Storage management system and storage management method

Abstract

To provide a storage management system capable of supporting a robot to efficiently pick an article in a bin even when the bin is partitioned by a partition.SOLUTION: Acquiring, for each combination of a warehousing target article and identification information of a shipping work resource, warehousing allocation information including one or more warehousing allocation records including partition type information indicating a partition type for partitioning a bin, and searching for a first bin that stores a first article based on first partition type information included in a first warehousing allocation record corresponding to the first article; As a result of the search, when the first bin exists, warehousing instruction information for instructing storage of the first article in the first bin is generated.SELECTED DRAWING: Figure 17

Description

[Technical Field]

[0001] The present disclosure relates to an inventory management system and an inventory management method for managing the inventory of goods. [Background technology]

[0002] In recent years, automated warehouses for receiving and shipping packaged goods have become widespread. For example, Patent Document 1 discloses the configuration of a picking system that enables simple robots and workers to work together to reduce labor in the task of picking goods into containers transported from upstream to downstream. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Publication No. 2020-203786 Summary of the Invention [Problem to be solved by the invention]

[0004] Patent Document 1 does not take into consideration that the internal space of a container is divided by a partition. Therefore, if the internal space of a container is divided by a partition, when a robot picks items from the container, the picking operation may fail or take a long time, which may reduce the efficiency of the picking operation.

[0005] The present disclosure provides an inventory management system and an inventory management method that can assist a robot in efficiently picking items in a bin even when the bin is divided by partitions. [Means for solving the problem]

[0006] One aspect of the present disclosure is an inventory management system that includes a calculation device and manages the inventory of items, wherein the calculation device acquires inventory allocation information that includes one or more inventory allocation records that include partition type information indicating the partition type for dividing bins in which the items can be stored, for each combination of an item to be inventoryed and an outbound work resource that picks the item when it is outbound, searches for a first bin to store the first item based on the first partition type information included in a first inventory allocation record that is an inventory allocation record corresponding to a first item, and if the first bin is found as a result of the search, generates inventory instruction information that instructs the storage of the first item in the first bin.

[0007] One aspect of the present disclosure is an inventory management method for managing the inventory of items, which includes: for each combination of an item to be inventory-entered and an out-of-stock work resource that picks the item when it is shipped out, acquiring inventory allocation information including one or more inventory allocation records that include partition type information indicating the partition type for dividing bins in which the item can be stored, searching for a first bin to store the first item based on the first partition type information included in a first inventory allocation record that is an inventory allocation record corresponding to the first item, and if the first bin is found as a result of the search, generating inventory instruction information that instructs the storage of the first item in the first bin. [Effects of the Invention]

[0008] According to the present disclosure, it is possible to assist a robot in efficiently picking items in a bin, even when the bin is divided by partitions. [Brief explanation of the drawings]

[0009] [Figure 1] FIG. 1 is a diagram illustrating an example of the configuration of a warehouse system according to a first embodiment. [Figure 2] FIG. 1 is a diagram illustrating an example of an environment inside a warehouse according to an embodiment of the present invention. [Figure 3] FIG. 1 is a diagram showing an example of a hardware configuration applicable to devices constituting a warehouse operations management system. [Figure 4A] A diagram showing an example of the position of a partition plate installed in a bin. [Figure 4B] Schematic diagram of a partition plate with height h1 [Figure 4C] Schematic diagram of a partition plate with height h2 [Figure 5] FIG. 10 is a diagram illustrating a partitioned state in which the bottles are separated by partition plates. [Figure 6] A diagram to explain the multiple partition states of a bin [Figure 7] A diagram showing an example of shipping work resource information [Figure 8] FIG. 10 is a diagram showing an example of product information. [Figure 9] FIG. 10 is a diagram showing an example of goods storage and retrieval work information; [Figure 10] A diagram showing an example of inventory allocation information [Figure 11] FIG. 10 is a diagram showing an example of bin status information. [Figure 12] FIG. 10 is a diagram showing an example of arrival instruction information [Figure 13] A diagram showing an example of warehousing instruction information [Figure 14] FIG. 10 is a diagram showing an example of shipping instruction information. [Figure 15] FIG. 10 is a diagram showing an example of delivery station status information. [Figure 16] FIG. 10 is a diagram showing an example of shipping instruction information. [Figure 17] Flowchart showing the operation when creating warehousing instruction information (part 1) [Figure 18] Flowchart showing the operation when creating warehousing instruction information (part 2) [Figure 19] Flowchart showing the operation when creating warehousing instruction information (part 3) [Figure 20] Flowchart showing an example of operations when receiving goods [Figure 21] Flowchart showing an example of operations when creating shipping instruction information for shipped goods DETAILED DESCRIPTION OF THE INVENTION

[0010] Hereinafter, embodiments will be described in detail with reference to the drawings as appropriate. However, more detailed description than necessary may be omitted. For example, detailed description of well-known matters or redundant description of substantially identical configurations may be omitted. This is to avoid unnecessary redundancy in the following description and to facilitate understanding by those skilled in the art. Note that the accompanying drawings and the following description are provided to enable those skilled in the art to fully understand the present disclosure, and are not intended to limit the subject matter described in the claims.

[0011] (How the embodiments of the present disclosure were achieved)

[0012] Warehouses that handle the receiving, storage, packaging, and shipping of goods are in need of automation using robots and other tools to reduce the manual workload. With the recent increase in the volume of goods, there is a demand for greater efficiency in a series of tasks. Because such warehouses handle items (also referred to as "merchandise") with various shapes, attributes, and other characteristics, it is necessary for people and robots to share tasks and perform them in consideration of the characteristics of the items. One such task is picking, based on shipping instructions, from a storage unit where items are stored (hereinafter referred to as a "storage bin") to a storage unit (hereinafter referred to as a "shipping bin") that will store one or more items to be shipped.

[0013] Robots, which are the main operators in the picking process, have strengths and weaknesses when it comes to picking. For example, even for the same item, the success rate of a robot's grasping varies depending on the item's posture and orientation. Therefore, making the item easy for a robot to grasp leads to more efficient picking. In a series of tasks within a warehouse, the work process for a package proceeds from upstream to downstream. In this case, it is desirable for the upstream work process performed by humans before the robot performs the picking work to be carried out with consideration for the robot's picking work downstream.

[0014] Furthermore, by dividing a single storage bin with removable dividers, it is possible to store a small number of different items in the bin in an easy-to-understand manner, leading to more efficient warehouse operations. However, the presence of dividers can increase the number of cases where the gripping point (grasp position) where the item should be grasped is hidden, or where the robot's arm or hand hits the divider, making it impossible to pick the item. For this reason, it is desirable to take measures that consider both the operation of storage bins using dividers and the operation of robots at the same time.

[0015] In the following embodiments, an inventory management system and an inventory management method are provided that can achieve efficient picking work by a robot even while dividing the storage bin with partitions. A system and method are described.

[0016] (First embodiment) <Warehouse system configuration> 1 is a diagram showing an example of the configuration of a warehouse system 5 according to the first embodiment. The warehouse system 5 includes a warehouse management system 10, a warehouse operations management system 20, a warehouse control system 30, a picking robot 40, a transport robot 42, an automated warehouse 50, and a camera 60. The warehouse system 5 manages the storage and delivery of goods.

[0017] A warehouse management system 10 is a system for facilitating logistics within a warehouse and is also called a Warehouse Management System (WMS). The warehouse management system 10 manages items such as inventory. The warehouse management system 10 has inventory management functions and inventory / shipping management functions. The warehouse management system 10's inventory management function manages information about the status of currently stored inventory. Information about the inventory status includes, for example, the item's storage location (storage area), arrival date, quantity, expiration date, color, size, etc. The warehouse management system 10's inventory / shipping management function manages records of the inventory / shipping of items. The warehouse management system 10 can manage inventory / shipping schedules and record inventory / shipping results. The warehouse management system 10 also has functions to facilitate tasks associated with inventory / shipping, such as creating picking lists and slips for items.

[0018] The warehouse management system 10 also manages the entire warehouse. The warehouse management system 10 issues instructions to the warehouse control system 30 in accordance with instructions received via an operation terminal or instructions for storing and retrieving goods from an external server.

[0019] The warehouse operations management system 20 has warehouse management and warehouse control functions and is also called a Warehouse Execution System (WES). The warehouse operations management system 20 is an intermediate system between the warehouse management system 10 and the warehouse control system 30. The warehouse operations management system 20 is also capable of grasping on-site work data such as inventory management, warehousing, and picking of goods in real time. In other words, the warehouse operations management system 20 is a system for comprehensively controlling people, goods, facilities (machines), etc. within a warehouse.

[0020] The warehouse operations management system 20 has a work management function and an equipment control function. With its work management function, the warehouse operations management system 20 visualizes the work status of various pieces of equipment in the warehouse (e.g., picking robots 40, transport robots 42, automated warehouses 50, cameras 60) or workers, enabling progress to be understood in real time. It is also capable of sending predetermined instructions to devices carried by workers (e.g., wearable devices, audio terminals) or terminals installed in the work area (e.g., displays). With its equipment control function, the warehouse operations management system 20 is capable of controlling various pieces of equipment in the warehouse.

[0021] In addition, the warehouse operations management system 20 issues an instruction to store items preferentially in a location where the picking robot 40 can easily work, in order to have the picking robot 40 work as much as possible when retrieving items from the warehouse.

[0022] The warehouse management system 10 and the warehouse operations management system 20 may be integrated, with one having the functions of the other.

[0023] The warehouse control system 30 controls various equipment in the warehouse in real time, enabling goods to be received and sent according to an optimal schedule. The warehouse control system 30 is also called a Warehouse Control System (WCS). The warehouse control system 30 can monitor the operation of equipment in real time and send specified instruction information to the equipment.

[0024] In addition, the warehouse control system 30 controls the devices (equipment, facilities) under its responsibility in accordance with instructions from the warehouse operations management system 20 or the warehouse management system 10, and provides feedback on the work status to the warehouse operations management system 20 or the warehouse management system 10.

[0025] Only one warehouse control system 30 may be provided, or multiple warehouse control systems 30 may be provided, or one may be provided for each piece of equipment in the warehouse.

[0026] The various types of equipment contribute to the automation of various tasks within the warehouse. The various types of equipment include a picking robot 40, a transport robot 42, an automated warehouse 50, and a camera 60, and may also include other equipment (for example, various sensors).

[0027] The picking robot 40 picks various items stored in a storage bin 71 in response to instructions from the warehouse control system 30, and moves and stores them in a shipping bin 72. The picking robot 40 has an arm and a hand. The arm can approach a predetermined position inside the bin 70. The arm may be an orthogonal mechanism arm, a multi-axis arm, or another type of arm. The hand is attached to the tip of the arm. The hand can pick items inside the bin 70. The hand may be of a suction type that grasps items by suction, or may be of a multi-fingered hand type that grasps items, or may grasp items in some other way. The picking robot 40 is one of the retrieval work resources that performs picking work (retrieval work).

