Information processing apparatus, information processing method, information processing system, and computer program

Abstract

To efficiently move a plurality of shelves arranged in a storage area.SOLUTION: Dividing a plurality of target racks into a plurality of groups based on information related to a storage area that includes a plurality of unit areas adjacent to each other and in which racks can be arranged in the unit areas, information related to a plurality of target racks among the plurality of racks arranged in any of the unit areas, and information related to a plurality of destination areas that are the unit areas to which the plurality of target racks are to be moved, and determining, for each of the groups, an occupied area including the plurality of unit areas adjacent to each other that can be used exclusively; Wherein the occupied area includes the unit area in which the target shelf is arranged, the target area of the target shelf, and the empty area, and the processing unit generates a first shelf movement plan for moving the target shelf to the target area by changing a position of the empty area by moving another shelf different from the target shelf in the occupied area for each group.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present embodiment relates to an information processing device, an information processing method, an information processing system, and a computer program. [Background technology]

[0002] The range of applications of mobile objects such as AGVs (Automatic Guided Vehicles), autonomous mobile robots, self-driving cars, and construction machinery is expanding. Multiple shelves are arranged in an area for storing items (storage area), and items or containers containing items are stored on each shelf. When an item needs to be retrieved, the shelf is moved to the desired position by the mobile object. The desired position may be, for example, a position outside the storage area, or a position within the storage area facing an external aisle. In order to store more items in a limited area of ​​the storage area, the aisles and other structures in the storage area are sometimes reduced to densely pack the shelves.

[0003] When shelves are densely packed, some shelves may be surrounded by other shelves. In this case, the shelf next to the surrounding shelf can be moved to create an empty space, and the shelf can be moved to the desired position by repeating this process.

[0004] However, when multiple shelves are moved in order, it takes a long time to move them. In particular, the waiting time is long for shelves that are later in order. When multiple shelves are moved simultaneously in parallel, it is necessary to control the timing of each shelf's movement while taking into account the movement status of each other, which makes the control complicated. In addition, the movement route becomes complicated, and it may take longer to move them. [Prior art documents] [Patent documents]

[0005] [Patent Document 1] Japanese Patent Publication No. 2022-100807 Summary of the Invention [Problem to be solved by the invention]

[0006] The present embodiment provides an information processing device, an information processing method, an information processing system, and a computer program that enable efficient movement of multiple shelves arranged in a storage area. [Means for solving the problem]

[0007] The information processing device of this embodiment includes a processing unit that, based on information about a storage area that includes a plurality of unit areas adjacent to each other, in which shelves can be placed, and in which the shelves placed in the unit areas can be moved to an empty area that is an adjacent unit area to the unit area and in which no shelves are placed, information about a plurality of target shelves among the plurality of shelves placed in any of the unit areas in the storage area, and information about a plurality of destination areas that are the unit areas to which the plurality of target shelves will be moved, divides the plurality of target shelves into a plurality of groups each including one or more of the target shelves, and determines, for each group, an occupation area that includes a plurality of adjacent unit areas that can be used exclusively, the occupation area including the unit area in which the target shelf is placed, the destination area of ​​the target shelf, and the empty area, and generates, for each group, a first shelf movement plan that moves the target shelf to the destination area by moving other shelves different from the target shelf within the occupation area and changing the position of the empty area. [Brief explanation of the drawings]

[0008] [Figure 1] FIG. 1 is a diagram showing an example of an operation planning system according to a first embodiment. [Figure 2] A schematic diagram of the storage area viewed from above. [Figure 3] FIG. 10 is a diagram showing an example of data stored in a carry-out instruction storage unit. [Figure 4] FIG. 10 is a diagram showing an example of data stored in a shelf arrangement storage unit. [Figure 5] FIG. 4 is a diagram showing an example of data stored in a moving object arrangement storage unit. [Figure 6]FIG. 4 is a diagram showing an example of data stored in a moving object operation storage unit. [Figure 7] FIG. 10 is a diagram showing an example of data stored in a storage area arrangement storage unit. [Figure 8] 10 is a flowchart showing an example of the operation of a planning processing unit. [Figure 9] 10 is a diagram showing an example in which a plurality of target shelves are divided into a plurality of export groups by a export group setting unit, and an occupation area is set for each export group. FIG. [Figure 10] FIG. 10 is a diagram showing another example of integrating multiple use areas. [Figure 11] FIG. 10 is a diagram showing an example of generating a shelf movement plan. [Figure 12] FIG. 10 is a diagram showing an example of generating a motion plan for a moving object. [Figure 13] FIG. 10 is a diagram showing an example of generating a shelf movement plan in which two target shelves are to meet midway. [Figure 14] FIG. 10 is a diagram showing an example of merging two carry-out groups. [Figure 15] FIG. 10 is a diagram showing an example of commonly assigning moving objects to multiple transport groups. [Figure 16] FIG. 10 is a diagram showing an example of commonly allocating moving bodies and blank spaces to multiple transport groups. [Figure 17] FIG. 10 is a diagram showing an example of using a moving object in another storage area in the storage area. [Figure 18] FIG. 10 is a diagram showing an example of using moving objects and blank spaces in another storage area in a storage area. [Figure 19] FIG. 10 is a diagram showing an example of assigning a plurality of moving objects to one carry-out group. [Figure 20] FIG. 10 is a block diagram of an operation planning system according to a fourth embodiment. [Figure 21] 21 is a flowchart showing an example of the operation of the planning processing unit in FIG. 20 . [Figure 22] FIG. 10 is a diagram illustrating an example of generating a blank square movement plan. [Figure 23] FIG. 13 is a block diagram of an operation planning system according to a fifth embodiment. [Figure 24] 24 is a flowchart showing an example of the operation of the planning processing unit in FIG. 23. [Figure 25]FIG. 10 is a diagram showing an example in which the target shelf is moved out of the area occupied by the transport group and the transport group settings are reprocessed. [Figure 26] FIG. 1 is a diagram showing the hardware configuration of a travel schedule creation device according to any one of the first to fifth embodiments. DETAILED DESCRIPTION OF THE INVENTION

[0009] The present embodiment will be described below with reference to the drawings. The following description will focus on the main components of the present embodiment, but components and functions that are not shown or described may exist. The following description does not exclude components and functions that are not shown or described.

[0010] First Embodiment 1 shows an example of an operation planning system 1 as an information processing system according to the first embodiment. The operation planning system 1 includes an operation planning device 100 which is an information processing device according to the first embodiment, a communication unit 300, a state detection unit 310, a plurality of sensors 320, a plurality of communication devices 330, and a plurality of moving objects 340.

[0011] The mobile object 340 is a mobile object that can move within a storage area for items. The mobile object 340 may be capable of moving outside the storage area and moving within the outer area. A plurality of shelves are arranged in the storage area, and each shelf can accommodate items or containers that store items. The storage area is, for example, an area provided within a factory, a warehouse, or a facility site. The mobile object 340 is a mobile object such as an AGV (automatic guided vehicle), a mobile robot, or an autonomous vehicle (for example, an autonomous vehicle). The mobile object 340 is not limited to a vehicle that moves on the ground, but may also be a vehicle that moves in the air, such as a drone.

[0012] The mobile object 340 performs various operations based on control commands from the command unit 170, which will be described later. The various operations include moving (including changing orientation at a stopped position), lifting or lowering a shelf, and moving with the shelf lifted. The lifting of a shelf is an example of an operation in which the mobile object holds a shelf in order to move it, and the lowering of a shelf is an example of an operation in which the mobile object releases a shelf. Other examples of operations for holding and releasing a shelf include connecting or disconnecting the shelf using a magnet or a mechanical mechanism, and pushing or pulling the shelf. The mobile object 340 is equipped with a storage battery, for example, and operates using power stored in the battery. The following describes lifting and lowering a shelf as an operation for holding and releasing a shelf, but this is merely an example, and the present embodiment is not limited to this operation.

[0013] FIG. 2 is a schematic diagram of a storage area viewed from above. The storage area includes multiple adjacent squares (unit areas). The multiple unit areas are arranged in a grid of at least two rows and two columns. One shelf can be placed in each unit area, and there is also an empty area (blank square) C, which is a unit area where no shelf is placed. Shelves 510A to 510C and 520 are placed in the storage area. Two mobile objects 340 are also placed in the storage area. The two mobile objects 340 are mobile object 1 with a mobile object ID of 1 and mobile object 2 with a mobile object ID of 2. In the figure, the lines dividing each square are imaginary and do not obstruct the movement of the mobile objects between squares (including movement with a shelf lifted or movement without holding a shelf). A shelf placed in a unit area (square) can be moved by the mobile object to an empty area (blank square) adjacent to that unit area.

[0014] In the unit area (cell), there are unit areas (cells) where shelves are located and empty areas C (blank cell C) where no shelves are located. In this example, there are two blank cells C. Shelves are represented by solid rectangles or diagonally shaded rectangles. Diagonally shaded rectangular shelves 510A, 510B, and 510C are shelves (target shelves) that are to be moved by the moving body 340 to the unloading area 410, which includes a horizontal row of cells at the bottom of the storage area. In this example, the unloading area 410 includes a horizontal row of five cells, and these five cells are unit areas that can be designated as the destination of each target shelf. The unit area designated as the destination of the target shelf is called the destination area (destination cell). The solid shelf 520 is a shelf other than the target shelf (sometimes called the other shelf).

[0015] A space (not shown) through which the moving object 340 can pass is provided between the underside of each shelf (the surface facing the storage area) and the floor of the storage area. The moving object 340 can move through the space below the shelf, even between squares where shelves are arranged. Movement between squares by the moving object is possible in the vertical and horizontal directions along the paper surface, but diagonal movement is not permitted. For ease of visibility, the moving object is shown in the figure as if it were above the shelf, but in reality it is located below the shelf.

