Information processing device, information processing method, information processing program, and information processing system

Abstract

This technology provides the ability to flexibly create routes for automated guided vehicles and to appropriately control the doors. [Solution] The information processing device according to the embodiment includes: a memory that stores map management information including information that divides the warehouse into a plurality of nodes and assigns a node number to each node, and combinations of nodes that pass through checkpoints in the warehouse; an acquisition unit that acquires an order list; and a creation unit that generates a route plan for an automated guided vehicle based on the order list and map management information, and, if the route plan includes one of the combinations of nodes that pass through checkpoints, adds a checkpoint passage permission request and a passage completion notification to the route plan.

Description

Technical Field

[0006] , ,

[0005] ,

[0001] Embodiments of the present invention relate to an information processing apparatus, an information processing method, an information processing program, and an information processing system.

Background Art

[0002] In a warehouse or the like, there is a system that uses an unmanned transport vehicle such as an AGV (Automated Guided Vehicle) that transports shelves or the like. Inside the warehouse, the unmanned transport vehicle may need to pass through a shutter of a clean room or a security gate or the like (hereinafter simply referred to as a door). When passing the door with the unmanned transport vehicle, it is desired to pass the door more efficiently in order to improve the throughput of the entire system.

[0003] For example, Patent Document 1 discloses a technique capable of appropriately controlling the passage of a door by a plurality of transport robots (unmanned transport vehicles).

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0005] In the conventional method, there is a problem that it is impossible to flexibly create a path for the unmanned transport vehicle to pass through the gate and to appropriately control the door. Furthermore, there is also a problem that when the situation of the map changes and the path needs to be changed, it is impossible to respond flexibly.

[0006] This invention has been made paying attention to the above circumstances, and an object thereof is to provide a technique capable of flexibly creating a path for an unmanned transport vehicle and appropriately controlling the door.

Means for Solving the Problems

[0007] The information processing device according to the embodiment includes: a memory that stores map management information including information that divides a warehouse into a plurality of nodes and assigns a node number to each node, and combinations of nodes that pass through checkpoints in the warehouse; an acquisition unit that acquires an order list; and a creation unit that generates a route plan for an automated guided vehicle based on the order list and map management information, and, if the route plan includes one of the combinations of nodes that pass through checkpoints, adds a request for permission to pass through the checkpoint and a notification of completion of passage to the route plan. [Brief explanation of the drawing]

[0008] [Figure 1] Figure 1 is a conceptual diagram showing an example of a logistics system according to the first embodiment. [Figure 2] Figure 2 shows an example of a schematic configuration of an automated guided vehicle according to the first embodiment. [Figure 3] Figure 3 shows an example of a warehouse layout according to the first embodiment. [Figure 4] Figure 4 is a flowchart showing an example of the procedure for creating a route plan for an automated guided vehicle using WCS according to the first embodiment. [Figure 5] Figure 5 shows an example of combination information assigned to map management information according to the first embodiment. [Figure 6] Figure 6 shows an example of a route plan for an automated guided vehicle according to the first embodiment. [Figure 7] Figure 7 shows an example of a routing plan when Open and Close requests are added. [Figure 8] Figure 8 is a sequence diagram showing the details of the control procedure when controlling an automated guided vehicle according to the path plan of the first embodiment. [Figure 9] Figure 9 shows an example of a path plan in a modified version of the first embodiment. [Figure 10]Figure 10 is a conceptual diagram showing an example of a logistics system according to the second embodiment. [Figure 11] Figure 11 shows an example of a warehouse layout according to the second embodiment. [Figure 12] Figure 12 is a flowchart showing an example of the procedure for creating a route plan for an automated guided vehicle using WCS according to the second embodiment. [Modes for carrying out the invention]

[0009] The information processing device, information processing method, information processing program, and information processing system will be described in detail below with reference to the drawings. In the following embodiments, parts with the same number are assumed to perform the same operation, and therefore repeated explanations will be omitted. For example, when there are multiple identical or similar elements, a common code may be used to describe each element without distinction, or a sub-number may be used in addition to the common code to describe each element separately.

[0010] Furthermore, in the following explanation, the notation A or B means at least one of A or B, and A, B, or C means at least one of A, B, or C. In addition, the notation A and B also means at least one of A and B, and A, B, and C means at least one of A, B, and C.

[0011] [First Embodiment] (composition) Figure 1 is a conceptual diagram showing an example of a logistics system according to the first embodiment. As shown in Figure 1, the warehouse system S includes a Warehouse Management System (WMS) 1 and a warehouse processing system 2.

[0012] The warehouse processing system 2 is an example of a merchandise processing system, and includes a warehouse operation system (WES: Warehouse Execution System) 30, an automated guided vehicle control system (WCS: Warehouse Control System) 40, automated guided vehicles 50, a door control device 60, and a door 70.

[0013] The WMS 1 can be composed of one or more computers, that is, a processor, a memory, an interface, etc. The processor can be a CPU (central processing unit), MPU (micro processing unit), or DSP (digital signal processor), etc. The WMS 1 receives an order list from a higher-level server and transmits it to the WES 30. Here, the order list includes information such as the reception date and time, what kind of merchandise is needed and how many, the weight of the merchandise, the dimensions, etc.