[0028] The transport robot 42 transports bins 70 (see FIG. 2 ) in which various items managed in the warehouse are stored. The transport robot 42 is, for example, an automated guided vehicle (AGV). The transport robot 42 is configured to include a traveling unit for performing operations related to movement, a sensor for acquiring peripheral information (for example, a sensor for detecting position), a communication device, etc. The transport robot 42 may include a transport robot 42 that travels within an automated warehouse 50 in the warehouse, and a transport robot 42 that travels outside the automated warehouse 50 in the warehouse. The bins 70 include storage bins 71 in which received items are stored, and shipping bins 72 in which delivered items are stored. Note that the bins 70 themselves may operate as the transport robot 42, that is, the bins 70 may be self-propelled.

[0029] The automated warehouse 50 is a warehouse in which operations such as storage (shelving), sorting, and collection (picking) are automated.

[0030] <Warehouse environment> FIG. 2 is a diagram showing an example of the environment inside a warehouse according to this embodiment.

[0031] The warehouse of this embodiment includes an automated warehouse 50 and a picking station PS (also referred to as an output station). Storage shelves 51 that store bins 70 are arranged within the automated warehouse 50. The storage shelves 51 are partitioned horizontally or spatially and can store a large number of bins 70. The transport robot 42 receives a transport instruction, for example, from the warehouse operations management system 20, and transports the bins 70 stored on the storage shelves 51 to one of the multiple picking stations PS. The storage shelves 51 store storage bins 71, and the storage bins 71 may be transported from the storage shelves 51 to a predetermined picking station PS at a predetermined time. The shipping bins 72 may be located, for example, near the storage shelves 51 or at an output station, and may be transported to a predetermined picking station PS at a predetermined time.

[0032] A picking robot 40 or a picking worker 45 is placed at each picking station PS to perform picking work (also referred to as retrieval work). Picking station PS0 is a picking station where picking work is performed by a human. Picking station PS1 is a picking station where picking work is performed by a picking robot 40. Three or more picking stations PS may be provided. Also, multiple picking stations PS1 for the picking robot 40 may be provided.

[0033] When the picking operation at the picking station PS is completed, the transport robot 42 receives a transport instruction from, for example, the warehouse operations management system 20, and transports the shipping bin 72 to a predetermined position (for example, a shipping station). The shipping station is, for example, a spatial area where the items are inspected and packed into boxes for delivery.

[0034] The picking work may simply be the work of picking up an item from a storage bin 71, or the work of picking up an item from a storage bin 71, moving the item to a shipping bin 72, and placing the item in the shipping bin 72. In other words, the picking work may be a pick-and-place work.

[0035] In addition, if it is desirable to temporarily wait for the bins 70 instead of moving them into the automated warehouse 50 from the perspective of improving the efficiency of the entire shipping process, a waiting area for waiting for the bins 70 may be provided.

[0036] Since the bins 70 are movable within the warehouse, the arrangement of the bins 70 around the picking station PS in the automated warehouse 50 changes over time.

[0037] The bins 70 have, for example, a substantially rectangular parallelepiped shape, and items can be placed in and removed from above. Therefore, the picking robot 40 and the picker 45 place items in and remove items from the bins 70 from above. The shapes of the bins 70 may be the same or different. The transport robot 42 may move the bins 70 by pushing or pulling them, or the bins 70 may be placed on the transport robot 42 and moved. Different transport robots 42 may be used for transporting storage bins and shipping bins, or the same transport robot 42 may be used. The bins 70 may also be transported by a method other than transport by the transport robot 42 (for example, transport using a belt conveyor).

[0038] Returning to FIG. 1 , the camera 60 is positioned so as to capture an image of the inside of the bin 70. The camera 60 is used, for example, to recognize the state inside the bin 70. The camera 60 is installed in the picking station PS and may be installed inside or near the picking robot 40. The camera 60 may also be installed outside the picking station PS. The captured image captured by the camera 60 reflects, for example, items stored in storage bins 71 and shipping bins 72, making it possible to understand how the items are arranged. Furthermore, the captured image captured by the camera 60 reflects the presence or absence of the storage bins 71 and shipping bins 72, making it possible to determine whether the storage bins 71 and shipping bins 72 have arrived at their destination picking station PS based on the captured image. Note that one or more cameras 60 may be installed. Furthermore, sensors and cameras 60 may be installed at various locations within the warehouse and used to detect the position of each piece of equipment within the warehouse.

[0039] The warehouse operations management system 20 may control the operation of various pieces of equipment via the warehouse control system 30 or without the warehouse control system 30.

[0040] <Warehouse operation management system configuration> Each system shown in FIG. 1 (warehouse management system 10, warehouse operations management system 20, and warehouse control system 30) may be configured as an on-premise server device at the location where the warehouse is located, or may be configured as a cloud-based system on a network.

[0041] FIG. 3 is a diagram showing an example of a hardware configuration applicable to devices constituting the warehouse operations management system 20. Note that the configurations of systems other than the warehouse operations management system 20 (i.e., the warehouse management system 10 and the warehouse control system 30) may also be similar to the configuration shown in FIG. 3. Note that in each system, some of the components shown in FIG. 3 may be omitted or other components may be added depending on the functions provided. Furthermore, each system may have each of the components shown in FIG. 3 as an independent device.

[0042] As shown in FIG. 3, the warehouse operations management system 20 includes a processor 21, a memory 22, an input device 23, a communication device 24, and an input / output interface 25.

[0043] The processor 21 may be configured using, for example, a central processing unit (CPU) or a digital signal processor (DSP). The processor 21 may also be configured using various integrated circuits (for example, large scale integration (LSI) or field programmable gate array (FPGA)). The processor 21 realizes various functions by executing programs stored in the memory 22. The processor 21 comprehensively controls each part of the warehouse operations management system 20 and performs various processes.

[0044] The processor 21 may control the operation of equipment in the warehouse (e.g., the picking robot 40, the transport robot 42, the automated warehouse 50, and the camera 60) via the communication device 24. The processor 21 may control the transport of bins 70 by the transport robot 42 by controlling the travel of the transport robot 42. The processor 21 may control the picking work by the picking robot 40 by controlling the operation of the arm and hand of the picking robot 40. The processor 21 may control the picking work based on picking instruction information.

[0045] The processor 21 acquires various types of information via the input device 23 or the communication device 24. For example, the processor 21 acquires captured images captured by the camera 60 and detection information detected by a sensor. The processor 21 may detect various events based on the acquired captured images or detection information. For example, the processor 21 may recognize whether or not a bin 70 has arrived at each picking station PS, the coordinates at which the bin 70 is placed in the picking station, and information about the item stored inside the bin 70 (e.g., the presence, shape, weight, material, and size of the item).

[0046] The memory 22 includes a primary storage device (e.g., Random Access Memory (RAM) or Read Only Memory (ROM)). The memory 22 may include a secondary storage device (e.g., a Hard Disk Drive (HDD) or a Solid State Drive (SSD)) or a tertiary storage device (e.g., an optical disk or an SD card). The memory 22 may also be an external storage medium, or may be detachable from the warehouse operations management system 20. The memory 22 stores various data, information, programs, etc.

[0047] The memory 22 may store various information used when various items arrive, are stored, are removed from the warehouse (during picking work), or are shipped.

[0048] The input device 23 may include various buttons, keys, a keyboard, a touch panel, a microphone, or other input devices. The input device 23 accepts input of various data, information, etc. The input device 23 is operated, for example, by a manager or worker who manages the warehouse operations management system 20 (for example, a picker who performs picking work or other worker). The input device 23 may also include a sensor. For example, a sensor may be provided for each picking robot 40 inside or around the picking robot 40. For example, a sensor may be provided for each transport robot 42 inside or around the transport robot 42.

[0049] The communication device 24 communicates various data or information according to a wired or wireless communication method. The communication device 24 may be communicatively connected to a network NT. The communication method used by the communication device 24 may include, for example, a local area network (LAN), a wide area network (WAN), a mobile phone network, or power line communication. The communication device 24 communicates with an external system (e.g., the warehouse management system 10, the warehouse control system 30, or other systems) or an external device. The communication device 24 also communicates with various pieces of equipment in the warehouse (e.g., the picking robot 40, the transport robot 42, the automated warehouse 50, and the camera 60) via the warehouse control system 30 or without the warehouse control system 30. The communication device 24 also communicates with a terminal 65 via the network NT or without the network NT. The communication device 24 may also sequentially acquire information such as the position, speed, acceleration, angle, or posture of the arm or hand of each picking robot 40 in chronological order. The communication device 24 may send an instruction to the transfer robot 42 to transfer the bin 70, and may sequentially acquire information such as the current position from the transfer robot 42 in chronological order. The communication device 24 may sequentially acquire information such as the current position of the bin in chronological order.

[0050] The input / output interface 25 inputs and outputs information and data between the processor 21, the memory 22, the input device 23, and the communication device 24.

[0051] <Device configuration> The terminal 65 is a personal computer (PC), a smartphone, a tablet terminal, a mobile terminal, or the like. The terminal 65 has a hardware configuration including a processor, a memory, a communication device, an input device, a display device, and the like, similar to a general terminal. As shown in FIG. 1 , the terminal 65 may communicate various data and information with the warehouse management system 10, the warehouse operations management system 20, and the warehouse control system 30, receive notifications and instructions of various information, perform operations in accordance with the notifications and instructions, and issue various instructions in accordance with inputs made by operating the terminal 65, etc.

[0052] <Detailed bin configuration> Next, the detailed configuration of the bin 70 will be described.

[0053] The space inside (inner side of) the bin 70 can be divided by one or more partitions 73 (an example of a partition). That is, the storage area 74 for storing items 80 inside the bin 70 can be divided into multiple storage division areas 76 by the partitions 73. The multiple bins 70 may also include bins 70 in which no partitions 73 are installed and the storage area 74 is not divided into multiple storage division areas 76.

[0054] For example, a maximum of six dividers 73 can be installed in the bin 70, forming a maximum of 16 divided storage areas 76. Note that a maximum of six or sixteen is merely an example, and the maximum number may be less or more than this. Also, the dividers 73 may have multiple heights, for example, two heights.

[0055] Fig. 4A is a diagram showing an example of the position of a partition plate 73 installed in a bin 70. Fig. 4B is a schematic diagram of a partition plate 73 having a height h1. Fig. 4C is a schematic diagram of a partition plate 73 having a height h2, where h1>h2.

[0056] FIG. 4A is an image diagram of a bin 70 viewed from above, in which the internal space of the bin 70 is divided by six dividers 73, numbered 1 to 6, to form 16 divided storage areas 76. The numbers "1" to "6" in FIG. 4A indicate positions where the dividers 73 can be installed. That is, dividers 73 numbered 1 to 3 can be installed along the x direction and are arranged at equal intervals in the y direction. Dividers 73 numbered 4 to 6 are arranged along the y direction and are arranged at equal intervals in the x direction. Note that the dividers 73 may not be arranged along the x and y directions, and may not be arranged at equal intervals.