[0016] The movable body can lift the shelf in the space below the shelf in the direction opposite to gravity using a mechanism not shown. This allows the movable body to hold the shelf. With the shelf lifted, the movable body can move to the adjacent empty square C. When the shelf is not lifted, the movable body can also move between squares where shelves are located via the space below each shelf. Note that if aisles are provided between shelves depending on the structure of the storage area, it is also possible to configure the movable body to move through the aisles.

[0017] A shelf located in any square (destination area) in the unloading area 410 may be lifted by a mobile object and transported out of the storage area in the direction indicated by the white arrow. The transported shelf may then be moved by the mobile object to a predetermined position (location), for example, a location where a user is present. The user may pick up a desired item or container from the shelf at that location. Alternatively, once the shelf has been moved to any square (destination area) in the unloading area 410, the user may pick up an item or container from the shelf with the shelf lowered to that location. In this case, the shelf does not need to be transported out from the unloading area 410 to the storage area. The following description assumes that the shelf is transported at least to the unloading area 410.

[0018] The communication unit 300 is disposed in at least one of the storage area and outside the storage area, and relays communication between the mobile object 340 and the operation planning device 100. The communication unit 300 is capable of communicating with the communication unit 180 of the operation planning device 100. The communication unit 300 is also capable of communicating with the mobile object 340 and the state detection unit 310. These communications may be wired or wireless. The communication unit 300 receives control commands for the mobile object 340 from the operation planning device 100 and transmits the commands to the mobile object 340. This causes the mobile object 340 to operate in accordance with the operation plan created by the operation planning device 100.

[0019] The sensor 320 is placed in at least one of the storage area and outside the storage area, and detects the state of the mobile object 340 passing through the sensing range. For example, the sensor 320 may detect the position and speed of the mobile object 340, or the movement of the mobile object 340 (for example, whether or not the mobile object 340 is holding onto a shelf, or whether or not the mobile object 340 has fallen over and is unable to move).

[0020] The communication device 330 is located in at least one of the storage area and outside the storage area, and communicates with the mobile object 340 using a communication method different from that of the communication unit 300. For example, the communication unit 300 may be a wireless LAN, and the communication device 330 may be a Bluetooth Low Energy (BLE) system. By using the communication device 330, it is possible to obtain information about the state of the mobile object 340 even when the mobile object 340 is located in an area where communication with the communication unit 300 is not possible. The communication device 330 may obtain, for example, the same type of information from the mobile object 340 as the information detected by the sensor 320. This makes it possible to obtain information about the state of the mobile object 340 even when there is a mobile object 340 that does not pass through the sensing range of the sensor 320.

[0021] The state detection unit 310 acquires information about the state of the moving object 340 from the sensor 320 and the communication device 330, and transmits the acquired information to the communication unit 300. The communication unit 300 acquires information about the state of the moving object 340 from the state detection unit 310, and transmits the acquired information to the operation planning device 100.

[0022] The operation planning device 100 includes storage units 110 to 150, a plan processing unit 160, a command unit 170, and a communication unit 180. An input unit that inputs information to each of the storage units 110 to 150 may be provided. The input unit may acquire information input by a user using a keyboard, a mouse, a touch panel, a voice input means, or the like, and store the information in each of the storage units 110 to 150.

[0023] The carry-out instruction storage unit 110 stores data related to shelf carry-out instructions. A shelf carry-out instruction includes either an instruction to move the shelf to any square (destination area) in the carry-out area 410, or an instruction to move it from the carry-out area 410 to a predetermined position outside the storage area (for example, a position where a user who will pick up an item is located). Any square in the carry-out area 410 corresponds to a destination area (target square), which is a unit area to which the shelf instructed to be carried out will be moved.

[0024] FIG. 3 shows an example of data stored in the carry-out instruction storage unit 110. Three carry-out instructions are stored, and the shelves to be carried out (target shelves) are shelves with shelf IDs 3, 10, and 8. The shelf with shelf ID X will be described as shelf X. One carry-out instruction specifies one shelf. However, one carry-out instruction may specify multiple shelves. The data stored in the carry-out instruction storage unit 110 includes information about multiple target shelves among the multiple shelves located in any square (unit area) in the storage area.

[0025] The shelf arrangement storage unit 120 stores data relating to the positions of shelves arranged in the storage area.

[0026] FIG. 4 shows an example of data stored in the shelf arrangement storage unit 120. A shelf ID and a square ID that identifies the square in which the shelf identified by the shelf ID is located are stored. The square ID is an ID that identifies a square in the storage area. A square with a square ID of Y is written as square Y. The correspondence between the square ID and the position of the square (x coordinate and y coordinate) is defined in the data stored in the storage area arrangement storage unit 150, which will be described later.

[0027] The moving object location storage unit 130 stores data relating to the location where the moving object is located (initial location of the moving object).

[0028] FIG. 5 shows an example of data stored in the moving object location storage unit 130. A moving object ID and a square ID are stored. A moving object with a moving object ID of Z is described as moving object Z. For example, moving object 1 is initially (i.e., at the time of planning) placed in square 5. If a moving object is located in an area outside the storage area, an ID according to its location may be defined.

[0029] The moving object motion storage unit 140 stores data relating to a motion plan for a moving object generated by the plan processing unit 160. Initially (at the start of planning), no data may be stored.

[0030] FIG. 6 shows an example of data stored in the moving object motion storage unit 140. The data stores a moving object ID and a motion plan for the moving object identified by the moving object ID. The motion plan is specified by the motion content to be performed by the moving object, the square where the motion is to be performed, and the start time of the motion. In this example, moving object 1 rotates 90 degrees to the right at time 1, starts moving to square 3 at time 2, lifts shelf 3 at square 3 at time 3, and starts moving from square 3 to square 4 with shelf 3 lifted at time 13. Information about each moving object (e.g., specification information), such as the moving object's speed, the time required to change direction, and the time required to lift or lower the shelf, is predetermined for each moving object. These specifications may be common to all moving objects or may differ for each moving object. Information about the moving objects may be stored in the moving object location storage unit 130 or another storage unit.

[0031] The storage area arrangement storage unit 150 stores the position (xy coordinates) of each square in the storage area and data on whether each square is a carry-out area 410 or not.

[0032] FIG. 7 shows an example of data stored in the storage area layout storage unit 150. The data includes a cell ID, an x-coordinate, a y-coordinate, and an output area flag. For example, if the storage area is a grid-like area including five cells vertically and five cells horizontally, with a total of 25 cells, there will be cell IDs ranging from 1 to 25. For example, if the x-coordinate and y-coordinate of the top-left cell are set to zero, and the distance between adjacent cells is set to 1, there will be 25 possible x- and y-coordinates, from (0, 0) to (4, 4). The output area flag is "True" if the cell corresponds to the output area 410, and "False" if it does not. The data stored in the storage area layout storage unit 150 includes information about the storage area and information about multiple destination areas, which are unit areas to which multiple target shelves will be moved.

[0033] The plan processing unit 160 performs processing to create an operation plan (see FIG. 6) for a moving body to move a target shelf specified by data in the carry-out instruction storage unit 110 to the carry-out area 410 or to move the target shelf to a predetermined position via the carry-out area 410. Details of the plan processing unit 160 will be described later.

[0034] The communication unit 180 communicates with a communication unit 300 installed in at least one of the storage area and outside the storage area.

[0035] The command unit 170 is a control unit that executes the motion plan for the moving body 340 generated by the plan processing unit 160 by controlling the moving body 340. The command unit 170 reads data related to the motion plan for the moving body 340 from the moving body motion storage unit 140, and generates a control command to control the motion of the moving body 340 based on the read data. The command unit 170 transmits the generated control command to the moving body 340, thereby controlling the motion of the moving body 340.

[0036] The plan processing unit 160 includes a carry-out group setting unit 161 , a carry-out path calculation unit 162 , a shelf movement planning unit 163 , and a moving object motion planning unit 164 .

[0037] First, an overview of the operation of the planning processing unit 160 will be explained. The planning processing unit 160 divides multiple target shelves into multiple groups (hereinafter referred to as carry-out groups). Each carry-out group includes one or more target shelves. For each carry-out group, an area that can be exclusively used to move the target shelves to the carry-out area 410 (occupied area) is set so that there is no overlap between carry-out groups. The occupied area is an area that includes multiple adjacent squares (unit areas) that can be exclusively used, and as an example, includes the unit area where the target shelf is located, the destination area of ​​the target shelf, and at least one empty area (blank cell).

[0038] The plan processing unit 160 independently calculates or determines a route (hereinafter referred to as a carry-out route) for moving the target shelf within the occupied area to the unloading area 410 for each unloading group. The plan processing unit 160 generates a shelf movement plan (hereinafter referred to as a shelf movement plan) for moving the target shelf along the carry-out route within the occupied area.

[0039] The shelf movement plan is a plan that involves moving other shelves within the occupied area along the movement direction of the target shelf on the unloading route to form an empty square next to the square containing the target shelf, and then moving the target shelf into the empty square that has been formed, and repeating this process until the target shelf reaches the unloading area 410.

[0040] This plan corresponds to the first shelf movement plan, which moves other shelves different from the target shelf within the occupied area, changing the position of the vacant area within the occupied area, and moves the target shelf to the unloading area 410 (destination area).

[0041] In the shelf movement plan, the shelf movement required to move the target shelf to the unloading area 410 is assumed to be performed only within the occupied area of ​​the transport group, and the shelf within the occupied area is not moved outside.

