a "primary aisle 1") where a robot stop (hereinafter sometimes referred to as a "primary stop 13") is located for loading items onto a robot after primary sorting, and an aisle (hereinafter sometimes referred to as a "secondary aisle 2") through which the robot patrols a secondary sorting opening 31. In this embodiment, an "E"-shaped aisle is formed within the premises by one primary aisle 1 extending linearly and three secondary aisles 2 extending from the primary aisle 1 in a direction perpendicular to the primary aisle 1.

[0020] As shown in the figure, the extension direction of the primary passage 1 is defined as the front-to-rear direction, and the left-to-right directions are defined by assuming that the secondary passage 2 extends to the right from its left end. Furthermore, assuming that the front-to-rear directions are defined so that the left-to-right directions are correct when viewed from the rear to the front, inspection devices 10 for inspecting items to be loaded onto the robot are arranged in a row, front to back, along the left side of the primary passage 1. Primary stops 13 are provided at the locations of each inspection device 10, and items that have undergone primary sorting and inspection at these primary stops 13 are loaded onto the robot. In FIG. 1, the primary stops 13 are indicated by white circles.

[0021] Stations 3, each consisting of a group of multiple entrances 31, are arranged along the secondary passage 2 on both the front and rear sides. Adjacent stations 3 in the left-right direction along the secondary passage 2 are arranged at a predetermined distance from each other. Robot stops (hereinafter sometimes referred to as "secondary stops 24") for each station are also arranged along the secondary passage 2. In FIG. 1, the secondary stops 24 are indicated by dotted circles.

[0022] As shown by the white arrows in the figure, the primary passage 1 and the secondary passage 2 are provided with lanes (hereinafter sometimes referred to as "normal driving lanes (11, 21)") that robots use when heading towards primary stop 13 or secondary stop 24, and lanes (hereinafter sometimes referred to as "overtaking lanes (12, 22)") for overtaking preceding robots, as shown by the solid black arrows in the figure. Furthermore, as shown by the hatched arrow in the figure, the secondary passage 2 is provided with a lane 23 that branches off from the normal driving lane 21 of the secondary passage 2 and heads towards secondary stop 24. This lane 23 is a waiting lane 23 for a predetermined number of robots (for example, six) to wait in queue when there are multiple robots heading towards one secondary stop 24. The direction of travel of the robots is the direction of the arrows of each lane (11, 12, 21-23) shown in the figure.

[0023] Each station 3 has a total of 27 entrances 31, with nine entrances 31 lined up in the left-right direction and stacked three high. Figure 2 shows the arrangement of the entrances 31 in each station 3. The entrances 31 are locations for sorting items for each delivery destination, and as shown in Figure 2, each station 3 has a rack 32 with three wide shelves on each side, and nine entrances 31 are arranged side by side on each shelf of the rack 32. Of course, the number and arrangement of the entrances 31 in each station 3 are not limited to those shown in Figure 2 and can be set appropriately depending on the layout of the premises, the number of delivery destinations, etc.

[0024] The configuration of the opening 31 is shown in FIGS. 3A and 3B. As shown in FIGS. 3A and 3B, the opening 31 is provided with a shutter 33, which is a flap-shaped door that opens and closes automatically. FIG. 3A shows the opening 31 with the shutter 33 closed, and FIG. 3B shows the opening 31 with the shutter 33 open. As shown in FIGS. 3A and 3B, in this embodiment, a shaft 35 is installed between the left and right support columns of the rack 32 at the upper end of the opening 31, and the shutters 33 are attached to opening / closing devices 36 that can individually rotate around the shaft 35. Furthermore, foldable containers 34 are placed on the shelves of the rack 32 at the positions of the openings 31. The shutters 33 are installed so as to freely open and close and cover the area where items can be inserted into the containers 34. As shown in FIG. 3B, when the shutters 33 are opened, items can be inserted into the opening 31, and the inserted items are stored in the containers 34. Each container 34 is replaceable, and when a container 34 at a certain opening 31 is filled with goods, the full container 34 is removed from the shelf and another empty container 34 is placed on the shelf.

