Control device and control method

Abstract

To improve warehouse work efficiency. [Solution] A control device for controlling the operation of a mobile device for transporting articles, comprising a computer having a processing unit for executing predetermined processing and a storage unit connected to the processing unit, wherein the articles are stored in inventory boxes or mobile shelves, the inventory boxes are placed on the mobile shelves or fixed shelves not transported by the mobile device, the mobile device includes a first transport device for transporting the mobile shelves and a second transport device for transporting the inventory boxes, and the control device determines that the first transport device should transport the mobile shelves if, among a plurality of articles handled in one or more orders to be processed, articles of a predetermined threshold or more types are stored in the same mobile shelf.

Description

Technical Field

[0001] The present invention relates to a control device for controlling a mobile device.

Background Art

[0002] Regarding a conveying system, when a tray storing an article to be picked is stored in a movable shelf, the movable shelf is conveyed to a shelf carrier, and when the tray storing the article to be picked is stored in a fixed shelf, there is a technique of conveying the tray to a tray carrier. For example, there is a technique described in Japanese Patent Application Laid-Open No. 2020-200193.

[0003] As the background art in this technical field, there is the following prior art. Patent Document 1 (Japanese Patent Application Laid-Open No. 2020-200193) includes a movable shelf for storing a plurality of first storage units, a fixed shelf for storing a plurality of second storage units above the movable shelf, a first conveying device capable of conveying the movable shelf, and a second conveying device capable of conveying the second storage unit, a plurality of conveying devices, a storage device for storing information on articles stored in each of the plurality of first storage units and the plurality of second storage units and information on the positions of the respective storage units, and a processing unit for obtaining the position of the storage unit in which the article to be picked is stored based on at least the information on the articles stored in the respective storage units and the information on the positions of the respective storage units. When the storage unit in which the article to be picked is stored is stored in the movable shelf, the processing unit causes the first conveying device to convey the movable shelf, and when the storage unit in which the article to be picked is stored is stored in the fixed shelf, the processing unit causes the second conveying device to convey the second storage unit. A conveying system is disclosed.

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Summary of the Invention

[0005] In a logistics warehouse, a transport system uses multiple Warehouse Control Systems (WCSs) to control different types of transport devices (e.g., mobile robots such as automated guided vehicles) to transport items to be picked. When the type of transport device is determined solely by the location of the items, transport should be carried out using that specific device. However, if multiple types of transport devices can transport the items, failure to appropriately select which device to use can lead to decreased transport efficiency and reduced work efficiency at the destination work station. For example, depending on the situation, it may be more efficient to transport shelves containing items corresponding to one or more shipping orders, or it may be more efficient to transport cases containing those items.

[0006] Furthermore, the types of items that can be transported (e.g., shelves, containers, and other storage areas) vary depending on the type of transport device, so it is necessary to determine the appropriate transport device for the items being transported.

[0007] Therefore, we provide a control device and control method that improve warehouse work efficiency by controlling multiple types of mobile devices. [Means for solving the problem]

[0008] A representative example of the invention disclosed in this application is as follows: A control device for controlling the operation of a mobile device for transporting articles, comprising a computer having a processing unit for performing predetermined processing and a storage unit connected to the processing unit, wherein the articles are stored in inventory boxes or mobile shelves, the inventory boxes are arranged on the mobile shelves or fixed shelves not transported by the mobile device, the mobile device includes a first transport device for transporting the mobile shelves and a second transport device for transporting the inventory boxes, and the control device is characterized in that, if, among a plurality of articles handled in one or more orders of items to be processed, articles of a predetermined threshold or more types are stored in the same mobile shelf, the first transport device decides to transport the mobile shelf. [Effects of the Invention]

[0009] According to one aspect of the present invention, warehouse work efficiency can be improved. Problems, configurations, and effects other than those described above will be clarified by the following description of the embodiments. [Brief explanation of the drawing]

[0010] [Figure 1] This is a diagram showing the logistics system of Example 1. [Figure 2] This is a diagram showing an example configuration of the logistics system in Example 1. [Figure 3A] This figure shows the external appearance of the mobile device of Example 1. [Figure 3B] This figure shows the external appearance of the mobile device of Example 1. [Figure 4A] This is a diagram showing the area configuration of Example 1. [Figure 4B] This is a diagram showing the area configuration of Example 1. [Figure 5] This figure shows an example of the area information configuration in Example 1. [Figure 6A] This figure shows an example of the location information configuration in Example 1. [Figure 6B] This figure shows an example of the configuration of the device classification information in Example 1. [Figure 7] This figure shows an example of the order information configuration in Example 1. [Figure 8A] It is a diagram showing a configuration example of the inventory information of Example 1. [Figure 8B] It is a diagram showing a configuration example of the container information of Example 1. [Figure 8C] It is a diagram showing a configuration example of the shelf information of Example 1. [Figure 9] It is a diagram showing a configuration example of the WS operation information of Example 1. [Figure 10] It is a sequence diagram of the process related to the movement instruction of Example 1. [Figure 11] It is a flowchart of the AGV selection process of Example 1.

Mode for Carrying Out the Invention

[0011] Hereinafter, embodiments of the present invention will be described with reference to the drawings. The examples are illustrations for explaining the present invention, and for the sake of clarity of explanation, appropriate omissions and simplifications have been made. The present invention can also be implemented in various other forms. Unless otherwise particularly limited, each component may be singular or plural.

[0012] The positions, sizes, shapes, ranges, etc. of the respective components shown in the drawings may not represent the actual positions, sizes, shapes, ranges, etc. in order to facilitate understanding of the invention. For this reason, the present invention is not necessarily limited to the positions, sizes, shapes, ranges, etc. disclosed in the drawings.

[0013] As examples of various types of information, it may be described using expressions such as "table", "list", "queue", etc. However, the various types of information may be represented by data structures other than these. The various types of information may be data of any structure (for example, structured data or unstructured data), or may be a learning model such as a neural network that generates an output for an input, a genetic algorithm, or a random forest. For example, various types of information such as "XX table", "XX list", "XX queue", etc. may be referred to as "XX information". Also, in the following description, the configuration of each table is an example, and one table may be divided into two or more tables, or all or part of two or more tables may be combined into one table.

[0014] As information (identification information, identifier) for identifying an element, any information (for example, at least one of "ID", "name", and "number") may be adopted. When explaining the identification information, expressions such as "identification information", "identifier", "name", "ID", "number", etc. are used, but these are interchangeable with each other.

[0015] When there are a plurality of components having the same or similar functions, they may be described by attaching different subscripts to the same reference numeral. Also, when it is not necessary to distinguish these plurality of components, the subscripts may be omitted in the description.

[0016] In the following explanation, we may describe processes that are performed with the "program" as the subject, but these processes are those performed by executing the "program". Here, a computer executes a program using a processor (e.g., CPU, GPU) and performs the processing defined by the program using memory resources (e.g., memory) and interface devices (e.g., communication ports). Therefore, the main entity performing the processing by executing the program may be the processor. Similarly, the main entity performing the processing by executing the program may be a controller, device, system, computer, or node that has a processor. The main entity performing the processing by executing the program may be an arithmetic unit, and may include dedicated circuits that perform specific processing. Here, dedicated circuits include, for example, FPGAs (Field Programmable Gate Arrays), ASICs (Application Specific Integrated Circuits), CPLDs (Complex Programmable Logic Devices), etc.