[0042] If there are no vacant squares in the occupied area of ​​each outgoing group, a plan may be generated to first secure a vacant square in the occupied area by moving other shelves out of the occupied area.

[0043] The plan processing unit 160 generates a motion plan for the mobile body by planning the motion of the mobile body that moves shelves (target shelf and other shelves) according to the generated shelf movement plan for each transport group. By executing the motion plan for the mobile body for each transport group using the command unit 170, it becomes possible to move multiple target shelves in parallel to the carry-out area 410 efficiently or in a short time.

[0044] The operation of the planning processing unit 160 will be described below with reference to FIG.

[0045] 8 is a flowchart showing an example of the operation of the plan processing unit 160. The flow of this operation corresponds to the flow of the information processing method according to this embodiment.

[0046] First, in step S101, the plan processing unit 160 acquires information about the target shelf from the carry-out instruction storage unit 110, and acquires correspondence data between each shelf and square from the shelf layout storage unit 120. It also acquires information about available mobile objects from the mobile object layout storage unit 130, and acquires information about storage areas from the storage area layout storage unit 150.

[0047] In step S102, the export group setting unit 161 divides the multiple target shelves into multiple groups (export groups) based on the information acquired in step S101, and sets an area (occupied area) to be occupied by each export group. The occupied areas are areas that are separated from each other (i.e., do not overlap) between export groups, and movement of a shelf within an occupied area does not affect movement of a shelf within the occupied area of ​​another export group (they do not interfere with each other). A method for setting an export group will be specifically described below.

[0048] FIG. 9 shows an example in which the export group setting unit 161 divides a plurality of target shelves into a plurality of export groups and sets an occupation area for each export group.

[0049] First, a route (exit route) for moving the target shelf to the unloading area 410 is determined. The exit route corresponds to the first route for moving the target shelf to the unloading area 410 (destination area) in the storage area. The first route is a sequence of one or more squares (unit areas). The left diagram in Figure 9 shows an example in which the shortest route, which is the route that allows each target shelf 510A, 510B, 510C to be moved the shortest distance to the unloading area 410, is determined using Dijkstra's algorithm or the like and set as the exit routes 511A, 511B, 511C.

[0050] To move a target shelf along the carry-out path, it is necessary to repeatedly create empty spaces in the direction of movement of the target shelf and move the target shelf into the empty spaces. Therefore, the area that needs to be used to move the target shelf (the area where the shelf needs to be moved) is calculated while creating empty spaces in the direction of movement of the target shelf. The calculated area is called the used area. The used area may include, for example, squares two squares wide horizontally along the movement direction of the target shelf's carry-out path. This is because other shelves in the path (forward) of the target shelf must be moved to adjacent rows. The center diagram in Figure 9 shows an example of calculating used areas 512A, 512B, and 512C for each target shelf 510A, 510B, and 510C.

[0051] Two or more target shelves whose usage areas at least partially overlap are classified into the same export group. Target shelves whose usage areas do not overlap at all are placed in separate export groups. An occupation area is set to encompass all of the usage areas of one or more target shelves belonging to an export group. The right diagram in Figure 9 shows an example in which target shelves 510A and 510B are classified into the same export group because usage areas 512A and 512B overlap, and occupation area 513 is set to encompass usage areas 512A and 512B. Usage area 512C does not overlap with either usage areas 512A or 512B, so usage area 512C is left alone as occupation area 514.

[0052] The method for generating the delivery groups does not need to be limited to this method. For example, the delivery cost of the target shelves may be roughly calculated, and the delivery groups may be grouped so that the delivery cost is minimized. For example, the delivery groups may be grouped so that the maximum time required to move all target shelves in multiple delivery groups to the destination area is minimized.

[0053] 9 includes an additional square at the top left corner compared to the combined area of ​​used areas 512A and 512B, but this square does not have to be included. An example of this is shown in FIG. 10.

[0054] Figure 10 shows another example of integrating use areas 512A and 512B of Figure 9(B). An area that is one square smaller than the combined area of ​​use areas 512A and 512B is set as occupied area 513A.

[0055] The export group setting unit 161 assigns one or more moving objects and one or more blank spaces to each export group. In the example on the right side of FIG. 9, there are two export groups, each assigned one moving object and one blank space. More specifically, moving object 1 is assigned to the export groups of shelves 510A and 510B, and moving object 2 is assigned to the export group of shelf 510C. Since one blank space C is included in the occupation area of ​​each export group, that blank space C is assigned to each export group as is. If the occupation area of ​​an export group does not include a blank space C, a blank space outside the occupation area can be assigned to that export group. A blank space outside the occupation area is, for example, a blank space that does not belong to any export group or a blank space that belongs to an export group with an excess of blank spaces.

[0056] Allocating an empty space means confirming that there is at least an empty space within the occupied area. Alternatively, if there is no empty space, it means confirming that it is possible to create (secure) an empty space C within the occupied area by moving shelves other than the target shelf within the occupied area to an outside area. Allocating a moving object means securing a moving object that can be used exclusively in the occupied area.

[0057] If the number of moving objects is greater than the number of output groups, two or more moving objects may be assigned to one output group. In this case, for example, the more target shelves an output group has, the more moving objects may be assigned to it. Similarly, if the number of blank spaces is greater than the number of output groups, two or more blank spaces may be assigned to some output groups. In this case, for example, the more target shelves an output group has, the more blank spaces may be assigned to it. Grouping and at least one of the allocation of moving objects and blank spaces may be performed so as to minimize the maximum time required to move all target shelves in multiple output groups to the destination area.

[0058] In step S103, the carry-out path calculation unit 162 calculates the carry-out path of the target shelf for each carry-out group. The carry-out path of the target shelf is a path for moving the target shelf to the carry-out area 410 included in the occupation area of ​​the carry-out group. The transport path of the target shelf corresponds to a second path for moving the target shelf to the destination area within the occupation area for each group. The second path is a sequence of one or more squares (unit areas). Any path may be calculated as long as only squares within the occupation area of ​​the carry-out group are used. For example, the path to the carry-out area 410 calculated when setting the carry-out group, such as the shortest path calculated using Dijkstra's algorithm, may be used as is, or it may be calculated using any other method. If the carry-out paths of multiple target shelves within a carry-out group overlap, the carry-out path may be changed so that the carry-out paths do not overlap, or the order of the target shelves to be carried out may be determined. The order of carry-out may be determined using methods such as the highest priority of the target shelves or the shortest distance to the carry-out area 410.

[0059] In step S104, the shelf movement planning unit 163 generates a shelf movement plan (first shelf movement plan) so that the target shelf can be moved to the unloading area 410 along the unloading path generated by the unloading path calculation unit 162. The shelf movement plan includes moving other shelves in the direction of movement of the target shelf along the unloading path so that a cell adjacent to the cell containing the target shelf becomes a blank space, and then moving the target shelf to that blank space, repeating this process until the target shelf reaches the unloading area 410. The plan to move other shelves so that a cell adjacent to the cell of the target shelf becomes a blank space can be said to include a plan to change the position of the blank space (blank space movement plan). By creating a blank space in front of the movement direction of the target shelf to be moved, it is possible to move the target shelf to the adjacent space. If there are multiple blank spaces assigned to one unloading group, all or some of the blank spaces may be used. For example, it is possible to line up multiple blank spaces in the direction of movement of the target shelf and move the target shelf by the number of blank spaces at once. In the above-described steps S103 and S104, the transport route and shelf movement plan may be generated so as to reduce the total time required for each outgoing group to move all target shelves in the occupied area to the destination area.

[0060] Figure 11 shows an example of generating a shelf movement plan. For illustrative purposes, a different example from Figures 9 and 10 is used in this example. A simplified storage area consisting of two rows of squares is shown. The numbers in the rectangles representing each shelf indicate the shelf's ID. The coordinates of each square are shown in the lower left. Consider the case where a target shelf 510T is moved to the unloading area 410 along the unloading path 511T. As shown in state ST1, in order to leave the squares adjacent to the target shelf 510T in the direction of movement of the target shelf 510T blank, each of the other shelves 520 is moved in the direction of the black arrows shown in the figure, resulting in state ST2. Since the square adjacent to the target shelf 510T becomes blank square C, the target shelf 510T is moved to blank square C, as shown in the direction of the black arrow. This results in state ST3. Similarly, in order to leave the squares adjacent to the target shelf 510T in the direction of movement blank, each of the other shelves 520 is moved in the direction of the black arrow, resulting in state ST4. Since the square adjacent to the target shelf 510T has become a blank square C, the target shelf 510T is moved to the blank square C as shown in the direction of the black arrow. This results in state ST5. Similarly, in order to make the square adjacent to the movement direction of the target shelf 510T a blank square, the other shelves 520 are moved in the direction of the black arrow, resulting in state ST6. Since the square adjacent to the target shelf 510T has become a blank square C, the target shelf 510T is moved to the blank square C as shown in the direction of the arrow. This results in state ST7, and the target shelf 510T reaches the unloading area 410 (destination area). In this way, a plan is generated to move the target shelf 510T to the unloading area 410.

[0061] An example of a shelf movement plan and a blank cell movement plan for the example in Figure 11 is shown below. For the sake of explanation, each cell is identified by the x and y coordinates shown in the lower left of Figure 11. However, each cell may also be identified by a cell ID.