[0014] The WES 30 (server) can be composed of one or more general-purpose computers. The WES 30 includes a processor 301, a memory 302, and an interface 303. The processor 301 can be a CPU, MPU, or DSP, etc. The memory 302 stores the operation program of the processor 301, etc. The interface 303 communicates with the WMS 1, the WCS 40, the door control device 60, etc. The processor 301 realizes the functions of each part by executing the program stored in the memory 302.

[0015] For example, the processor 301 receives an order list from the WMS 1 through the interface 303. Then, the processor 301 transmits the order list to the WCS 40, which will be described later, through the interface 303. Also, the processor 301 receives a processing result from the WCS 40 through the interface 303 and transmits the result to the WMS 1.

[0016] The WCS40 can be composed of one or more general-purpose computers. The WCS40 includes a processor 401, a memory 402, and an interface 403. The processor 401 is a CPU, MPU, DSP, etc. The memory 402 stores the operation program of the processor 401, etc. The interface 403 communicates with the WES30, the automated guided vehicle 50, and the door control device 60.

[0017] The processor 401 includes an acquisition unit 4011, a creation unit 4012, an output unit 4013, etc. The processor 401 realizes each function by executing the program stored in the memory 402.

[0018] For example, the interface 303 receives an order list from the WES30. The acquisition unit 4011 acquires the order list. The creation unit 4012 functions as a route planning engine that creates a route plan for the automated guided vehicle 50 based on the order list. Further, the output unit 4013 outputs a control signal for controlling the automated guided vehicle 50 based on the created route plan. The interface 303 transmits the control signal to the automated guided vehicle 50.

[0019] The memory 402 stores an inventory management database, etc. The inventory management database includes map management information, equipment management information, and product management information. The map management information includes warehouse map data (3D coordinate data), position identification information associated with the map data, storage location identification information associated with the map data, etc. The equipment management information includes shelf identification information assigned to the shelves and container identification information assigned to containers, etc. stored in the shelves. The product management information includes product identification information assigned to the products. Also, the shelf identification information and the container identification information are associated with the map data or the storage location identification information, and the positions of each shelf and each container are managed. Also, the product identification information of a predetermined product is associated with the shelf identification information and the container identification information where the predetermined product is stored, and the storage location of the predetermined product is managed.

[0020] The automated guided vehicle 50 can be configured with one or more general-purpose computers and includes a processor, memory, and interfaces. The processor is a CPU, MPU, or DSP, etc. The memory stores the processor's operating programs, etc. The interface communicates with the WCS40. The processor realizes each function by executing the programs stored in memory.

[0021] The automated guided vehicle (AGV) 50 can be any robot capable of transporting shelves, such as an AGV or AMR (Autonomous Mobile Robot). Based on the control instructions from the WCS 40, the processor transports the shelves containing the goods to the picking station. For example, the AGV 50 may be equipped with a camera, analyze images captured by the camera, and move shelves horizontally along the warehouse floor based on the analysis results. The AGV 50 may also navigate by reading position identification information attached to the warehouse floor.

[0022] For example, location identification information readable by automated guided vehicles (AGVs) 50 is affixed to the warehouse floor. Additionally, readable shelf identification information, container identification information, and product identification information are affixed to shelves, containers, and products, respectively. For example, each piece of identification information is a two-dimensional code such as an optically readable QR code (registered trademark).

[0023] The door control device 60 can be configured with one or more general-purpose computers. The door control device 60 comprises a processor 601, memory 602, and interface 603. The processor 601 is a CPU, MPU, or DSP, etc. The memory 602 stores the operating program of the processor 601, etc. The interface 603 communicates with the WCS40 and the door 70. The processor 601 realizes each function by executing the program stored in the memory 602. For example, the processor 601 sends an open control instruction or a close control instruction to the door 70 via the interface 603 based on an Open request or Close request received from the WCS40. Furthermore, the processor 601 informs the WCS40 of the open / closed status of the door 70 via the interface 603.

[0024] Here, in one embodiment, an example is shown in which the door control device 60 and the door 70 are arranged inside the warehouse, but the door 70 may be any gate. The gate includes an area inside the warehouse through which the automated guided vehicle 50 can pass after the WCS 40 has performed a predetermined procedure.

[0025] Next, an example of the configuration of the automated guided vehicle 50 according to the first embodiment will be described. Figure 2 shows an example of a schematic configuration of the automated guided vehicle 50 according to the first embodiment. The automated guided vehicle 50 includes a processor 501, RAM 502, ROM 503, auxiliary storage device 504, communication interface 505, drive unit 506, sensor 507, battery 508, charging mechanism 509, and tires 510, among others.

[0026] The processor 501 has the function of controlling the operation of the entire automated guided vehicle 50. The processor 501 may also be equipped with an internal cache and various interfaces. The processor 501 performs various processes by executing programs that are pre-stored in the internal memory, ROM 503, or auxiliary storage device 504.

[0027] For example, processor 501 is a CPU. Processor 501 may also be implemented using hardware such as an LSI, ASIC, or FPGA.