[0017] The program may be installed on the computer from the program source. The program source may be, for example, a program distribution server or a computer-readable storage medium (e.g., a non-temporary recording medium). If the program source is a program distribution server, the program distribution server includes a processor and storage resources for storing the program to be distributed, and the processor of the program distribution server may distribute the program to other computers. In addition, in the embodiment, two or more programs may be implemented as a single program, or one program may be implemented as two or more programs.

[0018] A "processor" may be one or more processor devices. At least one processor device may typically be a microprocessor device such as a CPU (Central Processing Unit), but may also be other types of processor devices such as a GPU (Graphics Processing Unit). At least one processor device may be single-core or multi-core. At least one processor device may be a processor core. At least one processor device may be a broad processor device such as a circuit that is a collection of gate arrays defined by a hardware description language that performs some or all of the processing (e.g., FPGA (Field-Programmable Gate Array), CPLD (Complex Programmable Logic Device), or ASIC (Application Specific Integrated Circuit)).

[0019] "Memory" refers to one or more memory devices that are examples of one or more "storage devices," and is typically a main memory device. At least one memory device in memory may be a volatile memory device or a non-volatile memory device.

[0020] "Persistent storage device" may be one or more persistent storage devices that are examples of one or more "storage devices". Persistent storage devices are typically non-volatile storage devices (e.g., auxiliary storage devices), and specifically may be, for example, HDDs (Hard Disk Drives), SSDs (Solid State Drives), NVMe (Non-Volatile Memory Express) drives, or SCMs (Storage Class Memory).

[0021] An "interface device" may consist of one or more interface devices. These one or more interface devices may consist of at least one of the following: • One or more I / O (Input / Output) interface devices: An I / O interface device is an interface device to at least one of the following: an I / O device and a display computer. The I / O device may be either a user interface device, such as an input device like a keyboard and a pointing device, or an output device like a display device. The I / O interface device to the display computer may be a communication interface device. • One or more communication interface devices: One or more communication interface devices may be one or more identical communication interface devices (for example, one or more NICs (Network Interface Cards)) or two or more different communication interface devices (for example, a NIC and an HBA (Host Bus Adapter)).

[0022] The unit of "date and time" can be either coarser or finer than year, month, day, hour, and minute.

[0023] <Example 1> Figure 1 shows a logistics system installed in a warehouse (logistics center) in which a mobile device 9 controlled by the control device 1 of Embodiment 1 of the present invention operates. The logistics system may, for example, be a transport system using transport devices, etc.

[0024] The logistics system comprises multiple mobile devices 9A and 9B that travel within area 40 of a warehouse (logistics center), and a control device 1 that remotely controls the movement of each mobile device 9A and 9B. The "movement" of mobile device 9 refers to the movement of mobile devices 9A and 9B in general, regardless of whether or not they are loaded with goods to be transported. The "movement" of mobile devices 9A and 9B may also be rephrased as the "travel" of mobile devices 9A and 9B. The "movement" of mobile devices 9A and 9B when they are loaded with goods to be transported is sometimes referred to as "transportation." In this specification, when mobile devices 9A and 9B are not distinguished, they may be referred to as mobile device 9.

[0025] A warehouse is a storage facility used by companies such as mail-order companies or equipment manufacturers to store goods. The goods stored in a warehouse can be products or parts. Below, we will use products as an example of the types of goods stored in a warehouse.

[0026] Area 40 is a part of the warehouse floor area and is an area on which the mobile devices 9A and 9B can travel. Area 40 has multiple areas. For example, Area 40 includes a common area 40C and dedicated areas 40A and 40B (e.g., dedicated area A and dedicated area B). Each dedicated area 40A and 40B may be provided with a storage area where, for example, one or more items (e.g., goods to be sold) are stored in a predetermined storage format and in a predetermined location. The storage area is equipped with mobile shelves and fixed shelves on which the items are stored. Mobile shelves are shelves that can be transported by the mobile devices 9A and 9B, while fixed shelves are shelves that are not transported by the mobile devices 9A and 9B.

[0027] Containers containing goods are stored on the shelves of the mobile and fixed shelving units, or goods are stored directly on the shelves. At least some of the mobile devices 9 can retrieve containers stored on the fixed shelving units and transport them. The mobile shelving units are shelves of a certain height and have a space below them into which the mobile devices 9 can enter. At least some of the mobile devices 9 can enter the space below the mobile shelving units, lift the mobile shelving units, and transport them. Fixed shelving units often have a space below them, and mobile shelving units can be stored in this space. By arranging the fixed and mobile shelving units in a vertical position in this way, the upper space of the warehouse (the space above the mobile shelving units) can be utilized, and the storage efficiency of the warehouse can be increased. Furthermore, if it takes time for the mobile devices 9 to retrieve goods or containers from the fixed shelving units located above, it is advisable to store items that are retrieved infrequently on the fixed shelving units and items that are retrieved frequently on the mobile shelving units. By changing the storage location of goods according to the frequency of retrieval in this way, the number of times the fixed shelving units that take time to retrieve goods can be accessed can be reduced, and the overall efficiency of warehouse operations can be improved.

[0028] A work station may be provided adjacent to the common area. For example, the mobile devices 9A and 9B may, upon receiving a movement instruction from the control device 1, load items to be transported (e.g., articles or article storage units for storing articles) in the dedicated area and move (transport) to a work station adjacent to the common area 40C.

[0029] A work station (WS) may also be called a workstation or working station. A work station is a place where tasks such as picking are performed, and can be broadly classified into mobile shelving / container work stations, container work stations, and mobile shelving work stations. Picking is just one example of a task. Work stations may also be used for tasks such as replenishing goods in storage areas (e.g., shelves or containers) and inventory taking.

[0030] Mobile devices 9A and 9B are devices that move according to "movement instructions" from the control device 1, and may be unmanned guided vehicles such as AGVs (Automatic Guided Vehicles). Mobile devices 9A and 9B may also be transport devices or transport vehicles. The "movement instructions" transmitted from the control device 1 to mobile devices 9A and 9B include information representing the movement task assigned to the mobile devices 9A and 9B. The information representing the movement task includes, for example, information about the path that mobile devices 9A and 9B will travel (for example, information about the destination may be included), and instructions for mobile devices 9A and 9B to move or transport.

[0031] The items transported by the mobile devices 9A and 9B are, for example, articles or article storage units for storing articles. The article storage units are, for example, trays, pallets, containers, or mobile shelves that can be transported by the mobile devices 9A and 9B. The mobile shelves may be shelves with legs that the mobile devices 9A and 9B can access from below, or they may be so-called pallets with their bottoms in contact with the floor. The article storage units may also be called storage devices or loading / unloading platforms.

