Conveying system, control device, and control method

Abstract

To improve work efficiency and / or transport efficiency, the system allows for the storage of multiple items with different attributes (e.g., size or weight) in a container. [Solution] The control device determines the item attributes of the item to be worked on based on the number of items stored in the corresponding opening or the size of the work unit of the item, selects a container with the container attributes corresponding to the determined item attributes, and transmits a movement instruction to the transport device to transport the container to one of the work stations among a plurality of work stations.

Description

Technical Field

[0001] The present invention generally relates to a technique for transporting a transported object by the travel of a transport device.

Background Art

[0002] As background art in this technical field, there is a technique related to an AGV (Automatic Guided Vehicle) that transports a shelf to a destination, for example, the technique disclosed in Patent Document 1.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] In a work station, work is performed by a worker on a transported object (for example, a container such as a shelf) (for example, a stocking operation of stocking an article on a shelf, a replacement operation of replacing articles on a shelf, a picking operation of picking an article from a shelf, etc.). For example, for the work of stocking large or heavy articles to be worked on in a shelf, in order to improve safety and work efficiency, it may be performed by a plurality of workers rather than by a single worker.

[0005] In order to perform such work at a plurality of work stations, when a plurality of workers are arranged at each work station, problems such as an increase in cost for increasing the number of workers and a shortage of workers occur. Also, at each work station, when the work performed by a plurality of workers is small, the work efficiency of the workers decreases. On the other hand, when some workers sequentially move to a work station where work that needs to be performed by a plurality of workers has occurred and perform the work, the work efficiency decreases due to waiting for the arrival of the workers.

[0006] Therefore, as an example, we consider a system in which multiple workers are assigned to specific (partial) work stations, and a transport device transports the containers that are the target of the work performed by the multiple workers to the specific work stations. In this case, if the items that are the target of the work performed by the workers are dispersed among many containers, transport costs between the work station and the storage location of the containers tend to be high, and the overall transport efficiency tends to decrease.

[0007] Therefore, the present invention provides a control system, a control device, and a control method for storing multiple articles with different attributes (e.g., size or weight) in a container, which can improve work efficiency and / or transport efficiency. [Means for solving the problem]

[0008] The control device determines the item attributes of the item to be worked on based on the number of items stored in the corresponding opening or the size of the work unit for the item, selects a container with the corresponding container attributes based on the determined item attributes, and transmits a movement instruction to the transport device to transport the container to one of the multiple work stations. [Effects of the Invention]

[0009] According to the present invention, it is possible to store multiple articles with different article attributes (e.g., size or weight) in a container, for example, improving work efficiency and / or transport efficiency. Problems, configurations, and effects other than those described above will be revealed by the following description of embodiments for carrying out the invention. [Brief explanation of the drawing]

[0010] [Figure 1] This figure shows a schematic configuration of the transport system according to the embodiment. [Figure 2] This is a diagram illustrating the layout of the area. [Figure 3A] This is a perspective view showing the external configuration of the conveying device. [Figure 3B] This is a plan view showing the bottom configuration of the conveying device. [Figure 4] It is a diagram for explaining the conveyance of the shelf. [Figure 5A] It is a diagram showing a first example of the association between shelf attributes and product attributes. [Figure 5B] It is a diagram showing a second example of the association between shelf attributes and product attributes. [Figure 6] It is a diagram showing a part of a specific configuration example of elements in the conveyance system. [Figure 7] It is a diagram showing a configuration example of an order table. [Figure 8] It is a diagram showing a configuration example of an inventory table. [Figure 9] It is a diagram showing a configuration example of a shelf table. [Figure 10] It is a diagram showing a configuration example of a device management table. [Figure 11] It is a diagram showing a configuration example of an area table. [Figure 12] It is a diagram showing a configuration example of a work table. [Figure 13] It is a flowchart showing the flow of the conveyance control process of the shelf targeted for picking work. [Figure 14] It is a flowchart showing the flow of the conveyance control process of the shelf targeted for stocking work. [Figure 15] It is a flowchart showing the flow of the update process of product attributes. [Figure 16] It is a flowchart showing the flow of the conveyance control process of the shelf targeted for replacement work.

Mode for Carrying Out the Invention

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

[0012] In the drawings, the positions, sizes, shapes, ranges, etc. of the respective components shown may not represent the actual positions, sizes, shapes, ranges, etc. for the sake of facilitating the understanding of the invention. Therefore, the present invention is not necessarily limited to the positions, sizes, shapes, ranges, etc. disclosed in the drawings.

[0013] In the following description, an "interface device" may be one or more interface devices. The one or more interface devices may be at least one of the following. · One or more I / O (Input / Output) interface devices. The I / O (Input / Output) interface device is an interface device for at least one of an I / O device and a remote display computer. The I / O interface device for the display computer may be a communication interface device. At least one I / O device may be either an input device such as a user interface device, for example, a keyboard and a pointing device, or an output device such as a display device. · One or more communication interface devices. The one or more communication interface devices may be one or more of the same type of communication interface devices (for example, one or more Network Interface Cards (NICs)) or two or more different types of communication interface devices (for example, a NIC and a Host Bus Adapter (HBA)).

[0014] Also, in the following description, "memory" is one or more memory devices which are an example of one or more storage devices, and typically may be a main memory device. At least one memory device in the memory may be a volatile memory device or a non-volatile memory device.

[0015] Furthermore, in the following explanation, "persistent storage device" may refer to one or more persistent storage devices, which 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).

[0016] Furthermore, in the following explanation, "storage device" can be any storage device, and may be at least one of memory and persistent storage devices (for example, memory).

[0017] Furthermore, in the following explanation, "processor" may refer to 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-sense processor device such as a circuit that is a collection of gate arrays according to 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)).

[0018] Furthermore, in the following explanation, we may use expressions such as "xxx table" to describe information that yields an output for a given input. This information can be data of any structure (for example, structured or unstructured data), or it can be a neural network that generates an output for a given input, or a learning model such as a genetic algorithm or random forest. Therefore, "xxx table" can be referred to as "xxx information." Also, in the following explanation, the structure of each table is just an example; one table may be divided into two or more tables, or all or part of two or more tables may be a single table.

[0019] Furthermore, in the following explanation, the subject of the process may be "program," but since a program is executed by a processor and performs defined processes using memory and / or interface devices as appropriate, the subject of the process may also be the processor (or the device or system having that processor). A program may be installed from a program source into a device such as a computer. The program source may be, for example, a program distribution server or a recording medium readable by a computer (e.g., a non-temporary recording medium). Also, in the following explanation, two or more programs may be implemented as a single program, or one program may be implemented as two or more programs.

[0020] Furthermore, any information (for example, "ID," "name," and "number") may be used as information to identify an element (identification information, identifier). When describing identification information, expressions such as "identification information," "identifier," "name," "ID," and "number" are used, and these are interchangeable.

[0021] Furthermore, in the following explanation, when describing similar elements without distinction, the common reference code will be used, and when describing similar elements with distinction, the reference code will be used.

[0022] Furthermore, in the following explanation, the unit of "date and time" can be either coarser or finer than year, month, day, hour, and minute.

[0023] Figure 1 shows a schematic configuration of a transport system (which may also be called a logistics system) according to an embodiment. For convenience, the two dimensions are defined as the x-direction and the y-direction, which is perpendicular to the x-direction.

[0024] The transport system comprises multiple transport devices 3 that travel within a warehouse 2 (an example of a storage space), and a control device 4 (for example, a WCS (Warehouse Control System)) that remotely controls the movement of each transport device 3.

[0025] In this embodiment, "movement" of the conveying device 3 refers to the movement of the conveying device 3 in general, regardless of whether or not there is an object to be conveyed. "Movement" of the conveying device 3 may also be rephrased as "travel" of the conveying device 3. "Movement" when the conveying device 3 has an object to be conveyed (a state in which an object is loaded) is specifically referred to as "conveying".

[0026] Shelf 5 is an example of an item that can be transported by the transport device 3. Instead of or in addition to shelf 5, trays, pallets, or containers may also be examples of items that can be transported. If the transported item is capable of holding one or more items (e.g., shelf 5 or pallet), it may be called a storage unit (storage device) or a loading / unloading platform. Furthermore, the transported item may be items that are the subject of operations such as receiving, storing, or shipping (e.g., goods, parts). In this embodiment, the case of shelf 5 will be described as an example of an item that can be transported by the transport device 3.

[0027] Warehouse 2 is a storage facility used by companies such as online retailers or equipment manufacturers to store goods. The goods stored in Warehouse 2 may be products or parts. In this embodiment, an example of goods stored in Warehouse 2 will be described.

[0028] Warehouse 2 may be equipped with a multi-level area 122 and multiple vertical conveyors 202 (in the example shown in Figure 1, a first vertical conveyor 202A and a second vertical conveyor 202B).

[0029] A multi-level area 122 is an example of multiple levels of areas located at different heights. If the warehouse 2 is a building with multiple floors, the areas (floors) on those multiple floors may be the multi-level area 122. Also, if a mezzanine is provided in the warehouse 2, the area where the mezzanine is installed and the area on the mezzanine may be the multi-level area 122. Walls or fences 191 may be provided to surround each area 200.

[0030] The multi-tiered area 122 has a first-tier area 200A, a second-tier area 200B, and a third-tier area 200C. The multi-tiered area 122 may have four or more tiers. Multiple shelves 5 are installed in a movable manner in each of the multiple areas 200A to 200C that make up the multi-tiered area 122. Note that the same type of transported goods are not necessarily placed in all areas 200. For example, shelves 5 may be placed in the first-tier area 200A and pallets in the second-tier area 200B. One or more items (for example, products to be sold) are stored in predetermined positions on each shelf 5. The shelves 5 are sometimes referred to as movable shelves.

[0031] Each area 200 is, for example, an area on which the conveying device 3 travels. By traveling through area 200, the conveying device 3 can transport the shelves 5 to the work station 6. Each area 200 is either the entire floor area or a part of it of the warehouse 2.

[0032] Work station 6 is a place where workers and / or work equipment perform tasks on transported items. For example, tasks such as picking items (e.g., goods) from shelves 5, receiving items into shelves 5, rearranging items stored in shelves 5, and inventory taking may be performed at work station 6. A work station (WS) may also be called a workstation or working station.