[0028] The processor 501 performs calculations and control processes necessary for operations such as acceleration, deceleration, stopping, changing direction, and loading and unloading shelves. Based on control signals from the WCS40 and other sources, the processor 501 generates drive signals and outputs them to each unit by executing programs stored in the ROM 503 and other sources.

[0029] For example, WCS40 transmits a control signal that moves the automated guided vehicle (AGV) 50 from its current position to a first position (the position of the target shelf) and then from the first position to a second position (the shelf transport position) based on the path plan. The AGV 50's processor 501 outputs a drive signal corresponding to the control signal transmitted from WCS40. As a result, the AGV 50 moves from its current position to the first position and then from the first position to the second position. The processor 501 also outputs a drive signal corresponding to the loading and unloading instructions for the shelves included in the control signal transmitted from WCS40. As a result, the AGV 50 lifts the shelves using its pusher and then lowers the lifted shelves.

[0030] Furthermore, the WCS40 may transmit a control signal at once to move the automated guided vehicle (AGV) 50 from its current position to a first position, and then to move it from the first position to a second position. Alternatively, the control signal to move the AGV 50 to the first or second position may be transmitted in parts. For example, the WCS40 may set at least one waypoint and divide the control signal into a control signal to move the AGV 50 to the waypoint and a control signal to move the AGV 50 from the waypoint to the first or second position, and then transmit each control signal to the AGV 50.

[0031] Furthermore, the automated guided vehicle 50 reads a two-dimensional code (for example, a QR code®) which is a floor code posted inside the warehouse, and transmits the read information to the WCS40.

[0032] RAM502 is memory used for reading and writing data. RAM502 is used as a so-called work area, where it stores data that the processor 501 will temporarily use when performing various processes.

[0033] ROM 503 is a non-temporary computer-readable storage medium that stores the above-mentioned program. ROM 503 also stores data or settings used by the processor 501 in performing various processes.

[0034] The auxiliary storage device 504 is a non-temporary computer-readable storage medium and may store the above-mentioned program. The auxiliary storage device 504 also stores data used by the processor 501 in performing various processes, data generated by processing by the processor 501, or various setting values.

[0035] The communication interface 505 is an interface for sending and receiving data with WCS40 and other devices via a wireless LAN access point or the like. For example, the communication interface 505 supports wireless LAN connectivity.

[0036] The drive unit 506 is a motor, etc., and rotates or stops the motor based on a drive signal output from the processor 501. The power from the motor is transmitted to the tires 510 and then to the steering mechanism. Power from this motor allows the automated guided vehicle 50 to move to its destination.

[0037] Furthermore, with the automated guided vehicle 50 positioned beneath the shelf, the drive unit 506 rotates the motor (forward rotation) based on the drive signal output from the processor 501. This power from the motor causes the pusher to rise and the shelf to be lifted. After the automated guided vehicle 50 reaches its destination, the drive unit 506 rotates the motor (reverse rotation) based on the drive signal output from the processor 501. This power from the motor causes the pusher to descend and the shelf to be lowered to the floor.

[0038] Sensor 507 consists of multiple reflection sensors. Each reflection sensor is mounted around the automated guided vehicle 50. Each reflection sensor emits a laser beam, detects the time it takes for the laser beam to reflect off an object and return, detects the distance to the object based on the detected time, and notifies the processor 501 of the detection signal.

[0039] The processor 501 outputs control signals to control the movement of the automated guided vehicle 50 based on the detection signals from the sensor 507. For example, the processor 501 outputs control signals such as deceleration or stopping to avoid collisions with objects, based on the detection signals from the sensor 507. In addition to the sensor 507, a camera may also be provided, which captures images of the surroundings and outputs the captured images to the processor 501. In this case, the processor 501 analyzes the captured images and outputs control signals such as deceleration or stopping to avoid collisions with objects. Furthermore, if a detected object is on the movement path, the processor 501 transmits information indicating the abnormality to the WCS 40 via the communication interface 505.

[0040] Furthermore, the processor 501, which operates as a self-position detection unit, detects the current position of the automated guided vehicle 50 using images captured by the sensor 507 and cameras. The processor 501 then transmits position information, including the detected position and direction of movement, to the WCS 40.

[0041] The battery 508 supplies the necessary power to the drive unit 506 and other components. The charging mechanism 509 connects the charging station and the battery 508, and the battery 508 is charged by power supplied from the charging station or the like via the charging mechanism 509.

[0042] Figure 3 shows an example of a warehouse layout according to the first embodiment. As shown in Figure 3, the warehouse is divided into multiple nodes, and each node is managed by assigning a number. For example, the blacked-out areas such as node numbers 1 to 13 represent walls. For example, in the example in Figure 3, the warehouse has four rooms (R1, R2, R3, R4), pass boxes for entering and exiting each room R (node ​​numbers 83, 88, 31, 35), and corridors H for moving between each room R. The first room R1 (consisting of node numbers 67-69, 80-82, 93-95) can access corridor H by passing through a pass box (node ​​number 83) consisting of a first door D1 and a second door D2. Similarly, the second room R2, the third room R3, and the fourth room R4 can access corridor H by passing through the second pass box 87, which consists of the third door D3 and the fourth door D4; the third pass box 31, which consists of the fifth door D5 and the sixth door D6; and the pass box 35, which consists of the seventh door D7 and the eighth door D8. In other words, door 70 in Figure 3 functions as a gate.