[0032] Mobile devices 9A and 9B are controlled by a Warehouse Control System (WCS) 3 located within the control device 1. Mobile devices 9A and 9B may include not only multiple mobile devices 9A and 9B controlled by the same WCS 3, but also mobile devices 9A and 9B not controlled by the same WCS 3, i.e., mobile devices 9A and 9B controlled by different WCS 3s (for example, mobile devices 9A and 9B from different vendors, or mobile devices 9A and 9B of different types).

[0033] In the example shown in Figure 1, dedicated area A is the area where mobile device 9A (a mobile device classified as AGV-a) controlled by WCS-a, one of the WCS3, travels, and other mobile devices 9B do not travel in this area. Dedicated area B is the area where mobile device 9B (a mobile device classified as AGV-b) controlled by WCS-b, a different WCS3 from WCS-a, travels, and other mobile devices 9A do not travel in this area. On the other hand, the shared area is the area where both mobile devices 9A and mobile devices 9B controlled by different WCSs (for example, WCS-a and WCS-b) travel. The size of the sections in each dedicated area may be the same as or different from the sections in the shared area. The sections are set up to reserve sections included in the path traveled by the mobile devices 9 in order to avoid collisions between them.

[0034] Figure 2 shows an example of the configuration of the logistics system in Example 1.

[0035] The logistics system comprises a control device 1, multiple mobile devices 9A and 9B, and a network 100 (for example, a wireless communication line such as a wireless LAN (Local Area Network)). The control device 1 and the mobile devices 9A and 9B can communicate with each other via the network 100. Each component of the logistics system may be singular (one) or multiple. The logistics system may also have material handling equipment other than the mobile devices 9A and 9B, and terminals for work stations.

[0036] Mobile device 9A includes a drive unit 91, a storage device 92, an interface device 93, a sensor 94, a battery (not shown), and a controller 90 connected thereto. Mobile device 9B has the same configuration as mobile device 9A.

[0037] The drive unit 91 includes drive wheels 96, auxiliary wheels 97, and an actuator (not shown) such as a motor for rotating the drive wheels 96.

[0038] The storage device 92 stores, for example, route information 920, device information 921, map information 922, measurement information 923, and performance information 924. Route information 920 includes, for example, a movement instruction received from the control device 1 and information representing the movement route specified by the movement instruction. The information representing the movement route may include information about the sections of the movement route. Device information 921 includes identification information for uniquely identifying the mobile device 9A, the current location (section) of the mobile device 9A, and information about the status of the mobile device 9A (e.g., moving, available (standby), etc.). Map information 922 includes map information of area 40 and information representing the location of each section 41. Note that map information 922 may include the information exemplified in Figure 4A. Measurement information 923 includes information measured by the sensor 94. The information measured by the sensor 94 may include, for example, information read from the marker 42 (position information), information about the surrounding environment of the mobile device 9A, information about vibrations experienced by the mobile device 9A, information about the speed, acceleration and direction of the mobile device 9A, and information about the weight and presence or absence of loads (transported goods) carried by the mobile device 9A. The performance information 924 includes information about the movement history, including the route and date and time of movement of the mobile device 9A.

[0039] The interface device 93 is a device that communicates with the control device 1 via the network 100 according to a predetermined wireless communication method, and may be composed of, for example, a wireless LAN card.

[0040] Sensor 94 is a device for collecting information about the floor surface on which the mobile device 9A travels, as well as various information about the mobile device 9A. Sensor 94 can, for example, read information from markers 42 on the floor section 41. Sensor 94 may be, for example, a camera for imaging markers 42, a sensor for acquiring information about the surrounding environment of the mobile device 9A, a vibration sensor for detecting vibrations experienced by the mobile device 9A, a speed sensor for measuring the speed of the mobile device 9A, an acceleration sensor for measuring the acceleration of the mobile device 9A, a gyro sensor for measuring the orientation of the mobile device 9A, or a weight sensor for measuring the weight of the load (transported object) carried by the mobile device 9A.

[0041] The controller 90 is a controller that controls the operation of the mobile device 9A according to movement instructions from the control device 1 and the charge status of its built-in battery. The controller 90 has, for example, a processor and a storage device (e.g., memory). The control program 900 is stored in the storage device of the controller 90. The processor of the controller 90 executes the control program 900, thereby performing various controls on the mobile device 9A.

[0042] The control program 900 has a function (communication program) to exchange commands and information with the control device 1 via the interface device 93. The control program 900 transmits at least some of the route information 920, device information 921, map information 922, measurement information 923, and performance information 924 to the control device 1 in response to a request from the control device 1. The control program 900 may transmit each of these pieces of information to the control device 1 at regular or irregular intervals, even without a request from the control device 1. The control program 900 has a function (movement control program) to control the movement of the mobile device 9A in response to a movement instruction received from the control device 1. The control program 900 controls the drive device 91 so that it moves along the movement path specified by the movement instruction. The control program 900 has a function (measurement program) to set the sensor 94 and store the output (measurement result) of the sensor 94 in the measurement information 923. The control program 900 has a function (position estimation program) to estimate the position of the mobile device 9A based on the information of the marker 42 acquired by the sensor 94.

[0043] The control device 1 includes a processor 10, a memory 11, an auxiliary storage device 12, an input device 13, an output device 14, and an interface device 15. The processor 10 operates as a "processing unit," the memory 11 and auxiliary storage device 12 as "storage units," the input device 13 as an "input unit," the output device 14 as an "output unit," and the interface device 15 as an "interface unit."

[0044] The control device 1 may be one or more physical computers having hardware such as a processor 10, memory 11, auxiliary storage device 12, input device 13, output device 14, and interface device 15, or it may be a system implemented on one or more physical computers (e.g., a cloud infrastructure) (e.g., a cloud computing system). The control device 1 may be a control system.

[0045] Each device of the control unit 1 may be located on a single physical computer or distributed across multiple physical computers. The programs and information stored in the auxiliary storage device 12 may be stored in a single storage device or divided among multiple storage devices. The control unit 1 may be able to input and output information via a client system that can communicate through the interface device 15.

[0046] The processor 10 is a device that controls the operation of the entire control device 1 by executing predetermined arithmetic processes through program execution. The processor 10 may consist of a processing unit, an arithmetic unit, an arithmetic processing unit, and a controller. The memory 11 is a volatile storage area used as the work memory of the processor 10, and may include a non-volatile storage area for storing immutable data. The input device 13 may consist of, for example, a mouse or keyboard, and is used by an operator to input necessary information and instructions to the control device 1. The output device 14 may consist of a display device such as a liquid crystal display. The interface device 15 is a device that communicates with the mobile device 9 via the network 100 according to a predetermined wireless communication method, and may consist of, for example, a wireless LAN card.

[0047] The auxiliary storage device 12 is a non-volatile storage medium that stores various programs and information. For example, the auxiliary storage device 12 stores map information 4, area information 5 (Figure 5), location information 6 (Figure 6A), device classification information 33 (Figure 6B), order information 7 (Figure 7), inventory information 8A (Figure 8A), container information 8B (Figure 8B), shelf information 8C (Figure 8C), and WS work information 30 (Figure 9). Map information 4 includes map information of area 40 and information representing the location of each section 41. Map information 4 may include information illustrated in Figure 4A. For example, the control device 1 may transmit map information 4 to the mobile device 9, where it may be stored as map information 922.