[0033] When the transport device 3 transports to the work station 6, the destination (target location) may be a predetermined location in the work station 6 where a worker or work device can work on the transported object (for example, the area in front of the work station 6, or the area adjacent to the work station 6), or it may be another predetermined location related to the work station 6. Examples of other predetermined locations include, for example, if there are other shelves 5 in the area in front of the work station 6, it may be a waiting area in front of or around the work station 6, or if there is shelf transport equipment (such as a conveyor) in the area in front of the work station 6, it may be a place where the shelves 5 are handed over to said transport equipment.

[0034] Similarly, when the conveying device 3 is transporting from the work station 6, the source of transport (departure position) may be a predetermined location in the work station 6 where a worker or work device can work on the transported object (for example, the area in front of the work station 6, or the area adjacent to the work station 6), or it may be another predetermined location related to the work station 6. An example of another predetermined location is, for example, if there is a conveying equipment (such as a conveyor) for the shelves 5 in the area in front of the work station 6, the receiving location for the shelves 5 from that conveying equipment may be the receiving location for the shelves 5.

[0035] Area 200 may be provided with an inter-area conveyor or a conveyor belt, as an example of a transport device for transporting the shelves 5 located in that area.

[0036] The vertical conveyor 202 is an example of an inter-area conveyor. The vertical conveyor 202 is a conveyor that moves up and down vertically. Specifically, the vertical conveyor 202 conveys shelves 5 from the upper area 200 to the lower area 200 by descending, and / or conveys shelves 5 from the lower area 200 to the upper area 200 by ascending. The vertical conveyor 202 may be, for example, a lift or a cage in a lift. The vertical conveyor 202 can also be replaced by other inter-area conveyors, such as a forklift, that can convey shelves 5 vertically. Furthermore, each vertical conveyor 202 may be capable of conveying shelves 5 to the upper area 200 or conveying shelves 5 to the lower area 200.

[0037] The transport device 3 is a device that moves according to a "move instruction" from the control device 4, and is typically an automated guided vehicle (AGV). The "move instruction" transmitted from the control device 4 to the transport device 3 may include information representing the move task assigned to the transport device 3. The move task may be, for example, a transport task to transport shelf 5 to a target area, or a move task that does not involve transport.

[0038] The "information representing a movement task" included in the "movement instruction" may include, for example, information about the movement path of the transport device 3 (which may include, for example, information about the destination area), information about the control for the transport device 3 to move and transport, the shelf ID of the shelf 5 to be transported, and information identifying the movement task (e.g., transport task) (e.g., processing ID). Here, the "movement path information" may include, for example, the path from the current area of ​​the transport device 3 (the area to which the current position belongs) to the shelf storage area (the area where the shelf 5 to be transported is located), and the path from the shelf storage area to the destination area (e.g., the work station 6 or the shelf storage area), or it may be a part of that path (e.g., the path to be moved in the most recent time).

[0039] When each conveying device 3 receives a move instruction associated with a conveying task assigned to it, it lifts the shelf 5 specified in the move instruction and transports the shelf 5 to the work station 6 specified in the move instruction. After work (e.g., receiving work) is performed on the shelf 5 by a worker or work device at the work station 6, the control device 4 transmits a move instruction to the conveying device 3 to return the shelf 5 to its original shelf storage area (or another shelf storage area) in order to return it to its storage position. Upon receiving the move instruction, the conveying device 3 transports the shelf 5 to its original shelf storage area (or another shelf storage area).

[0040] The transport route to work station 6 and the transport route from work station 6 to the original shelf storage area (or another shelf storage area) of shelf 5 may be specified in a single transport instruction or in separate transport instructions. As an example of this "another shelf storage area," shelf 5 that stores products with a high picking frequency (e.g., high picking frequency) and has a high transport frequency (806) to work station 6 may be placed in a shelf storage area close to work station 6, or in area 200 where work station 6 is located. Shelf 5 that has a low transport frequency (806) to work station 6 may be placed in a shelf storage area far from work station 6, or in area 200 where work station 6 is not located. In this way, the control device 4 can improve transport efficiency by issuing a transport instruction to the transport device 3 to change the installation location of shelf 5 according to the transport frequency (806) to work station 6.

[0041] Furthermore, the control device 4 issues movement instructions to each of the transport devices 3 and the vertical transport machine 202 for each of the multiple movement tasks (e.g., transport tasks), allowing the transport system as a whole to process multiple movement tasks in parallel. In addition, at the work station 6, work may be performed in the order in which the shelves were transported to the work station 6 (in the order of arrival).

[0042] According to the example shown in Figure 1, the following applies: Having completed transporting shelf 5A to work station 6, the transport device 3A is waiting for the completion of work on shelf 5A. After the work by the worker or work device is completed at work station 6, the transport device 3A transports shelf 5A from work station 6 to the storage location of shelf 5A. The conveying device 3B transports shelf 5B to the first vertical conveyor 202A. After transporting shelf 5B to the first vertical conveyor 202A, the conveying device 3B becomes empty. Shelf 5C is in the third-tier area 200C, waiting to be transported to the second vertical conveyor 202B. • The transport device 3D is moving to transport shelf 5D, which is located in the first-level area 200A. • One or more conveying devices 3 may be present in any of the areas 200.

[0043] In this embodiment, for example, at least one of the following may be adopted. The transported items (including shelf 5) may be transported items with legs (transported items with legs) or transported items without legs (transported items without legs). Transported items without legs are stored on the stand 192. Transported items with legs may be stored in a storage location without the stand 192. The height of each conveying device 3 is lower than the height of the legs of the conveyed objects with legs, and each conveying device 3 can pass under the conveyed objects with legs. Similarly, the height of each conveying device 3 is lower than the height of the stand 192, and each conveying device 3 can pass under the conveyed objects on the stand 192. Whether the conveyed objects are conveyed objects with legs or conveyed objects without legs stored on the stand 192, the conveying device 3 can go under the conveyed objects, lift them up, and transport them. If all conveyed objects have legs and the conveying device 3 can go under the conveyed objects, lift them up, and transport them, the stand 192 does not need to be provided. Furthermore, the frame 192 is not limited to the structure exemplified in Figure 1, as it is a structure that supports the transported object so that there is space for the transporting device 3 to enter underneath the transported object and lift it for transport. • If there are legless transport items, a support stand 192 is provided in each area 200 at the location where the legless transport items are placed. The location where the legless transport items are placed may be, for example, in front of the transport item entrance / exit of the vertical transporter 202, or the storage location for the legless transport items. Any transport device 3 can place legless transport items on the support stand 192. • The area does not need to be multi-tiered; it can be a single tier.

[0044] Figure 2 is an explanatory diagram of the configuration of Area 200. Figure 2 schematically illustrates one Area 200, and each area may have a similar configuration or a different configuration.

[0045] Each area 200 is divided and managed into multiple rectangular sections 201 of a predetermined size. Hereinafter, the sections 201 may be referred to as sections (α, β, γ). α is the x-coordinate (section position along the x-direction), β is the y-coordinate (section position along the y-direction), and γ is the z-coordinate (area position in the height direction). In this embodiment, the value of γ is "1" (1st level area), "2" (2nd level area), or "3" (3rd level area).

[0046] Each section 201 may be provided with a marker (not shown) indicating the location of that section 201. The marker only needs to contain information for identifying the location of that section 201, which may be, for example, the location information of that section 201, or information associated with the location information of that section 201 (for example, identification information of section 201). The marker is information that can be read by the sensor 14 of the transport device 3, and may be, for example, a one-dimensional code, a two-dimensional code such as a QR code (registered trademark), or information such as an RFID (radio frequency identifier) ​​tag.

[0047] For example, when a transport device 3 passes through each section 201, it reads a marker in that section 201. Each transport device 3 transmits the information of the read marker, along with its identification information (device ID), to the control device 4. The control device 4 determines the position of each transport device 3 based on the identification information and marker information received from each transport device 3. The marker information may be the location information of the section 201 where the marker is located, or it may be information associated with the location information of that section 201 (for example, the identification information of section 201). Each transport device 3 may be able to move from one section 201 to another adjacent section 201, and may also be able to rotate within a section 201.

[0048] If the example shown in Figure 2 is the first-level area 200A, then in a plan view, there are, for example, the following sections. The section (1,13,1) where the first vertical conveyor 202A is located. The section (1,11,1) where the second vertical conveyor 202B is located. Sections (2,13,1) and (2,11,1) where shelves 5 transported by the vertical conveyor 202 are temporarily placed. • Shelf storage areas (3,3,1), (3,4,1), etc. (areas with the same pattern in Figure 2) are the areas where shelf 5 is stored (placed). • The section (1,1,1) where the battery station is located. • The sections where work station 6 is located are (6,15,1) and (12,15,1).

[0049] Hereinafter, the area where shelf 5 is temporarily placed may be referred to as a "buffer area." In this embodiment, there is one buffer area for each vertical conveyor 202, but at least one vertical conveyor 202 may have two or more buffer areas. In other words, for each vertical conveyor 202, the number of buffer areas (the number of shelves 5 that can be buffered (temporarily placed) in the first-stage area 200A) may be a predetermined number M (where M is a natural number).

[0050] Shelf 5 may be approximately the same size as one compartment 201, or it may be smaller than one compartment 201. There may be various variations in how the compartments are set up. In addition, there may be compartments that the conveying device 3 is not allowed to enter (for example, compartment (3,1,1)).

[0051] For each section 201 of each area 200, the direction in which the transport device 3 can move within that section 201 may or may not be restricted, as shown by the arrows illustrated in Figure 2. In this embodiment, an example in which each transport device 3 can move in the x-axis direction (+x direction and -x direction) and the y-axis direction (+y direction and -y direction) will be described. Between shelf storage sections, the transport device 3, when not loaded with shelves 5, can move in the direction of the arrows. In order to prevent collision with shelves 5 stored in the shelf storage section, the transport device 3, when loaded with shelves 5, may be prevented from traveling between shelf storage sections by the control device 4.