[0043] Each room R is either a cleanroom or a security room, and the doors of the passbox are assumed to be closed when one door is open. For example, to enter the first room R1 from corridor H, stop at area number 84 and open the second door D2. Then enter the passbox, close the second door D2, and open the first door D1. This allows the automated guided vehicle 50, etc., to enter the first room R1.

[0044] (operation) Figure 4 is a flowchart showing an example of the procedure for creating a route plan for an automated guided vehicle 50 using WCS40 according to the first embodiment. The operation of this flowchart is achieved when the processor 401 of WCS40 reads and executes a program stored in memory 402. This flowchart is initiated when WES30 obtains an order list and sends it to WCS40.

[0045] First, the processor 401 assigns combination information indicating the combination of nodes that span door 70, based on the map management information contained in the inventory management database.

[0046] Figure 5 shows an example of combination information assigned to map management information according to the first embodiment. As shown in Figure 5, the combination information is as follows: ``D1'':{82,83}, indicating that the first door D1 is between node numbers 82 and 83; ``D2'':{83,84}, indicating that the second door D2 is between node numbers 83 and 84; ``D3'':{86,87}, indicating that the third door D3 is between node numbers 86 and 87; ``D4'':{ This includes {87,88}, ``D5'':{30,31} indicating that the fifth door D5 is between node numbers 30 and 31, ``D1'':{30,31} indicating that the sixth door D6 is between node numbers 31 and 32, ``D7'':{34,35} indicating that the seventh door D7 is between node numbers 34 and 35, and ``D8'':{35,36} indicating that the eighth door D8 is between node numbers 35 and 36. In the operation described below, the map management information shall include the above combination information. That is, memory 302 shall store the combination information.

[0047] In step ST101, the acquisition unit 4011 acquires the order list. The acquisition unit 4011 acquires the order list transmitted from WES30 via interface 403.

[0048] In step ST102, the creation unit 4012 creates a route plan based on the order list and map management information. The creation unit 4012, acting as a route planning engine, creates a route plan based on the order list and map management information. In this process, the creation unit 4012 creates the route plan without considering doors 70, i.e., checkpoints.

[0049] Figure 6 shows an example of a route plan for an automated guided vehicle 50 according to the first embodiment. The route plan shown in Figure 6 indicates that the automated guided vehicle (AGV) 50, located at node number 51 in the third room R3, will move through the nodes in the order shown in Figure 6 to a shelf located at node number 67, lift the shelf with a pusher, move through the nodes in the order shown in Figure 6 to its destination at node number 103, lower the pusher to place the shelf at node number 103.

[0050] In step ST103, the creation unit 4012 determines whether the created route plan crosses a door. The creation unit 4012 refers to the combination information and determines whether the route plan crosses (passes through) a door. If it determines that it crosses a door, the process proceeds to step ST104. On the other hand, if it determines that it does not cross a door, the process ends.

[0051] In step ST104, the creation unit 4012 adds Open and Close requests to the route plan. The creation unit 4012 refers to the combination information and adds an Open request, which is a pass-through permission request that requests passage through door 70 (gateway), and a Close request, which is a pass-through completion notification that indicates that door 70 has been passed, to the location in the route plan where the door 70 is to be passed.

[0052] Figure 7 shows an example of a routing plan when Open and Close requests are added. As shown in Figure 7, after the automated guided vehicle 50 moves to node number 36, an OpenD8 is added instructing it to open the eighth door D8, i.e., a request to allow passage. After it moves to node number 35, a CloseD8 is added instructing it to close the eighth door D8, i.e., a notification that passage is complete. Furthermore, an OpenD7 is added instructing it to open the seventh door D7. After it moves to node 34, a CloseD7 is added instructing it to close the seventh door D7. Similarly, Open and Close requests are added for the second door D2 and the first door D1.

[0053] In this way, by adding the Open and Close requests for door 70 after the route plan has been created, the computational cost of creating the route plan can be reduced.

[0054] Next, we will describe in detail the control procedure when the automated guided vehicle 50 passes through the door 70 according to the route plan.

[0055] Figure 8 is a sequence diagram showing the details of the control procedure when the automated guided vehicle 50 is controlled according to the path plan of the first embodiment. For example, in the route plan shown in Figure 7, when the automated guided vehicle (AGV) 50 moves from node number 36 to node number 34, it needs to cross the eighth door D8 and the seventh door D7. Figure 8 shows the control procedure when the AGV 50 moves from node number 37 to node number 34.

[0056] The operation of this sequence is achieved by the processor 401 of WCS40, the processor 501 of the automated guided vehicle 50, and the processor 601 of the door control device 60 reading and executing programs stored in memory 402, ROM 503, and memory 602, respectively. For example, this sequence starts when the automated guided vehicle 50 moves to node number 37.