[0025] As shown in FIG. 1, a workbench 4 (shown as a black square in the figure) is located near the secondary stop 24 at each station 3 for temporarily placing items picked up by the robot. Each workbench 4 is equipped with various pieces of equipment used in secondary sorting. FIG. 4 shows the various pieces of equipment (41-44) installed on the workbench 4. As shown in FIG. 4, the workbench 4 has multiple shelves, and the top shelf, which serves as the top, is equipped with a platform weighing scale 41 and an information processing terminal (hereinafter sometimes referred to as a "station terminal 42") for displaying various information to the secondary sorting worker at station 3 and accepting appropriate operations during the secondary sorting work. The illustrated workbench 4 also includes a barcode scanner 43 for reading barcodes attached to items as needed, and a label printer 44 for printing the details of the items (such as product names) identified by the read barcodes. Furthermore, a portable power source 45 equipped with a secondary battery to power the various devices (41-44) is also placed on an appropriate shelf of the workbench 4. Note that the barcode scanner 43 and label printer 44 are not essential devices in the sorting method according to the embodiment. Also, the portable power source 45 is not necessary if a commercial power outlet for supplying power to the various devices (41-44) is provided near the workbench 4. The station terminal 42 does not necessarily have to be placed on the workbench 4. The station terminal 42 can be placed independently in an appropriate location in the installation area of ​​the station 3, as long as it is capable of inputting and outputting information intended for the worker. <Sorting system configuration> The sorting system is a system that is mainly composed of a computer system and a robot and performs the work of sorting items according to the method of this embodiment. When the items that have been loaded onto the robot at the primary stop 13 are subjected to secondary sorting at each station 3, the sorting system makes the robot travel along the correct route to transport the specified items to the specified station 3, and also supports the workers at each station 3 in the secondary sorting work.

[0026] FIG. 5 shows an example of the network configuration of a sorting system 5. The sorting system 5 includes a database 51, a robot control unit 52, a station control unit 53, a station terminal 42, a large number (e.g., several hundred) of robots 6 that travel within the premises under the control of the robot control unit 52, shutters 33 installed at each entrance 31, and counting scales 41 installed at each station 3. These components are connected to a wired or wireless LAN installed within the premises. In the sorting system 5 illustrated in FIG. 5, the database 51, the robot control unit 52, and the station control unit 53 are each configured as individual computers connected to the premises' wired LAN. The station control unit 53 functions as a station terminal management unit 54 and a shutter control unit 55 (described later) depending on the program it executes. Of course, the station terminal management unit 54 and the shutter control unit 55 may be configured as individual computers, and the database 51, the robot control unit 52, and the station control unit 53 do not necessarily have to be configured as individual computers. In any case, the computer system in the sorting system 5 is composed of one or more computers distributed over a communication network such as a LAN, and the functions of each of the above components are realized by a specified computer executing a specified program.

[0027] In the sorting system 5 shown in Fig. 5, data communication is performed by wireless signals between the robot 6 and the robot control unit 52, and between the station terminal 42 and the station terminal management unit 54 of the station control unit 53. Wired communication is performed between the numerous shutters 33 installed at each entrance 31 and the shutter control units 55 of the station control unit 53 via a hub 57. Note that in the figure, a wireless LAN access point 56 that mediates data communication between the robot 6 and the robot control unit 52, and another access point 56 that mediates data communication between the station terminal 42 and the station terminal management unit 54 are installed separately, but there may be only one access point 56 installed on the premises, or three or more access points 56 may be installed.