[0052] Furthermore, the sections 201 may be set to allow movement in both directions, or to allow movement in only one direction. For example, by setting some sections 201 to allow movement in only one direction, it is possible to suppress or reduce congestion in the transport device 3 and improve the overall transport efficiency. Also, if there are many sections 201 that can only move in one direction, the travel path of the transport device 3 may become longer. Therefore, the direction in which the transport device 3 can move (direction (without shelves) 506, direction (with shelves) 507) may be set in advance depending on the number of transport devices 3 in each area 200, or the location and type of each section 201 (section setting 502), or such directions may be dynamically set or changed by the control device 4.

[0053] Figure 3A is a perspective view showing the external configuration of the conveying device 3. Figure 3B is a plan view showing the bottom configuration of the conveying device 3. As shown in Figure 3A, the conveying device 3 is formed in the shape of a rectangular parallelepiped as a whole. A cylindrical lifting body 22 that can move up and down and rotate is provided in the center of the top surface of the conveying device 3. The lifting body 22 may also be called a loading device, lifting device, rotating device, or lifting and rotating device. On the bottom surface (bottom surface) of the conveying device 3, as shown in Figure 3B, drive wheels 20 are provided for the conveying device 3 to rotate and move forward, and auxiliary wheels 21 are provided at the four corners of the bottom surface of the conveying device 3. The drive wheels 20 and auxiliary wheels 21 are the "wheels" of the conveying device 3.

[0054] Then, as shown in Figure 4, the conveying device 3 rotates the drive wheels 20 to move to the underside of the shelf 5 to be conveyed, and then lifts the shelf 5 by raising the lifting body 22, and conveys the shelf 5 by traveling through the warehouse 2 in that state. The conveying device 3 can also change the orientation of the lifted shelf 5 by rotating the lifting body 22. When the conveying device 3 body rotates (swivels), it is also possible to rotate the conveying device 3 without rotating the lifted shelf 5 by rotating the lifting body 22 in the opposite direction of the swivel.

[0055] Figure 5A shows the first example of the association between shelf attributes and product attributes. In the following explanation, a product with product attribute X will be referred to as "product[X]", and shelf 5 with shelf attribute Y will be referred to as "shelf[Y]".

[0056] According to the first example, the product attribute: Large Quantity is associated with the shelf attribute: Large Quantity Shelf. A shelf [Large Quantity Shelf] is, for example, a shelf that can accommodate many products relative to its size; in other words, a shelf suitable for small (or light) products. Products [Large Quantity] tend to be small (or light). For this reason, it is preferable that the shelf attribute: Large Quantity Shelf be associated with the product attribute: Large Quantity.

[0057] Figure 5B shows a second example of the association between shelf attributes and product attributes.

[0058] According to the second example, the product attribute: small quantity is associated with the shelf attribute: small quantity shelf. A shelf [small quantity shelf] is, for example, a shelf that cannot accommodate many products relative to its size; in other words, a shelf suitable for large (or heavy) products. Products [small quantity] tend to be large (or heavy). For this reason, it is preferable that the shelf attribute: small quantity shelf be associated with the product attribute: small quantity.

[0059] Note that the product attributes "large quantity" or "small quantity" relate to the size or weight of the product, but do not have to uniquely define the size or weight of the product. For example, there may be small but heavy products, and there may be large but light products. A shelf [large quantity shelf] is a shelf that holds more products than, for example, a shelf [small quantity shelf] (or compared to a predetermined threshold), in other words, a shelf that holds small (or light) products. A shelf [small quantity shelf] is a shelf that holds fewer products than, for example, a shelf [large quantity shelf] (or compared to a predetermined threshold), in other words, a shelf that holds large (or heavy) products.

[0060] Furthermore, since there is an upper limit to the maximum permissible weight of the transportable items that can be loaded onto the transport device 3 (the load that the transport device 3 can transport), if a shelf [small quantity shelf] filled with goods [small quantity shelf] becomes the transportable item, the weight of the transportable item may exceed the maximum permissible weight. In this case, the goods [small quantity shelf] may be placed in only a part of the shelf [small quantity shelf], leaving the rest of the shelf [small quantity shelf] empty, or goods of other product attributes (for example, goods [large quantity]) may be placed there.

[0061] Figure 6 shows a specific example of the configuration of the elements of the transport system in this embodiment. The transport system comprises a control device 4, a transport device 3, a WS terminal (work station terminal) 8, and a network 9. The transport system may also further comprise an inter-area transport device such as a vertical transport machine 202, other transport equipment (for example, an loading / unloading device that transports shelves 5 between the vertical transport machine 202 and a buffer section), a multi-stage area 122 (for example, a mezzanine), a frame 192, shelves 5, and a work station 6, all or part of them. Each component of the transport system may be singular (one) or multiple. For example, there may be multiple transport devices 3 and WS terminals 8. By introducing the transport system into the warehouse 2, the configuration illustrated in Figure 1 may be realized.

[0062] The control device 4 can communicate with the transport device 3, inter-area transport devices such as the vertical transporter 202, the WS terminal 8, and other transport equipment via the network 9. The control device 4 sends a movement instruction to the equipment that performs movement (including transport) (transport device 3, vertical transporter 202, transport equipment, etc.), and the equipment that receives the movement instruction moves according to the instruction. The network 9 may be a wireless communication network such as a wireless LAN (Local Area Network) or a wired communication network.

[0063] The transport device 3 comprises a drive unit 11, a storage device 12, an interface device 13, a sensor 14, a battery, and a controller 10 connected thereto.

[0064] The drive unit 11 includes drive wheels 20, auxiliary wheels 21, a lifting body 22, an actuator (not shown) such as a motor for rotationally driving the drive wheels 20, and an actuator (not shown) such as a motor for raising, lowering, and rotating the lifting body 22.

[0065] The interface device 13 is a device for communicating with the control device 4 via the network 9 using a predetermined wireless communication method, and may consist of, for example, a wireless LAN card.

[0066] Sensor 14 is a device for collecting information about the floor surface on which the transport device 3 travels, as well as various information related to the transport device 3. For example, sensor 14 can read information about markers on the floor section 201. The transport device 3 may include some or all of the following sensors as sensor 14: a camera that images the section 201 (for example, images the markers), a sensor that acquires information about the surrounding environment of the transport device 3 (for example, a sensor for detecting obstacles), a speed sensor that measures the speed of the transport device 3, an acceleration sensor that measures the acceleration of the transport device 3, a weight sensor that measures the weight of the load (transported object), and a gyro sensor that measures the orientation of the transport device 3.

[0067] The storage device 12 stores, for example, a route table (an example of route information) 23, a device table (an example of device information) 24, a map table (an example of map information) 25, a measurement table (an example of measurement information) 26, and a performance table (an example of performance information) 27.

[0068] The route table 23 is a table that stores information representing movement instructions received from the control device 4 and the movement route specified by the movement instructions (the information representing the movement route may include information about the sections of the movement route). The device table 24 is a table that stores the ID of the transport device 3, the current location (section) of the transport device 3, and the status of the transport device 3 (e.g., "standby (available)", "moving", or "transporting"). The map table 25 is a table that stores information representing the map of area 200, the location and attributes of each section (e.g., which area it belongs to). Note that the map table 25 may include information as illustrated in Figure 2. The measurement table 26 is a table that stores information measured by multiple types of sensors 14 (e.g., information about the surrounding environment of the transport device 3, the speed, acceleration and direction of the transport device 3, the weight of the transported object, the position of the transport device 3 (information read from the marker), images of section 201, etc.). The performance table 27 is a table that stores information representing the movement performance, including the route and date and time traveled by the transport device 3.

[0069] Controller 10 is a controller that controls the operation of the transport device 3 according to movement instructions from the control device 4 and the charge status of its built-in battery. Controller 10 includes, for example, a processor and a storage device (e.g., memory). The storage device of Controller 10 stores a communication program 29, a movement control program 30, a measurement program 31, and a position estimation program 32. The communication program 29, the movement control program 30, the measurement program 31, and the position estimation program 32 are executed by the processor of Controller 10, thereby realizing the communication unit, the movement control unit, the measurement unit, and the position estimation unit (various controls of the transport device 3 are performed).

[0070] The communication program 29 is a program that has the function of exchanging commands and information with the control device 4 via the interface device 13. For example, the communication program 29 transmits at least some of the information from tables 23 to 27 to the control device 4 in response to a request from the control device 4 (or without a request). The communication program 29 of each transport device 3 may transmit each of these pieces of information to the control device 4 at regular or irregular intervals.

[0071] The movement control program 30 is a program that controls the movement of the transport device 3 in response to movement instructions received from the control device 4 via the communication program 29. For example, the movement control program 30 controls the drive unit 11 to lift a designated shelf 5 and move it to the work station 6 along a designated movement path, or controls the drive unit 11 to return the shelf 5 to its original position (or another position) along a designated movement path, in accordance with the movement instructions from the control device 4.

[0072] The measurement program 31 is a program that configures each sensor 14 and stores the output (measurement result) of each sensor 14 in the measurement table 26. The position estimation program 32 is a program that estimates the position of the transport device 3 based on information such as markers (markers in sections 201 of each area 200) detected through the sensors 14 of the transport device 3.

[0073] The control device 4 may be one or more physical computers having hardware such as a processor 40, memory 41, storage device 42, input device 43, output device 44, and interface device 45, 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 4 may be a control system. The processor 40 operates as a "processing unit", the memory 41 and storage device 42 as "storage units", the input device 43 as an "input unit", the output device 44 as an "output unit", and the interface device 45 as an "interface unit".

[0074] Furthermore, each device of the control device 4 may be located on a single physical computer, or it may be located on multiple physical computers in a distributed manner. Each program and piece of information in the storage device 42 may be stored in a single storage device, or it may be stored in multiple storage devices in a distributed manner. In addition to or instead of the input device 43 and output device 44, information may be input and output via a client system that can communicate through the interface device 45.