[0062] (Example of shelf movement plan) 1. Move shelf 1 to (1,0) 2. Move shelf 2 to (0,0) 3. Move shelf 3 to (0,1) 4. Move shelf 8 to (0,2) 5. Move shelf 9 (target shelf 510T) to (1,2) 6. Move shelf 3 to (1,1) 7. Move shelf 8 to (0,1) 8. Move shelf 4 to (0,2) 9. Move shelf 7 to (0,3) 10. Move shelf 9 (target shelf 510T) to (1,3) 11. Move shelf 4 to (1,2) 12. Move shelf 7 to (0,2) 13. Move shelf 5 to (0,3) 14. Move shelf 6 to (0,4) 15. Move shelf 4 to (1,2) 16. Move shelf 9 (target shelf 510T) to (1,4)

[0063] (Example of blank space movement plan) 1. Create a blank square at (1,2) 2. Create a blank square at (1,3) 3. Create a blank square at (1,4)

[0064] In step S105, the mobile object motion planning unit 164 plans the motion of the mobile object that executes the shelf movement plan generated by the shelf movement planning unit 163 for each carry-out group, and generates a motion plan (first motion plan) for the mobile object. The motion of the mobile object includes, for example, moving, lifting a shelf, lowering a shelf, and rotating to change direction. The action of lifting a shelf, moving to another square with the shelf lifted, and lowering the shelf in that other square are considered to be a series of actions, and by repeating this series of actions, the target shelf is moved to the carry-out area 410. After this, the target shelf may be further moved outside the carry-out area 410. If there are multiple mobile objects assigned to the carry-out group, all or some of the multiple mobile objects may be used. When multiple mobile objects are used and multiple blank squares are available, a series of actions can be assigned in order to efficiently form multiple consecutive blank squares.

[0065] 9, for the carry-out group including the target shelves 510A and 510B, an operation plan is generated for the moving body 1 to move the target shelves 510A and 510B and other shelves 520 within the occupation area 513 in accordance with the shelf movement plan generated by the shelf movement planning unit 163. Furthermore, for the carry-out group including the target shelf 510C, an operation plan is generated for the moving body 2 to move the target shelf 510C and other shelves 520 within the occupation area 513 in accordance with the shelf movement plan generated by the shelf movement planning unit 163.

[0066] Fig. 12 is a diagram showing an example of generating an operation plan for a moving object. Here, as an example, an example of planning the operation of the moving object 1 when moving from state ST1 to state ST2 shown in Fig. 11 is shown. Each square is identified by the x and y coordinates shown in the lower center of Fig. 12, but each square may also be identified by a square ID.

[0067] The moving object 1 moves from (1,1) to (0,0) (path P1 indicates the path of the moving object 1 when moving to (0,0)), and lifts up the shelf 520_1. With the shelf 520_1 lifted, the moving object 1 moves to (1,0), and then, as shown in state ST2, lowers the shelf 520_1 (path P2 indicates the path of the moving object 1 when moving to (1,0)).

[0068] The moving object 1 moves to (0,1) in state ST1, lifts the shelf 520_2, moves to (0,0), and lowers the shelf 520_2 as shown in state ST2.

[0069] The moving object 1 moves to (0, 2) in state ST1, lifts the shelf 520_3, moves to (0, 1), and lowers the shelf 520_3 as shown in state ST2.

[0070] The moving object 1 moves to (1, 2) in state ST1, lifts the shelf 520_4, moves to (0, 2), and lowers the shelf 520_4 as shown in state ST2. As a result, (1, 2) below the target shelf 510T becomes a blank square.

[0071] The moving object 1 moves to (1,1) in state ST1, lifts the target shelf 510T, moves to (1,2), and lowers the target shelf 510T.

[0072] When the moving object 1 changes its direction of movement, it may perform a direction change operation in the direction of movement.

[0073] A motion plan for the moving body is generated by generating control commands for performing the above-described motion of the moving body 1 and arranging the generated control commands in accordance with time. For example, the following control commands can be generated for the example shown in Fig. 12. Here, the moving body is assumed to have the function of automatically changing direction (changing direction) depending on the destination, so no control command for changing direction is included, but a control command for changing direction may also be included.

[0074] (Control command sequence) 1. Move to (0,0) 2. Lift shelf 520_1 3. Move to (1,0) 4. Lower shelf 520_1 5. Move to (0,1) 6. Lift shelf 520_2 7. Move to (0,0) 8. Lower shelf 520_2 9. Move to (0,2) 10. Lift shelf 520_3 11. Move to (0,1) 12. Lower shelf 520_3 13. Move to (1,2) 14. Lift shelf 520_4 15. Move to (0,2) 16. Lower shelf 520_4 17. Move to (1,1) 18. Lift the target shelf 510T 19. Move to (1,2) 20. Lower the target shelf 510T

[0075] The plan processing unit 160 stores the data of the motion plan of each moving body 340 (moving body 1, moving body 2) generated by the moving body motion planning unit 164 in the moving body motion storage unit 140.

[0076] The command unit 170 reads out the data of the motion plans of the moving bodies 1 and 2 from the moving body motion storage unit 140, and generates control commands to control the motion of the moving bodies 1 and 2. The command unit 170 transmits the generated control commands to the moving bodies 1 and 2. This causes the moving bodies 1 and 2 to execute the motions indicated in their respective motion plans. The moving bodies 1 and 2 each operate in accordance with the control commands. That is, the moving bodies 1 and 2 move each shelf in their assigned occupied areas, and move the target shelf to the unloading area 410. Thereafter, the target shelf may be lowered in the unloading area 410, or the target shelf may be moved to a predetermined external position. In this case, a control command to move to the predetermined position may be included in the motion plan of the moving bodies.

[0077] As described above, according to this embodiment, multiple target shelves are divided into multiple unloading groups, an occupation area is assigned to each unloading group, and the target shelves within each occupation area are moved to the unloading area independently for each unloading group. This prevents collisions of moving objects and interference between shelves when moving shelves within the occupation area, allowing multiple target shelves to be moved efficiently and simultaneously in parallel. This reduces the time required to complete the movement of all target shelves.

[0078] (Other examples of operation) If there are multiple target shelves within the occupied area, these target shelves may be merged during transport and then moved together. The respective carry-out routes of multiple target shelves are merged midway to form the same route. Multiple target shelves are merged at the merged location (merging point). Merging means that multiple target shelves are located in two or more adjacent squares in the direction of movement. After merging, the multiple target shelves are moved along the same route so as to maintain their adjacent state. Maintaining an adjacent state means that no other shelves are placed between the target shelves (empty squares may be temporarily inserted). The target shelf that arrives first at the unloading area 410 may be moved outside the unloading area 410, and then the following target shelf may also be moved to the unloading area 410 and moved further outside. The number of target shelves that are merged may be any number greater than two, such as three or four.

[0079] FIG. 13 shows an example of generating a shelf movement plan for moving two target shelves so that they merge midway and maintain their adjacent state. State ST11 shows the state of the occupied area 513 shown in the right diagram of FIG. 9 . By merging the target shelves 510A and 510B and positioning them in adjacent squares in the same vertical column, state ST12 is reached. As shown in states ST13, ST14, and ST15, the target shelves 510A and 510B are moved along the same route to maintain their adjacent state while forming empty squares in the movement direction (downward) of the target shelves 510A and 510B. As shown in state ST16, the target shelf 510A, which arrived at the unloading area 410 first, is moved by the moving body to a predetermined location outside the unloading area 410 (e.g., a user's picking location). After that, the moving body returns, and the target shelf 510B is moved to the unloading area 410 as shown in state ST16. After this, the target shelf 510B may also be removed to the outside of the unloading area 410 and moved to a predetermined location.

[0080] As described above, multiple target shelves are made to meet midway through transport, and then these target shelves are transported to the unloading area 410 so as to maintain an adjacent state. This allows the target shelves to be moved to the unloading area 410 more efficiently or in a shorter time than if they were moved separately in order.

[0081] (Variation 1) In the first embodiment described above, the unloading area 410 is provided at the lower edge of the storage area, but it may also be provided at other edges, such as the upper, right, or left side. Furthermore, unloading areas may be provided at two or more edges. Furthermore, the unloading area may be provided inside the edge of the storage area, rather than at the edge. For example, suppose there is an elevator in the center of the storage area that connects to floors above or below the storage area. The unloading area may be provided in a position facing the elevator.

[0082] (Variation 2) In the first embodiment described above, a motion plan for a moving object is generated based on a shelf movement plan, and the moving object executes the motion plan to execute the plan, thereby achieving execution of the shelf movement plan. However, the shelf movement plan may also be executed by a worker. In this case, the shelf movement plan may be transmitted to a terminal that the worker can operate, allowing the worker to confirm the shelf movement plan. In addition, in the storage area, aisles through which the worker can move may exist between squares, allowing the worker to move to any square through the aisles. For example, the worker may move the shelf to the adjacent square by pushing the shelf in the square. By multiple workers simultaneously moving shelves in the occupied area according to their respective shelf movement plans, the target shelf can be efficiently moved to the unloading area 410.

[0083] Second Embodiment In the first embodiment described above, the number of export groups generated by the export group setting unit 161 was equal to the number of blank cells in the storage area and the number of available moving bodies. In the second embodiment, the case where the number of blank cells and / or the number of moving bodies is smaller than the number of export groups (the case where the number of export groups is greater than the number of blank cells and / or the number of moving bodies) is shown. In the following, only the differences between the first embodiment and the second embodiment will be described.

[0084] When at least one of the number of blank spaces in the storage area and the number of available moving bodies is smaller than the number of generated export groups, the export group setting unit 161 performs the following process. Below, first to third examples are shown as examples of the process.

[0085] As a first example, two or more carry-out groups are combined into one, so that the number of carry-out groups is equal to or less than the number of empty spaces or the number of moving objects, whichever is smaller. This adjusts the number of carry-out groups so that the number of groups is equal to or less than the number of moving objects available in the storage area (carry-out group number adjustment process).