[0057] FIG. 5 is a diagram for explaining a partitioned state in which the bins 70 are partitioned by the partition plates 73. As shown in FIG.

[0058] Figure 5 shows an example of partition status information I0 regarding the partition status of the bin 70, an example of an oblique view of the bin 70 with the partition plate 73 installed, and an example of the arrangement of the storage division areas 76 within the bin 70.

[0059] The division status information I0 includes a bin ID (an example of identification information of the bin 70), division type information, and coordinate information within the bin. The bin ID is indicated as, for example, "bin00A."

[0060] The partition type information includes information on the number of divisions by the partitions 73 (the number of storage partition areas 76), information on the height of the partitions 73, and information indicating the installation positions of the partitions 73. The partition type information is expressed, for example, as "p4-010010." The first "p" indicates partition. The number immediately following the p (here, "4") indicates the number of divisions (here, four divisions). The multiple digits (here, six digits) following the number of divisions, separated by a hyphen, indicate the installation positions of the partitions 73, whether or not they are installed, and their height. For example, the order of the six digits corresponds, from left to right, to the installation positions numbered 1 to 6 (see FIG. 4A). The numerical values ​​of the six digits are, for example, "0," "1," and "2." "0" indicates that a partition 73 will not be installed in the corresponding installation position. "1" indicates that a partition 73 with a height h1 will be installed in the corresponding installation position. "2" indicates that a partition board 73 with a height h2 is installed at the corresponding installation position. Therefore, "010010" indicates that a partition board 73 with a height h1 is installed at installation positions 2 and 5, and that a partition board 73 is not installed at installation positions 1, 3, 4, and 6.

[0061] The intra-bin coordinate information is information that indicates the position of a storage area 74 or one or more storage divided areas 76 formed within a bin. The intra-bin coordinate information is also an example of storage position information that indicates the storage position from which an outgoing task resource picks up an item 80. The intra-bin coordinate information is expressed, for example, in the format of (X (row), Y (column)). "X" indicates the position in the x direction. "Y" indicates the position in the y direction. In the example of Figure 5, the intra-bin coordinate (1,1) for the bin ID "bin00A" indicates the position of one of the four storage divided areas 76 formed by installing partition plates 73 with a height h1 at positions 2 and 5. This position is the storage position where the item is stored within the bin. In Figure 5, the intra-bin coordinate information is shown mapped onto an image of the bin 70 viewed from above.

[0062] FIG. 6 is a diagram for explaining the multiple partition states of the bin 70.

[0063] 6 also shows an example of partition status information I0, an example of a perspective view of a bin 70 with a partition plate 73 installed, and an example of the arrangement of storage areas 74 or storage division areas 76 within the bin 70. Note that in FIG. 6, the partition status information I0 shows the partition status of multiple bins 70.

[0064] For example, the coordinates (1,1) and (2,1) within the bin for the partition type information: "p2-010000" of the bin ID: "bin00B" indicate the respective positions of the two storage division areas 76 formed by installing a partition plate 73 of height h1 at position 2 in the bin 70 identified by "bin00B".

[0065] For example, the coordinates (1,1) and (2,1) within the bin for the partition type information: "p2-010000" of the bin ID: "bin00C" indicate the respective positions of the two storage division areas 76 formed by installing a partition plate 73 of height h2 at position 2 in the bin 70 identified by "bin00C".

[0066] For example, the coordinates (1,1) within the bin for the partition type information: "p1-000000" of the bin ID: "bin00D" indicate the location of the undivided storage area 74 (i.e., the entire internal space within the bin) in the bin 70 identified by "bin00D" where no partition 73 is installed.

[0067] <Details of information handled by the warehouse operation management system> Next, details of the information handled by the warehouse operations management system 20 will be described. At least a portion of the information handled by the warehouse operations management system 20 is stored, for example, in the memory 22 and may be updated as necessary. In addition, the warehouse operations management system 20 may generate new information based on the information stored in the memory 22 and store the generated information in the memory 22.

[0068] FIG. 7 is a diagram showing an example of the shipping task resource information I1.

[0069] The shipping work resource information I1 is information indicating shipping work resources available for picking work in the warehouse, and is information about the picking robot 40 (also simply referred to as "robot" in the drawings) and workers. The shipping work resource information I1 includes a shipping work resource ID, arm configuration information, hand (tip) configuration information, and receiving priority information, all associated with each other. The shipping work resource information I1 includes one or more records, with each associated piece of information being treated as a single record.

[0070] The warehousing operation resource ID is an example of information that uniquely identifies the picking robot 40. The arm configuration information is the configuration of the arm of the picking robot 40. The hardware configuration information is the configuration of the hand (tip) of the picking robot 40. The warehousing priority information is information that indicates the priority with which the picking robot 40 is selected when warehousing is performed. For example, the smaller the warehousing priority number, the higher the priority. Note that the larger the warehousing priority number, the higher the priority may be.

[0071] FIG. 8 is a diagram showing an example of the product information I2. In FIG. 8, the description of the same information as that shown in FIG. 7 will be omitted or simplified.

[0072] The item information I2 is information about the item 80. The item information I2 includes an item ID, dimension information, weight information, and item attribute information, all of which are associated with each other. The item information I2 includes one or more records, with each associated piece of information being treated as one record.

[0073] The item ID is an example of information that uniquely identifies the item 80. The dimension information is information that indicates the dimensions of the item 80. The weight information is information that indicates the weight of the item 80. The item attribute information is information that indicates the attributes of the item 80. The item attribute information includes information such as the shape of the item 80 (for example, the planar shape when projected onto a two-dimensional plane, and the three-dimensional shape in three-dimensional space), material (for example, bag material), and softness.

[0074] FIG. 9 is a diagram showing an example of the goods receiving and shipping work information I3. In FIG. 9, the description of the same information as that shown in FIGS. 7 and 8 will be omitted or simplified.

[0075] The goods receiving / retrieving work information I3 is information relating to the receiving and retrieving work of goods 80. The goods receiving / retrieving work information I3 includes, in association with each other, an goods ID, an retrieval work resource ID, partition type information, coordinate information within a bin, maximum storage quantity information, and information on the details of receiving instructions to workers. The goods receiving / retrieving work information I3 includes one or more records, with each associated piece of information being treated as a single record.

[0076] The coordinate information within the bin is information that indicates the storage position within the bin (the position of the storage area 74 or storage division area 76) where the item 80 indicated by the item ID is stored. The coordinate information within the bin may specify specific coordinates such as (1,1), or may indicate that the storage position within the bin is not specified as "all."

[0077] The maximum storage quantity information is information indicating the maximum number of items 80 that can be stored when the picking robot 40 indicated by the retrieval work resource ID stores the items 80 indicated by the item ID at the position indicated by the coordinates within the bin of the bin 70 in the partitioned state indicated by the partition type. In other words, the maximum storage quantity indicates the maximum number of items 80 that can be stored in one partitioned section (storage area 74 or storage divided area 76) within the bin.

[0078] The storing instruction information for the worker indicates instructions to be given to the worker (storing worker) who stores (stores) the item 80 in the bin 70 so that the picking robot 40 identified by the outbound work resource ID can easily retrieve (pick) the item 80 indicated by the item ID from the position indicated by the intra-bin coordinates of the bin 70 in the partitioned state indicated by the partition type information. In other words, the storing instruction information for the worker indicates information notifying the storing worker who stores the item 80 in the bin 70. The storing instruction information may include information indicating at least one of the placement and posture of the item. More specifically, the storing instruction information for the worker includes information such as "please place the item with the flat side facing up." By checking this information, the worker can store the item 80 in the bin 70 with the flat side facing up. This makes it easier for the picking robot 40 to pick the stored item 80 by suction or the like.

[0079] The arrangement and posture of an item that is easy to pick is basically determined by the characteristics of the picking robot 40. Therefore, the storage instruction content may be the same for picking robots 40 with the same characteristics. However, if the shape or partitions of the bins 70 are different, the position and posture of an item that is easy to pick may differ even for the same picking robot 40. For example, even if it is easy to insert the arm next to an item and pick it in a wide partitioned area, it becomes difficult in a narrow partitioned area. Therefore, the storage instruction content may be different for each parameter that affects the ease of picking.

[0080] As described above, the item receiving / retrieving work information I3 is registered in the memory 22, including the recommended retrieval work resource ID for each item ID, partition type information, and in-bin coordinate information indicating the item storage location. Furthermore, in the item receiving / retrieving work information I3, multiple retrieval work resource IDs (i.e., multiple picking robots 40 of different types) may be assigned to the same item ID. For example, an item 80 with an item ID of "B" (also referred to as item B) can be picked by either picking robot A or picking robot B. Furthermore, the item storage location indicated by the in-bin coordinate information indicates the location where the item 80 is stored among one or more storage areas 74 or storage partition areas 76 within the bin 70.

[0081] The goods receiving / retrieving work information I3 indicates which picking robot 40 can pick up each item stored in the bin 70 and in what partitioning manner. The partitioning manner is indicated by partition type information.

[0082] For example, there may be cases where the picking robot 40 needs to approach the bin 70 from diagonally above due to the presence of a partition, or where the arm configuration of the picking robot 40 is a six-axis arm and the range of movement is limited, so the picking robot 40 needs to approach the bin 70 from diagonally above. Even in such cases, the goods storage / retrieval work information I3 allows the information that allows for optimal picking to be obtained as associated information contained in a single record.

[0083] For example, the warehouse operations management system 20 may receive input from a warehouse operations manager via the input device 23, input each piece of information in the goods receiving and retrieving work information I3, and store it in the memory 22. Alternatively, the warehouse operations management system 20 may have the processor 21 execute a predetermined simulation, input each piece of information in the goods receiving and retrieving work information I3 based on the results obtained from the simulation, and store it in the memory 22. The predetermined simulation may be, for example, a simulation in an environment that reproduces the picking robot 40, bins 70, dividers, and goods 80. Alternatively, the processor 21 may infer the goods 80 based on past data related to similar goods 80, and automatically input each piece of information in the goods receiving and retrieving work information I3 and store it in the memory 22.

[0084] FIG. 10 is a diagram showing an example of the warehousing allocation information I4. In FIG. 10, the explanation of the same information as that shown in FIGS. 7 to 9 will be omitted or simplified.

[0085] The warehousing allocation information I4 is information regarding various allocations for storing (warehousing) the item 80 in the bin 70 (storage bin 71). The warehousing allocation information I4 is information that is temporarily created when creating a warehousing instruction for the item 80. The warehousing allocation information I4 is created, for example, by the processor 21 of the warehouse operations management system 20 based on the warehousing operation resource information I1 and the item storage / outbound operation information I3. The warehousing allocation information I4 includes an item ID, an outbound operation resource ID, warehousing priority information, partition type information, coordinate information within the bin, maximum storage quantity information, and confirmation status information, all associated with each other. The warehousing allocation information I4 includes one or more records (warehousing allocation records), with each associated piece of information treated as a single record. Therefore, the warehousing allocation information I4 includes one or more warehousing allocation records for each combination of the item to be stored and the outbound operation resource that will pick the item when it is shipped out.