[0075] The processor 40 is a device that controls the operation of the entire control unit 4. The processor 40 may be a processing unit, an arithmetic unit, an arithmetic processing unit, or a controller. The memory 41 is used as the work memory of the processor 40. The storage device 42 stores various programs and various information (e.g., tables). The input device 43 consists of, for example, a mouse or keyboard, and is used by an operator (e.g., a worker or manager) to input necessary information and instructions to the control unit 4. The output device 44 may be a display device such as a liquid crystal display or an organic EL (Electro Luminescence) display. The interface device 45 is a device for communicating with external devices such as the transport device 3, the vertical transport machine 202, and the WS terminal 8 via the network 9 using a predetermined communication method, and may consist of, for example, a wireless LAN card.

[0076] The storage device 42 stores, for example, a device management table (an example of device management information) 53, an inventory table (an example of inventory information) 54, an order table (an example of order information) 55, a map table (an example of map information) 56, a shelf table (an example of shelf information) 57, a work table (an example of work information) 58, and an area table (an example of area information) 59. The map table 56 is a table that stores information representing each map of area 200 (for example, for each of areas 200A to 200C, information representing the location (coordinates) and attributes of each section (for example, whether it corresponds to a shelf storage section, work station 6, battery station, vertical conveyor 202, or buffer section)). For example, the control device 4 may transmit this map table 56 to each conveyor device 3, and each conveyor device 3 may save it as a map table 25. The map table 56 may include information as illustrated in Figure 2.

[0077] The control device 4 receives information about each transport device 3 from each transport device 3 at regular or irregular intervals (for example, at least some of the information from route information 23, device information 24, map information 25, measurement information 26, and performance information 27). Also, when information regarding the progress of work is entered into each WS terminal 8 of the work station, the control device 4 receives information regarding the progress of work from the WS terminal 8. Furthermore, based on this received information or input by the administrator, the control device 4 updates the relevant parts of the device management table 53, inventory table 54, order table 55, map table 56, shelf table 57, work table 58, and area table 59 as appropriate. At least some of the information in tables 53 to 59 is an example of the information included in the management information.

[0078] The storage device 42 stores the storage program 50 and the processing program 51. The storage unit and processing unit are realized when the storage program 50 and the processing program 51 are executed by the processor 40. The storage program 50 stores (updates) these tables 53 to 59 in the storage device 42.

[0079] WS terminal 8 is an information processing terminal for managing operations at work station 6 (e.g., receiving operations, replacement operations, picking operations, etc.). WS terminal 8 has an interface device 81, a storage device 82, and a processor 83 connected thereto.

[0080] The interface device 81 is a device for communicating with the control device 4 via the network 9 using a predetermined communication method, and may consist of, for example, a wireless LAN card. The storage device 82 stores the work table 84. The work table 84 may be a table that contains at least some of the same information as the work table 58 of the control device 4 (for example, a table that identifies the work or order to be processed, the scheduled work time, and the actual progress of the work). The processor 83 controls the operation of the entire WS terminal 8 by executing a program (not shown) in the storage device 82, for example, based on the work table 84.

[0081] WS terminal 8 may be equipped with an input device and an output device. The input device may accept input from the worker regarding work completion, etc. The output device may output instructions regarding work to the worker.

[0082] Figure 7 shows an example of the configuration of the order table 55.

[0083] The order table 55 is a table that stores various information about customer orders. The order table 55 has a record for each order. In addition, as shown in the example in Figure 7, the order table 55 has a record for each type of product (product ID) in each order.

[0084] Each record in the order table 55 stores associated information such as status 601, processing ID 602, order ID 603, shipping destination ID 604, product ID 605, quantity 606, delivery date 607, received date and time 608, and work date and time 609. The following explanation uses one order (referred to as the "Order of Interest" in the explanation of Figure 7) as an example.

[0085] Status 601 represents the status (progress) of work (e.g., picking or packing) on ​​the items specified in the order of interest.

[0086] The processing ID 602 ​​represents the ID of the processing (task) for the order of interest (the target record). The order ID 603 represents the ID of the order of interest (for example, the document number for the order of interest).

[0087] Shipping destination ID 604 represents the ID of the shipping destination for the product specified in the order in question (for example, the identification information of the store to which the product will be shipped).

[0088] Product ID 605 represents the ID of the product specified in the order of interest, and quantity 606 represents the number of that product specified in the order of interest.

[0089] The delivery date 607 represents the deadline by which the goods specified in the order of interest will be delivered to the destination (typically the customer). The reception date and time 608 represents the date and time when the order of interest was received. The work date and time 609 represents the date and time when the shelf 5 containing the goods specified in the order of interest is transported to the work station 6, and the prescribed work (e.g., picking the goods) is performed at the work station.

[0090] The processing program 51 may determine the work date and time 609 based on the reception date and time 608 and / or the due date 607. For example, the processing program 51 may determine the work date and time 609 such that the earlier the reception date and time 608 and / or the closer the due date 607, the earlier the work date and time 609 will be. The work date and time 609 will be determined so that the due date 607 can be observed. In addition to the reception date and time 608 and / or the due date 607, the processing program 51 may also determine the work date and time 609 based on other indicators such as the priority of the work and / or the priority of each order. Based on the determined work date and time (e.g., due date) 609, the processing program 51 may determine the timing of sending a move instruction to the transport device 3, or it may specify in the move instruction the date and time on which the transport device 3 should arrive at the work station 6. The process by which the processing program 51 determines the work date and time 609 is performed repeatedly (e.g., periodically or irregularly).

[0091] Figure 8 shows an example of the configuration of the inventory table 54.

[0092] The inventory table 54 is a table that stores information about the goods (items) that are stored. The inventory table 54 has a record for each item. Each record in the inventory table 54 holds associated information such as product ID 701, shelf type 702, maximum storage quantity 703, product attributes 704, weight 705, inventory quantity 706, shelf ID 707, and shelf location 708. The following explanation will use one item (referred to as "Featured Item" in the explanation of Figure 8) as an example.

[0093] Furthermore, if the same product is stored in different locations, multiple records will exist for that product in the inventory table 54. For example, if the same product is stored on different shelves, multiple records will exist for the same product. Similarly, if the same product is stored on the same shelf but at different opening positions, multiple records will exist for the same product.

[0094] Product ID 701 represents the ID of the product of interest. Opening type 702 represents the type of opening into which the product of interest can be placed. Maximum storage capacity 703 represents the maximum number of products of interest that can be stored through the opening. Product attributes 704 represent the product attributes of the product of interest. Weight 705 represents the weight of the product in its working unit (e.g., "case" or "single item"). Examples of working units include picking units, receiving units, or replacement units. "Receiving" means placing (storing) products through the opening of the shelf. Also, "opening" refers to the product receiving opening of shelf 5, but may also be used to mean the space in which products received through that opening are stored. Each side (or each side) of each shelf of shelf 5 may have one or more openings.

[0095] The inventory count of 706 represents the inventory count of the product of interest. The shelf ID of 707 represents the ID of shelf 5 where the product of interest is located. The opening position of 708 represents the position of the product of interest on shelf 5. For example, the opening position of 708 may be represented by the shelf surface of shelf 5 and the position of the opening on that shelf surface. As a specific example, if the opening position of 708 is "A-U3L2", it means that the product of interest is located at the third opening from the top (U) and the second opening from the left (L) on side A, which is the shelf surface of shelf 5.

[0096] Each input type 702 is associated with a threshold (not shown) that is compared with the maximum storage quantity 703. The product attribute 704 is determined by whether the maximum storage quantity 703 is greater than or equal to the threshold. For example, the processing program 51 may set the product attribute 704 to "large quantity" if the maximum storage quantity 703 is greater than or equal to the threshold, and set the product attribute 704 to "small quantity" if the maximum storage quantity 703 is less than the threshold. In this way, the product attribute 704 is determined according to the relationship between the maximum storage quantity 703 of the input assigned to the product and the threshold corresponding to the input type 702 of the input assigned to the product. Product attributes such as size and weight are not necessarily provided by the manufacturer or distributor, and even if product attributes are not provided by the manufacturer or distributor, the product attribute 704 can be automatically determined from the relationship between the threshold corresponding to the input type 702 and the maximum storage quantity 703 of the product.

[0097] Furthermore, at least one type of opening 702 may be associated with multiple thresholds, and the product attribute 704 may have three or more levels, rather than just two levels, "large quantity" and "small quantity," depending on the relationship between the maximum storage quantity 703 and the multiple thresholds.

[0098] Furthermore, although this partially overlaps with the explanation above, product attribute 704 may directly or indirectly represent the size and / or weight of the product. For example, if product attribute 704 of a product corresponds to “small quantity,” “large size,” or “heavy,” that product attribute may be associated with shelf attribute: small quantity shelf, or in other words, the product may be stored on shelf [small quantity shelf]. On the other hand, if product attribute 704 of a product corresponds to “large quantity,” “small size,” or “light,” that product attribute may be associated with shelf attribute: large quantity shelf, or in other words, the product may be stored on shelf [large quantity shelf].

[0099] For products with a new product ID, a specific type of slot may be assigned by any method (for example, by arbitrarily selecting an available slot) or by designation by a user (for example, an administrator or worker).

[0100] Furthermore, a product ID may be associated with only one type of opening, or with multiple types of openings.

[0101] For each of the 702 types of openings, the maximum storage capacity 703 may be derived by dividing the size of the opening (not shown) by the size of the product (not shown) for each product ID.

[0102] The maximum storage quantity of 703 is just one example of a standard storage quantity that is compared to a threshold corresponding to the type of opening. The standard storage quantity may be the number of items received per transaction (the number of items received per transaction) or the inventory quantity for a specified number of days (the number of items managed as inventory for a specified number of days).

[0103] As described above, the inventory table 54 includes, for each pair of product and window, the maximum number of items that can be stored for that window type, 703 (an example of the number of items that can be stored). The processing program 51 determines the product attributes 704 of the product based on the maximum number of items that can be stored for the window corresponding to the product being processed, 703.

[0104] Specifically, in the inventory table 54 (or shelf table 57), a threshold of a maximum storage number 703 is associated with each pair of product and width for the width type of that width. The processing program 51 determines the product attribute 704 of the product based on the maximum storage number 703 for the width corresponding to the product being processed and the threshold for the width type of that width.