[0057] In step ST201, the output unit 4013 outputs goto 36. The output unit 4013 outputs goto 36, which is a control signal that instructs the automated guided vehicle 50 to move to node number 36, via interface 403.

[0058] In step ST202, the processor 501 outputs "pass completed". Based on the control signal, the processor 501 controls the automated guided vehicle 50 to move to node number 36. Once it has moved to node number 36, the processor 501 outputs "pass completed" to the WCS40 via the communication interface 505, which is the control result indicating that it has moved to node number 36.

[0059] In step ST203, the output unit 4013 outputs open D8. The output unit 4013 outputs open D8 through interface 403, requesting the door control device 60 to open the eighth door D8.

[0060] In step ST204, processor 601 outputs open. Processor 601 outputs open to the eighth door D8 via interface 603, instructing it to open the door.

[0061] In step ST205, the processor 601 receives opened. The eighth door D8 sends opened to the door control device 60, indicating that the eighth door D8 is open.

[0062] In step ST206, processor 601 outputs D8 opened. Processor 601 outputs D8 opened to WCS40 via interface 603, indicating that the eighth door D8 has been opened.

[0063] In step ST207, the processor 401 outputs goto 35 to the output unit 4013. The output unit 4013 outputs goto 35, which is a control signal that instructs the automated guided vehicle 50 to move to node number 35, via the interface 403.

[0064] In step ST208, the processor 501 outputs "pass completed". Based on the control signal, the processor 501 controls the automated guided vehicle 50 to move to node number 35. Once it has moved to node number 35, the processor 501 outputs "pass completed" to the WCS40 via the communication interface 505, which is the control result indicating that it has moved to node number 35.

[0065] As explained in steps ST201 to ST208, the control signals are not output all at once when crossing door 70. In other words, the automated guided vehicle 50 stops briefly at node number 36, and then moves after door 70 opens.

[0066] In step ST209, the output unit 4013 outputs close D8. The output unit 4013 outputs close D8 to the door control device 60 via interface 403, requesting that it close the eighth door D8. The output unit 4013 may also output a control instruction to the automated guided vehicle 50 via interface 403 to stop at node number 35.

[0067] In step ST210, processor 601 outputs close. Processor 601 outputs close to the eighth door D8 via interface 603, instructing it to close the door.

[0068] In step ST211, the processor 601 receives closed. The eighth door D8 sends closed to the door control device 60, indicating that the eighth door D8 has been closed.

[0069] In step ST212, processor 601 outputs D8 closed. Processor 601 outputs D8 closed to WCS40 via interface 603, indicating that the eighth door D8 is closed.

[0070] In step ST213, the output unit 4013 outputs open D7. The output unit 4013 outputs open D7 through interface 403, requesting the door control device 60 to open the seventh door D7.

[0071] In step ST214, processor 601 outputs open. Processor 601 outputs open to the seventh door D7 via interface 603, instructing it to open the seventh door D7.

[0072] In step ST215, the processor 601 receives "opened". The seventh door D7 sends "opened" to the door control device 60, indicating that the seventh door D7 is open.

[0073] In step ST216, processor 601 outputs D7 opened. Processor 601 outputs D8 opened to WCS40 via interface 603, indicating that the eighth door D8 has opened.

[0074] In step ST217, the processor 401 outputs goto 34 to the output unit 4013. The output unit 4013 outputs goto 34, which is a control signal that instructs the automated guided vehicle 50 to move to node number 34, via the interface 403.

[0075] In step ST218, the processor 501 outputs "pass completed". Based on the control signal, the processor 501 controls the automated guided vehicle 50 to move to node number 34. Once it has moved to node number 34, the processor 501 outputs "pass completed" to the WCS40 via the communication interface 505, which is the control result indicating that it has moved to node number 34.

[0076] In step ST219, the output unit 4013 outputs close D7. The output unit 4013 outputs close D7 to the door control device 60 via interface 403, requesting that it close the seventh door D7. The output unit 4013 may also output a control instruction to the automated guided vehicle 50 via interface 403 to stop at node number 35.

[0077] In step ST220, processor 601 outputs close. Processor 601 outputs close to the seventh door D7 via interface 603, instructing the seventh door D7 to close.

[0078] In step ST221, the processor 601 receives closed. The seventh door D7 sends closed to the door control device 60, indicating that the door has been closed.

[0079] In step ST222, processor 601 outputs D7 closed. Processor 601 outputs D7 closed to WCS40 via interface 603, indicating that the seventh door D7 is closed.

[0080] As described above, after passing through the door, the automated guided vehicle 50 stops, and resumes movement after the door 70 closes in response to a close request. For example, even if the route plan is replanned when moving across door 70, the processor 401 instructs the automated guided vehicle 50 to move across door 70 and executes the actions until door 70 is closed. In other words, the processor 401 executes both an open request and a close request for door 70 together. As a result, even if a replanning is performed, the problem of not closing door 70 does not occur.

[0081] (Effects of the first embodiment) According to the first embodiment described above, the WCS40 creates a route plan based on the order list without considering door passage. Furthermore, after creating the route plan, if the route plan crosses door 70, the WCS40 adds the action to cross door 70 to the route plan. This reduces the computational load even when the route plan is replanned and allows for flexible response to route plan replanning.