[0086] The outgoing task resource ID is an example of information that uniquely identifies a picking robot 40, as in FIG. 7 . However, the outgoing task resource ID in the receiving allocation information I4 indicates the picking robot 40 that picks each item 80 when it is shipped out. Therefore, picking robots 40 that are physically unable to pick the item 80 or that can be used for picking but inefficiently are excluded from the receiving allocation information I4. As described above, the outgoing task resources available in the warehouse include picking robots A, B, and C, as well as workers. However, in the example of FIG. 10 , only picking robot B is used to pick item A, so the outgoing task resource ID for object A includes only picking robot B. Furthermore, picking robots A and B are used to pick item B, so the outgoing task resource ID for item A includes only picking robot A and picking robot B.

[0087] The warehousing priority information defines the priority for selecting an outgoing task resource for each item. The warehousing priority information indicates the priority among multiple outgoing task resources. Note that the value of the warehousing priority information in the warehousing allocation information I4 does not necessarily match the value of the warehousing priority information in the outgoing task resource information I1. This is because there may be a limit to the number of available outgoing task resources for each item.

[0088] More specifically, in the outbound work resource information I1, the entry priority information of picking robot B is "2," but in the entry allocation information I4, the entry priority information of picking robot B for item A is set to "1." This is because only picking robot B can be used as an outbound work resource for item A. On the other hand, for item B, priorities are assigned to picking robots A and B that can be used for item B according to the priorities indicated in the entry priority information set in the outbound work resource information I1. As a result, the entry priority of picking robot A in the entry allocation information I4 is "1," and the entry priority of picking robot B is "2."

[0089] In other words, the entry priority information in the entry allocation information I4 is information that reassigns the available outbound work resources for each item in order, with the highest entry priority being "1," according to the priority indicated by the entry priority information of each outbound work resource in the outbound work resource information I1.

[0090] As another example, if there are items for which picking robot A and picking robot C can be used, the receiving priority of picking robot A in the receiving allocation information I4 will be "1" and the receiving priority of picking robot C will be "2." This is because, since the receiving priority of picking robot A is "1" and the receiving priority of picking robot C is "3" in the outbound work resource information I1, when the receiving priority ranking is reassigned between picking robot A and picking robot C, which are currently available, the receiving priority of picking robot A in the receiving allocation information I4 will be "1" and the receiving priority of picking robot C will be "2."

[0091] In this example, the warehousing priority in the warehousing allocation information I4 is reassigned from "1," but the warehousing priority in the outbound work resource information I1 may be directly copied. In this case, there is a possibility that missing numbers may occur in the warehousing priority in the warehousing allocation information I4, but this is because the priority order among the outbound work resources is accurately reflected.

[0092] The confirmation status information is information indicating whether the corresponding record included in the warehousing allocation information I4 has been confirmed when the warehousing instruction information I7 described below is generated. The confirmation status information may include information indicating that the corresponding record has been confirmed (confirmed information), information indicating that the corresponding record has not been confirmed (unconfirmed information), or other information. The confirmation status information is used, for example, when performing repeated processing when the warehousing instruction information I7 is generated.

[0093] FIG. 11 is a diagram showing an example of the bin status information I5. In FIG. 11, the explanation of the same information as that shown in FIGS. 7 to 10 will be omitted or simplified.

[0094] Bin status information I5 is information about the status of the bin 70. Bin status information I5 includes, in association with each other, a bin ID, partition type information, coordinate information within the bin, partition status information, insertion status information, storage date information, item ID, and inventory quantity information. Bin status information I5 includes one or more records, with each associated piece of information being treated as a single record.

[0095] The bin ID is an example of information that uniquely identifies the bin 70 .

[0096] The partition status information is information indicating whether a partition has been created, i.e., whether a partition board 73 has been installed in a possible placement position according to the partition type in the bin 70. The partition status information may include partition completed information indicating that a partition board 73 has been installed, partition waiting information indicating that a partition board 73 has not yet been installed, or other information.

[0097] The partition status information can be set and changed via the input device 23 or the input device of the terminal 65. For example, when a new partition is created (the partition board 73 is installed) in response to a warehousing instruction, the information is set as "waiting for partition" information, and when the partition creation work is completed, the information is set as "completed partition" information. For example, when the partition creator completes the creation work, the warehouse operations management system 20 receives information indicating the completion of partition creation via the input device 23, and changes the partition status information from "waiting for partition" information to "completed partition" information.

[0098] The insertion status information is information indicating whether an item 80 has been inserted (stored) in a storage position within the bin 70 that corresponds to the in-bin coordinate information. The insertion status information includes inserted information indicating that an item has been inserted, reserved information indicating that an item has not been inserted but is reserved for insertion, available information indicating that an item has not been inserted and is therefore available, or other information. The insertion status information can be set and changed via the input device 23 or an input device of the terminal 65.

[0099] The storage date information is information indicating the date on which the item 80 was stored in the bin 70. The storage date information may be storage timing information indicating the storage timing (e.g., storage date and time) instead of the storage date. The inventory quantity information is information indicating the number of items 80 (inventory quantity) stored in the storage position within the corresponding bin 70.

[0100] The bin status information I5 manages the item ID and inventory quantity of the items 80 stored in the storage location corresponding to the partition type information and in-bin coordinate information of each bin 70. A blank field for the item ID and inventory quantity indicates that the item 80 has not been stored.

[0101] FIG. 12 is a diagram showing an example of the arrival instruction information I6. In FIG. 12, the explanation of the same information as that shown in FIGS. 7 to 11 will be omitted or simplified.

[0102] The arrival instruction information I6 is information regarding instructions for receiving the item 80. The arrival instruction information I6 includes an incoming item ID, quantity information, and expected arrival date information, all associated with each other. The arrival instruction information I6 includes one or more records, with each associated piece of information being treated as a single record.

[0103] The incoming item ID is an example of information that uniquely identifies the incoming item 80 (incoming item 80A). The quantity information is information that indicates the number of incoming items 80A. The expected arrival date information is information that indicates the expected arrival date (an example of expected arrival timing) of the incoming item 80A, and is an example of expected arrival timing information.

[0104] The warehouse operations management system 20 receives receiving instructions from the warehouse management system 10. One receiving instruction can include information on multiple items 80. Since information on multiple items 80 can be included in one receiving instruction, one receiving instruction can be divided for each item. If one receiving instruction specifies three types of items 80, namely items A, B, and C, as the items 80 to be received, the receiving instruction information I6 includes records in which the receiving instruction is divided for each item.

[0105] FIG. 13 is a diagram showing an example of the storage instruction information I7. In FIG. 13, the description of the same information as that shown in FIGS. 7 to 12 will be omitted or simplified.

[0106] The warehousing instruction information I7 is information regarding instructions for the warehousing work of the incoming item 80A. The warehousing instruction information I7 is also information that instructs the storage of the item 80 in the bin 70. The warehousing instruction information I7 includes, in association with each other, an incoming item ID, storage quantity information, a bin ID, partition status information, partition type information, coordinate information within the bin, bin placement information, and instruction content information for the worker. The warehousing instruction information I7 includes one or more records, with each associated piece of information being treated as a single record.

[0107] The storage number information indicates the number of incoming items 80A stored in storage positions corresponding to the intra-bin coordinates within the bin 70. The bin placement information indicates the position where the bin 70 is placed during the outgoing work. This placement position of the bin 70 may be, for example, any of the positions where the bin 70 can be placed in the picking station PS where the picking robot 40 is placed.

[0108] The warehousing work is, for example, the work of storing incoming items 80A in bins 70 and storing them in the automated warehouse 50. The warehousing work is one of the tasks included in the receiving work. The warehousing instruction information I7 specifies, for each incoming item, the bin 70 in which the incoming item 80A will be stored, how the bin 70 is partitioned (for example, partition type information), and the storage position of the incoming item 80A within the bin 70 (for example, coordinate information within the bin). The warehousing work is performed, for example, by a warehousing worker. The warehousing worker sequentially stores each item 80 in each bin 70 in accordance with the warehousing instruction information I7.

[0109] FIG. 14 is a diagram showing an example of the shipping instruction information I8. In FIG. 14, the description of the same information as that shown in FIGS. 7 to 13 will be omitted or simplified.

[0110] The shipping instruction information I8 is information regarding instructions for shipping the item 80. The shipping instruction information I8 includes a shipping destination ID, a shipping item ID, quantity information, and scheduled shipping date information, all associated with each other. The shipping instruction information I8 includes one or more records, with each associated piece of information being treated as a single record.

[0111] The shipping destination ID is an example of information that uniquely identifies the shipping destination to which the item 80 is shipped. The shipping item ID is an example of information that uniquely identifies the item 80 to be shipped (shipping item 80B). The quantity information is information that indicates the number of shipping items 80B. The scheduled shipping date information is information that indicates the scheduled shipping date (an example of scheduled shipping timing) of the shipping item 80B, and is an example of scheduled shipping timing information.

[0112] One shipping instruction can include information on multiple items 80. Since information on multiple items 80 can be included in one shipping instruction, one shipping instruction can be divided for each item. If one shipping instruction specifies three types of items 80, namely items A, B, and D, as the items 80 to be shipped, the shipping instruction information I8 includes records in which the shipping instruction is divided for each item.

[0113] FIG. 15 is a diagram showing an example of the delivery station status information I9. In FIG. 15, the description of the same information as that shown in FIGS. 7 to 14 will be omitted or simplified.

[0114] The outgoing station status information I9 is ​​information about the status of the outgoing station (picking station PS). The outgoing station status information I9 includes a station ID, an outgoing work resource ID, arm configuration information, hand configuration information, and availability information, all associated with each other. The outgoing station status information I9 includes one or more records, with each associated piece of information being treated as a single record.

[0115] The station ID is an example of information for identifying the picking station PS. The availability information is information indicating the availability of the picking station PS (i.e., the picking robot 40 arranged in the picking station PS). The availability may be updated successively.

[0116] FIG. 16 is a diagram showing an example of the shipping instruction information I10. In FIG. 16, the explanation of the same information as that shown in FIGS. 7 to 15 will be omitted or simplified.

[0117] The shipping instruction information I10 is information regarding instructions for shipping work of the shipped item 80B. The shipping instruction information I10 includes a shipping destination ID, a shipping item ID, quantity information, scheduled shipping date information, a bin ID, partition type information, coordinate information within the bin, and a station ID, all of which are associated with each other. The shipping instruction information I10 includes one or more records, with each associated piece of information being treated as a single record.