[0048] The control device 1 periodically or irregularly receives information about each mobile device 9A, 9B (for example, at least some of the following: route information 920, device information 921, map information 922, measurement information 923, and performance information 924). The control device 1 also receives information about the progress of work entered into the terminals of the work stations. Based on this received information and at least some of the information entered by the administrator, the control device 1 appropriately updates the relevant parts of the map information 4, area information 5, location information 6, order information 7, and inventory information 8A.

[0049] The auxiliary storage device 12 stores the integrated WCS (Warehouse Control System) program and multiple WCS programs. When the processor 10 executes the integrated WCS program, integrated WCS2 is realized. When the processor 10 executes a WCS program, one or more WCS3 programs (in the diagram, two are shown: WCS-a3 and WCS-b3) are realized. Hereafter, the integrated WCS program may be referred to as integrated WCS2, and the WCS programs as WCS3.

[0050] The integrated WCS2 provides integrated control of the logistics system, including various mobile devices 9A and 9B and various material handling equipment. WCS3 is a warehouse control device that controls mobile devices 9A and 9B. There are multiple different WCS3s. In the illustrated example, WCS-a3 controls mobile device 9A, WCS-b3 controls mobile device 9B, and WCS-c3 controls the other mobile devices 9.

[0051] Figures 3A and 3B show the external appearance of the mobile device 9A of Embodiment 1. Note that the mobile device 9A shown in Figures 3A and 3B is just one example of a mobile device 9A, and other types of mobile devices 9A may be used. Also, the mobile device 9B may have the same configuration as mobile device 9A, or it may have a different configuration.

[0052] Figure 3A is a perspective view of the mobile device 9A from above. The mobile device 9A is formed in a rectangular parallelepiped shape as a whole. A disc-shaped loading device 95 that can be raised and lowered and rotated is provided in the center of the upper surface of the mobile device 9A. The loading device 95 may also be called a lifting device, a rotating device, a lifting and rotating device, or a table.

[0053] Figure 3B is a bottom view of the mobile device 9A. Drive wheels 96 for turning and moving forward are located on the underside (bottom) of the mobile device 9A, and auxiliary wheels 97 are located at the four corners of the underside of the mobile device 9A. The drive wheels 96 and auxiliary wheels 97 are the "wheels" of the mobile device 9A.

[0054] The mobile device 9A shown in Figures 3A and 3B rotates its drive wheels 96 to move to the underside of the transported object (e.g., a shelf), then raises its loading device 95 to lift the transported object, and transports the object by traveling through area 40 with the object lifted. The mobile device 9A can change the orientation of the transported object by rotating the loading device 95 while the transported object is lifted. When the mobile device 9A rotates, it can rotate the loading device 95 in the opposite direction to the rotation, allowing the mobile device 9A to rotate without rotating the lifted transported object.

[0055] Figures 4A and 4B show the configuration of area 40 in Example 1.

[0056] As shown in Figure 4A, the control device 1 (integrated WCS2 and WCS3) divides the area (movement area) 40 in which the mobile device 9 moves into a plurality of rectangular sections 41 of a predetermined size and manages them accordingly.

[0057] Section 41 may be defined in coordinate form, for example, as section(α, β, γ). Here, α is the position in the x-coordinate (section position along the x-direction, which is one direction horizontally), β is the position in the y-coordinate (section position along the y-direction, which is perpendicular to the x-direction horizontally), and γ is the position in the z-coordinate (area position in the height direction, which is perpendicular to both the x and y directions). For example, if area 40 includes areas on multiple floors or areas above and below a mezzanine, the area position in the height direction of each area can be expressed using the z-coordinate. When area 40 extends to multiple floors, transportation between floors, or when a mezzanine is provided, transportation between the upper and lower parts of the mezzanine, may be performed, for example, by a vertical conveyor. In this case, only the articles may be transported by the vertical conveyor, or the articles and the moving device 9 may be transported by the vertical conveyor.

[0058] As described later, the control device 1 reserves one or more sections 41 that are included in the travel paths of the mobile devices 9A and 9B or the operating range of other material handling devices, and exclusively controls the movement of the mobile devices 9 so that other mobile devices 9 do not move into the reserved sections 41, thereby preventing collisions between the mobile devices 9. For example, mobile devices 9A and 9B reserve sections 41 of their travel paths.

[0059] Below, we will explain an example where Area 40 is at the same height, and describe the location of each section using the notation (section α, β).

[0060] As shown in Figure 4B, a marker 42 representing the position of section 41 in x,y coordinates is preferably provided on the floor surface approximately in the center of the section that is in contact with the floor surface. The marker 42 only needs to contain information for identifying the position of the section, for example, the position information of the section, or information associated with the position information of the section (for example, identification information that can identify the position information of section 41). The marker 42 is readable by the sensors 94 of the mobile devices 9A and 9B, and may contain information such as a one-dimensional code, a two-dimensional code such as a QR code (registered trademark), or an RFID (Radio Frequency IDentifier) ​​tag.

[0061] For example, mobile devices 9A and 9B read markers 42 provided in the section 41 they pass through. While moving (driving), mobile devices 9A and 9B transmit the information of the read markers 42, along with their identification information (device ID), to the control device 1 via the network 100 (wireless communication network). For example, mobile devices 9A and 9B may transmit to the control device 1 the location information represented by the marker 42 or the location information identified from the information represented by the marker 42 as the information of the read marker 42. The control device 1 (integrated WCS2 and WCS3) determines the position of mobile device 9 based on the information of the markers 42 received from mobile devices 9A and 9B.

[0062] Figure 5 shows an example of the configuration of area information 5 in Example 1.

[0063] Area information 5 stores information about the area 40 in which the mobile device 9 operates. The control device 1 (integrated WCS2 and WCS3) controls the operation of the mobile device 9 by referring to area information 5.

[0064] Area information 5 has a record for each section 41 in area 40. Area information 5 may also have a record for each device classification 54 of the mobile device 9 that can operate in each section 41.

[0065] Each record in Area Information 5 includes information on location 50, partition setting 51, WS ID 52, area 53, device classification 54, reservation 55, immobile flag 56, rotation impossible flag 57, and direction 58. The following explanation will use one of the target partitions in Partition 41 as an example.

[0066] Position 50 represents the location of the target area within area 40, and may be expressed, for example, by the three-dimensional coordinates (address) of the target area. In the illustrated example, position 50 is expressed in two-dimensional coordinates x,y.

[0067] The section setting 51 represents the type of section set in the target section. Examples of section types for section setting 51 include "mobile section", "parking section", "standby section", and "battery station". Here, "mobile section" represents the section to which the mobile device 9 moves. "parking section" represents the section that will be the parking position corresponding to the work station identified by WS ID 52. "temporary standby section" represents the section that will be the temporary standby position for the mobile device 9. "battery station" represents the section that will be the location of the battery station where charging equipment capable of charging the mobile device 9 corresponding to device classification 54 is provided.