[0105] More specifically, if the determined product attribute 704 is "large quantity" (an attribute meaning that a large quantity of products will be stored), the shelf attribute 802 of the shelf selected by the processing program 51 is "large quantity shelf" (an attribute meaning that it is suitable for storing a large quantity of products). If the determined product attribute 704 is "small quantity" (an attribute meaning that a small quantity of products will be stored), the shelf attribute of the shelf selected by the processing program 51 is "small quantity shelf" (an attribute meaning that it is suitable for storing a small quantity of products). If the shelf attribute of the selected shelf is "small quantity shelf", the WS to which the shelf will be transported is a WS with the WS attribute "capable of handling small quantity shelves", as will be described later.

[0106] Furthermore, when the processing program 51 transports a shelf with the shelf attribute "small quantity shelf" to a storage area, it may prioritize the destination of a storage area that is relatively close to a WS (for example, a storage area within a certain distance from the WS) that is "capable of handling small quantities" over a shelf with the shelf attribute "large quantity shelf," and may send a movement instruction specifying this destination to any transport device.

[0107] Furthermore, in addition to attributes based on the number of incoming goods, such as "small quantity" and "large quantity," the product attribute 704 may also include attributes based on product size (for example, the size of a work unit), such as "large size" and "small size." If the determined product attribute 704 is "small size" (an attribute meaning that small goods will be stored), the shelf attribute 801 of the shelf selected by the processing program 51 may be "small size shelf" (an attribute meaning that it is suitable for storing small goods). If the determined product attribute 704 is "large size" (an attribute meaning that large goods will be stored), the shelf attribute 801 of the shelf selected by the processing program 51 may be "large size shelf" (an attribute meaning that it is suitable for storing large goods). If the shelf attribute 801 of the selected shelf is "large size shelf," the destination WS is a WS with the WS attribute "capable of handling large size shelves." When the processing program 51 transports a shelf with the shelf attribute "large product size shelf" to a storage area, it may prioritize the storage area that is relatively close to a WS (Workstation) with the "capable of handling large product size shelves" attribute over shelves with the shelf attribute "small product size shelf," and send a movement instruction specifying that destination to any of the transport devices. Furthermore, a WS with the WS attribute "capable of handling large product size shelves" may be a WS where work is performed by multiple workers.

[0108] Figure 9 shows an example of the configuration of the shelf table 57.

[0109] The shelf table 57 is a table that stores information about shelf 5. The shelf table 57 has a record for each shelf 5. Each record in the shelf table 57 holds the shelf attribute 801, shelf ID 802, shelf position 803, opening position 804, opening type 805, and transport count 806 in association with each other. The following explanation will use one shelf 5 (referred to as "shelf 5 of interest" in the explanation of Figure 9) as an example.

[0110] Shelf attribute 801 represents the shelf attribute of the featured shelf 5. A "small quantity shelf," as described above, is a shelf that cannot accommodate many products relative to its size; in other words, it is a shelf suitable for large products (items). A "large quantity shelf," as described above, is a shelf that can accommodate many products relative to its size; in other words, it is a shelf suitable for small products (items). Regardless of the shelf attribute of shelf 5 (even if the shelf attribute of shelf 5 is different), shelf 5 (for example, the specifications of shelf 5 (e.g., length, width, and height)) may be the same. That is, for example, shelf [small quantity shelf] and shelf [large quantity shelf] may be the same (for example, their specifications may be the same). To put it another way, a dedicated shelf 5 does not need to be prepared for each shelf attribute. A shelf attribute may be an attribute that shelf 5 possesses, or it may be an attribute assigned to shelf 5. Differences in the shelf attributes of shelf 5 may be, for example, differences in the opening configuration of shelves 5 with the same specifications (e.g., number, position, and type of openings).

[0111] Shelf ID 802 represents the ID of shelf 5. Shelf position 803 represents the section and area height where shelf 5 is located. Specifically, shelf position 803 is expressed as "(column number, row number, shelf number)". For example, (3,3,1) means section (3,3) in the first shelf area 200A. If shelf 5 is being transported, shelf position 803 may represent the state of shelf 5 as "transporting". If shelf 5 is being worked on, such as picking, shelf position 803 may represent the state of shelf 5 as "working".

[0112] The opening position 804 represents the position of the opening of the shelf 5 of interest, and as described above, it represents the shelf surface and the position of the opening on that shelf surface. The opening type 805 represents the type of opening of the shelf 5 of interest (for example, the identification number of the opening type).

[0113] The transport count 806 represents the number of times the transport task for the focus shelf 5 has been executed. Each time the transport task for the focus shelf 5 is executed, the transport count 806 corresponding to the focus shelf 5 is updated, for example, by the storage program 50. The transport count 806 may be incremented each time the focus shelf 5 is transported, regardless of the target area, or the transport count 806 may not be incremented even if the focus shelf 5 is transported, depending on the target area. For example, the transport count 806 corresponding to the focus shelf 5 may be updated each time the transport task to the work station 6 is executed as the target area. Note that the "transport count" may be reset or updated at regular intervals, and may be, for example, the number of transports over a predetermined period, and therefore may be called the "transport frequency".

[0114] Furthermore, for at least one shelf, shelf attribute 801 is set for that shelf, and the same shelf attribute 801 may be set for different shelf faces of that shelf. On the other hand, for at least another shelf, shelf attribute 801 is set for each shelf face of that shelf, and different shelf attributes 801 may be set for different shelf faces of that shelf.

[0115] Figure 10 shows an example of the configuration of the device management table 53.

[0116] The device management table 53 is a table that stores information about each conveying device 3 obtained from each conveying device 3. The device management table 53 has a record for each conveying device 3. Each record in the device management table 53 holds associated information such as device ID 901, processing ID 902, device location 903, battery level 904, device status 905, shelf ID 906, destination location 907, and expected arrival date and time 908. The following explanation will use one conveying device 3 (referred to as "conveying device 3 of interest" in the explanation of Figure 10) as an example.

[0117] Device ID 901 represents the ID of the focus transport device 3. Process ID 902 represents the ID of the process (task) assigned to the focus transport device 3 by the control device 4.

[0118] The device position 903 represents the location of the transport device 3 of interest. The device position 903 may also be represented by the coordinates of the section (i.e., the current section) in which the transport device 3 of interest is located.

[0119] The battery level 904 represents the remaining battery level of the transport device 3. When the battery level 904 of the transport device 3 falls below a predetermined value, the transport device 3 is configured to move to the battery station and automatically recharge. For example, when the battery level 904 of the transport device 3 falls below a predetermined value, the transport device 3 may request charging from the control device 4, and the control device 4 may respond to the charging request by instructing the transport device 3 to move to the battery station and recharge (an example of a move instruction).

[0120] Device status 905 represents the status of the focus transport device 3. "Moving (no shelf)" means that the focus transport device 3 is moving without loading (transporting) the shelf 5. "Moving (with shelf)" means that the focus transport device 3 is moving (transporting) with the shelf 5 loaded. "Available" means that the focus transport device 3 is not assigned a movement instruction (e.g., a transport task including a shelf ID) and is in an available state (standby state). "Stopped" represents the state in which the focus transport device 3 is stopped at a stopping position (or temporary standby position). An example of "Stopped" is when the focus transport device 3 is stopped at a stopping position corresponding to a work station 6, and a worker or work device at work station 6 is working on the shelf 5 to be loaded onto the focus transport device 3.

[0121] Shelf ID 906 represents the shelf ID included in the transport task assigned to the transport device 3 (i.e., the ID of the shelf 5 to be transported as specified in the transport task). Destination location 907 represents the destination location of the shelf 5 to be transported by the transport device 3, and may be location information such as the address (coordinates) of the destination, or information (ID) that identifies the destination area, such as the destination ID that can specify the location of the destination. For example, the destination of the transport device 3 may be the ID of the work station 6 (or the stopping position (coordinates) corresponding to the work station 6), the storage location of the shelf 5, or the ID (or coordinates) of the vertical conveyor 202 (or buffer area).

[0122] The scheduled arrival date and time 908 is the scheduled date and time when the transport device 3 is scheduled to arrive at the destination location 907. The scheduled arrival date and time 908 may be, for example, a date and time calculated by the processing program 51 based on the movement path of the transport device 3 to the destination.

[0123] The processing program 51 of the control device 4 refers to the device management table 53 and assigns a transport task to a transport device 3 whose device status 905 is "available". However, even if a transport device 3 currently has a device status 905 of "moving", if the scheduled arrival date and time 908 is approaching and its destination location 907 is close to the destination of the next transport task, it may be possible to transport that next transport task earlier than other transport devices 3. In that case, the processing program 51 refers to the device management table 53 and may assign (reserve or manage) that "moving" transport device 3 as the next transport task.

[0124] According to the device management table 53 illustrated in Figure 10, for example, the following can be seen: • When the device status 905 is "moving (with shelf)", the transport device 3 is transporting the shelf 5, represented by shelf ID 906, to the target location 907 (for example, work station 6). When the device status 905 is "Moving (no shelf)", the transport device 3 is moving to acquire (for example, load) shelf 5, which is represented by shelf ID 906. After loading shelf 5, the device status 905 is updated to "Moving (shelf present)", and the transport device 3 transports shelf 5 to the destination location 907 (for example, work station 6).

[0125] Figure 11 shows an example of the configuration of area table 59.

[0126] The area table 59 holds information for each section in area 200. The control device 4 controls the movement of the transport device 3 according to the area table 59. The area table 59 has a record for each section. Each record in the area table 59 holds associated information such as address 501, section setting 502, WS attribute 503, unavailable flag 504, rotation possible flag 505, direction (without shelves) 506, and direction (with shelves) 507. The following explanation will use one section (referred to as the "section of interest" in the explanation of Figure 11) as an example.

[0127] Address 501 represents the address (location information) of the area of ​​interest. Area setting 502 represents how the area of ​​interest is set up. For example, “Shelf storage area” is the area where shelf 5 is stored (placed). “Movement area” is the area on which the transport device 3 travels to transport shelf 5. The areas that make up the transport route can mainly be movement areas. “Vertical transporter A” is the area to which the first vertical transporter 202A belongs. “Vertical transporter B” is the area to which the second vertical transporter 202B belongs. “WSn parking area” (n is the ID of the WS) represents the area that will be the parking position corresponding to the work station identified by the WS ID. “Battery station” represents the area that will be the location of the battery station equipped with charging facilities capable of charging the transport device 3.