[0118] The shipping destination ID is an example of information that uniquely identifies the destination to which the shipping item 80B is to be shipped. The quantity information is information that indicates the number of shipping items 80B to be picked (dispatched) from a storage position corresponding to the coordinates within the bin 70.

[0119] The shipping work is, for example, a pick-and-place work in which a shipping worker (a picking robot 40 or a picking worker 45) stores a shipping item 80B from a storage bin 71 to a shipping bin 72. The shipping work is one of the works included in the shipping work. In addition to the shipping work, the shipping work also includes work such as attaching a shipping destination label to a box.

[0120] <Warehouse system operation> Next, the operation of the warehouse system 5 will be described.

[0121] 17 to 19 are flowcharts showing the operations performed when creating the warehousing instruction information 17. The creation of the warehousing instruction information 17 is performed by the warehouse operations management system 20, for example, but may also be performed by another system, or may be performed in cooperation between the warehouse operations management system 20 and another system.

[0122] First, the processor 21 of the warehouse operations management system 20 receives the receiving instruction information 16 from the warehouse management system 10 via the communication device 24 (step S11). The receiving instruction information 16 may include information on receiving instructions for a plurality of items 80.

[0123] The processor 21 breaks down the arrival instruction information I6 into records (arrival instruction records) for each item (step S12).

[0124] The processor 21 focuses on unprocessed items 80 that have not been processed after step S14, that is, designates one of the unprocessed items 80 as the item 80 to be processed (also referred to as the item to be processed 80C) (step S13).

[0125] The processor 21 acquires the retrieval work resource ID, partition type information, coordinate information within the bin, and maximum storage number information associated with the processing target item 80C from the retrieval / retrieval work information I3 (step S14).

[0126] Processor 21 acquires, from shipping operation resource information I1, the receiving priority information corresponding to the shipping operation resource ID acquired in step S14 (step S15).

[0127] The processor 21 creates warehousing allocation information I4 including the acquired item ID, outgoing operation resource ID, warehousing priority information, partition type information, coordinate information within the bin, and maximum storage number information in association with each other (step S16).

[0128] The processor 21 sets unconfirmed information to all of the confirmation status information corresponding to the processing target item 80C in the warehousing allocation information I4 (step S17).

[0129] The processor 21 determines whether or not there remains a record whose confirmation status information is unconfirmed information in the warehousing allocation information I4 (step S18).

[0130] If it is determined that there are records in the warehousing allocation information I4 whose confirmation status information is unconfirmed (Yes in step S18), the processor 21 selects as the confirmation target a record in the warehousing allocation information I4 that has a high priority at the time of warehousing among the items 80C to be processed (for example, a record with the highest priority at the time of warehousing among records whose confirmation status information is unconfirmed) Then, the processor 21 acquires from the warehousing allocation information I4 the partition type information and the coordinate information within the bin corresponding to the items 80C to be processed as the confirmation target (step S21).

[0131] The processor 21 refers to the bin status information I5 and searches for bins 70 that satisfy the acquired partition type information and bin internal coordinate information and whose input status information is empty (step S22). Note that satisfying the partition type information means that the partition type information corresponding to the item 80C to be processed in the bin status information I5 matches the partition type information corresponding to the same item 80 in the warehousing allocation information I4. Satisfying the bin internal coordinate information means that the bin internal coordinate information corresponding to the item 80C to be processed in the bin status information I5 matches the bin internal coordinate information corresponding to the same item 80 in the warehousing allocation information I4.

[0132] In other words, through steps S21 and S22, the warehouse operations management system 20 attempts to store the item 80C to be processed in a storage location within a bin that is easy to pick up by the picking robot 40, which has been set to a high priority in advance.

[0133] Processor 21 determines whether or not bin 70 to be searched is found in step S22, that is, whether or not bin 70 to be searched exists (step S23).

[0134] Therefore, the processor 21 may search for a bin 70 (also referred to as the first bin) that stores the item 80C to be processed (also referred to as the first item) based on the identification type information (also referred to as the first partition type information) included in a warehousing allocation record (also referred to as the first warehousing allocation record) corresponding to the item 80C to be processed. The processor 21 may also search for the first bin based on the storage location information (also referred to as the first storage location information) included in the first warehousing allocation record. The processor 21 may also search for the first bin based on the loading status information (also referred to as the first loading status information) included in the first warehousing allocation record. The processor 21 may also search for a bin 70 whose loading status information indicates that no item has been loaded at a position corresponding to the first storage location information (empty information) as the first bin. The processor 21 may also determine the first warehousing allocation record from one or more warehousing allocation records corresponding to the first item based on the warehousing priority information.

[0135] If it is determined that the bin 70 to be searched for does not exist (No in step S23), the processor 21 sets the confirmation status information corresponding to the item ID corresponding to the item 80C to be processed in the warehousing allocation information I4 to confirmed information (step S28). In this case, since it indicates that there is no bin that can realize the allocation of the record to be confirmed, the fact that it has been confirmed is recorded, but no warehousing instruction is issued for this record to be confirmed. After processing step S28, the processor 21 proceeds to step S18 in Figure 17. In other words, the processor 21 performs the same processing as above for records in the warehousing allocation information I4 for which the confirmation status information of the item 80C to be processed is unconfirmed information. At this time, for example, a warehousing allocation record with the next highest warehousing priority after the previous warehousing priority is selected.

[0136] Therefore, if the first bin does not exist as a result of searching for the first bin, the processor 21 may re-search for the first bin by selecting the warehousing allocation record corresponding to the first item that has the next highest priority after the first warehousing allocation record as the new first warehousing allocation record.

[0137] If it is determined that the bin 70 being searched for exists (Yes in step S23), the processor 21 changes the input status information of the record in the bin status information I5 that includes the bin ID of the existing bin 70 to reserved information (step S24). By making a reservation, the warehouse operations management system 20 can prevent other items 80 from being stored in the storage location of the reserved bin 70.

[0138] The processor 21 adds to the storage instruction information I7 a record including the bin ID, partition type information, in-bin coordinate information, number of items stored information, and bin placement information of the bin 70 searched from the bin status information I5, in association with the item ID of the item 80C to be processed (step S25). Therefore, if the first bin is found as a result of the search for bins 70, the storage instruction information I7 may be generated to instruct the storage of the first item in the first bin.

[0139] The processor 21 may calculate the storage number information based on the quantity information corresponding to the processing target items 80C in the receiving instruction information I6 and the maximum storage number information corresponding to the processing target items 80C in the warehousing allocation information I4. The processor 21 may, for example, acquire placement status information indicating the placement status of the bins 70 for each picking station PS stored in the memory 22, and determine the placement position of the bin 70 based on the placement status information. For example, the processor 21 may determine, as the placement position of the bin 70, any of the possible placement positions in the picking station PS at which a bin 70 has not yet been placed.

[0140] The processor 21 determines whether or not allocation of storage locations (for example, storage positions according to bins 70 and coordinates within the bins) for storing the target items 80C has been completed for all of the received number of target items 80C (step S26).

[0141] If it is determined that the allocation of storage destinations for all of the items 80C to be processed has not been completed (No in step S26), the processor 21 proceeds to step S22. That is, the processor 21 repeats steps S22 to S26 to determine the storage locations of the bins 70 for the items 80C to be processed that have not yet been determined to have storage destinations. For example, if the number of items 80 instructed to arrive is large, they will not fit into the storage location of a single bin, so they will be stored in multiple bins 70 or in multiple storage locations within the same bin 70.

[0142] If it is determined that the allocation of storage locations for all of the same processing target items 80C has been completed (Yes in step S26), the processor 21 determines whether or not there are any unprocessed incoming items 80A (step S27).

[0143] If it is determined that an unprocessed incoming item 80A exists (Yes in step S27), the processor 21 proceeds to step S13 in Figure 17 and designates the next incoming item 80A as the next item to be processed 80C. On the other hand, if it is not determined that an unprocessed incoming item 80A exists (No in step S27), the processor 21 ends the processing of Figures 17 to 19.

[0144] In step S18 of Figure 17, if it is determined that there are no records in the incoming allocation information I4 whose confirmation status information is unconfirmed (No in step S18), the process proceeds to Figure 19. Note that if there are no unprocessed items, the process ends in step S27, so the process proceeds to Figure 19 when all records in the incoming allocation information I4 have been checked, but unprocessed items remain. In this case, it indicates that there are no bins in which to store the unprocessed items.

[0145] The processor 21 refers to the warehousing allocation information I4, determines the picking robot 40 with the highest priority in the warehousing priority information, and acquires the partition type information corresponding to the warehousing operation resource ID of this picking robot 40 (step S31).

[0146] The processor 21 refers to the bin status information 15 and acquires a bin ID for which all of the loading status information corresponding to the in-bin coordinate information corresponding to the same bin ID is empty (step S32). If there are multiple matching bin IDs, the processor 21 acquires one of the matching bin IDs.

[0147] Processor 21 rewrites (e.g., replaces) the division type information of the record in bin status information I5 that includes the acquired bin ID based on the division type information of warehousing allocation information I4 acquired in step S31, and changes the division status information to waiting for division information (step S33). The record in bin status information I5 whose division status information has been changed to waiting for division information becomes division instruction information that instructs the bin 70 to be divided so that it matches the division type information of this record. After processing step S33, processor 21 proceeds to step S17 of Figure 17.

[0148] Therefore, processor 21 may use the input status information of bin status information I5 to search for a bin with all storage positions available as the first bin, and update the division type information of the first bin to the first division type information (e.g., division waiting information). Processor 21 may also generate a division instruction to divide the first bin to match the first division type information.

[0149] In other words, by processing steps S31 to S33, the warehouse operations management system 20 can create a bin 70 with a partitioned state that allows the picking robot 40 with a higher priority to pick the target item 80C, even if there is no bin 70 with a partitioned state that matches the initially set partitioning state for the unprocessed item 80. It is considered that creating a bin 70 with partitions that correspond to a picking robot 40 with a higher priority improves the efficiency of the picking work. Therefore, in this embodiment, the warehouse operations management system 20 determines to create the bin 70 using partition type information that corresponds to the picking robot 40 with the highest priority. However, if the warehouse operations management system 20 only considers whether picking is possible, it may determine to create the bin 70 using partition type information that corresponds to a picking robot 40 with any priority.

[0150] In this way, the warehouse system 5, based on the operation when creating the storage instruction information I7, can appropriately determine the allocation of items 80 to be stored in each storage location of each bin 70, taking into account the characteristics of the picking robot 40, the characteristics of the items 80, and the characteristics of the bin 70 (how the bin 70 is divided) taking into account the division.

[0151] FIG. 20 is a flowchart showing an example of the operation when incoming goods 80A are stored in the warehouse. As an example, the operation performed when the incoming item 80A is stored is performed by the warehouse operations management system 20, but it may also be performed by another system, or may be performed in collaboration between the warehouse operations management system 20 and another system.