[0028] The database 51 is a computer that manages information about all items received at the logistics center and their sorting. Generally, the database 51 manages information about each item and various information related to sorting by associating it with item identification information, such as a barcode. The information about each item includes information about the item itself, such as the type of item (e.g., product name) and the weight of each item, as well as delivery instruction information specifying the quantity of each item for each delivery destination. The sorting information includes sorting status information indicating the items inserted into each entrance 31 and their quantity, and transport information, such as the location and quantity of items currently being transported by each robot 6. The sorting status information and transport information are updated as needed based on various data output by the robot control unit 52 and the station control unit 53. The storage location of the various information managed by the database 51 is not limited to external storage (e.g., HDD, SSD) attached to the computer that constitutes the database 51. Some of the various data processed in the sorting system 5 may be stored in external memory attached to the robot control unit 52 or the station control unit 53, or some or all of the various data may be stored in a NAS (Network Attached Storage) installed on a LAN or on the cloud.

[0029] The robot control unit 52 manages the current positions and destinations of all traveling robots 6 and determines the travel route of the robots 6 based on a predetermined algorithm. For example, the robot control unit 52 accesses the database 51 and obtains the designated information for the primary stop 13 where the item will be loaded and the designated information for the secondary stop 24 to which the item will be delivered. The robot control unit 52 controls the robot 6 loaded with the designated item and determines the route for the robot 6 based on the positions of the primary stop 13 and the secondary stop 24 stored in its external memory or the database 51. The robot control unit 52 also updates the route as needed to an appropriate one based on the current position of each robot 6. The robots 6 in this embodiment are well-known AGVs (Automatic Guided Vehicles) that travel according to guides (magnetic tape, markers, etc.) laid along the passageways (1, 2) within the premises. The robot control unit 52 and the robots 6 can be configured using an existing transport system, for example, as described in Non-Patent Document 3.

[0030] The station terminal 42 may be configured, for example, as a tablet terminal with a touch panel as a user interface. At each workbench 4, the station terminal 42 is connected to the counting scale 41, barcode scanner 43, and label printer 44 via a predetermined wired communication interface. For example, the counting scale 41 and barcode scanner 43 are connected to the station terminal 42 via a USB-standard communication interface, and the label printer 44 is connected to the station terminal 42 via a serial interface such as RS232C. The devices (41, 43, 44) connected to the station terminal 42 also communicate data with the station terminal management unit 54 of the station control unit 53 via the station terminal 42. Of course, the devices (41, 43, 44) other than the station terminal 42 arranged on the workbench 4 may also be configured to have their own communication functions and communicate data with the station control unit 53 without going through the station terminal 42.

[0031] As described above, the station control unit 53 functions as the station terminal management unit 54 and the shutter control unit 55. The station terminal management unit 54 has the functions of causing each station 3 to display appropriate information in a timely manner and to execute data processing based on the mass measured by the counting scale 41. For example, each time a robot 6 arrives at a station 3, the station terminal management unit 54 displays information on the station terminal 42 indicating the number of items to be unloaded from the robot 6, the entrance 31 into which the unloaded items will be placed, and the quantity of the items to be placed. Furthermore, based on the quantity of items for each delivery destination and the mass of each item managed in the database 51, the station control unit 53 determines whether the specified number of specified items were correctly unloaded at the secondary stop 24 of each station 3, and whether the number of items removed by the worker from the unloaded items to be placed into each entrance 31 matches the specified number each time items are unloaded at each station 3. If the quantity of items unloaded or removed is incorrect, the station terminal 42 displays information to that effect.

[0032] The shutter control unit 55 works in conjunction with the station terminal management unit 54 to control the opening and closing devices 36 attached to the shutters 33 of each entrance 31, and has the function of opening and closing the shutters 33 in a timely manner. For example, when the station terminal management unit 54 notifies the robot 6 at a certain station 3 that a quantity of goods to be placed into a certain entrance 31 has been removed from the total number of goods unloaded from the robot 6, the shutter control unit 55 opens the shutter 33 of that entrance 31. When the station terminal management unit 54 notifies the robot 6 at a certain station 3 that a specified quantity of goods has been placed into a specified entrance 31, the shutter 33 of that entrance 31 is closed. <Preparation work> To perform secondary sorting at a logistics center, in addition to the primary sorting in which all incoming items are sorted by type, preparation work is required to load the sorted items onto the robot 6. Therefore, before explaining the procedure for secondary sorting using the sorting system 5, which is the essence of the sorting method according to the embodiment, an example of this preparation work will be given below.