[0068] WS ID 52 represents the identification information of the work station (WS) corresponding to the parking area when the area setting 51 of the target area is "parking area".

[0069] Area 53 represents the classification (or area ID) of the area in the target section. Note that Area 53 corresponds to the classification of Area 82 in Inventory Information 8A (Figure 8). Area 53 records one of the following: Dedicated Area A (40A), Dedicated Area B (40B), or Shared Area (40C), as shown in Figure 1.

[0070] Device classification 54 represents the type of target device. Note that device classification 54 corresponds to device classification 61 in location information 6 (Figure 6).

[0071] Reservation 55 indicates the reservation status of the target section. For example, if neither mobile device 9A nor 9B has reserved the target section, "Available" is recorded in Reservation 55. In some cases, nothing is recorded in Reservation 55 (indicated by "-"). When the integrated WCS2 (or the WCS3 that controls the mobile device 9) reserves the target section as a travel route for the mobile device 9, it records the device ID of the mobile device 9 in the reservation 55 of the target section. The integrated WCS2 (or WCS3) implements exclusive control to prevent other mobile devices 9 from moving to (entering) the reserved section until the mobile device 9 has passed through the reserved section and the reservation for that section has been released.

[0072] The immobility restriction flag 56 indicates whether the mobile device 9, which belongs to device classification 54, can move (enter) the target area. Here, movement may include up-and-down or left-and-right movements of robot arms, conveyor devices, vertical transporters, etc. If nothing is recorded in the immobility restriction flag 56 and the mobile device 9 can move to the area, the target area may be included in the movement path of the mobile device 9. On the other hand, if immobility restriction flag 56 is recorded, the movement of the mobile device 9 is controlled by the integrated WCS2 (or WCS3) so that the target area is not included in the movement path of the mobile device 9.

[0073] In the example shown in Figure 5, if the device is movable, the immovable flag 56 will be left blank with "-", and if the device is immovable, the immovable flag 56 will be marked with "Temporarily Immovable" or "Always Immovable". Here, "Temporarily Immovable" can be changed to "-" indicating movable by the integrated WCS2 (or WCS3) under predetermined conditions (for example, when the target area is temporarily immovable due to maintenance, when the completion of maintenance for the target area is detected, or when the administrator has entered that maintenance is complete). On the other hand, "Always Immovable" can be changed to "-" indicating movable by a setting change by the administrator, but the integrated WCS2 (or WCS3) does not automatically change the setting to "-" or "Temporarily Immovable". For example, "Always Immovable" is set when the target area is a section that constitutes a passage too narrow to be used as a movement route for a mobile device 9 corresponding to device classification 54, and is always an area where entry is prohibited.

[0074] The rotation-prohibited flag 57 indicates whether the mobile devices 9A and 9B, which belong to device classification 54, are capable of rotation (for example, the rotation of an AGV lifting a load, or the rotation of a load grasped by a robot arm) within the target area. If rotation is possible, the mobile device 9 may rotate within the target area. On the other hand, if rotation is not possible, the integrated WCS2 (or WCS3) controls the mobile device 9 so that it does not rotate within the target area.

[0075] In the example shown in Figure 5, if rotation is possible, nothing is recorded in the rotation impossible flag 57, which is "-". If rotation is impossible, "Temporarily impossible" or "Permanently impossible" is recorded in the rotation impossible flag 57. Here, the ability to change the setting of "Temporarily impossible" or "Permanently impossible" is the same as for the movement impossible flag 56. That is, "Temporarily impossible" can be changed to "-" by the integrated WCS2 (or WCS3) under predetermined conditions. On the other hand, "Permanently impossible" can be changed to "-" indicating movement is possible by a setting change made by the administrator, but the integrated WCS2 (or WCS3) does not automatically change the setting to "-" (movable) or "Temporarily impossible".

[0076] Direction 58 represents the direction in which the mobile device 9, which corresponds to device classification 54, can move from the target area when it is located within the target area. For example, all or some of the +x, -x, +y, -y, +z, and -z directions may be set as the directions in which the mobile device 9 can move. Between the areas 41, the mobile device 9 may be set to move in both directions or in only one direction.

[0077] The direction 58 may be set in advance or changed dynamically. For example, the control device 1 (integrated WCS2 and WCS3) may dynamically set or change the direction 58 based on the number of mobile devices 9 in area 40, the congestion status, or the position 50 and section settings 51 of each section 41. By setting some sections 41 to be movable in only one direction, congestion of mobile devices 9 can be suppressed or reduced, and the overall transport efficiency can be improved. However, if there are many sections 41 that can only be moved in one direction, the travel path of the mobile devices 9 may become longer.

[0078] Figure 6A shows an example of the configuration of location information 6 in Example 1.

[0079] Location information 6 stores information about the mobile device 9 and has a record for each mobile device 9.

[0080] The location information 6 record includes information on WCS 60, device classification 61, device ID 62, battery level 63, device status 64, location 65, destination 66, and estimated arrival date and time 67. The following explanation uses one mobile device 9 (referred to as the "target device" in the explanation of Figure 6) as an example.

[0081] WCS60 represents the identification information of the Warehouse Control System (WCS) that controls the target equipment.

[0082] Device classification 61 represents the classification of the target device. For example, multiple mobile devices 9 controlled by the same WCS3 may be classified under the same category. On the other hand, mobile devices 9 not controlled by the same WCS3, i.e., mobile devices 9 controlled by different WCS3s (for example, mobile devices 9 from different vendors or mobile devices 9 of different types), are classified under different categories.

[0083] Device ID 62 represents the identification information of the target device.

[0084] The battery level of 63 represents the remaining battery level of the target device.

[0085] Device status 64 represents the state of the target device. Examples of device status 64 include "moving," "stopped," and "available." Here, "moving" represents the state in which the target device is moving. "Stopped" represents the state in which the target device is stopped at a stopping position (or temporary standby position). An example of "stopped" is when the target device is stopped at a stopping position corresponding to a work station, and a worker at the work station is working on the target device (or the containers or goods loaded by the target device). "Available" means that no movement instruction has been assigned to the target device, and it is in an available state (standby state).

[0086] Position 65 represents the location (current position) of the target device. Position 65 may also be represented, for example, by the three-dimensional coordinates of the area in which the target device is located.

[0087] The destination 66 represents the location to which the target device will be moved. The destination 66 may be represented, for example, by the coordinates of the area to which the target device will be moved. Examples of destinations include the location where the item corresponding to the order is stored or the location where the item is released, the parking position corresponding to the work station, or the temporary waiting position.

[0088] The estimated arrival time 67 is the estimated time when the target device is expected to arrive at its destination. The integrated WCS2 (or WCS3) may calculate the estimated arrival time 67 based, for example, on the route the target device takes to its destination and the target device's normal travel speed.

[0089] Figure 6B shows an example of the configuration of the device classification information 33 in Example 1.