[0152] The processor 21 of the warehouse operations management system 20 instructs the placement of the bin 70 (storage bin 71) into which the incoming goods 80A are to be stored. For example, the processor 21 instructs placement at a predetermined position in a storage station where a storage worker performs the storage work. For example, the transport robot 42 receives the instruction to place the storage bin 71 and transports the storage bin 71 to the predetermined position in accordance with the instruction.

[0153] Processor 21 determines whether or not it is necessary to create a divider (install a divider board 73) for a storage bin 71 placed in a predetermined position (step S42). For example, processor 21 references bin status information I5 and determines whether or not the divider status information is waiting for divider information. If the divider status information is waiting for divider information, it determines that it is necessary to create a divider, and if the divider status information is not waiting for divider information, it determines that it is not necessary to create a divider. If it is not necessary to create a divider for storage bin 71 (step S42), processor 21 proceeds to step S46.

[0154] If it is necessary to create a partition for the storage bin 71 (Yes in step S42), the processor 21 instructs the creation of a partition for the storage bin 71 (step S43). For example, the processor 21 causes the terminal 65 of the warehousing worker to display information (partition creation instruction information) instructing the creation of a partition for the storage bin 71 via the communication device 24.

[0155] The receiving worker checks the partition creation instruction information displayed on the terminal 65 and creates partitions for the storage bins 71, that is, installs the partition boards 73.

[0156] Processor 21 determines whether the entry worker has completed creating dividers for storage bins 71 (step S44). If it is determined that the creation of dividers for storage bins 71 has not been completed (No in step S44), processor 21 proceeds to step S43.

[0157] If it is determined that the creation of dividers for the storage bin 71 is complete (Yes in step S44), the processor 21 changes the divider status information in the bin status information I5 from "waiting for divider" to "divided" (step S45).

[0158] For example, when a warehousing worker creates a partition for a storage bin 71, he / she inputs via the input device 23 that the creation of the partition is complete. For example, the warehousing worker presses a partition creation complete button via the input device 23. Based on the information input via the input device 23, the processor 21 sets partition creation completion information indicating that the creation of the partition is complete. Based on the partition creation completion information, the processor 21 changes the partition status information in the bin status information I5 to partitioned information.

[0159] The processor 21 instructs the warehousing worker to put (store) the item 80 to be stored (step S46). For example, the processor 21 causes the warehousing worker's terminal 65 to display information (item storage instruction information) via the communication device 24 instructing the warehousing worker to store the item 80 to be stored in the storage bin 71.

[0160] The warehousing worker checks the item storage instruction information displayed on the terminal 65 and stores the item 80 to be stored in the storage bin 71.

[0161] The processor 21 determines whether or not the storage (also referred to as putting) of the items 80 to be stored in the storage bin 71 has been completed (step S47). For example, the processor 21 refers to the bin status information I5 and determines whether or not all of the putting-in status information corresponding to each item 80 to be stored is put-in information. If all of the putting-in status information is put-in information, the processor 21 determines that the storage of the items 80 to be stored has been completed, and if at least one of the putting-in status information is not put-in information, the processor 21 determines that the storage of the items 80 to be stored has not been completed. If the storage of the items 80 to be stored has not been completed (Yes in step S47), the processor 21 proceeds to step S46.

[0162] If it is determined that the storage of the item 80 to be stored in the storage bin 71 has been completed (Yes in step S47), the processor 21 instructs the storage bin 71 in which the item 80 to be stored is stored to move to the warehouse (step S48). For example, the transport robot 42 acquires an instruction to move the storage bin 71, and transports the storage bin 71 to a predetermined position in the warehouse in accordance with this instruction.

[0163] Furthermore, when the warehousing worker completes storing the items 80 to be stored in the storage bin 71, the warehousing worker inputs via the input device 23 that the storage of the items 80 to be stored has been completed. For example, the warehousing worker presses an item storage completion button via the input device 23. Based on the information input via the input device 23, the processor 21 sets item storage completion information indicating that the storage of the items 80 to be stored has been completed. Based on the item storage completion information, the processor 21 changes the loading status information in the bin status information I5 to loaded information.

[0164] In this way, the warehouse system 5, according to the operation when the incoming item 80A is received, can create partitions and update the information after the partitions are created based on the bin status information 15, and can easily store the incoming item 80A and update the information after the incoming item 80A is stored. In addition, the warehouse system 5 notifies the receiving worker's terminal 65 about the creation of partitions and the storage of the incoming item 80A, so the necessity for creating partitions and storing the incoming item 80A and the specific method for doing so can be easily confirmed and implemented.

[0165] 21 is a flowchart showing an example of the operation when creating shipping instruction information I10 for shipped item 80B. The creation of shipping instruction information I10 is performed by warehouse operations management system 20, for example, but may also be performed by another system, or may be performed in cooperation between warehouse operations management system 20 and another system.

[0166] The processor 21 of the warehouse operations management system 20 receives the shipping instruction information I8 from the warehouse management system 10 via the communication device 24 (step S51). The shipping instruction information I8 may include information on shipping instructions for multiple items 80.

[0167] The processor 21 breaks down the shipping instruction information I8 into records (shipping instruction records) for each item (step S52).

[0168] The processor 21 focuses on unprocessed items 80 that have not been processed after step S54, that is, designates one of the unprocessed items 80 as an item 80 to be processed (also referred to as an item 80D to be processed) (step S53). For example, the processor 21 may accept this designation in the order of the shipping instruction records in the shipping instruction information I8.

[0169] Processor 21 acquires the bin ID, partition type information, and in-bin coordinate information of the record for item 80D to be processed, for which the storage date indicated by the storage date information is the oldest (e.g., the oldest) from bin status information I5 (step S54). Processor 21 adds a record including the acquired bin ID, partition type information, and in-bin coordinate information to shipping instruction information I10 (step S54). Processor 21 also adds the item ID of item 80D to the same record.

[0170] Processor 21 acquires from item receiving / retrieving work information I3 an retrieval work resource ID corresponding to the partition type information, in-bin coordinate information, and item ID of item 80D to be processed acquired from bin status information I5 (step S55). In other words, processor 21 acquires an retrieval work resource ID that can retrieve item 80D to be processed stored at a storage position in bin 70 using the acquired partition type information and in-bin coordinate information (step S55).

[0171] Therefore, when an item to be output (item to be output, item to be processed 80D) is specified, processor 21 may search for the bin (output target bin) in which the item to be output is stored and obtain the partition type information of the output target bin. Processor 21 may determine an output work resource corresponding to the item to be output and the partition type information in the input allocation information I4 as an output work resource for picking the item to be output from the output target bin. Processor 21 may also determine an output work resource corresponding to the item to be output, partition type information, and storage location information in the input allocation information I4 as an output work resource for picking the item to be output from the output target bin.

[0172] Processor 21 acquires, from the outgoing station status information I9, the station ID of the picking station PS whose operation rate indicated by the operation rate information is the smallest among the station IDs of the picking stations PS corresponding to the picking robots 40 identified by the above-mentioned pickable outgoing work resource IDs (step S56). Processor 21 adds (describes) the acquired station ID to the record of the outgoing instruction information I10 added in step S54 (step S56).

[0173] For example, one outgoing task resource is installed in one picking station. In this case, it can be said that the utilization rate of the picking station corresponds to the utilization rate of the outgoing task resource. Therefore, when there are multiple outgoing task resources corresponding to the outgoing target item and the partition type information, the processor 21 may determine the outgoing task resource that will pick the outgoing target item from the outgoing target bin based on the utilization rates of each of the multiple outgoing task resources.

[0174] The processor 21 determines whether or not the allocation of picking stations PS has been completed for all of the shipped items 80D to be processed (step S57).

[0175] If it is determined that the allocation of picking stations PS has not been completed for all of the items 80D to be processed (No in step S57), the process proceeds to step S54. That is, the processor 21 repeats steps S54 to S57 to determine a picking station PS to pick up the remaining items 80D to be processed that have not yet been assigned a picking station PS.

[0176] If it is determined that the allocation of picking stations PS has been completed for all of the items 80C to be processed (Yes in step S57), the processor 21 determines whether or not there are any unprocessed shipped items 80B (step S58).

[0177] If it is determined that an unprocessed shipped item 80B exists (Yes in step S58), the processor 21 proceeds to step S53 and designates the next shipped item 80B as the next item to be processed 80D. On the other hand, if it is not determined that an unprocessed shipped item 80B exists (No in step S58), the processor 21 ends the processing of FIG.

[0178] In this way, the warehouse system 5, according to the operation when creating the outgoing instruction information I10, selects a picking robot 40 with as low an operating rate as possible to generate the outgoing instruction information, thereby improving the operating efficiency of the picking robots 40 and allocating the outgoing work. Furthermore, the warehouse system 5 determines the picking robot 40 taking into consideration the partition type information and storage position information, so that the picking robot 40 can optimally pick and outgo the items stored in the storage positions in the bins 70.

[0179] Although the warehousing worker is a warehousing worker (i.e., a person) in the above example, the warehousing worker is not limited to this and may be a robot that performs warehousing work.

[0180] Next, the warehouse system 5 of this embodiment will be further explained.

[0181] (1) The processor 21 of the warehouse operations management system 20 may register in advance in the memory 22 or the like a generic item data set including a 3D model of the generic item and points on the generic item that are easy to grasp by the picking robot 40 (graspable points). The processor 21 determines whether the item 80 to be stored is similar to the generic item data set (e.g., the 3D model of the generic item) stored in the memory 22. If it is determined that the item 80 is not similar to the generic item data set, various information about the item 80 to be stored (e.g., information about the shape of the item) may be registered (added) to the memory 22 by a sensor or the like.

[0182] (2) The processor 21 may reproduce the arms and hands of the picking robot 40, the bins 70, the compartments, and the items 80 through 3D simulation. The processor 21 may store in the memory 22 information on the partitioning of the bin 70 and its storage position so that the graspable points registered in the memory 22 can be recognized, for example, by a camera 60 mounted on the arm of the picking robot 40, and the hand can approach without interfering with the frame or partitions of the bin 70, while changing the combination of the partitioning of the bin 70 (number of divisions, partition height: each partition can be made a different height and the depth of the partitions can be adjusted), the storage position within the partitioned bin, and the storage angle of the item 80. The processor 21 may also perform a physical simulation in which the picking robot 40 picks up the item 80 stored in the bin 70 in a virtual space, taking into account the partitioning of the bin 70 and the storage position of the item 80 that have been stored in the bin 70. The processor 21 may associate information obtained by the physical simulation, such as the item 80, the partitioning of the bin 70 and the storage position of the item 80, the picking robot 40, and the success rate of grasping the item 80, and store the associated information in the memory 22.