[0033] First, items arriving at a logistics center are unpacked and separated by type through primary sorting. In the sorting method according to the embodiment, the robot 6 transports a single tray loaded with items, and a predetermined number of items are loaded on each tray according to the type. Note that an item may be a single product itself, or may be a set of a predetermined number of products. In either case, "one" item is the smallest unit when sorting for each delivery destination.

[0034] The database 51 manages the type and quantity of items loaded on each tray. In this manner, trays loaded with predetermined quantities of predetermined items are sequentially transported to the inspection device 10. At the inspection device 10, a worker uses a barcode scanner to read barcodes printed in appropriate locations on the transported trays, and then loads the trays onto the robot 6 parked at the primary stop 13 closest to the inspection device 10. When the worker inputs, via an information processing terminal (e.g., a tablet terminal) attached to the inspection device 10, that the trays have been loaded onto the robot 6, the database 51 records information indicating which trays were loaded onto which robot 6 from which inspection device 10. The robot control unit 52 then controls the robot 6 based on the delivery destinations of the items loaded on each tray, which are managed in the database 51, and causes the robot 6 to sequentially stop at the secondary stops 24 corresponding to the stations 3 where the entrances 31 corresponding to the specified delivery destinations are located. <Secondary sorting process> Figure 6 shows the procedure for secondary sorting in the sorting method according to the embodiment. The procedure for secondary sorting in this embodiment and the flow of information processing during this procedure are described below. First, under the control of the robot control unit 52, the robot 6 transports a tray carrying designated items to the secondary stop 24 of the designated station 3. The station control unit 53 monitors the transport status of each tray, which is successively updated in the database 51, and when the designated tray arrives at the station 3 where the entrance 31 corresponding to the designated delivery destination is located, causes the corresponding station terminal 42 to display the total amount of items to be unloaded at that station 3, the quantity to be placed into the designated entrance 31, etc.

[0035] That is, when the robot 6 arrives at the secondary stop 24 of a certain station 3, the worker in charge of that station 3 unloads the number of items displayed on the station terminal 42 from the tray of the robot 6 (s1 → s2) and places all of the unloaded items on the counting scale 41. The number of items placed on the counting scale 41 at this time is the total amount of items for all specified delivery destinations at the station 3 where the robot 6 has arrived. If the mass measured by the counting scale 41 matches the specified number (s3: YES), the station control unit 53 displays this information on the station terminal 42, as well as a confirmation button or other message that allows the worker to confirm that the picking operation has been performed correctly. Then, when the worker presses the confirmation button displayed on the station terminal, the robot 6 departs for the next station (s4). Note that the confirmation button may not be displayed on the station terminal 42, and the robot 6 may depart for the next station 3 when the mass measured by the counting scale 41 matches the specified number. On the other hand, if the mass measured by the counting scale 41 does not match the specified number (s3: NO), a message to that effect is displayed on the station terminal 42, and the worker is prompted to perform the picking operation again (s5).

[0036] Next, the station control unit 53 causes the station terminal management unit 54 to display on the station terminal 42 the entrance 31 corresponding to the specified delivery destination and the quantity of items to be placed into that entrance 31. The shutter control unit 55 also opens the shutter 33 of the corresponding entrance 31 (s6). The worker follows the display on the station terminal 42 and removes the quantity of items to be placed into the specified entrance 31 from the items placed on the counting scale 41, and places them into the entrance 31 (s7). Then, during this placement operation, the next robot 6 arrives at the secondary stop 24 that has been vacated by the departure of the previous robot 6.