[0086] FIG. 14 shows an example of merging two unloading groups. As shown in the left figure, there are three groups: a first transport group including target shelves 530A and 530B, a second transport group including target shelf 530C, and a third transport group including target shelf 530D. The occupied area of ​​the first transport group is occupied area 531, the occupied area of ​​the second transport group is occupied area 532, and the occupied area of ​​the third transport group is occupied area 533. Meanwhile, there are two blank spaces in the storage area, and there are two available mobile objects: mobile object 1 and mobile object 2. In this case, as shown in the right figure, the second transport group and the third transport group are merged into one transport group, and occupied areas 532 and 533 are merged into occupied area 534. In this example, in order to minimize the area when integrating, the leftmost vertical column of the area obtained by taking the logical OR of occupied areas 532 and 533 (the leftmost vertical column of occupied area 532) is removed, but the area obtained by taking the logical OR of occupied areas 532 and 533 may also be used.

[0087] As a second example, one or more blank cells are commonly assigned to a plurality of carry-out groups, or one or more moving bodies are commonly assigned to a plurality of carry-out groups (blank cell / moving body commonization process).

[0088] FIG. 15 shows an example of assigning a moving object to multiple transport groups. Moving object 1 is assigned to a first transport group including target shelves 530A and 530B (541), and moving object 2 is assigned to two transport groups: a second transport group including target shelf 530C and a third transport group including target shelf 530D (542, 543). When a moving object is assigned to multiple output groups, the moving object is used to move between the multiple output groups. For example, after completing the operation plan for either the second or third output group, moving object 2 executes the operation plan for the other output group. In other words, the plan processing unit 160 determines the order in which the operation plans are executed: one transport group, then the other output group.

[0089] FIG. 16 shows an example in which moving objects and blank spaces are assigned to multiple transport groups. Moving object 1 is assigned to the first transport group including target shelves 530A and 530B (541), and moving object 2 is assigned to two transport groups: the second transport group including target shelf 530C and the third transport group including target shelf 530D (542, 543). Furthermore, blank space C12 is assigned to the second and third transport groups (544). Blank space C11 is assigned to the first transport group. When blank spaces are assigned to multiple output groups, shelf 520 may also be moved between the multiple output groups. For example, after the operation plan for the third output group is completed, shelf 520 may be moved from occupied area 532 to occupied area 533 to form a blank space in occupied area 532. In other words, the shelf movement plan (first shelf movement plan) of the second transport group includes moving a shelf within the occupied area 532 out of the occupied area 532 and adding a blank space within the occupied area 532. Adding a blank space can also be said to be moving a blank space in the occupied area 533 to the occupied area 532. This plan to add a blank space corresponds to the second shelf movement plan (blank space movement plan). The second shelf movement plan may be generated based on the shelf arrangement state within the occupied area 533 or the shelf arrangement state in the storage area after the operation plan of the third transport group is executed. In this case, these operation plans are executed in the order of the operation plan of the third transport group and then the operation plan of the second transport group. Note that if a blank space exists in an area that does not belong to any occupied area or if there is an extra blank space in the occupied area 533, processing according to the fifth embodiment described below may be performed.

[0090] As a third example, a blank space or a moving object in a storage area other than the storage area being planned is used (blank space / moving object borrowing process).

[0091] FIG. 17 shows an example in which a moving object in another storage area 551 is used in storage area 550. Moving objects 3 and 4 are available in other storage area 551, and this example shows an example in which moving object 3 is additionally used in storage area 550. Two output groups exist in other storage area 551, and respective occupation areas 581 and 582 exist. Moving objects 3 and 4 are assigned to the two output groups, respectively (562 and 563). Moving object 4 is also assigned to a transport group including target shelf 530D in storage area 550 (561). In other words, moving object 3 is used in both storage areas 550 and 551. When a moving object is assigned to multiple storage areas, it may be used to move between the multiple storage areas. Moving object 3 may move to storage area 550 after executing the operation plan in other storage area 551. By using the moving body 3 in another storage area 551, the execution of the operation plan for the occupied area 533 can be started early when the execution of the operation plans for the occupied areas 531 and 532 in the storage area 550 has not been completed.

[0092] FIG. 18 shows an example in which, similar to the example in FIG. 17 , a moving object in another storage area 551 is used in storage area 550, and an empty space in another storage area 551 is also used in storage area 550. Empty spaces C24 and C25 are available in another storage area 551, and this example shows how empty space C25 is used in storage area 550. Two output groups exist in another storage area 551, and empty spaces C24 and C25 are assigned to each of these output groups. Empty space C24 is also assigned (571) to a transport group that includes target shelf 530D in storage area 550. When empty space C24 is assigned to multiple storage areas, an empty space may be created in occupied space 533 by moving shelf 520 from occupied space 533 in storage area 550 to occupied space 582 in another storage area 551. There may also be cases in which shelf 520 is moved from an area other than occupied space 533 within storage area 550. In this case, shelves 520 in occupied area 533 are moved to another area in storage area 550. The formation (addition) of a blank space in occupied area 533 is performed after the operation plan for occupied area 582 in another storage area 551 has been executed. The blank space may be formed by a moving body in the transport group of occupied area 533. By utilizing the blank space in another storage area 551, the execution of the operation plan for occupied area 533 can be started early if the execution of the operation plans for occupied areas 531 and 532 in storage area 550 has not been completed.

[0093] Two or three of the above-described first to third example processes may be performed simultaneously.

[0094] It is also possible to determine a criterion for each of the processes in the first to third examples, and perform the process to satisfy the criterion. The criterion can be determined based on the number of target shelves in the carry-out group, the priority of carry-out of the target shelves, the length of the carry-out path of the target shelves, or the distance between the carry-out groups.

[0095] For example, in the processing of the first example described above, if a target shelf with a high priority is determined among the target shelves, the target shelf in the output group including the high-priority target shelf may be excluded from the integration targets when the output groups are integrated so that the target shelf can be quickly unloaded. Similarly, transport groups including target shelves with long output routes may also be excluded from the integration targets. The output groups excluded from the integration targets are not limited to output groups including target shelves with high priority or long output routes, and the output groups excluded from the integration targets may also be determined based on other conditions.

[0096] Furthermore, the output groups may be integrated if they are close to each other (i.e., if their occupied areas are close to each other). Alternatively, the output groups may be integrated so that the variation in the average priority of the target shelves between the output groups is minimized or reduced after integration.

[0097] In the above-described example of the second process, when multiple empty spaces or multiple moving objects are assigned to multiple carrying-out groups, at least one empty space or at least one moving object may be assigned exclusively to a target shelf with a high priority. The same may be done for a target shelf with a long carrying-out path.

[0098] In the example of the third process described above, when there are multiple other storage areas, the storage area from which moving objects or empty spaces can be borrowed may be the storage area closest to the storage area being planned, or may be a storage area in which at least one of the number of empty spaces and the number of moving objects is greater than the number of groups being carried out.

[0099] As described above, according to this embodiment, even if at least one of the number of empty squares and the number of movable objects is less than the number of unloading groups, multiple target shelves can be efficiently moved to the unloading area by adjusting the number of transport groups. Also, by using empty squares or movable objects for multiple transport groups or borrowing empty squares or movable objects from other storage areas, multiple target shelves can be efficiently moved to the unloading area.

[0100] <Third embodiment> The third embodiment is a form in which at least one of the number of blank spaces and the number of moving objects is greater than the number of carrying-out groups. Only the differences from the first embodiment will be described below.

[0101] When the number of generated export groups is greater than the number of at least one of the blank cells and the moving bodies, the export group setting unit 161 assigns a plurality of blank cells or a plurality of moving bodies to at least one export group, or assigns a plurality of blank cells and a plurality of moving bodies to at least one export group.

[0102] FIG. 19 shows an example of assigning multiple moving objects to one outgoing group when the number of moving objects is greater than the number of outgoing groups. Moving objects 1 to 4 are available, and moving objects 1 and 2 are assigned to a first transfer group including target shelves 530A and 530B. Moving object 3 is assigned to a second transfer group including target shelf 530C, and moving object 4 is assigned to a third transfer group including target shelf 530D. Similarly, when there are more empty spaces than the number of transfer groups, multiple empty spaces can be assigned to one transfer group. The same criteria as those described in the second embodiment may be used to assign empty spaces and moving objects. For example, multiple empty spaces, multiple moving objects, or multiple empty spaces and multiple moving objects may be assigned to an outgoing group including a target shelf with a high priority. It is not necessary to use all empty spaces and all moving objects; some empty spaces or moving objects may not be assigned.

[0103] As described above, according to this embodiment, by assigning multiple empty spaces, or multiple moving bodies, or multiple empty spaces and multiple moving bodies to a transport group, one or more target shelves within the transport group can be moved to the unloading area in a shorter time.

[0104] <Fourth embodiment> In the second embodiment, processing was described for when there are no blank squares or there are insufficient blank squares in the occupied area of ​​the generated transport group, but in the fourth embodiment, yet another case of processing in this case is shown. In the second embodiment, processing of a transport group that does not have any blank squares is put on hold until processing of another transport group is completed, but in the fourth embodiment, when there are extra (unused) blank squares, the blank squares are moved to the occupied area in advance (before calculating the transport route).

[0105] 20 is a block diagram of an operation planning system 1A according to the fourth embodiment. A blank square movement planning unit 165 is added to a planning processing unit 160A. Since the other elements are the same as those in the first embodiment, the same reference numerals are used and detailed descriptions are omitted as appropriate.