[0082] Furthermore, even if replanning is performed while the WCS40 is performing an action to cross over door 70, the WCS40 will perform the replanned route planning after the action to cross over door 70 has been completed. This ensures that door 70 is controlled appropriately.

[0083] [Modified version of the first embodiment] In the first embodiment, the case in which one automated guided vehicle 50 straddles the door 70 was described. In a modification of the first embodiment, the case in which multiple automated guided vehicles 50 straddle the door 70 will be described.

[0084] (composition) The configuration in the modified version of the first embodiment may be the same as that of the first embodiment. Therefore, redundant explanations are omitted here.

[0085] (operation) The method for creating a route plan in a modified version of the first embodiment may be the same as the route plan creation procedure described in the first embodiment with reference to Figure 4. Therefore, redundant explanations are omitted here.

[0086] Figure 9 shows an example of a path plan in a modified version of the first embodiment. As shown in Figure 9, the route plan indicates that the automated guided vehicles (AGVs) 50 located at node number 51 and node number 38 respectively will retrieve a shelf located at node number 67 and then move to node number 107. In this case, we want to move multiple AGVs 50 with a single door opening and closing.

[0087] For example, suppose the first automated guided vehicle (AGV) 50 moves to node number 35, and before the processor 401 sends a close D8 to the door control device 60, the second AGV 50 moves to node number 36. In this case, the processor 401 does not output a close D8 to the door control device 60, but outputs a goto 35 to the second AGV 50. Then, after the second AGV 50 moves to node number 35, the processor 401 outputs a close D8 to the door control device 60. In other words, the processor 401 stops outputting Close D8 for the first AGV 50 and open D8 for the second AGV 50. This allows multiple AGVs 50 to pass through the door 70.

[0088] (Effects and Effects of Modified Examples of the First Embodiment) According to the modified version of the first embodiment described above, the WCS40 allows multiple automated guided vehicles 50 to simultaneously step over the door 70. This enables proper control of the door 70.

[0089] [Second Embodiment] In the first embodiment, the operation of the automated guided vehicle (AGV) 50 stepping over a door 70 was described. In the second embodiment, the operation of the AGV 50 when the AGV 50 and other equipment (e.g., a forklift) are operating in the warehouse will be described.

[0090] (composition) Figure 10 is a conceptual diagram showing an example of a logistics system according to the second embodiment. In the second embodiment, the warehouse processing system 2 includes a signal control device 80, a traffic light 90, and a camera 100 instead of a door control device 60 and a door 70.

[0091] The signal control device 80 can be configured with one or more general-purpose computers. The signal control device 80 comprises a processor 801, memory 802, and interface 803. The processor 801 is a CPU, MPU, or DSP, etc. The memory 802 stores the operating program of the processor 801, etc. The interface 803 communicates with the WCS40, the traffic signal 90, and the camera 100. The processor 801 realizes each function by executing the program stored in the memory 802. For example, the processor 801 transmits a signal instruction to the traffic signal 90 via interface 803 based on a passage permission request or passage completion notification received from the WCS40. Furthermore, the processor 801 informs the WCS40 of the status of the traffic signal 90 via interface 803.

[0092] The traffic light 90 consists of a green light and a red light. For example, the traffic light 90 functions as a checkpoint. The traffic light 90 may include a traffic light 90 received on the side of the automated guided vehicle 50 and a traffic light 90 directed towards the forklift, as is common in intersections. For example, if the traffic light 90 on the forklift side is green, the forklift is allowed to pass through the mixed area 5, and during this time, the traffic light 90 on the side of the automated guided vehicle 50 is controlled to be red, preventing the automated guided vehicle 50 from passing through the mixed area 5. Conversely, if the traffic light 90 on the forklift side is red, the traffic light 90 on the side of the automated guided vehicle 50 is turned green, indicating that the automated guided vehicle 50 is allowed to pass through the mixed area 5.

[0093] Camera 100 is a camera that photographs the area near mixed area 5. Camera 100 outputs the captured image to the signal control device 80.

[0094] For example, the processor 801 transmits the captured image received from the camera 100 to the WCS 40. Based on the captured image, the processor 401 detects other equipment such as a forklift. For example, if a forklift is near the traffic light 90, the processor 801 may control the system to refrain from outputting a pass permission request to the signal control device 80, even if it is the time when a pass permission request should be sent.

[0095] Figure 11 shows an example of a warehouse layout according to the second embodiment. As shown in Figure 11, the warehouse has a transport area 3 where automated guided vehicles (AGVs) 50 operate, a forklift area 4 where forklifts operate, and a mixed area 5 where both AGVs 50 and forklifts operate. Traffic lights 90 and cameras 100 are installed near the mixed area 5. For example, the AGVs 50 use the mixed area 5 like a pedestrian crossing. That is, when the traffic light 90 is green, the AGVs 50 pass through the mixed area 5, and when the light is red, they wait in the transport area 3. Although not shown in detail in Figure 11, similar to the example warehouse in Figure 3, the warehouse is divided into multiple nodes, and each node is numbered and managed.