[0037] Meanwhile, the station control unit 53 determines whether the quantity of items placed into the entrance 31 is as specified, based on the mass decrease as items are removed from the counting scale 41. If the quantity is as specified, the shutter 33 of the entrance 31 is closed (s8→s9). If it is not as specified, a message to that effect is displayed on the station terminal 42, and the worker is asked to reconfirm (s10) and perform the placement work again. If there is another entrance 31 of the destination of the item unloaded from the robot 6 onto the counting scale 41 at the same station 3, the station control unit 53 similarly displays the quantity of items to be placed and the entrance 31, and opens the corresponding entrance 31 (s6). When the specified quantity of the specified items has been placed into the entrance 31 of the specified destination, the station control unit 53 updates the sorting status information in the database 51. On the other hand, once the worker has finished placing all of the items that the robot 6 has unloaded onto the counting scale 41 into the designated entrance 31, he or she will perform the same work on the items that the next robot 6 that arrives will carry.

[0038] Thus, according to the sorting method of the embodiment, when performing secondary sorting using the robot 6, the robot 6 does not have to wait unnecessarily while the worker places items into multiple openings 31, thereby improving the operating rate of the robot 6. <Robot driving control> Each robot 6 carries a tray loaded with designated items and patrols the premises, stopping at the secondary stops 24 of the station 3 where the entrance 31 of the designated delivery destination is located. That is, in the premises layout shown in FIG. 1, the robot 6 first travels to the designated primary stop 13 located at the left end of the primary passage 1 under the control of the robot control unit 52. After loading the items here, the robot 6 travels again to the designated primary stop 13 on the primary passage 1 while patrolling the designated secondary stops 24, where the items are loaded again. In this way, the robot 6 completes one patrol.

[0039] Here, as an example of a route that a robot 6 takes after loading an item at a primary stop 13, completing one patrol and returning to the primary stop 13, a case will be described in which there are secondary stops 24 to head to on each of three secondary passages 2 aligned in a longitudinal direction. Referring to FIG. 1 , the trajectory of the robot 6 following this example of travel route will be described. First, the robot 6 stops at the designated primary stop 13 on its way from the front to the rear in the normal travel lane 11 on the left side of the primary passage 1. After loading the item, the robot 6 then travels to the rear end of the normal travel lane 11 on the left side of the primary passage 1, turns counterclockwise into the normal travel lane 11 on the right side, and heads forward, while changing course to the front normal travel lane 21 on the rearmost secondary passage 2 and traveling to the right. On the secondary passage 2, the bus travels clockwise around the normal travel lane 21, and if there is a destination secondary stop 24 along the way, it changes lanes from the normal travel lane 21 to the waiting lane 23 before reaching the destination secondary stop 24 and heads toward the destination secondary stop 24. Once the specified number of items has been unloaded at the secondary stop 24, it returns to the normal travel lane 21 and heads toward the next secondary stop 24.

[0040] Once all of the target secondary stops 24 have been visited in one secondary passage 2, the robot 6 passes through the right normal travel lane 11 of the primary passage 1 at the left end of the secondary passage 2 and enters the front normal travel lane 21 of the central secondary passage 2. Once all of the target secondary stops 24 in the central secondary passage 2 have been visited, the robot 6 similarly travels through the primary passage 1 to the target secondary stop 24 in the front secondary passage 2. Once all of the designated secondary stops 24 have been visited in this way, the robot 6 again travels to the front end of the right normal travel lane 11 of the first passage 1, makes a U-turn, enters the left normal travel lane 11 where the inspection devices 10 are lined up, and heads toward the designated primary stop 13. At the primary stop 13 where the robot 6 has stopped, the empty tray is replaced with a new tray, and the robot 6 again patrols the designated secondary stops 24.