[0090] The device classification information 33 is a table that has a record for each classification of the mobile device 9, and records the objects that the mobile device of that classification can transport and the identification information of the control device (WCS2 or WCS3) that controls the mobile device of that classification. Each record of the device classification information 33 includes information on the device classification 331, the transported object 332, and the WCS333.

[0091] Device classification 331 represents the classification of mobile device 9.

[0092] The transported object 332 represents the object that the mobile device transports.

[0093] WCS333 represents the identification information of the control device (integrated WCS2, WCS3) that controls the mobile device.

[0094] The transport devices 9 transport different items depending on their classification, and there are a first transport device that transports mobile shelves and a second transport device that transports inventory boxes. For example, transport device 9A may be the first transport device that transports mobile shelves, and transport device 9B may be the second transport device that transports inventory boxes, or transport devices 9A and 9B may be of different classifications than the first and second transport devices. That is, transport device 9A may include either or both the first transport device that transports mobile shelves and the second transport device that transports inventory boxes, and transport device 9B may include either or both the first transport device that transports mobile shelves and the second transport device that transports inventory boxes.

[0095] Figure 7 shows an example of the configuration of order information 7 in Example 1.

[0096] Order information 7 stores various information about customer orders, and for example, it has a record for each type of item (item ID) in each order.

[0097] Each record in Order Information 7 includes information on status 70, order ID 71, shipping destination ID 72, item ID 73, quantity 74, delivery date 75, received date and time 76, and work date and time. The following explanation uses one order (referred to as the "target order" in the explanation of Figure 7) as an example.

[0098] Status 70 indicates the progress of work (e.g., picking) on ​​the items specified in the target order.

[0099] Order ID 71 represents the ID of the target order (for example, the invoice number).

[0100] The shipping destination ID 72 represents the ID of the shipping destination for the items specified in the target order (for example, the identification information of the store to which the items will be shipped).

[0101] Item ID 73 represents the identification information of the item (e.g., product) specified in the target order.

[0102] The quantity 74 represents the number of items specified in the target order.

[0103] The delivery date of 75 indicates the deadline for delivering the items specified in the order to the destination.

[0104] The reception date and time 76 represents the date and time the target order was received.

[0105] The work date and time 77 represents the date and time when the items specified in the target order are transported to the work station and a predetermined task (for example, picking the items) is performed at the work station. The integrated WCS2 (or WCS3) may calculate the work date and time 77 based on the delivery date 75 and the receipt date and time 76. The integrated WCS2 (or WCS3) may also determine the timing to send a move instruction (an instruction to transport the items) to the moving device 9 based on the work date and time 77.

[0106] Figure 8A shows an example of the configuration of inventory information 8A in Example 1.

[0107] Inventory information 8A stores information about the stored items (e.g., goods), and for example, has a record for each item. If the same item is stored in different areas or in different locations, multiple records for that item may exist in inventory information 8A. Also, if the same item is stored in different containers, or if the same item is stored in different locations within the same container, multiple records for that item may exist in inventory information 8A.

[0108] Each record in inventory information 8A includes information on item ID 80, quantity 81, area 82, location 83, container ID 84, and location within the container 85. The following explanation uses one item (referred to as "target item" in the description of Figure 8A) as an example.

[0109] Item ID 80 represents the identification information of the item in question.

[0110] The inventory count of 81 represents the number of items in stock.

[0111] Area 82 represents the classification (or identification information of the area) of the area where the item in question is stored.

[0112] Position 83 represents the location where the item is stored (for example, a location within an area). Position 83 may also be represented, for example, by the three-dimensional coordinates of the compartment where the item is stored.

[0113] Container ID 84 represents the identification information of the container (e.g., shelf) in which the item in question is stored.

[0114] Container location 85 indicates the location within the container where the item is stored. For example, "L1" means the item is stored in the first compartment from the left.

[0115] Figure 8B shows an example of the configuration of container information 8B in Example 1.

[0116] Container information 8B is a table that stores the relationship between containers and shelves. For example, container information 8B has a record for each container ID that uniquely identifies a container. Each record in container information 8B contains information about the container ID 86, shelf ID 87, and container location 88.

[0117] Container ID 86 represents identification information to uniquely identify the container, and uses the same identification information as container ID 84 in inventory information 8A.

[0118] Shelf ID 87 represents identification information that uniquely identifies the shelf in which the container is stored.

[0119] Container position 88 indicates the location where the container is stored on the shelf. For example, "U3R1" means that the container is stored in the third compartment from the top (Up) and the first compartment from the right (Right) on the shelf.

[0120] Figure 8C shows an example of the configuration of shelf information 8C in Example 1.

[0121] Shelf information 8C is a table that stores information about shelves. For example, each record in shelf information 8C contains information about the shelf ID 801, the shelf type 802, and the shelf location 803.

[0122] Shelf ID 801 represents identification information for uniquely identifying the shelf, and uses the same identification information as shelf ID 87 in container information 8B.

[0123] Shelf type 802 indicates the type of shelf in question.

[0124] Shelf position 803 represents the location where the shelf exists (for example, the coordinates of the compartment).

[0125] The integrated WCS2 and WCS3 can determine the shelf location where an item corresponding to an item ID is stored by referring to inventory information 8A, container information 8B, and shelf information 8C.

[0126] Figure 9 shows an example of the configuration of the WS work information 30 in Example 1.

[0127] WS work information 30 is a table that records the work performed at a work station. For example, each record in WS work information 30 includes information such as WS ID 31, processing ID 32, shelf ID 33, entrance location 34, product ID 35, quantity 36, scheduled start date and time 37, scheduled end date and time 38, and work status 39.

[0128] WS ID31 represents identification information used to uniquely identify a work station.

[0129] The processing ID 32 represents identification information that uniquely identifies the processing performed at the work station.

[0130] Shelf ID 33 represents the identification information of the shelf used for the work performed at that work station.

[0131] The opening position 34 represents identification information for the opening of the shelf used for the work performed at the work station.

[0132] Product ID 35 represents the identification information of the product handled in the work performed at that work station.

[0133] The quantity 36 represents the number of goods handled in the work performed at that work station.

[0134] The scheduled start date and time 37 represents the scheduled start time of the work to be performed at the work station. If the work status 39 is "in progress" or "completed," the actual start date and time of the work may be recorded in the scheduled start date and time 37.

[0135] The scheduled end date and time 38 represents the scheduled end time of the work performed at the work station. If the work status 39 is "completed", the actual date and time the work was completed may be recorded in the scheduled start date and time 37.

[0136] Work status 39 represents the status of the work being performed at the work station, and records include "Before work," "In progress," "Completed," etc.

[0137] Figure 10 is a sequence diagram of the processing related to the movement instruction in Example 1.

[0138] The process shown in Figure 10 is executed at predetermined timings, such as when processing an order stored in order information 7 begins, or when processing the next order is executed, and is repeated until all orders have been processed. The processes described below are performed by a program executed by the processor 10 of the control device 1, with the integrated WCS program executing the integrated WCS2 process and the WCS program executing the WCS3 process.