[0128] WS attribute 503 represents the attribute of a shelf that requires multiple workers at the work station. As shown in the example in Figure 11, WS01 is assigned "Suitable for small quantities of shelves," and therefore, WS01 requires multiple workers because the products handled in operations on the shelf [small quantity shelf] (e.g., receiving and picking operations) tend to be large (or heavy). For work stations corresponding to section setting 502 "Wheel parking area for WSn" to which WS attribute 503 is not assigned, one worker is sufficient.

[0129] The unavailable flag 504 indicates whether the area of ​​interest is unavailable (cannot be a component of the movement path). For example, if the unavailable flag 504 is "available," the area of ​​interest is available, and the area of ​​interest may be included in the movement path of the transport device 3. On the other hand, if the unavailable flag 504 is "unavailable," the area of ​​interest is unavailable, and the control device 4 controls the system so that the area of ​​interest is not included in the movement path of the transport device 3.

[0130] The rotation feasibility flag 505 indicates whether the area of ​​interest can be rotated by the transport device 3. For example, if the rotation feasibility flag 505 is "possible", the transport device 3 may rotate in the area of ​​interest. If the rotation feasibility flag 505 is "not possible", the control device 4 controls the transport device 3 so that it does not rotate in the area of ​​interest.

[0131] Direction (without shelves) 506 represents the direction in which the conveying device 3 can move when it is located in the area of ​​interest and does not have shelves 5. Direction (with shelves) 507 represents the direction in which the conveying device 3 can move when it is located in the area of ​​interest and has shelves 5.

[0132] Figure 12 shows an example of the configuration of the work table 58.

[0133] The work table 58 is a table relating to the work performed by a worker (or work device) at the work station 6. The work table 58 has a record for each work. Each record in the work table 58 stores associated information such as WS ID 401, processing ID 402, work type 403, shelf ID 404, opening position 405, product ID 406, quantity 407, replacement shelf ID 408, replacement opening position 409, replacement product ID 410, planned start date and time 411, planned end date and time 412, and work status 413. The following explanation will use a single work (referred to as "work of interest" in the explanation of Figure 12) as an example.

[0134] WS ID401 represents the ID of the work station where the work of interest is performed. WS ID401 is optional, and a work table 58 may be provided for each of the 6 work stations.

[0135] Process ID 402 is the ID of the process corresponding to the task of interest. Task type 403 represents the type of work performed at the work station (e.g., "picking", "receiving", "replacement").

[0136] Shelf ID 404 represents the ID of shelf 5 that contains the product targeted by the task in question. Front position 405 represents the position of the product on shelf 5. Product ID 406 represents the ID of the product. Quantity 407 represents the number of products targeted by the task. According to the task table 58, where records are sorted in ascending order of scheduled start date and time 411, if the same shelf ID 404 appears consecutively, it is possible to perform tasks corresponding to different process IDs 402 consecutively on the same shelf 5.

[0137] Information 408-410 is valid when the work type 403 is "replacement". The replacement shelf ID 408 represents the ID of shelf 5 to which the product will be replaced. The replacement opening position 409 represents the product's position in the replacement location. The replacement product ID 410 represents the ID of the product after replacement.

[0138] The scheduled start date and time 411 represents the scheduled start date and time of the task of interest. The scheduled end date and time 412 represents the scheduled end date and time of the task of interest. The scheduled start date and time 411 may be calculated by the processing program 51 based on the scheduled arrival date and time of the transport device 3 along the travel path to the work station 6 and the estimated time required for tasks performed before the task of interest. The scheduled end date and time 412 may be calculated by the processing program 51 based on the scheduled start date and time 411 and the estimated time required for the task. The estimated time required for the task may be calculated by the processing program 51 based on at least one of the following: the type of task 403, the quantity of goods to be handled 407, the average time required for the task, and the past work history of the worker (or work device). Note that the task may be performed by a work device (robot) in place of or in addition to a worker.

[0139] The work status 413 represents the status of the work of interest. "Before work" means that the conveying device 3 loaded with shelf 5 has arrived at the work station 6 and work has not yet begun. "In progress" means that work has started but has not yet been completed. "Completed" means that work has been completed. Changes to the work status 413 may be made based on input from the worker, or they may be made automatically based on values ​​automatically detected regarding the work. For example, if the conveying device 3, which was waiting, transports shelf 5 after the completion of the work of interest, the work status 413 corresponding to the next picking operation of the work of interest may be changed from "Before work" to "In progress".

[0140] If the work type 403 is "replacement," all products in the opening indicated by the opening position 405 may be replaced, and the quantity 407 may represent the number of items in stock at that opening. Completion of the work may be detected by user input (e.g., operation of a completion button on the screen or physically) or by analysis of the worker's movements using a camera. Upon completion of the work, the work status 413 in this table 58 and the inventory table 54 may be updated. In addition, the conveying device 3 may be moved (the shelf returned) to move the conveying device 3 for the next work.

[0141] The following describes an example of the processing performed in this embodiment. In this embodiment, tables 53 to 59 are stored in the storage device 42 by the storage program 50. Based on information (for example, information including sensor measurements) that the control device 4 receives periodically or irregularly from each transport device 3, each vertical transport machine 202, and each WS terminal 8, the storage program 50 updates the relevant parts of tables 53 to 59 as appropriate.

[0142] Figure 13 is a flowchart showing the flow of the transport control process for shelves targeted for picking. The transport control process is performed repeatedly (for example, periodically).

[0143] In S1301, the processing program 51 selects a record from the order table 55 in which the work date and time 609 represents the work date and time to be processed. S1302 to S1305 are performed on the selected record (order). Alternatively, the processing program 51 may combine multiple orders into a single order, and S1302 to S1305 may be performed on such a combined order. Multiple orders that are combined into a single order may be orders that share a predetermined type of element, such as orders for products included in the same shelf. Here, a single order (the order of interest in the explanation of Figure 13) is used as an example.

[0144] In S1302, the processing program 51 identifies the shelf 5 on which the items to be picked are placed, the location of the shelf 5, and the shelf attributes, based on the order of interest. Specifically, for example, the following processes are performed: Based on the order table 55, inventory table 54, and shelf table 57, the processing program 51 identifies shelf ID 707 from the inventory table 54 that corresponds to product ID 701 which matches product ID 605 specified in the order of interest. The processing program 51 identifies shelf location 803 and shelf attributes 801 from the shelf table 57 that correspond to shelf ID 802 which matches the identified shelf ID 707.

[0145] In S1303, the processing program 51 identifies the destination work station based on the shelf attribute identified in S1302. Specifically, for example, the processing program 51 finds a WS attribute 503 from the area table 59 that matches the shelf attribute identified in S1302, and identifies the work station corresponding to the found WS attribute 503. As shown in the example in Figure 11, if the shelf attribute is "small quantity shelf", WS01 is identified, and if the shelf attribute is "large quantity shelf", WS02 is identified. Note that for the shelf attribute "large quantity shelf", WS01 may be identified if WS02 is crowded. On the other hand, for the shelf attribute "small quantity shelf", WS01 is identified even if WS01 is crowded. This is because it is preferable for multiple workers to work in order to improve work efficiency. Thus, the area table 59 includes a WS attribute 503 for each of the multiple work stations (an example of information regarding whether or not multiple workers are assigned to the work station), and if the determined product attribute 704 and the corresponding shelf attribute 801 (e.g., "small quantity shelf") indicate that work by multiple workers is preferable, then the work station associated with "small quantity shelf compatible" becomes the destination. "Small quantity shelf compatible" is typically a work station where work is performed by multiple workers. The processing program 51 may refer to the work table 58. For example, the processing program 51 may identify a relatively empty work station 6 (e.g., a work station 6 with a relatively small number of corresponding records in the work table 58) and determine that empty work station 6 as the target area.

[0146] In S1304, the processing program 51, based on the map table 56, the equipment management table 53, the shelf table 57, and the area table 59, selects a transport device 3 to transport the shelf 5 located at shelf position 803, which was identified in S1302, and creates a transport path for the transport by the transport device 3. In other words, in S1304, the transport device 3 to which the transport task according to the order of interest will be assigned is determined. The transport task may be a task that transports the shelf 5 to be transported according to the created transport path. Specifically in S1304, for example, the processing program 51 may perform at least one of the following: The processing program 51 selects one conveying device 3 from one or more conveying devices 3 that meet predetermined conditions. The "predetermined conditions" here may be, for example, that the device status 905 is "available". The selection of a conveying device 3 may be based on the device status 905, device position 903 of each conveying device 3, and the shelf position 803 of the shelf 5 to be conveyed (distance between shelf position 803 and device position 903). For example, the processing program 51 may refer to the device management table 53 and select the conveying device 3 that is in the same area as the shelf position 803 of the shelf 5 to be conveyed, has a device status 905 of "available", and has the device position 903 closest to the shelf position 803. The processing program 51 creates a movement path (including the direction of movement) for each of the multiple possible paths connecting the device position 903 of the selected transport device 3, the shelf position 803 of the shelf to be transported 5, and the location of the target area (typically the stopping position corresponding to the destination work station 6), based on the records for each area along that path (e.g., unavailable flag 504, rotation possible flag 505, direction (no shelf) 506, and direction (with shelf) 507). The movement path may be, for example, a path from the device position 903 of the selected transport device 3 to the shelf position 803 of the shelf to be transported 5, and a path from the shelf position 803 of the shelf to be transported 5 to the location of the target area. When transporting items between areas (for example, between the first-stage area 200A and the second-stage area 200B) using an inter-area transporter (for example, a vertical transporter 202), the inter-area transporter (for example, a vertical transporter 202) that will perform the transport may be determined based on the position of the items to be transported (for example, the shelf position 803 of shelf 5), the transport direction of each inter-area transporter, the transport status of each inter-area transporter, the position of each inter-area transporter, an unavailable flag 504, etc.

[0147] In S1305, the processing program 51 sends a movement instruction to the transport device 3 selected in S1304, associated with the transport task assigned to the transport device 3 (a transport task that follows the order of interest).