[0096] (operation) Figure 12 is a flowchart showing an example of the procedure for creating a route plan for an automated guided vehicle 50 using the WCS40 according to the second embodiment. The operation of this flowchart is achieved when the processor 401 of WCS40 reads and executes a program stored in memory 402. This flowchart is initiated when WES30 obtains an order list and sends it to WCS40.

[0097] First, as explained with reference to Figure 5, the processor 401 assigns combination information indicating combinations of nodes that span the mixed area 5, based on the map management information contained in the inventory management database.

[0098] In step ST301, the acquisition unit 4011 acquires the order list. The acquisition unit 4011 acquires the order list transmitted from WES30 via interface 403.

[0099] In step ST302, the creation unit 4012 creates a route plan based on the order list. The creation unit 4012, acting as a route planning engine, creates a route plan based on the order list. In this process, the creation unit 4012 creates the route plan without considering the mixed area 5.

[0100] In step ST303, the creation unit 4012 determines whether the created route plan crosses mixed area 5. The creation unit 4012 refers to the combination information and determines whether the route plan crosses mixed area 5. If it determines that it crosses mixed area 5, the process proceeds to step ST304. On the other hand, if it determines that it does not cross mixed area 5, the process ends.

[0101] In step ST304, the creation unit 4012 adds a red light request and a green light request to the route plan. The creation unit 4012 refers to the combination information and adds a passage permission request and a passage completion notification to the route plan at the points where it passes through mixed area 5.

[0102] Similar to the Open and Close requests in the first embodiment, the request for permission to pass and the notification of completion of passage are performed together. This prevents the problem of the traffic light 90 not returning to green on the forklift side even if a replanning is performed while the automated guided vehicle 50 is crossing the mixed area 5.

[0103] Furthermore, the control procedure when controlling the automated guided vehicle 50 according to the route plan may be the same as the control procedure described with reference to Figure 8. That is, the open signal is a request for permission to pass, and the close signal is a notification of completion of passage. However, in order to not return one of the traffic lights 90 to green while the automated guided vehicle 50 is in the mixed area 5, the processing of steps ST209 to ST212 is executed after step ST218, and the processing of steps ST213 to ST216 is executed before step ST207.

[0104] Furthermore, as described above, in step ST203, if the captured image indicates that the forklift is near the mixed area 5, the processor 401 may control the system to refrain from transmitting the open signal to the traffic light 90.

[0105] (Effects of the second embodiment) According to the second embodiment described above, WCS40 creates a route plan based on the order list without considering passage through mixed area 5. Furthermore, after creating the route plan, if the route plan passes through mixed area 5, WCS40 adds the action required to pass through mixed area 5 to the route plan. This reduces the computational load even when the route plan is replanned and allows for flexible response to route plan replanning.

[0106] Furthermore, even if a replanning is performed while the WCS40 is performing an action to pass through mixed area 5, the WCS40 will perform the replanned route planning after the action to pass through mixed area 5 has been completed. This allows for proper control of the traffic signals 90.

[0107] [Other embodiments] The first and second embodiments may be implemented simultaneously. For example, if there is a room R with a door 70 and a mixed area 5 in the warehouse where both other equipment such as forklifts and automated guided vehicles 50 pass through, it is possible to implement the first and second embodiments simultaneously.

[0108] Furthermore, in one embodiment, the WCS40 is said to perform the creation of the route plan, but other devices such as the WES30 may also perform this task.

[0109] The program according to this embodiment may be transferred while stored in an electronic device (computer) such as a WCS40, or it may be transferred without being stored in an electronic device. In the latter case, the program may be transferred via a network, or it may be transferred while stored in a storage medium. The storage medium is a non-temporary tangible medium. The storage medium is a medium that can be read by a computer such as a WCS40 (computer-readable medium). The storage medium may be any medium that can store a program and can be read by a computer, such as an optical disc (e.g., CD-ROM), a magnetic disc, or a semiconductor memory (e.g., a memory card), and its form is not limited.

[0110] While several embodiments of the present invention have been described, these embodiments are presented as examples only and are not intended to limit the scope of the invention. These novel embodiments can be carried out in a variety of other forms, and various omissions, substitutions, and modifications can be made without departing from the spirit of the invention. These embodiments and their variations are included in the scope and spirit of the invention, as well as in the claims of the invention and its equivalents. [Explanation of Symbols]

[0111] S...Warehouse System 1…Warehouse Management System 2…Warehouse processing system 3… Transport vehicle area 4…Forklift area 5… Mixed area 30…Warehouse operation system 301… Processor 302...Memory 303… Interface 40…Automated Guided Vehicle Control System 401… Processor 4011…Acquisition Department 4012... Creation Department 4013...Output section 402...Memory 403… Interface 50... Automated Guided Vehicles 501… Processor 502...RAM 503...ROM 504... Auxiliary storage device 505...Communication Interface 506…Drive unit 507...Sensor 508...Battery 509…Charging mechanism 510... Tires 60... Door control device 601… Processor 602...Memory 603… Interface 70, D... Door 80... Signal control device 801… Processor 802...Memory 803… Interface 90... Traffic lights 100... Camera R... Room H...corridor

Claims

1. The warehouse is divided into multiple nodes, and a memory stores map management information including information that assigns a node number to each node, as well as combinations of nodes that pass through checkpoints within the warehouse. The acquisition unit retrieves the order list, Based on the order list and map management information, a creation unit generates a route plan for an automated guided vehicle, and if the route plan includes one of the combinations of nodes through which the checkpoints are passed, it adds a checkpoint passage permission request and a passage completion notification to the route plan. An information processing device equipped with the following features.