[0106] Fig. 21 is a flowchart showing an example of the operation of the planning processing unit 160A in Fig. 20. Step S106, in which processing by the blank square movement planning unit 165 is performed, is added immediately after step S102 in the flowchart of the operation in the first embodiment (see Fig. 8).

[0107] The empty cell movement planning unit 165 checks whether any of the multiple transfer groups generated by the output group setting unit 161 has any empty cells in its occupied area (or any transfer group with fewer empty cells than desired) (S106). If any empty cells exist (YES in S106), the unit generates a shelf movement plan (empty cell movement plan or second shelf movement plan) for creating (adding) empty cells within the occupied area (S107). In other words, the empty cell movement plan can be considered a plan for moving empty cells located in an area outside an occupied area into the occupied area. The outside area may be an area that does not belong to any occupied area, or it may be another occupied area (e.g., when multiple empty cells exist in another occupied area). After generating the empty cell movement plan, the output path calculation unit 162 calculates the output path for the target shelf based on the shelf arrangement state after empty cells are secured in the occupied area by the empty cell movement plan (S103). The shelf movement planning unit 163 generates shelf movement plans for each transfer group (S104). The mobile body motion planning unit 164 generates a mobile body motion plan so that the empty space movement plan is executed before the shelf movement plan (first shelf movement plan) of each transport group (S105). The method for generating the mobile body motion plan for the empty space movement plan may be the same as the method for generating the mobile body motion plan for the shelf movement plan in the first embodiment.

[0108] Figure 22 is a diagram illustrating an example of generating a blank space movement plan. There are two blank spaces in the occupied area 591 of the first transport group, which includes the target shelf 530E, but there are no blank spaces in the occupied area 592 of the second transport group, which includes the target shelf 530F. A plan is generated to move one of the two blank spaces in the occupied area 591 to the occupied area 592. Specifically, as shown by the arrowed line in the left diagram, a plan is generated to move four other shelves 520. By executing this plan, a blank space can be secured (added) in the occupied area 592, as shown in the right diagram.

[0109] When securing multiple empty squares within an occupied area, if it is possible to secure a path that does not interfere with each other when moving each empty square (if it is possible to secure an occupied area of ​​two squares in each direction of movement), a plan may be generated to move the empty squares in parallel using multiple moving objects. The multiple moving objects used in this case may include moving objects assigned to the corresponding transport group as well as moving objects assigned to other carry-out groups. If it is not possible to secure a path that does not interfere with each other, a plan may be generated to move the empty squares in sequence, or to move them in parallel while adjusting the timing of the movement of the empty squares so that they do not interfere with each other.

[0110] (Other examples of operation) After the blank cell movement plan is generated by the blank cell movement planning unit 165, the blank cell movement plan may be actually executed, and a blank cell may actually be secured (added) to the occupation area of ​​the carry-out group, after which the carry-out path calculation unit 162 may perform processing. In this case, the mobile body movement planning unit 164 generates a moving body movement plan (second movement plan) for executing the blank cell movement plan based on the blank cell movement plan, and causes the command unit 170 to execute the generated movement plan. The command unit 170 controls one or more moving bodies 340 in accordance with the movement plan, and secures a blank cell in the corresponding occupation area. Thereafter, the command unit 170 notifies the carry-out path calculation unit 162 of the completion of execution of the movement plan, and the carry-out path calculation unit 162 starts processing. The moving bodies 340 used to secure the blank cell may be any one or more moving bodies 340.

[0111] Fifth Embodiment In the fourth embodiment described above, when generating a blank cell movement plan to move blank cells from another area to an occupied area that lacks blank cells, it is possible that the entry of a blank cell into the occupied area will cause the target shelf that was in the occupied area to be moved out of the area. The fifth embodiment is an embodiment that addresses this situation. Below, only the parts that differ from the fourth embodiment will be described.

[0112] FIG. 23 is a block diagram of an operation planning system 1B according to the fifth embodiment. A blank cell movement planning unit 165A is added to the planning processing unit 160B. The function of the blank cell movement planning unit 165A is basically the same as that of the blank cell movement planning unit 165 in the fourth embodiment, but some processing has been expanded. Since the other elements are the same as those in the fourth embodiment, the same reference numerals are used and detailed explanations are omitted as appropriate.

[0113] Fig. 24 is a flowchart showing an example of the operation of the planning processing unit 160B in Fig. 23. Step S108 of determination processing by the blank cell movement planning unit 165A is added after step S107 of the flowchart of the operation of the fourth embodiment (see Fig. 21).

[0114] When the empty cell movement planning unit 165A generates an empty cell movement plan, it determines whether the target shelf included in the occupied area can be moved outside the area when moving the empty cell to the occupied area of ​​the carry-out group in the generated plan (S108). If the target shelf cannot be moved outside the occupied area (NO in S108), the process proceeds to step S103. If the target shelf can be moved outside the occupied area (YES in S108), the carry-out group setting unit 161 again executes processing such as setting the carry-out group and the occupied area (S102), and all target shelves are included in one of the multiple transport groups. After this, the empty cell movement planning unit 165A performs processing again, and if the assigned empty cell is within the occupied area (NO in S106), the process proceeds to step S103. If the assigned empty cell is outside the occupied area (YES in S106), the empty cell movement plan is generated in the same manner as described above (S107). When the empty square is moved to the occupation area of ​​the carry-out group, it is determined whether or not the target shelf included in the occupation area can be moved outside the occupation area (S108).

[0115] The moving body motion planning unit 164 generates a motion plan for the moving body so as to execute all of the blank cell movement plans generated by the blank cell movement planning unit 165A in the order in which they were generated.

[0116] FIG. 25 shows an example in which the target shelf is moved out of the transport group's occupation area and the transport group setting is reprocessed. As shown in the left figure, there are two empty squares in the occupation area 601 of the first transport group, which includes the target shelf 530G. On the other hand, there are no empty squares in the occupation area 602 of the second transport group, which includes the target shelves 530J, 530K, 530L, and 530M. As shown in the center figure, a plan (empty square moving plan) is generated to move one of the two empty squares in the occupation area 601 of the first transport group to the occupation area 602. This plan secures an empty square in the occupation area 602, but moves the target shelf 530L out. By performing the transport group setting process again based on this plan, a new first transport group is set up, including the target shelves 530G and 530L, and a new second transport group is set up, including the target shelves 530J, 530K, and 530M, as shown in the right figure. Since there are no blank cells in the new first transport group's occupied area 603, the blank cell movement planning unit 165A generates a plan to secure a blank cell (blank cell movement plan). After that, this procedure is repeated until the target shelf does not move outside the occupation area of ​​the outgoing group.

[0117] (Other examples of operation) As with the other operation examples of the fourth embodiment, each time a blank space movement plan is generated by the blank space movement planning unit 165A, the blank space movement plan may be actually executed to actually secure a blank space in the occupation area of ​​the carry-out group. In this case, the mobile body movement planning unit 164 generates a moving body movement plan (second movement plan) for executing the blank space movement plan each time a blank space movement plan is generated, and causes the command unit 170 to execute the generated movement plan. The command unit 170 controls one or more moving bodies 340 in accordance with the movement plan to secure a blank space in the occupation area of ​​the transport group.

[0118] (Hardware configuration) 26 shows the hardware configuration of a travel schedule creation device according to any one of the first to fifth embodiments. The travel schedule creation device is made up of a computer device 700. The computer device 700 includes a CPU 701, an input interface 702, a display device 703, a communication device 704, a main storage device 705, and an external storage device 706, which are interconnected by a bus 707.

[0119] The CPU (Central Processing Unit) 701 executes an information processing program, which is a computer program, on the main memory device 705. The information processing program is a program that realizes each of the above-mentioned functional components of the information processing device 100. The information processing program may be realized not by a single program, but by a combination of multiple programs and scripts. Each functional component is realized by the CPU 701 executing the information processing program.

[0120] The input interface 702 is a circuit for inputting operation signals from input devices such as a keyboard, a mouse, and a touch panel to the information processing device 100.

[0121] The display device 703 displays data output from the information processing device 100. The display device 703 is, for example, but not limited to, an LCD (liquid crystal display), an organic electroluminescence display, a CRT (cathode ray tube), or a PDP (plasma display). Data output from the computer device 700 can be displayed on this display device 703.

[0122] The communication device 704 is a circuit that enables the information processing device 100 to communicate with an external device wirelessly or via a wire. Data can be input from the external device via the communication device 704. The data input from the external device can be stored in the main memory device 705 or the external memory device 706. The communication device 704 corresponds to the communication unit 180.

[0123] The main memory device 705 stores an information processing program, data required for executing the information processing program, data generated by executing the information processing program, etc. The information processing program is deployed and executed on the main memory device 705. The main memory device 705 is, for example, a RAM, a DRAM, or an SRAM, but is not limited to these. Each storage unit or database of the information processing device 100 may be constructed on the main memory device 705.

[0124] The external storage device 706 stores information processing programs, data required for executing the information processing programs, data generated by executing the information processing programs, etc. These information processing programs and data are read into the main storage device 705 when the information processing programs are executed. The external storage device 706 is, for example, a hard disk, an optical disk, a flash memory, or a magnetic tape, but is not limited to these. Each storage unit or database of the information processing device 100 may be constructed on the external storage device 706.

[0125] The information processing program may be pre-installed in the computer device 700, or may be stored on a storage medium such as a CD-ROM. The information processing program may also be uploaded onto the Internet.

[0126] Furthermore, the information processing device 100 may be configured as a single computer device 700, or may be configured as a system made up of a plurality of computer devices 700 connected to each other.