[0183] (3) When an item 80 is received, the processor 21 may refer to the association information registered in the memory 22 and assist the picking robot 40 in storing the item 80 in a partitioning manner and storage location of the bin 70 that can be grasped by the picking robot 40. In this case, the processor 21 may instruct the bin 70 with a partitioning manner that allows storage to be moved to the receiving station. Also, for a bin 70 with a desired partitioning, the processor 21 may instruct the receiving worker's terminal to store the item 80 in a desired storage location within the bin, for example, by displaying the instruction on a screen. Note that the receiving operation may be performed manually as long as it improves the success rate (picking success rate) of the retrieval operation by the picking robot 40. Note that the receiving operation may be performed by the picking robot 40 or a picking robot for receiving.

[0184] (4) If there is no storage position in the bin that can be grasped by the picking robot 40 or if there is only a storage position with a low grasping success rate, the processor 21 may determine that the picker 45, rather than the picking robot 40, will remove the item 80 from the bin 70. In this case, the processor 21 may instruct the picker 45 to place the item 80 in any available storage area (i.e., any storage position) in the bin 70 so that the human (the picker 45) can remove the item 80.

[0185] (5) Based on the association information obtained in (2), the processor 21 may control the storage of the items 80 that have limited storage positions within the bin that can be grasped, preferentially in a storage position that can be grasped. On the other hand, the processor 21 may control the storage of the items 80 that can be stored in any storage position within the bin in a storage position that remains after the prioritized items 80 have been stored.

[0186] (6) A plurality of picking robots 40 with different hands (gripping devices) may be provided. The processor 21 may control the movement of the bin 70 storing the item 80 to be delivered to the picking station PS where the picking robot 40 equipped with a gripping device capable of gripping (picking) the item 80 to be delivered is located.

[0187] (7) If none of the picking robots 40 can grasp the item 80 to be shipped, the warehouse operations management system 20 may control the bin 70 containing the item 80 to be shipped to be moved to the picking station PS where the picking worker 45 is located.

[0188] (8) A conveyor may be provided at the outgoing port of the picking station PS. In this case, the processor 21 may control the picking robot 40 that can easily grasp the item 80 to be outgoing to pick it in an environment where trays containing the item 80 to be outgoing picked by the picking robot 40 arranged at the picking station PS flow on the conveyor.

[0189] As described above, the warehouse system 5 of this embodiment can appropriately determine the allocation of the items 80 to be stored in each storage location of each bin 70 by taking into account the characteristics of the picking robot 40, the characteristics of the items 80, and the characteristics of the bins 70 (how the bins 70 are divided) that take into account the dividers. Then, when the items 80 to be stored arrive, a warehousing worker (human or robot) can perform the warehousing work in accordance with the warehousing instruction information I7. As a result, the warehouse system 5 can store the items 80 in the desired storage location so that the picking robot 40 can easily pick them up, even if the picking robot 40 has strengths and weaknesses in grasping them, and can perform the warehousing work while taking into account the characteristics of the picking robot 40. Furthermore, the warehouse system 5 can separate the items 80 by type and store them in the bins 70 by using dividers, for example, to make it easier for the picking robot 40 to pick the items 80.

[0190] Therefore, the warehouse system 5 can support the picking robot 40 in efficiently picking the items 80 in the bins even when the inside of the bins is divided by partitions. In other words, to realize efficient picking work by the picking robot 40, human work in the upstream process can be performed appropriately. In this way, the warehouse system 5 can simultaneously realize the operation of bins 70 using partitions and the operation of the picking robot 40.

[0191] Furthermore, when the warehouse system 5 images the inside of a bin using the camera 60, even if a partition 73 is installed in the bin 70, the storage position is determined taking into account partition type information, so the camera 60 can appropriately image and recognize the item 80. Furthermore, even if a partition 73 is installed in the bin, the warehouse system 5 can prevent the arm or hand of the picking robot 40 from being unable to approach the item 80 by devising the storage position of the item 80, making it easier to retrieve the item 80. Furthermore, the warehouse system 5 can determine at which storage position in the bin 70 the item 80 should be stored to make it easier to retrieve the item 80 when it is stored in storage.

[0192] Furthermore, the warehouse system 5 has dividers 73 installed in the bins 70. This reduces the impact of differences in the shape of the items 80 or tilting during storage or transportation, even when a picking robot 40 is used to retrieve items 80 from the bins 70, preventing the picking robot 40 from being unable to access the retrieval point. This reduces the need for assistance from the picker 45 during retrieval, achieving a sufficient implementation effect. The warehouse system 5 stores items 80 that are easy for the arms and hands of the picking robot 40 to grasp, thereby increasing the success rate of retrieval. Furthermore, the warehouse system 5 can vary the placement of the dividers 73 within the bins, determining the ease of retrieval by the picking robot 40 and determining the storage location of the item 80. A trained model of artificial intelligence (AI) may be used to determine the ease of retrieval.

[0193] (Other variations) In the above-described embodiment, even when it is assumed that one outgoing work resource is used for the goods to be stored in the warehousing allocation record of the warehousing allocation information I4, the warehousing priority is set. However, in this case, prioritization is not necessary, so the warehousing priority may be omitted.

[0194] In the above-described embodiment, the in-bin coordinate information may be omitted. For example, in a warehouse that only uses resources for outbound work that can access any coordinate within a bin, there is no need to consider the in-bin coordinate information. In this case, the warehouse operations management system 20 may perform the same operation as when the in-bin coordinate information is specified as "all" in the above-described embodiment.

[0195] In the above-described embodiment, the warehouse operations management system 20 may include, in the storage instruction content, information indicating the item to be stored or information indicating the bin or storage location within the bin. In this case, the storage instruction content may include the ID of the item or the ID of the bin, or may include information that is more intuitively understandable to workers. An example of such information is information indicating the characteristics of the item, bin, or storage location, such as "Please place the yellow item in the four corners of the blue bin."

[0196] In the above-described embodiment, the processor 21 of the warehouse operations management system 20 may set multiple receiving priorities for the same outbound resource in the receiving allocation record of the receiving allocation information I4. For example, even for a combination of the same item and the same outbound resource, if there are multiple candidates for the bin partition type, bin coordinates, or bin layout, the ease of the outbound resource may differ. In this case, the processor 21 may set different receiving priorities for each candidate for the bin partition type, bin coordinates, or bin layout depending on the ease of the outbound resource. Similarly, if the ease of the outbound resource is more significantly affected by the bin partition type, bin coordinates, or bin layout than by the outbound resource, the processor 21 may set the receiving priorities based on the priority of the bin partition type, bin coordinates, or bin layout, without distinguishing between the outbound resource. That is, the entry priority in the entry allocation record of the entry allocation information I4 may be information indicating the priority of at least one of the retrieval work resource, bin partition type, coordinates within the bin, or bin arrangement for each item.

[0197] In the above-described embodiment, each shipping resource is uniquely identified by a shipping resource ID. However, instead of a shipping resource ID, information that comprehensively identifies multiple shipping resources with the same or similar properties may be used. This configuration is useful, for example, when there are multiple shipping resources with similar shipping efficiency, such as multiple picking robots of the same model, and the efficiency remains almost the same regardless of which picking robot is assigned to perform the shipping task. By adopting this configuration, the warehouse system 5 can simplify the configuration of the shipping resource information I1 and the receiving allocation information I4, even when there are multiple picking robots and workers with similar performance.

[0198] In the above-described embodiment, if the number of items to be stored is greater than the maximum storage capacity of the bin found as a result of the search, processor 21 may store the items exceeding the maximum storage capacity in other bins, even if sections other than the coordinates indicated by the in-bin coordinate information are empty. This is because locations other than the coordinates indicated by the in-bin coordinate information are difficult for picking robots 40 and the like to pick, and therefore, placing the remaining items in other bins where picking is easier is likely to improve picking efficiency when retrieving items. However, adopting such a configuration increases the number of bins used, so processor 21 may store items in locations other than the coordinates indicated by the in-bin coordinate information when the number of bins is limited.

[0199] In the above-described embodiment, the processor 21 determines to create a new bin 70 from a bin whose intra-bin coordinate information indicates that all items are empty when it is determined that there is no bin to store an unprocessed item. However, the timing for creating a new bin 70 is not limited to this. For example, if there is a bin whose intra-bin coordinate information indicates that all items are empty, the processor 21 may determine to create a new bin 70 partitioned to correspond to the sorting type information in the warehousing allocation record of the warehousing allocation information I4 corresponding to the item 80, regardless of whether other bins are available. Also, for example, if another bin is available but the sorting type information of that bin has a low priority in the warehousing allocation record corresponding to the item 80, the processor 21 may determine to create a bin 70 that reflects the sorting type information included in the higher-priority warehousing allocation record corresponding to the item 80. In this way, the warehouse system 5 can store the item 80 at intra-bin coordinates corresponding to a higher-priority outgoing task resource, thereby enabling efficient outgoing tasks to be performed using the higher-priority outgoing task resource at the time of warehousing.

[0200] Furthermore, when preparing bins 70 in advance before the items to be stored are known, the processor 21 may decide to create new bins 70 based on the priority indicated by the storage priority information in the outbound work resource information I1. With this configuration, although a bin suitable for storing the item is not necessarily created, the warehouse system 5 can prepare bins with partitions corresponding to the outbound work resources that the warehouse prefers to use preferentially. This increases the likelihood that the warehouse system 5 will select bins that correspond to the outbound work resources that the warehouse prefers to use preferentially when allocating bins to items.

[0201] (Outline of the embodiment) As a result, the present disclosure describes at least the following: Note that, in parentheses, examples of components corresponding to the above-described embodiments are given, but the present disclosure is not limited to these.

[0202] (Item 1) A warehouse management system (warehouse system 5) that includes a computing device (processor 21) and manages the warehousing of an item (item 80), The computing device For each combination of an item to be stored and an outgoing work resource (picking robot 40, worker) that picks the item when it is shipped out, obtain warehousing allocation information (warehousing allocation information I4) that includes one or more warehousing allocation records that include partition type information that indicates the partition type for dividing a bin (bin 70) that can store the item with a partition (partition board 73), searching for a first bin for storing the first item based on first partition type information included in a first warehousing allocation record, which is a warehousing allocation record corresponding to the first item; If the first bin is found as a result of the search, warehousing instruction information (warehousing instruction information I7) is generated to instruct the storage of the first item in the first bin. Inventory management system.

[0203] This allows the receiving management system to determine the allocation of items to be stored in each bin, taking into account the characteristics of the outgoing task resource, the characteristics of the items, and the characteristics of the bin taking into account the partitions. Therefore, the receiving management system can support the outgoing task resource in efficiently picking items in the bin, even if the bin is divided by partitions.

[0204] (Item 2) If the goods to be stored can be picked by a plurality of outgoing work resources, The computing device For each combination of the goods to be stored and each of the plurality of outgoing work resources, the warehousing allocation record is acquired, which includes the partition type information and priority information (warehousing time priority information) indicating priority among the plurality of outgoing work resources; determining the first inventory allocation record from one or more inventory allocation records corresponding to the first item based on the priority; The inventory management system described in item 1.

[0205] This allows the inventory management system to search for the first bin to store the first item while taking into account the priorities of multiple outbound work resources, and therefore to appropriately determine the allocation of each item to be stored in each bin.