[0041] If a preceding robot 6 is stopped at the target secondary stop 24, the robot 6 waits in the waiting lane 23 until the secondary stop 24 becomes clear. If the waiting lane 23 at the specified secondary stop 24 is also full, the robot 6 changes lanes from the normal driving lane 21 to the passing lane 22 and continues to circle clockwise in the passing lane 22 of the same secondary passage 2 until the waiting lane 23 at the target secondary stop 24 becomes clear. Similarly, for the primary passage 1, if a preceding robot 6 is stopped at all primary stops 13, the robot 6 continues to circle in the passing lane 12 of the primary passage 1 until the primary stop 13 becomes clear. Of course, on the secondary passage 2, instead of continuing to circle in the passing lane 22, the robot 6 may skip the secondary stop 24 that it should stop at first and head to the next secondary stop 24. In any case, the robot control unit 52 monitors the stopping and waiting status of the robot 6 at all secondary stops 24 and determines the route that each robot 6 will take to patrol the designated secondary stops 24 and return to the primary stop 13. ===Other Examples=== A plurality of secondary stops 24 may be provided for each station 3, and an individual workbench 4 may be installed for each secondary stop 24. A counting scale 41 may be placed on each workbench 4, and a dedicated worker may be assigned to each workbench 4. Note that if there are too many secondary stops 24 or workbenches 4 for one station 3, this may actually cause confusion in the sorting work, so the worker in charge of one station 3 may be decided appropriately, taking into consideration the reliability and efficiency of the work.

[0042] In the procedure shown in FIG. 6 , at each station 3, after opening the shutter 33 of the opening 31 into which the items are to be inserted, the items are inserted into the opening 31 (s6 → s7), and if the weight of the inserted items is correct, the shutter 33 is closed (s8 → s9). However, this procedure is not limited to this. For example, when the items to be inserted into the opening are removed from the counting scale 41, the quantity based on the mass of the removed items may be confirmed, and if the quantity is correct, the shutter 33 of the designated opening 31 may be opened. In other words, the insertion of the items into the opening 31 may be enabled or permitted only if the quantity of the removed items matches the designated quantity. In any case, the shutter control unit 55 closes the shutter 33 of the corresponding opening 31 after the station terminal management unit 54 confirms that the designated quantity of items has been inserted into the designated opening 31.

[0043] In the above embodiment, one primary passage 1 and three secondary passages 2 are laid out in an E-shape within the premises, but the number of secondary passages 2 is not limited to three. Also, the primary passage 1 and the secondary passages 2 may be arranged on a straight line. Each passage (1, 2) may extend along a curved line.

[0044] In the above embodiment, the racks 32 of adjacent stations 3 on the left and right are arranged at a distance from each other. This is because if the openings 31 belonging to different stations 3 are adjacent to each other on the left and right without any gap between them, a worker at one station 3 may accidentally place an item into the opening 31 of the adjacent station 3 if the adjacent openings 31 are opened at the same time. Of course, the stations 3 do not need to be arranged intermittently as long as the workers can clearly distinguish between their own and other stations 3 by, for example, changing the color of the shutters 33 of the openings 31 or the containers 34 for each station 3. In the above embodiment, an AGV is used as the robot 6, but the robot 6 may also be an AMR (autonomous mobile robot).

[0045] It is also possible to have machines perform some of the work of the workers in charge of each station 3. For example, each station 3 is provided with a machine that unloads items from the robot 6 that has arrived at the secondary stop 24 and places them on the counting scale 41, and a machine that deposits items from the counting scale 41 into the entrance 31. This eliminates the need for station terminals 42 for inputting and outputting various information related to sorting. In any case, if each station 3 has a procedure for unloading the entire amount of items to be sorted at that station 3 from the robot 6 that has arrived at the secondary stop 24 and depositing them on the counting scale 41, and a procedure for removing a specified number of items from the items placed on the counting scale 41 and depositing them into the specified entrance 31, the waiting time of the robot 6 at the station 3 can be reduced. [Explanation of symbols]