[0139] First, the integrated WCS2 identifies the item ID to be processed from one record identified from the order information 7 in order of earliest work date and time (S201).

[0140] The integrated WCS2 then refers to inventory information 8A, container information 8B, and shelf information 8C to determine the method of transporting the item and the classification of the mobile device 9 capable of transporting the item (S203). The transport method is either transporting the shelf or transporting the container in which the item is stored, and the classification of the mobile device 9 differs depending on what is being transported. The AGV selection process performed by the integrated WCS2 will be described later with reference to Figure 11.

[0141] Then, the integrated WCS2 refers to the equipment classification information 33 and, based on the identified equipment classification, identifies the WCS3 that controls the mobile device 9 of that equipment classification (S204), and sends a move instruction (transport instruction) to the identified WCS3 (S205). Note that the process of identifying the WCS3 from the order information 7 may be carried out by a process other than the process shown in steps S201 to S203.

[0142] When WCS3 receives a movement instruction from integrated WCS2, it determines the mobile device 9 that will perform the transport according to the movement instruction based on the location information 6 (S206), identifies the drivable area based on the map information 4 and area information 5, and creates a movement route by connecting the drivable areas (S207). Then, WCS3 transmits a movement instruction to the mobile device 9 that will perform the transport and controls the movement of the mobile device 9 (S208).

[0143] Furthermore, depending on the characteristics of the mobile device 9, if the WCS3 controlling the mobile device 9 is a system that does not have order information 7 and inventory information 8A (for example, an inter-process transport system used only for moving goods within a warehouse), the process shown in Figure 10 may omit S201 and start from any of S203, S204, or S205.

[0144] Figure 11 is a flowchart of the AGV selection process (S203) in Example 1.

[0145] In the AGV selection process, the integrated WCS2 refers to inventory information 8A to determine whether the item to be processed is located in the common area (S221).

[0146] If the items to be processed are not in a common area, the integrated WCS2 identifies the transport target, transport method, and equipment classification corresponding to the dedicated area where the items to be processed are located (S222). Specifically, the integrated WCS2 identifies whether the items to be transported are stored in a container or on a shelf, whether the transport method involves transporting a container, transporting a shelf, or removing the item from the shelf and transporting the container, and whether the equipment classification is a mobile device 9 for shelf transport or a mobile device 9 for container transport. If there are multiple candidates in the inventory information 8A, it is preferable to transport the shelf or container that results in the shortest travel distance.

[0147] If the items to be processed are located in a common area, the integrated WCS2 refers to inventory information 8A, container information 8B, and shelf information 8C to determine whether the items to be processed are stored in at least a mobile shelf (S223).

[0148] If the items to be processed are not stored on a mobile shelf (i.e., the items to be processed are stored only in stock boxes on a fixed shelf), the integrated WCS2 decides to remove the container containing the items from the fixed shelf and transport the items in the container removed from the fixed shelf (S224), and proceeds to step S229.

[0149] On the other hand, if the items to be processed are stored on a mobile shelf, the integrated WCS2 determines whether there are other items to be processed on the same mobile shelf (S225). The integrated WCS2 may also determine whether there are other items to be processed on the same shelf surface of the same mobile shelf. Other items to be processed are, for example, items handled in the same order or items handled in any of the orders in the group of orders being processed. If a predetermined number of items or more of the items handled in one or more orders to be processed are stored on the same mobile shelf, the shelf transport mobile device 9 decides to transport the mobile shelf, so that multiple items can be picked from one shelf and work efficiency can be improved. Furthermore, if there are other items to be processed on the same shelf surface, multiple items can be picked without rotating the shelf, further improving work efficiency.

[0150] If there are other items to be processed on the same shelf surface of the same mobile shelf, the integrated WCS2 decides to transport those items on the shelf (S226) and proceeds to step S229.

[0151] On the other hand, if there are no other items to be processed on the same shelf surface of the same mobile shelf, the integrated WCS2 determines whether the other items to be processed are within a predetermined range or within a predetermined increase in transport costs (S227). Note that there are mobile devices that transport containers, which can load and transport multiple containers simultaneously, and which transport only one container. In the case of a mobile device that transports only one container, the determination in step S227 may be skipped and the process may proceed to step S228.

[0152] Whether other items to be processed are within a predetermined range can be determined by referring to the location 83 recorded in inventory information 8A and checking whether the location of the item to be processed and the location of the other items to be processed are less than a predetermined threshold. Furthermore, whether the other items to be processed are within a predetermined increase in transport costs can be determined by referring to the location 83 recorded in inventory information 8A and checking whether the increase in transport costs of the route to which the item to be processed is transported from the location of the other items to be processed is less than or equal to a predetermined threshold (i.e., the increase in transport costs due to the addition of a route is less than or equal to a predetermined threshold).

[0153] If other items to be processed are stored in containers on a mobile shelf, and the shelf transport mobile device 9 is transporting the mobile shelf, the container transport mobile device 9 may retrieve a container from the transported mobile shelf and transport the retrieved container. In this case, a merging point where the shelf transport mobile device 9 and the container transport mobile device 9 meet is determined, and the shelf transport mobile device 9 and the container transport mobile device 9 are controlled to stop in adjacent sections at the determined merging point. After the shelf transport mobile device 9 and the container transport mobile device 9 have stopped, the container transport mobile device 9 retrieves a container from the transported mobile shelf and transports the container to its destination. After the container transport mobile device 9 has retrieved the container, the stop of the container transport mobile device 9 is released, and the mobile shelf is transported to its destination. In this way, the transport efficiency can be improved by having the container transport mobile device 9 retrieve a container from the transported mobile shelf and transport it to its destination.

[0154] Other items to be processed may be stored on fixed shelves or mobile shelves. If other items to be processed are stored on both mobile and fixed shelves, containers may be retrieved from the shelf with the shortest travel distance, or containers may be retrieved from the fixed shelves first. Prioritizing containers from the fixed shelves increases the likelihood of containers being present on the mobile shelves, thus increasing the probability of picking multiple items at once from the mobile shelves.

[0155] If the other items to be processed are within a predetermined range or within the increase in transport costs, the integrated WCS2 decides to transport these items in one trip using the container holding the items to be processed and the container holding the other items to be processed (S224), and proceeds to step S229.

[0156] In step S227, it is determined whether other items to be processed are within a predetermined range, so nearby containers can be transported together, improving transport efficiency and work efficiency. In step S227, it is determined whether other items to be processed are within a predetermined increase in transport cost, so another container can be acquired along the route of a transport task for a given container, so nearby containers can be transported together, improving transport efficiency and work efficiency.

[0157] On the other hand, if the other items to be processed are neither within a predetermined range nor within the increased transport cost range, the integrated WCS2 decides, based on the WS work information 30, to transport the work object (shelf or container) corresponding to a work station with few work tasks (S228), and proceeds to step S229. Whether a work station has few work tasks can be determined by whether it is the work station with the fewest work tasks, or whether it is a work station with fewer work tasks than a predetermined threshold. By transporting the work object to a work station with few work tasks and that is not congested, the concentration of work on a particular work station can be suppressed, and the load on the work stations can be distributed. As a result, the waiting time of the moving device at the work station can be reduced, the occurrence of idle time for workers due to waiting for transport can be suppressed, and transport efficiency and work efficiency can be improved.