[0148] As described above, if the item to be worked on is a product that is subject to picking, the processing program 51 identifies the shelf where the item to be worked on is stored based on the inventory table 54. The move instruction is an instruction to transport the identified shelf to a single workstation.

[0149] Furthermore, when transporting shelf 5 located in the source area 200 to a work station 6 in a different destination area 200 (i.e., transport of shelf 5 between areas), the processing program 51 may, in S1304, create, for example, a movement path from the device position 903 of the transport device 3 in the source area 200 to the shelf position 803 of the shelf 5 to be transported, a path from the shelf position 803 of the shelf 5 to the position of the vertical transporter 202 (or the buffer section in the source area 200), a transport path on the vertical transporter 202, and a path from the position of the vertical transporter 202 (or the buffer section in the destination area 200) to the work station 6. Then, in S1305, the processing program 51 sends movement instructions for each movement path to the transport device 3, the vertical transporter 202, each transport equipment in the source area 200, and the transport device 3 in the destination area 200.

[0150] In this transport control process, the transport task determined and assigned to each order is a task that adheres to the delivery deadline 607 for that order.

[0151] Figure 14 is a flowchart showing the flow of the transport control process for shelves that are the target of the receiving operation.

[0152] This transport control process may be started at any of the following times: • Scanning information about the product or the box containing the product (for example, information that can identify the product ID, such as a barcode). • Receipt of incoming inventory data (e.g., including product ID). • Operations performed by the user (worker or administrator) (which may include, for example, inputting product ID and delivery type).

[0153] The type of storage area into which a product is received is usually the same as the storage area corresponding to the product ID. Alternatively, the type of storage area into which a product is received may be determined by user specification or by automatic detection of popular products.

[0154] In S1401, the processing program 51 identifies the product ID 701 of the product to be received and the corresponding product type 702 from the inventory table 54.

[0155] In S1402, the processing program 51 determines whether there is a valid value for the product attribute 704 corresponding to the frontage type 702 identified in S1401.

[0156] If the result of the determination in S1402 is true, typically the receiving is the second or subsequent receiving. In S1403, the processing program 51 identifies an available shelf opening of shelf type 805 that matches the shelf opening type 702 corresponding to product ID 701, which is the shelf opening of shelf attribute 801 corresponding to product attribute 704, from the shelf table 57. An available shelf opening is a shelf opening at a shelf opening position 708 for which there is no valid value, but the shelf table 57 may have a flag indicating whether or not each shelf opening is available. Note that "shelf attribute 801 corresponding to product attribute 704" is a shelf attribute 801 that follows a predetermined relationship as a suitable relationship between product attribute 704 and shelf attribute 801. Specifically, for example, if product attribute 704 is "large quantity", it is a "large quantity shelf" (see Figure 5A), and if product attribute 704 is "small quantity", it is a "small quantity shelf" (see Figure 5B). Furthermore, if product attribute 704 is "small quantity," meaning that product attribute 704 tends to be heavy, the specified shelf width may be a relatively low shelf width, for example, a shelf width below the Xth shelf from the top (where X is a value less than or equal to half the number of shelves).

[0157] In S1404, the processing program 51 identifies the shelf position 803 of the shelf with the identified empty opening from the shelf table 57.

[0158] In S1405, the processing program 51 identifies a WS attribute 503 that matches the shelf attribute 801 corresponding to the product attribute 704, and identifies the destination WS, which is the WS corresponding to the WS attribute 503, from the area table 59. In the example shown in Figure 11, if the shelf attribute 801 is a "small quantity shelf", WS01 is identified, and if the shelf attribute 801 is a "large quantity shelf", WS02 is identified.

[0159] In S1406, the processing program 51 selects a transport device 3 suitable for transport to the destination WS identified in S1405 from the device management table 53, and creates a travel path to the destination WS for the selected transport device 3. The selected transport device 3 may be any of the following: • Conveyor device 3 whose device status 905 is "empty". The transport device 3 is such that the destination WS identified in S1405 is the target position 901, and the shelf attribute of the shelf corresponding to shelf ID 906 is "shelf attribute 801 corresponding to product attribute 704".

[0160] In S1407, the processing program 51 sends a movement instruction specifying the movement path created in S1406 to the transport device 3 selected in S1406.

[0161] If the result of S1402 is false, typically the incoming goods are the first incoming goods. In S1408, a valid value is automatically or manually set as the product attribute 704 corresponding to the opening type 702 identified in S1401. An available opening of opening type 805, which is the shelf opening of shelf attribute 801 corresponding to that product attribute 704 and matches the opening type 702 corresponding to product ID 701, may be specified by the user or identified from the shelf table 57 by the processing program 51. After S1408, S1404 to S1407 are performed.

[0162] As described above, if the product to be worked on is a product subject to receiving work, the processing program 51 identifies an available shelf opening with shelf attribute 801 corresponding to the determined product attribute 704, based on the inventory table 54 and the shelf table 57, and which has the same shelf opening type as the product to be worked on. The move instruction is an instruction to transport the shelf with the identified available opening to the WS.

[0163] Furthermore, the inventory table 54 includes weight information for each product, which is information regarding the weight of the work unit of that product. The weight information may be product attribute 704 or weight 705. The value of the weight information may be determined by the processing program 51, for example, depending on whether the weight of the work unit of the product is above a predetermined threshold. If the product to be processed is a heavy item that weighs above a predetermined threshold, the processing program 51 may determine the opening for the heavy item so that it is placed on a shelf below a predetermined number of shelves from the top. As mentioned above, it is preferable that the shelf to which it is placed is a relatively low shelf.

[0164] Figure 15 is a flowchart showing the flow of the product attribute update process. This update process may start at the time of receiving goods. The "timing of receiving goods" can be any of the following, for example: The timing when the conveying device 3, which transports the shelves to be stored, arrives at the stopping position of the destination WS. • The moment when information about the product or the box containing the product (for example, information that can identify the product ID) is scanned during the receiving process.

[0165] Regarding the product attributes corresponding to the type of inventory receiving the goods, updates may be made only once initially, or continuously (each time goods are received). Updates may also be made through user input (e.g., worker or administrator) (in this case, the user input may include product ID and maximum storage quantity).

[0166] In S1501, the processing program 51 identifies the product ID 701 of the product to be received and the corresponding product type 702 from the inventory table 54.

[0167] In S1502, the processing program 51 determines the maximum storage quantity 703 corresponding to the product ID 701 identified in S1501. For example, if the product is stored in an empty opening of opening type 702 identified in S1501, the number of products stored in that opening may be the maximum storage quantity 703. If the product is stored in an in-stock opening of opening type 702 identified in S1501, the sum of the number of products stored in that opening and the inventory quantity 706 in that opening may be the maximum storage quantity 703. Alternatively, the maximum storage quantity 703 may be predetermined for each combination of product ID 701, opening type 702, and opening location 708, and this maximum storage quantity 703 may be determined in S1502.

[0168] In S1503, the processing program 51 identifies the product attribute 704 based on the maximum storage quantity 1502 identified in S1502. An example of how to identify the product attribute 704 is as described above, and the product attribute 704 is identified based on the relationship between the threshold corresponding to the width type 702 identified in S1501 and the maximum storage quantity 703 identified in S1502.

[0169] In S1504, the processing program 51 updates the product attribute 704 and inventory quantity 706 of the inventory table 54. For example, the updated product attribute 704 is the product attribute 704 identified in S1503. The updated inventory quantity 706 is the inventory quantity 706 before the update plus the incoming quantity. If the maximum storage quantity 703 is changed, the maximum storage quantity 703 may be updated. In addition, the opening type 702 may be updated as needed.

[0170] In this way, the processing program 51 determines the product attributes 704 of the product to be processed based on the inventory table 54, using the maximum number of items 703 (an example of the number of items) that can be stored in the corresponding inventory area (S1503). The processing program 51 then selects a shelf 5 with shelf attributes 801 corresponding to the determined product attributes 704 from the shelf table 57, and sends a movement instruction to one of the transport devices 3 to transport the shelf 5 to a work station. This allows the goods to be placed in shelf 5 to be stored with product attributes that match the shelf attributes. For example, by transporting the goods to a specific (partial) work station where multiple workers are stationed, work efficiency can be improved. One reason for this is that the work station is where tasks requiring multiple workers are concentrated. In S1503, the product attributes 704 of the product to be processed may be determined based on the size of the work unit instead of (or in addition to) the maximum number of items 703. For example, each record in the inventory table 54 may contain information representing the size of the work unit (e.g., the storage unit). Examples of "work unit size" may include individual items, cases, or the number of products. Instead of information based on the number of products, "work unit size" may also be based on the size of the product itself (for example, the length in each of the three dimensions).

[0171] Figure 16 is a flowchart showing the flow of the transport control process for the shelves to be replaced.

[0172] This transport control process may be started at any of the following times: • Scanning information about the product or the box containing the product (for example, information that can identify the product ID, such as a barcode). • Receipt of incoming inventory data (e.g., including product ID). • Operations performed by the user (worker or administrator) (which may include, for example, inputting product ID and delivery type).

[0173] In S1601, the processing program 51 identifies the correspondence between shelf attribute 801 and product attribute 704 for each shelf from the inventory table 54 and the shelf table 57.

[0174] In S1602, the processing program 51 determines whether there are any shelves where the relationship between the product attribute 704 and the shelf attribute 801 is not appropriate (S1602). For example, as the number of items brought into the storefront increases, the maximum storage capacity 703 increases, and the product attribute 704 is updated. As a result, the shelf attribute 801 corresponding to the product attribute 704 before the update may no longer be suitable for the updated product attribute 704. In this case, the result of the determination in S1602 is true. If the result of the determination in S1602 is true, S1603 to S1607 are performed.

[0175] In S1603, the processing program 51 identifies a set of a replacement shelf and opening from the source shelf identified in S1602 (i.e., the shelf whose shelf attribute 801 is no longer suitable for the product attribute 704) (S603). The "replacement shelf" is a shelf with shelf attributes suitable for the product attribute 704 of the product stored in the source shelf. If the product attribute 704 is "small quantity," that is, if the product attribute 704 tends to be heavy, the replacement opening may be a relatively low opening, for example, an opening below the Xth shelf from the top (where X is a value less than or equal to half the number of shelves).