[0206] (Item 3) The computing device If the first bin is not found as a result of the search for the first bin, the warehousing allocation record corresponding to the first item that has the next highest priority after the first warehousing allocation record is set as a new first warehousing allocation record, and the first bin is searched for again. The inventory management system described in item 2.

[0207] This allows the inventory management system to more easily determine the outbound work resource with the highest priority as the outbound work resource to perform picking, thereby helping the outbound work resource to pick items in the bin more efficiently.

[0208] (Item 4) The warehousing allocation record further includes storage position information (intra-bin coordinate information) indicating a storage position where the outgoing work resource picks up the item among storage positions within the bins partitioned according to the partition type, the calculation device searches for the first bin based on the first partition type information and the first storage location information included in the first warehousing allocation record; 4. The inventory management system according to any one of items 1 to 3.

[0209] This allows the inventory management system to search for the first bin in which to store the first item, taking into account the storage position within the bin, and therefore to appropriately determine the allocation of each item to be stored in each bin.

[0210] (Item 5) The computing device further For each of the bins, storing input status information indicating the input status of the articles into each storage position partitioned by the partitions; searching for the first bin based on the first partition type information, the first storage location information, and the loading status information included in the first warehousing allocation record; The inventory management system described in item 4.

[0211] This allows the inventory management system to search for the first bin to store the first item by taking into account the status of items being placed in each storage position of each bin, and therefore can appropriately determine the allocation of each item to be stored in each bin.

[0212] (Item 6) The calculation device searches for a bin whose insertion status information indicates that no item has been inserted into a position corresponding to the first storage position information, as the first bin. The inventory management system described in item 5.

[0213] As a result, the inventory management system stores the first item in the first bin obtained as a result of the search, thereby preventing the first item from being stored in a location corresponding to the first storage location information. Therefore, the inventory management system can prevent the first item from being unable to be stored in a desired storage location or from being difficult to pick up from the desired storage location.

[0214] (Item 7) The computing device Using the loading status information, a bin in which all of the storage positions are empty is searched for as the first bin, and the division type information of the first bin is updated to the first division type information; generating a partition instruction for partitioning the first bin in accordance with the first partition type information; The inventory management system described in item 5 or 6.

[0215] This allows the inventory management system to instruct the user or the like to install a divider for the first bin that does not store any items in it so that the bin is in a desired divided state.

[0216] (Item 8) The warehousing allocation record includes maximum storage number information indicating the maximum number of the first items that can be stored in the storage locations divided according to the partition type information, The computing device If the number of the first items is greater than the maximum storage number of the first bin, it is determined that the first items exceeding the maximum storage number are not to be stored in other storage positions of the first bin, but are to be stored in other bins. 8. The inventory management system according to any one of items 4 to 7.

[0217] As a result, when the number of first items is so large that all of them cannot be stored in a predetermined storage location, the receiving management system stores the first items in other bins, thereby allowing a large number of first items to be distributed and stored in multiple bins.In addition, the receiving management system can store first items in excess of the maximum storage number in a storage location that is suitable for picking by an outgoing work resource, thereby supporting more efficient picking by an outgoing work resource.

[0218] (Item 9) the warehousing allocation record includes warehousing instruction content indicating at least one of the arrangement and posture of the item; The arithmetic device includes the warehousing instruction content in the warehousing instruction information. 9. The inventory management system according to any one of items 1 to 8.

[0219] This allows the inventory management system to instruct the storage state, such as the placement and posture of the items when storing them in the bins, making it easier for the items to be picked by the outgoing work resources when they are taken out of the warehouse.

[0220] (Item 10) The computing device further When the second item to be shipped is specified, searching for a second bin in which the second item is stored, and acquiring partition type information of the second bin; determining an outgoing task resource corresponding to the second item and the partition type information in the warehousing allocation information as an outgoing task resource for picking the second item from the second bin; 10. The inventory management system according to any one of items 1 to 9.

[0221] As a result, the determined outbound task resource can pick the second item taking into account the partition state between the second item and the second bin.

[0222] (Item 11) The warehousing allocation record further includes storage position information indicating a storage position from which the outgoing work resource picks the item, among storage positions within a bin partitioned according to the partition type, the calculation device determines an outgoing task resource corresponding to the second item, the partition type information, and the storage location information in the warehousing allocation information as an outgoing task resource for picking the second item from the second bin; The inventory management system described in item 10.

[0223] As a result, the determined shipping task resource can pick the second item taking into account the partition status between the second item and the second bin and the storage position where the second item is stored in the second bin.

[0224] (Item 12) The calculation device further determines, when there are multiple outgoing task resources corresponding to the second item and the partition type information, an outgoing task resource that will pick the second item from the second bin based on the utilization rates of the multiple outgoing task resources. Item 10 or 11. The inventory management system according to item 10 or 11.

[0225] This allows the inventory management system to determine, for example, to use an outbound task resource with a low utilization rate to pick the second item, thereby improving the operational efficiency of multiple outbound task resources.

[0226] (Item 13) A warehousing management method for managing warehousing of goods, comprising: Acquiring warehousing allocation information including one or more warehousing allocation records including partition type information indicating partition types for dividing bins capable of storing the items, for each combination of an item to be warehousing and an outbound work resource that picks the item when retrieving the item; searching for a first bin for storing the first item based on first partition type information included in a first warehousing allocation record, which is a warehousing allocation record corresponding to the first item; If the first bin is found as a result of the search, generating warehousing instruction information instructing storage of the first item in the first bin; A method of inventory management having the following features.

[0227] This allows the inventory management method to achieve the same effect as item 1.

[0228] Although various embodiments have been described above with reference to the drawings, it goes without saying that the present disclosure is not limited to such examples. It is clear that a person skilled in the art can conceive of various modifications or alterations within the scope of the claims, and it is understood that these also naturally fall within the technical scope of the present disclosure. Furthermore, the components of the above-described embodiments may be combined in any manner without departing from the spirit of the invention.

[0229] In addition, the above embodiment may also be applicable to a program that realizes the functions of the inventory management method, which is supplied to a computer (e.g., warehouse operations management system 20) via a network or various storage media, and which is read and executed by the processor of this computer, as well as to the storage media on which this program is stored. [Industrial Applicability]

[0230] The present disclosure is useful for inventory management systems and inventory management methods that allow a robot to efficiently pick items in a bin even when the bin is divided by partitions. [Explanation of symbols]

[0231] 5. Warehouse System 10 Warehouse Management System 20 Warehouse operation management system 21 processors 22 Memory 23 Input Devices 24 Communication Devices 25 Input / Output Interface 30 Warehouse Control System 40 Picking Robot 42 Transport robot 45 Picker 50 Automated Warehouse 60 cameras 65 terminals 70 bottles 71 Storage Bin 72 shipping bins 80 Goods PS, PS0, PS1 picking stations

Claims

1. A warehousing management system that includes a computing device and manages warehousing of goods, The computing device For each combination of an item to be stored and an outbound work resource that picks the item when it is shipped out, acquire warehousing allocation information including one or more warehousing allocation records including partition type information that indicates a partition type for separating bins that can store the item with partitions; searching for a first bin for storing the first item based on first partition type information included in a first warehousing allocation record, which is a warehousing allocation record corresponding to the first item; If the first bin is found as a result of the search, generating warehousing instruction information instructing storage of the first item in the first bin. Inventory management system.

2. If the goods to be stored can be picked by a plurality of outgoing work resources, The computing device For each combination of the goods to be stored and each of the plurality of outgoing work resources, the warehousing allocation record is acquired, the warehousing allocation record including the partition type information and priority information indicating priority among the plurality of outgoing work resources; determining the first warehousing allocation record from one or more warehousing allocation records corresponding to the first item based on the priority; The inventory management system according to claim 1 .

3. The computing device If the first bin is not found as a result of the search for the first bin, the warehousing allocation record corresponding to the first item, which has the next highest priority after the first warehousing allocation record, is set as a new first warehousing allocation record, and the first bin is searched again. The inventory management system according to claim 2 .

4. The warehousing allocation record further includes storage position information indicating a storage position from which the retrieval work resource picks the item, among storage positions within a bin partitioned according to the partition type, the calculation device searches for the first bin based on the first partition type information and the first storage location information included in the first warehousing allocation record; The inventory management system according to claim 1 .

5. The computing device further For each of the bins, storing input status information indicating the input status of the articles into each storage position partitioned by the partitions; searching for the first bin based on the first partition type information, the first storage location information, and the loading status information included in the first warehousing allocation record; The inventory management system according to claim 4.

6. The calculation device searches for a bin whose loading status information indicates that no article has been loaded at a position corresponding to the first storage position information, as the first bin. The inventory management system according to claim 5.

7. The computing device Using the loading status information, a bin in which all of the storage positions are empty is searched for as the first bin, and the partition type information of the first bin is updated to the first partition type information; generating a partition instruction for partitioning the first bin in accordance with the first partition type information; The inventory management system according to claim 5.

8. The warehousing allocation record includes maximum storage number information indicating the maximum number of the first items that can be stored in the storage locations divided according to the partition type information, The computing device If the number of the first articles is greater than the maximum storage number of the first bin, it is determined that the first articles exceeding the maximum storage number are not to be stored in other storage positions of the first bin, but are to be stored in other bins. The inventory management system according to claim 5.

9. the warehousing allocation record includes warehousing instruction content indicating at least one of the arrangement and posture of the item; The arithmetic device includes the warehousing instruction content in the warehousing instruction information. The inventory management system according to claim 1 .

10. The computing device further When the second item to be shipped is specified, searching for a second bin in which the second item is stored, and acquiring partition type information of the second bin; determining an outgoing task resource corresponding to the second item and the partition type information in the warehousing allocation information as an outgoing task resource for picking the second item from the second bin; The inventory management system according to claim 1 .

11. The warehousing allocation record further includes storage position information indicating a storage position from which the retrieval work resource picks the item, among storage positions within a bin partitioned according to the partition type, the calculation device determines an outgoing task resource corresponding to the second item, the partition type information, and the storage location information in the warehousing allocation information as an outgoing task resource for picking the second item from the second bin; The inventory management system according to claim 10.

12. The calculation device further determines, when there are multiple retrieval work resources corresponding to the second item and the partition type information, an retrieval work resource that will pick the second item from the second bin based on the utilization rates of the multiple retrieval work resources. The inventory management system according to claim 10.

13. A warehousing management method for managing warehousing of goods, comprising: Acquiring warehousing allocation information including one or more warehousing allocation records including partition type information indicating partition types for dividing bins capable of storing the items, for each combination of an item to be warehousing and an outbound work resource that picks the item when retrieving the item; searching for a first bin for storing the first item based on first partition type information included in a first warehousing allocation record, which is a warehousing allocation record corresponding to the first item; generating warehousing instruction information instructing storage of the first item in the first bin when the first bin is found as a result of the search; A method of inventory management having the following features.

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