[0127] The present invention is not limited to the above-described embodiments, and the components can be modified and embodied in practice without departing from the spirit of the invention. Furthermore, various inventions can be created by appropriately combining multiple components disclosed in the above-described embodiments. For example, configurations in which some components are omitted from all the components shown in each embodiment may also be considered. Furthermore, components described in different embodiments may be appropriately combined.

[0128] This embodiment can also be configured as follows. [Item 1] Information about a storage area including a plurality of unit areas adjacent to each other, in which shelves can be placed, and in which the shelves placed in the unit areas can be moved to an empty area adjacent to the unit areas, which is a unit area in which no shelves are placed; Information about a plurality of target shelves among the plurality of shelves arranged in any one of the unit areas in the storage area; and Information about a plurality of destination areas that are the unit areas to which the plurality of target shelves are moved; Based on Dividing the plurality of target shelves into a plurality of groups each including one or more of the target shelves; determining an occupied area including a plurality of adjacent unit areas that can be exclusively used for each group, the occupied area including the unit area in which the target shelf is arranged, the destination area of ​​the target shelf, and the vacant area; generating a first shelf movement plan for each of the groups, which moves other shelves different from the target shelf within the occupied area to change the position of the vacant area, thereby moving the target shelf to the destination area; Processing section An information processing device comprising: [Item 2] the shelves are movable by a movable body that is movable within the storage area and that can hold or release the shelves; the processing unit assigns one or more moving objects to each of the groups; the processing unit generates a first operation plan for the moving body by planning, for each group, an operation of the moving body that moves the target shelf and the other shelves in accordance with the first shelf movement plan. Item 1. An information processing device according to item 1. [Item 3] a control unit that executes the first operation plan by controlling the moving objects for each of the groups; 3. The information processing device according to item 2, [Item 4] the processing unit determines a first path for moving each target shelf in the storage area to the destination area, the first path being a sequence of one or more of the unit areas; calculating a usage area including one or more of the unit areas to be used when moving the target shelf along the first path, and classifying target shelves whose usage areas at least partially overlap with each other into the same group; 4. The information processing device according to any one of items 1 to 3. [Item 5] The first path is a path that allows the target shelf to be moved to the destination area in the shortest distance. Item 5. An information processing device according to item 4. [Item 6] the processing unit determines a second path for moving the target shelf to the destination area within the occupied area for each group, the second path being a sequence of one or more unit areas, and generates the first shelf movement plan for moving the target shelf along the determined second path. 6. The information processing device according to any one of items 1 to 5. [Item 7] The second path is a path that allows the target shelf to be moved to the destination area in the shortest distance. Item 7. An information processing device according to item 6. [Item 8] the first shelf movement plan includes moving the other shelves within the occupied area to form the vacant area adjacent to the unit area including the target shelf along the second path in the movement direction of the target shelf, and moving the target shelf to the formed vacant area, and repeating this process until the target shelf arrives at the destination area. Item 8. The information processing device according to item 6 or 7. [Item 9] When the group includes two or more target shelves, the processing unit determines the second paths of the two or more target shelves so that the target shelves are integrated with each other midway along the second paths; generating the first shelf movement plan, which merges the two or more target shelves at a location where the second paths are integrated, and moves the two or more merged target shelves so as to maintain a state in which the two or more target shelves are adjacent to each other; The information processing device according to any one of items 6 to 8. [Item 10] the processing unit generates the first shelf movement plan for each group so as to reduce a total time required to move all of the target shelves in the occupied area to the destination area. 10. The information processing device according to any one of items 1 to 9. [Item 11] the processing unit divides the shelves into the plurality of groups and allocates one or more of the moving objects to the plurality of groups based on information about the moving objects so as to reduce a maximum value of the time required to move all of the target shelves in the plurality of groups to the destination area. The information processing device according to any one of items 2 and 3, or items 4 to 10 which cite item 2 or 3. [Item 12] the processing unit sets the number of groups into which the plurality of target shelves are divided to be equal to or less than the number of movable objects available in the storage area. The information processing device according to any one of items 2 and 3, or items 4 to 10 which cite item 2 or 3. [Item 13] when the number of the plurality of groups is greater than the number of movable objects available in the storage area, the processing unit determines an order of the groups in which the first shelf movement plan is to be executed and movable objects to be assigned to the groups; the control unit executes the first operation plan based on the first shelf movement plan in the determined order of the groups. The information processing device according to item 3 or any one of items 4 to 10 which cite item 3. [Item 14] the processing unit sets the number of groups into which the plurality of target shelves are divided to be equal to or less than the number of free areas present in the storage area. 14. The information processing device according to any one of items 1 to 13. [Item 15] the processing unit generates the occupied area that does not include the free area or has an insufficient number of free areas; the processing unit generates a second shelf movement plan that adds the vacant area to the occupied area by moving the other shelf within the occupied area to outside the occupied area. 15. The information processing device according to any one of items 1 to 14. [Item 16] the processing unit generates the first shelf movement plan on the premise of an arrangement of the shelves in the storage area after the free area is added by the second shelf movement plan. Item 16. An information processing device according to item 15. [Item 17] the processing unit generates a second operation plan for the moving body by planning an operation of the moving body that moves the other shelf out of the occupied area based on the second shelf operation plan; a control unit that executes the second operation plan by controlling the moving object; the processing unit generates the first shelf movement plan after the vacant area is formed in the occupied area by executing the second operation plan. Item 17. The information processing device according to item 15 or 16. [Item 18] Moving the shelf to the outside of the occupied area includes moving the shelf in the storage area to a storage area other than the storage area. 18. The information processing device according to any one of items 15 to 17. [Item 19] The plurality of unit areas are arranged in a grid of at least two rows and two columns. 19. The information processing device according to any one of items 1 to 18. [Item 20] a space through which the movable body can pass is provided between the underside of the shelf and the floor surface of the storage area; the movable body is capable of moving between the unit areas in which the shelves are arranged by moving in the space, the movable body is capable of lifting the shelf while positioned in the space in the unit area in which the shelf is arranged, or lowering the shelf that is being lifted, and is capable of moving to the empty area adjacent to the unit area in which the shelf is arranged while the shelf is lifted. The information processing device according to item 2 or 3, or any one of items 4 to 19 which cite item 2 or 3. [Item 21] Information about a storage area including a plurality of unit areas adjacent to each other, in which shelves can be placed, and in which the shelves placed in the unit areas can be moved to an empty area adjacent to the unit areas, which is a unit area in which no shelves are placed; Information about a plurality of target shelves among the plurality of shelves arranged in any one of the unit areas in the storage area; and Information about a plurality of destination areas that are the unit areas to which the plurality of target shelves are moved; Based on Dividing the plurality of target shelves into a plurality of groups each including one or more of the target shelves; determining an occupied area including a plurality of adjacent unit areas that can be exclusively used for each group, the occupied area including the unit area in which the target shelf is arranged, the destination area of ​​the target shelf, and the vacant area; generating a first shelf movement plan for each of the groups, which moves other shelves different from the target shelf within the occupied area to change the position of the vacant area, thereby moving the target shelf to the destination area; Information processing methods. [Item 22] Information about a storage area including a plurality of unit areas adjacent to each other, in which shelves can be placed, and in which the shelves placed in the unit areas can be moved to an empty area adjacent to the unit areas, which is a unit area in which no shelves are placed; Information about a plurality of target shelves among the plurality of shelves arranged in any one of the unit areas in the storage area; and Information about a plurality of destination areas that are the unit areas to which the plurality of target shelves are moved; Based on Dividing the plurality of target shelves into a plurality of groups each including one or more of the target shelves; determining an occupied area including a plurality of adjacent unit areas that can be exclusively used for each group, the occupied area including the unit area in which the target shelf is arranged, the destination area of ​​the target shelf, and the vacant area; generating a first shelf movement plan for each of the groups, which moves other shelves different from the target shelf within the occupied area to change the position of the vacant area, thereby moving the target shelf to the destination area; A computer program that is executed by a computer. [Item 23] a plurality of mobile bodies that are movable within a storage area, the storage area including a plurality of unit areas adjacent to each other, in which shelves can be placed, and in which the shelves placed in the unit areas can be moved to an empty area that is an adjacent unit area in which no shelves are placed, and in which the shelves can be moved by the mobile bodies that can hold or release the shelves; based on information about the storage area, information about a plurality of target shelves among the plurality of shelves arranged in any one of the unit areas in the storage area, and information about a plurality of destination areas which are the unit areas to which the plurality of target shelves will be moved, dividing the plurality of target shelves into a plurality of groups each including one or more of the target shelves; determining an occupied area including a plurality of adjacent unit areas that can be exclusively used for each group, the occupied area including the unit area in which the target shelf is arranged, the destination area of ​​the target shelf, and the vacant area; a first shelf movement plan is generated for each of the groups, in which the target shelf is moved to the destination area by moving other shelves different from the target shelf within the occupied area and changing the position of the vacant area, and one or more of the moving bodies are available for each of the groups; generating a first shelf movement plan for each of the groups, which moves other shelves different from the target shelf within the occupied area to change the position of the vacant area while moving the target shelf to the destination area; generating a first operation plan for the moving body by planning an operation of the moving body that moves the target shelf and the other shelves in accordance with the first shelf operation plan for each of the groups; a processing unit; a control unit that executes the first operation plan by controlling the moving objects for each of the groups; An information processing system comprising: [Explanation of symbols]