[0176] In S1604, the processing program 51 identifies the locations of the source shelf and the destination shelf. For each of the source shelf and the destination shelf, the same processing as in S1605 to S1607, i.e., S1405 to S1407, is performed. The source shelf and the destination shelf may be controlled to arrive at the same destination WS at the same time or consecutively. The shelf ID 408 of the destination shelf, the opening position 409 of the destination opening, and the product ID 409 of the goods to be stored at the destination opening may be recorded in the work table 58.

[0177] As described above, the processing program 51 determines, based on the inventory table 54 and the shelf table 57, whether the shelf attribute 801 of the shelf with the opening where the item to be worked on is stored is a shelf attribute 801 that does not correspond to the determined product attribute 704. If the result of this determination is true, the item to be worked on is the item to be replaced, and the shelf where the item to be worked on is stored is the shelf from which it will be replaced. The processing program 51 identifies the pair of the destination shelf and the opening of the shelf for the item to be worked on from the inventory table 54 (or work table 58). The processing program 51 sends a movement instruction to one of the conveying devices to transport the source shelf to one WS, and sends a movement instruction to one of the conveying devices to transport the destination shelf to one WS. The destination WS for the source shelf and the destination shelf may be the same or different.

[0178] Although several embodiments have been described above, these are merely illustrative examples for explaining the present invention and are not intended to limit the scope of the present invention to these embodiments only. The present invention can be implemented in various other forms.

[0179] Furthermore, for example, the shape of the partition is not limited to a rectangle, but may be other shapes. Also, partitions of different sizes or shapes may be mixed together. In addition, the location of a partition may be identified by a method other than by markers on the partition.

[0180] Furthermore, for example, the storage program 50 and the processing program 51 may be executed by the transport device 3 instead of or in addition to the control device 4. Also, the transport device 3 may also function as the control device 4.

[0181] Furthermore, although this embodiment shows an example of using a vertical conveyor 202 as an inter-area conveyor, the vertical conveyor 202 can be replaced by other inter-area conveyors, such as a forklift, that can transport the shelves 5 vertically. In this case, the control device 4 may determine the position in which the forklift will transport the shelves 5 vertically.

[0182] Items transported by a forklift from an area other than the first-level area 200A to the first-level area 200A may be directly transferred to the transport device 3.

[0183] Furthermore, the present invention can also be applied to conveying systems for transporting goods in factories, workshops, and other locations other than storage facilities used by companies such as online retailers to store their products. Specifically, the items transported by the conveying device 3 may be items other than the shelves 5, such as trays, boxes, pallets, or goods. In this case, the trays, boxes, and pallets may or may not contain goods (for example, the trays, boxes, and pallets themselves may be the transported items). In this case, it is simply a matter of replacing "shelves" with "transported items," so a detailed explanation is omitted. In addition, the work performed on such transported items may be other than picking, receiving, or replacement, such as processing, assembly, packaging, or inspection. In this case, it is simply a matter of replacing the work described above (picking, receiving, replacement) with "work," so a detailed explanation is omitted.

[0184] The above explanation can be summarized as follows, for example. The summary below may include supplementary explanations to the above explanation and descriptions of modifications of the above embodiments.

[0185] The present invention is expected to be applicable to a variety of cases. For example, the present invention may be applied to any of the following: Each of the multiple areas may be at the same height or at different heights. In the case of areas at different heights, inter-area transport may occur in multi-tiered mezzanine areas provided in warehouse 2, or inter-area transport may occur between different floors (areas) in a building with multiple floors. Each area may or may not have a work station. There may be multiple directions for inter-area transport. • An inter-area transporter may be a conveyor that transports goods (transported items) between areas. [Explanation of symbols]

[0186] 3: Conveying device, 4: Control device

Claims

1. An interface device that communicates with multiple transport devices, A storage device that stores management information, The interface device and the processor connected to the storage device Equipped with, The aforementioned management information is For each enclosure, information is provided representing the enclosure's attributes and, for each of the one or more openings the enclosure has, For each item, the information includes a representation of the number of items stored in a storage container having the corresponding opening, through the opening that corresponds to that item. The aforementioned processor, with respect to the item to be worked on, Based on the aforementioned management information, the item attributes of the item are determined based on the number of items stored in the corresponding storage area. Select a container with the determined item attributes and corresponding container attributes from the management information, and transmit a movement instruction to one of the transport devices via the interface device to transport the container to one of the multiple work stations. Control device.

2. An interface device that communicates with multiple transport devices, A storage device that stores management information, The interface device and the processor connected to the storage device Equipped with, The aforementioned management information is For each enclosure, information is provided representing the enclosure's attributes and, for each of the one or more openings the enclosure has, For each item, information is included that represents the size of the work unit for the opening corresponding to that item. The aforementioned processor, with respect to the item to be worked on, Based on the aforementioned management information, the item attributes of the item are determined based on the size of the work unit for the opening corresponding to the item. Select a container with the determined item attributes and corresponding container attributes from the management information, and transmit a movement instruction to one of the transport devices via the interface device to transport the container to one of the multiple work stations. Control device.

3. The aforementioned management information includes, for each of the multiple work stations, information regarding whether or not multiple workers are assigned to that work station. If the determined item attribute and the corresponding container attribute indicate that work by multiple workers is preferable, then the work station is a work station associated with information indicating that multiple workers are assigned to it. The control device according to claim 1 or 2.

4. The items subject to the aforementioned work are items subject to warehousing operations. Based on the management information, the processor identifies an empty opening that is the opening of a container with container attributes corresponding to the determined item attributes and has an opening type corresponding to the item to be worked on. The aforementioned movement instruction is an instruction to transport the designated container with an open opening to the aforementioned work station. The control device according to claim 1 or 2.

5. Based on the management information, the processor determines whether the storage attribute of the storage container having an opening into which the item to be worked on is stored is a storage attribute that does not correspond to the determined item attribute. If the result of the determination is true, the item subject to the work is the item subject to replacement work, and the storage container in which the item subject to the work is stored is the storage container from which it was replaced. The aforementioned processor, The items subject to the work are paired with the receiving container and the opening of the said container. A movement instruction is transmitted to one of the transport devices to transport the container from which the replacement was placed to the first work station. A transport device is instructed to move the container to be replaced to the first work station. The control device according to claim 1 or 2.

6. The items subject to the aforementioned work are items subject to picking, Based on the management information, the processor identifies the container in which the item to be worked on is stored. The aforementioned movement instruction is an instruction to transport the identified containment to the one work station. The control device according to claim 1 or 2.

7. The aforementioned management information includes, for each pair of item and opening, information representing the number of items stored for each type of opening in that opening. The processor determines the item attributes of the item based on the number of storage slots corresponding to the item to be worked on. The control device according to claim 1.

8. In the aforementioned management information, a storage threshold is associated with each item-to-opening combination for each opening type. The processor determines the item attributes of the item based on the number of storage slots corresponding to the item to be worked on and a threshold value for the type of slot. The control device according to claim 7.

9. If the determined article attribute is large, meaning that a large number of articles can be stored, the container attribute of the container selected by the processor is a large-capacity container, meaning that it is suitable for storing a large number of articles. If the determined article attribute is small quantity, meaning that a small number of articles are contained, the container attribute of the container selected by the processor is small quantity container, meaning that it is suitable for containing a small number of articles. If the container attribute of the selected container is that of a small-quantity container, then the first work station is the work station corresponding to the small-quantity container. The control device according to claim 1.

10. When the processor transports a container whose attribute is "small quantity container" to any of the storage compartments, it prioritizes the storage compartment that is relatively close to the work station corresponding to the small quantity container as the transport destination, over the storage compartment whose attribute is "large quantity container," and transmits a move instruction specifying the transport destination to any of the transport devices. The control device according to claim 9.

11. The work station corresponding to the aforementioned small-quantity container is a work station where work is performed by multiple workers. The control device according to claim 9.

12. If the determined article attribute is small size, meaning that small articles are contained within it, then the container attribute of the container selected by the processor is small article size container, meaning that it is suitable for containing small articles. If the determined article attribute is large in size, meaning that a large article is contained within it, then the container attribute of the container selected by the processor is a large article size container, meaning that it is suitable for containing a large article. If the container attribute of the selected container is that of a large-size container, then the first work station is the work station corresponding to the large-size container. The control device according to claim 2.

13. When the processor transports a container whose container attribute is a large-sized container to a storage area, it prioritizes the storage area that is relatively close to the work station corresponding to the large-sized container as the transport destination, over the storage area whose container attribute is a small-sized container, and transmits a movement instruction specifying the transport destination to one of the transport devices. The control device according to claim 12.

14. The work station corresponding to the large-sized container is a work station where work is performed by multiple workers. The control device according to claim 12.

15. For at least one containment, the containment attribute is set with respect to that containment, and the same containment attribute is set for different containment surfaces of that containment. The control device according to claim 1 or 2.

16. For at least one containment, the containment attributes are set for each containment surface of the containment, and different containment attributes are set for different containment surfaces of the containment. The control device according to claim 1 or 2.

17. The aforementioned management information includes, for each item, information regarding the weight of the work unit of that item, The processor determines the width of the opening in the storage container such that, if the item to be processed is a heavy item whose weight of the work unit is above a predetermined threshold, it is placed below a predetermined number of levels from the top. The control device according to claim 1 or 2.

18. Based on management information that includes, for each storage unit, the storage unit's attributes and information representing each of the one or more openings the storage unit has, and for each item, information representing the number of items stored in the storage unit having the corresponding opening, the item attributes of the item to be worked on are determined based on the number of items stored in the opening corresponding to that item. Select a container with the determined item attributes and corresponding container attributes from the management information, and have one of the multiple transport devices transport that container to one of the multiple work stations. Control method.

19. Based on management information that includes the container attributes of each container and information representing each of the one or more openings of the container, and information representing the size of the work unit to the opening corresponding to the item for each item, the item attributes of the item to be worked on are determined based on the size of the work unit to the opening corresponding to the item. Select a container with the determined item attributes and corresponding container attributes from the management information, and have one of the multiple transport devices transport that container to one of the multiple work stations. Control method.

Images