2. The creation unit adds the passage permission request after a control instruction to move the automated guided vehicle to the first node before the gate, and adds the passage completion notification after a control instruction to move the automated guided vehicle to a second node adjacent to the first node after it has passed through the gate. The information processing apparatus according to claim 1.

3. The barrier is a door, the pass-through permission request is an open request to open the door, and the pass-through completion notification includes a close request to close the door and a control signal to stop the automated guided vehicle upon arrival at the second node until the door is closed. The information processing apparatus according to claim 2.

4. The system further includes an output unit that outputs a control signal to the automated guided vehicle to control the automated guided vehicle according to the route plan, and outputs the passage permission request and the passage completion notification to the gate control device that controls the gate, If the first automated guided vehicle (AGV) passes through the gate and the output unit outputs the completion notification, but the second AGV arrives at the first node and passes through the gate, the output unit outputs the completion notification after the second AGV arrives at the second node. The information processing apparatus according to claim 2.

5. The output unit stops outputting the passage completion notification that should be output when the first automated guided vehicle passes through the gate and the passage permission request that should be output when the second automated guided vehicle arrives at the first node. The information processing apparatus according to claim 4.

6. The system further includes an output unit that outputs a control signal to the automated guided vehicle to control the automated guided vehicle according to the route plan, and outputs the passage permission request and the passage completion notification to the gate control device that controls the gate, If the output unit outputs the passage permission request but the creation unit re-creates the route plan after outputting the passage completion notification, the output unit outputs a control signal to the automated guided vehicle according to the re-created route plan after outputting the passage completion notification. The information processing apparatus according to claim 1.

7. The node that crosses the aforementioned gate is a mixed area where other equipment can move together with the automated guided vehicle, and the gate is a signal indicating which equipment is allowed to pass through the mixed area. The creation unit adds a passage permission request after the automated guided vehicle (AGV) arrives at a first node in front of the mixing area, requesting permission to pass through the mixing area, and adds a passage completion notification after the AGV has passed through the mixing area and arrived at a second node adjacent to the mixing area, indicating that passage through the mixing area has been completed. The information processing apparatus according to claim 1.

8. The system further includes an output unit that outputs a control signal to the automated guided vehicle (AGV) to control the AGV according to the route plan, and outputs the passage permission request and the passage completion notification to a signal control device that controls the traffic signals. The acquisition unit further acquires images from the camera that captured the mixed area, The output unit, when it detects other equipment in the mixed area from the captured image, refrains from outputting the request for passage permission. The information processing apparatus according to claim 7.

9. An information processing method executed by the processor of an information processing device, The warehouse is divided into multiple nodes, and map management information including information assigning a node number to each node, as well as the combination of nodes that pass through the checkpoints within the warehouse, Obtaining an order list, Based on the aforementioned order list and map management information, a route plan for the automated guided vehicle is generated. If the route plan includes one of the combinations of nodes that pass through the gate, the route plan is to add a request for permission to pass through the gate and a notification of completion of passage. An information processing method comprising:

10. An information processing program comprising instructions to be executed by the processor of an information processing device, wherein the instructions are: The warehouse is divided into multiple nodes, and map management information including information assigning a node number to each node, as well as the combination of nodes that pass through the checkpoints within the warehouse, Obtaining an order list, Based on the aforementioned order list and map management information, a route plan for the automated guided vehicle is generated. If the route plan includes one of the combinations of nodes that pass through the gate, the route plan is to add a request for permission to pass through the gate and a notification of completion of passage. An information processing program equipped with the following features.

11. Information processing equipment and An automated guided vehicle connected to the aforementioned information processing device, A gateway control device connected to the information processing device, The information processing device is equipped with, The warehouse is divided into multiple nodes, and a memory stores map management information including information that assigns a node number to each node, as well as combinations of nodes that pass through checkpoints within the warehouse. The acquisition unit retrieves the order list, Based on the order list and map management information, a creation unit generates a route plan for an automated guided vehicle, and if the route plan includes one of the combinations of nodes through which the checkpoints are passed, it adds a checkpoint passage permission request and a passage completion notification to the route plan. An output unit that outputs a control signal to control the automated guided vehicle according to the route plan, and outputs the passage permission request and the passage completion notification, The gate control device is equipped with, An interface for receiving the aforementioned passage permission request and the aforementioned passage completion notification, A processor that controls the gate to a state where it can be passed in accordance with the aforementioned permission to pass notification, and to a state where it cannot be passed in accordance with the aforementioned completion of passage notification, An information processing system equipped with the following features.

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