[0129] 1. Operation planning system 1A Operation Planning System 1B Operation Planning System 100 Operation planning device (information processing device) 110 Export instruction storage unit 120 Shelf arrangement storage section 130 Mobile object location storage unit 140 Mobile object operation memory unit 150 Storage section 150 Storage area arrangement memory section 160, 160A, 160B Planning processing section (processing section) 161 Carry-out group setting unit 162 Carry-out route calculation unit 163 Shelf Movement Planning Department 164 Mobile Motion Planning Unit 165, 165A Blank Space Movement Planning Section 170 Headquarters 180 Communications Department 300 Communications Department 310 Status detection unit 320 Sensors 330 Communication Equipment 340 Mobile 410 Export area 510 Target Shelf 510A~510C, 510T target shelves 511A~511C Carry-out route 512A~512C Usage area 513, 513A, 514 occupied area 520, 520_1~520_4 shelves 530A~530M Target shelf 531~534 Occupied area 550 storage area 551 Storage area 581 Occupied area 582 Occupied area 591 Occupied area 592 Occupied area 601~603 Occupied area 700 Computer Equipment 701 CPU 702 Input Interface 703 Display device 704 Communication equipment 705 Main storage 706 External storage device 707 Bus C. Empty space (blank square) C11 blank space C12 blank space C24 blank space C25 blank space P1 and P2 routes ST1~ST6 status ST11~ST16 status

Claims

1. Information about a storage area including a plurality of unit areas adjacent to each other, in which shelves can be placed, and in which the shelves placed in the unit areas can be moved to an empty unit area adjacent to the unit areas where no shelves are placed; Information about a plurality of target shelves among the plurality of shelves arranged in any one of the unit areas in the storage area; and Information about a plurality of destination areas that are the unit areas to which the plurality of target shelves are moved; Based on Dividing the plurality of target shelves into a plurality of groups each including one or more of the target shelves; determining an occupied area including a plurality of adjacent unit areas that can be exclusively used for each group, the occupied area including the unit area in which the target shelf is arranged, the destination area of ​​the target shelf, and the vacant area; generating a first shelf movement plan for each of the groups, which moves other shelves different from the target shelf within the occupied area to change the position of the vacant area, thereby moving the target shelf to the destination area; Processing section An information processing device comprising:

2. the shelves are movable by a movable body that is movable within the storage area and that can hold or release the shelves; the processing unit assigns one or more moving objects to each of the groups; the processing unit generates a first operation plan for the moving body by planning, for each group, an operation of the moving body that moves the target shelf and the other shelves in accordance with the first shelf movement plan. The information processing device according to claim 1 .

3. a control unit that executes the first operation plan by controlling the moving objects for each of the groups; The information processing device according to claim 2 , comprising:

4. the processing unit determines a first path for moving each target shelf in the storage area to the destination area, the first path being a sequence of one or more of the unit areas; calculating a usage area including one or more of the unit areas to be used when moving the target shelf along the first path, and classifying target shelves whose usage areas at least partially overlap with each other into the same group; The information processing device according to claim 1 .

5. The first path is a path that allows the target shelf to be moved to the destination area in the shortest distance. The information processing device according to claim 4 .

6. the processing unit determines a second path for moving the target shelf to the destination area within the occupied area for each group, the second path being a sequence of one or more unit areas, and generates the first shelf movement plan for moving the target shelf along the determined second path. The information processing device according to claim 1 .

7. The second path is a path that allows the target shelf to be moved to the destination area in the shortest distance. The information processing device according to claim 6 .

8. the first shelf movement plan includes moving the other shelves within the occupied area to form the vacant area adjacent to the unit area including the target shelf along the second path in the movement direction of the target shelf, and moving the target shelf to the formed vacant area, and repeating this process until the target shelf arrives at the destination area. The information processing device according to claim 6 .

9. When the group includes two or more target shelves, the processing unit determines the second paths of the two or more target shelves so that the target shelves are integrated with each other midway along the second paths, generating the first shelf movement plan, which merges the two or more target shelves at a location where the second paths are integrated, and moves the merged two or more target shelves so as to maintain a state in which the two or more target shelves are adjacent to each other; The information processing device according to claim 6 .

10. the processing unit generates the first shelf movement plan for each group so as to reduce a total time required to move all of the target shelves in the occupied area to the destination area. The information processing device according to claim 1 .

11. the processing unit divides the shelves into the plurality of groups and allocates one or more of the moving objects to the plurality of groups based on information about the moving objects so as to reduce a maximum value of the time required to move all of the target shelves in the plurality of groups to the destination area. The information processing device according to claim 2 .

12. the processing unit sets the number of groups into which the plurality of target shelves are divided to be equal to or less than the number of movable objects available in the storage area. The information processing device according to claim 2 .

13. when the number of the plurality of groups is greater than the number of movable objects available in the storage area, the processing unit determines an order of the groups in which the first shelf movement plan is to be executed and movable objects to be assigned to the groups; the control unit executes the first operation plan based on the first shelf movement plan in the determined order of the groups. The information processing device according to claim 3 .

14. the processing unit sets the number of groups into which the plurality of target shelves are divided to be equal to or less than the number of free areas present in the storage area. The information processing device according to claim 1 .

15. the processing unit generates the occupied area that does not include the free area or has an insufficient number of free areas; the processing unit generates a second shelf movement plan that adds the vacant area to the occupied area by moving the other shelf within the occupied area to outside the occupied area. The information processing device according to claim 1 .

16. the processing unit generates the first shelf movement plan on the premise of an arrangement of the shelves in the storage area after the free space is added by the second shelf movement plan. The information processing device according to claim 15.

17. the processing unit generates a second operation plan for the moving body by planning an operation of the moving body that moves the other shelf out of the occupied area based on the second shelf operation plan; a control unit that executes the second operation plan by controlling the moving object; the processing unit generates the first shelf movement plan after the vacant area is formed in the occupied area by executing the second operation plan. The information processing device according to claim 15.

18. Moving the shelf to the outside of the occupied area includes moving the shelf in the storage area to a storage area other than the storage area. The information processing device according to any one of claims 15 to 17.

19. The plurality of unit areas are arranged in a grid of at least two rows and two columns. The information processing device according to claim 1 .

20. a space through which the movable body can pass is provided between the underside of the shelf and the floor surface of the storage area; the movable body is capable of moving between the unit areas in which the shelves are arranged by moving in the space, the movable body is capable of lifting the shelf while positioned in the space in the unit area in which the shelf is arranged, or lowering the shelf that is being lifted, and is capable of moving to the empty area adjacent to the unit area in which the shelf is arranged while the shelf is lifted.

4. The information processing device according to claim 2 or 3.

21. Information about a storage area including a plurality of unit areas adjacent to each other, in which shelves can be placed, and in which the shelves placed in the unit areas can be moved to an empty area adjacent to the unit areas, which is a unit area in which no shelves are placed; Information about a plurality of target shelves among the plurality of shelves arranged in any one of the unit areas in the storage area; and Information about a plurality of destination areas that are the unit areas to which the plurality of target shelves are moved; Based on Dividing the plurality of target shelves into a plurality of groups each including one or more of the target shelves; determining an occupied area including a plurality of adjacent unit areas that can be exclusively used for each group, the occupied area including the unit area in which the target shelf is arranged, the destination area of ​​the target shelf, and the vacant area; generating a first shelf movement plan for each of the groups, which moves other shelves different from the target shelf within the occupied area to change the position of the vacant area, thereby moving the target shelf to the destination area; Information processing methods.

22. Information about a storage area including a plurality of unit areas adjacent to each other, in which shelves can be placed, and in which the shelves placed in the unit areas can be moved to an empty area adjacent to the unit areas, which is a unit area in which no shelves are placed; Information about a plurality of target shelves among the plurality of shelves arranged in any one of the unit areas in the storage area; and Information about a plurality of destination areas that are the unit areas to which the plurality of target shelves are moved; Based on Dividing the plurality of target shelves into a plurality of groups each including one or more of the target shelves; determining an occupied area including a plurality of adjacent unit areas that can be exclusively used for each group, the occupied area including the unit area in which the target shelf is arranged, the destination area of ​​the target shelf, and the vacant area; generating a first shelf movement plan for each of the groups, which moves other shelves different from the target shelf within the occupied area to change the position of the vacant area, thereby moving the target shelf to the destination area; A computer program that is executed by a computer.

23. a plurality of mobile bodies that are movable within a storage area, the storage area including a plurality of unit areas adjacent to each other, in which shelves can be placed, and in which the shelves placed in the unit areas can be moved to an empty area that is an adjacent unit area in which no shelves are placed, and in which the shelves can be moved by the mobile bodies that can hold or release the shelves; based on information about the storage area, information about a plurality of target shelves among the plurality of shelves arranged in any one of the unit areas in the storage area, and information about a plurality of destination areas which are the unit areas to which the plurality of target shelves will be moved, dividing the plurality of target shelves into a plurality of groups each including one or more of the target shelves; determining an occupied area including a plurality of adjacent unit areas that can be exclusively used for each group, the occupied area including the unit area in which the target shelf is arranged, the destination area of ​​the target shelf, and the vacant area; a first shelf movement plan is generated for each of the groups, in which the target shelf is moved to the destination area by moving other shelves different from the target shelf within the occupied area and changing the position of the vacant area, and one or more of the moving bodies are available for each of the groups; generating a first shelf movement plan for each of the groups, in which the target shelf is moved to the destination area while changing the position of the vacant area by moving other shelves different from the target shelf within the occupied area; generating a first operation plan for the moving body by planning an operation of the moving body that moves the target shelf and the other shelves in accordance with the first shelf operation plan for each of the groups; a processing unit; a control unit that executes the first operation plan by controlling the moving objects for each of the groups; An information processing system comprising:

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