[0158] In step S228, unlike the above, shelves or containers may be transported using a nearby available mobile device (shelf transport mobile device 9 or container transport mobile device 9). Furthermore, in step S228, shelves or containers may be transported using a mobile device of a device category with a high percentage of available units, by referring to location information 6. Alternatively, shelves or containers may be transported using a mobile device of a device category with a large number of available units, by referring to location information 6. By controlling the mobile device 9 of a category with a high percentage or number of available units to transport containers in this way, transport efficiency can be improved. For example, the utilization rate of either the shelf transport mobile device 9 or the container transport mobile device 9 is less likely to reach its upper limit, resulting in a shortage of mobile devices 9, and transport tasks can be appropriately assigned to the mobile devices 9.

[0159] Then, in step S229, the integrated WCS2 identifies the transport target, transport method, and equipment classification corresponding to the dedicated area where the items to be processed are located.

[0160] As described above, according to the embodiment of the present invention, the control device (WCS2) determines that if a predetermined number of items of a certain type or more are stored in the same mobile shelf among the multiple items handled in one or more orders to be processed, the first transport device (shelving transport device 9) should transport the mobile shelf. This allows multiple items to be picked from a single shelf, improving the work efficiency of the warehouse.

[0161] It should be noted that the present invention is not limited to the embodiments described above, but includes various modifications and equivalent configurations within the spirit of the attached claims. For example, the embodiments described above are described in detail for the purpose of clearly illustrating the present invention, and the present invention is not necessarily limited to having all the described configurations. Furthermore, some of the configurations of one embodiment may be replaced with those of another embodiment. Furthermore, configurations of other embodiments may be added to the configuration of one embodiment. Furthermore, some of the configurations of each embodiment may be added, deleted, or replaced with those of other embodiments.

[0162] Furthermore, each of the aforementioned configurations, functions, processing units, and processing means may be implemented in hardware, for example, by designing them as integrated circuits, or they may be implemented in software by having a processor interpret and execute programs that realize each function.

[0163] Information such as programs, tables, and files that implement each function can be stored in memory, hard disks, SSDs (Solid State Drives), or other storage media such as IC cards, SD cards, and DVDs.

[0164] Furthermore, the control lines and information lines shown are those deemed necessary for explanation purposes and do not necessarily represent all control lines and information lines required for implementation. In reality, it can be assumed that almost all components are interconnected. [Explanation of Symbols]

[0165] 1. Control device 2. Integrated WCS 3 WCS 4. Map Information 5 Area Information 6 Location information 7. Order Information 8A Inventory Information 8B Container Information 8C Shelf information 9A, 9B Mobile device 10 processors 11 memory 12 Auxiliary storage 13 Input device 14 Output device 15 Interface device 30 WS work information 33 Device classification information 40 areas 40A, 40B Dedicated Area 40C Common Area 41 plots 42 Marker 90 Controllers 91 Drive unit 92 Storage device 93 Interface device 94 sensors 95 Loading device 96 Drive wheels 97 Training wheels 100 Networks 900 Control Program 901 Communication Program 902 Measurement Program 903 Location Estimation Program 920 Route Information 921 Device information 922 Map Information 923 Measurement Information 924 Performance Information

Claims

1. A control device for controlling the operation of a mobile device that transports goods, It is composed of a computer having a processing unit that performs predetermined processing and a storage unit connected to the processing unit, The aforementioned items are stored in storage boxes or mobile shelves. The aforementioned storage boxes are placed on fixed shelves that are not transported by the mobile shelves or the mobile device. The mobile device includes a first conveying device for transporting the mobile shelves and a second conveying device for transporting the inventory boxes. The control device is characterized in that, when a plurality of items handled in one or more orders to be processed are stored in the same mobile shelf, the first transport device decides to transport the mobile shelf.

2. A control device according to claim 1, The control device is characterized in that, among the multiple items handled in the one or more orders to be processed, if a predetermined number of items of a certain type or more are stored on the same shelf surface of the same mobile shelf, the first transport device decides to transport the mobile shelf.

3. A control device according to claim 1, The control device is characterized in that it determines that the second transport device will transport in one trip any inventory boxes containing multiple items handled in one or more orders for processing that are within a predetermined transport cost.

4. A control device according to claim 1, The second transport device is capable of transporting multiple containers, The control device is characterized in that, if the inventory boxes containing each of the multiple items handled in the one or more orders to be processed are within a predetermined increase from the transport cost of a defined transport route, the second transport device decides to transport the multiple inventory boxes in one trip.

5. A control device according to claim 3, Based on the workload at the work stations where the transported items are processed, the work station with the least workload is determined as the destination work station for the shelves. A control device characterized in that the first moving device or the second moving device determines to transport the article to the destination work station.

6. A control device according to claim 3, A control device characterized in that, if the items to be handled in the order to be processed are stored only in stock boxes stored on the fixed shelves, the second conveying device decides to retrieve the stock boxes from the fixed shelves and transport them.

7. A control device according to claim 3, The control device is characterized in that the fixed shelf has a space below it in which the movable shelf can be stored.

8. A control device according to claim 3, The control device is characterized in that it determines that the second transport device acquires and transports the inventory boxes stored in the mobile shelf.

9. A control device according to claim 8, The first conveying device decides to stop transporting the mobile shelf so that the second conveying device can retrieve a stock box from the mobile shelf being transported by the first conveying device. After the first conveying device has stopped, the second conveying device decides to retrieve and transport a stock box from the mobile shelf that the first conveying device is currently transporting. A control device characterized by deciding to release the stop of the first conveying device after the second conveying device has acquired the inventory box.

10. A control device according to claim 3, A control device characterized in that, when the inventory boxes containing the items are stored on both fixed shelves and mobile shelves, the second transport device decides to retrieve the inventory boxes from the fixed shelves and transport them.

11. A control device according to claim 3, A control device characterized in that, among the empty second conveying devices, it determines that the second conveying device located closest to the inventory box containing the items to be handled in the order to be processed will convey the inventory box.

12. A control device according to claim 3, A control device characterized in that it determines that the conveying device of the category with a large proportion or number of empty units among the first conveying device or the second conveying device will convey the inventory boxes containing the items to be handled in the order to be processed.

13. A control method performed by a control device that controls the operation of a mobile device for transporting goods, The control device is comprised of a computer having a processing unit that performs a predetermined process and a storage unit connected to the processing unit. The aforementioned items are stored in storage boxes or mobile shelves. The aforementioned storage boxes are placed on fixed shelves that are not transported by the mobile shelves or the mobile device. The mobile device includes a first conveying device for transporting the mobile shelves and a second conveying device for transporting the inventory boxes. The control method is characterized in that, when the control device determines that a predetermined number of items among a plurality of items handled in one or more orders to be processed are stored in the same mobile shelf, the first transport device transports the mobile shelf.

Images