[0046] 1 Primary aisle, 2 Secondary aisle, 3 Station, 4 Work table, 5 Sorting system, 6, Robot, 10 Inspection equipment, 11,21 Normal driving lane, 12,22 Passing lane, 13 Primary stop, 23 Waiting lane, 24 Secondary stop, 31 Frontage, 32 Rack, 33 Shutter, 34 Container, 36 Opening and closing device, 41 Counting scale, 42 Station terminal, 51 Database, 52 robot control unit, 53 station control unit, 54 station terminal management unit, 55 Shutter control unit, 56 Access point, 57 Hub

Claims

1. A method for sorting items sorted by type into delivery destinations using a seeding method within a TC2 type logistics center using a computer system and multiple robots that move around the center, Stations are arranged at multiple locations within the premises, each of which is provided for each delivery destination and has a plurality of entrances equipped with shutters that open and close automatically, and each station is equipped with a counting scale, the computer system storing the type and quantity of goods for each delivery destination, the mass of each of the goods, the delivery destinations corresponding to the entrances arranged at each station, the type and quantity of goods loaded onto each robot, and the stopping positions of the robots arranged within the premises corresponding to each station; The robot loaded with predetermined items is stopped sequentially at the stopping positions of the stations where the entrances corresponding to the delivery destinations of the items are installed; In the station, the mass of the items unloaded from the robot that has arrived at the stopping position is measured by the counting scale, and when the quantity of the items based on the mass matches a preset quantity, the robot is allowed to move to the next stopping position; At the station, the shutter of the entrance into which the articles unloaded from the robot and placed on the counting scale are to be put is opened; When a mass of articles corresponding to a preset quantity is placed into the opening with the shutter open, the shutter is closed. How to sort items.

2. 2. The method of claim 1, wherein adjacent stations are spaced apart within the premises.

3. Each station is provided with a station terminal that has a display and is capable of outputting information to a worker, The computer system comprises: When the robot arrives at the stopping position, the total amount of articles to be unloaded from the robot and placed on the counting scale, the number of articles to be taken out from the total amount, and the entrance into which the articles taken out from the total amount will be put are displayed on the station terminal. The method for sorting articles according to claim 1 or 2.

4. In a TC2 type logistics center where stations are installed in multiple locations within the premises, with multiple sets of entrances provided for each delivery destination, a system is provided for sorting items sorted by type into delivery destinations using a seeding method, The system comprises a plurality of robots that move autonomously within the premises, a database, a robot control unit, a station control unit, a counting scale that is installed at each of the stations and is capable of communicating with the station control unit, and a shutter that is installed at each of the entrances and automatically opens and closes; The database identifies the items received at the TC2 type logistics center by type, manages item information including the mass of each item, delivery instruction information specifying the quantity of each item for each delivery destination, and transport information indicating the location and quantity of items being transported by each robot, the robot control unit manages the position information of each robot, and causes a predetermined robot to patrol a predetermined station based on the delivery instruction information and the transport information; The station control unit Identifying the quantity of the goods based on the mass of the goods placed on the counting scales installed at each station and the goods information, and controlling the opening and closing of the shutters at the entrances corresponding to each delivery destination; When the quantity of the items unloaded from the robot that has arrived at the station specified in the delivery instruction information and placed on the weighing scale matches the total quantity of the items to be sorted at the station, the arriving robot is allowed to depart for a next destination location; Opening the shutter at the entrance corresponding to the predetermined delivery destination based on the delivery instruction information; Identifying the quantity of the item removed from the total quantity of the item; When it is confirmed that the number of items that matches the specified quantity based on the delivery instruction information has been removed from the total amount and placed in the opening with the shutter open, the shutter is closed. Sorting system.

5. a station terminal provided at each of the stations for inputting and outputting information to and from a worker; The station control unit a total amount of the articles to be unloaded from the robot is displayed on the station terminal, and information indicating the quantity and the opening for an article to be taken out of the total amount of the articles and put into one of the openings is displayed on the station terminal; The sorting system of claim 4.

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