Warehouse system and information processing method

Abstract

Reduce the impact of interrupt processing on the warehouse system. [Solution] The warehouse system 100 includes an automated warehouse 1 which includes a plurality of transport devices 51 to 53, each handling the task of transporting goods from a plurality of storage spaces 46 to a plurality of shipping docks 441 to 445, and a task management device 2 which manages normal tasks using a plurality of queues corresponding to each of the plurality of shipping docks 441 to 445. When an interrupt task occurs, the task management device 2 adds the interrupt task to the queue corresponding to a specified shipping dock among the plurality of shipping docks 441 to 445, and calculates the number of tasks that can be completed by all of the plurality of transport devices within a predetermined time, assuming that the transport device that becomes free in the order of P (P≧2) will process the interrupt task, for each P. The task management device 2 identifies a P that satisfies the defined conditions regarding the number of tasks completed and assigns the interrupt task to the identified P-th transport device.

Description

Technical Field

[0001] The present disclosure relates to a warehouse system and an information processing method.

Background Art

[0002] Japanese Patent Application Laid-Open No. 6-214998 (Patent Document 1) provides a production process progress management system that can grasp the influence on other processes when the plan of a certain process is changed.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] An automated warehouse includes a plurality of conveying devices that each handle a task of conveying goods from a plurality of storage spaces to a plurality of shipping ports. As normal processing, the automated warehouse is configured to assign the next normal task to a conveying device that has become free after processing a certain normal task among the plurality of conveying devices. On the other hand, in an automated warehouse, in addition to normal tasks, interrupt tasks may occur. When an interrupt task occurs, reorganization of task management may be required.

[0005] In general interrupt processing, an interrupt task is added to the head of the waiting queue of normal tasks and is processed first. However, with such a simple method, the total task completion time (the time from when an interrupt task occurs until all tasks are completed) may become significantly longer, and the interrupt processing may have a great impact on the processing of the entire warehouse system. It is desirable to reduce the impact on the warehouse system due to interrupt processing.

[0006] This disclosure was made to solve the above-mentioned problems, and one of the purposes of this disclosure is to reduce the impact of interrupt processing on warehouse systems. [Means for solving the problem]

[0007] The warehouse system relating to the first aspect of this disclosure comprises an automated warehouse including multiple transport devices, each handling the task of transporting goods from multiple storage spaces to multiple shipping docks, and a task management device that manages normal tasks using multiple queues corresponding to each of the multiple shipping docks. When an interrupt task occurs, the task management device, with P being a natural number of 2 or more, adds the interrupt task to the queue corresponding to a specified shipping dock among the multiple shipping docks, and calculates the number of tasks that the entire group of transport devices can process within a predetermined time for each P, assuming that the Pth transport device that becomes free processes the interrupt task. The task management device identifies a P that satisfies the specified conditions regarding the number of tasks to be completed and assigns the interrupt task to the identified Pth transport device.

[0008] The information processing method relating to the second aspect of this disclosure is executed by a processor for managing an automated warehouse. The automated warehouse includes a plurality of transport devices, each handling the task of transporting goods from a plurality of storage spaces to a plurality of shipping docks. Normally, tasks are managed using a plurality of queues, each corresponding to a plurality of shipping docks. The information processing method includes the steps of: when an interrupt task occurs, adding the interrupt task to the queue corresponding to a specified shipping dock among the plurality of shipping docks, where P is a natural number of 2 or more, and calculating the number of tasks that can be completed by the plurality of transport devices as a whole within a predetermined time, for each P, where P is the Pth transport device that becomes free in the sequence, and assigning the interrupt task to the Pth transport device that becomes free in the sequence.

[0009] The warehouse system relating to the third aspect of this disclosure comprises an automated warehouse including multiple transport devices, each handling the task of transporting goods from multiple storage spaces to multiple shipping docks, and a task management device that manages normal tasks using multiple queues corresponding to each of the multiple shipping docks. When an interrupt task occurs, the task management device adds the interrupt task as the Qth task in the queue corresponding to a specified shipping dock among the multiple shipping docks, with Q being a natural number of 2 or more, and calculates the number of tasks that the entire group of transport devices can process within a predetermined time for each Q, assuming that the transport device that becomes free first when the interrupt task is processed in the corresponding queue processes the interrupt task. The task management device identifies a Q that satisfies the specified conditions regarding the number of tasks to be completed, adds the interrupt task as the identified Qth task, and assigns the interrupt task to the transport device that becomes free first.

[0010] The information processing method relating to the fourth aspect of this disclosure is executed by a processor for managing an automated warehouse. The automated warehouse includes a plurality of transport devices, each handling the task of transporting goods from a plurality of storage spaces to a plurality of shipping docks. Normal tasks are managed using a plurality of queues, each corresponding to a plurality of shipping docks. The information processing method includes the steps of: when an interrupt task occurs, adding the interrupt task as the Qth task in the queue corresponding to a specified shipping dock among the plurality of shipping docks, with Q being a natural number of 2 or more; and assuming that the transport device that becomes free first when the interrupt task is processed in the corresponding queue handles the interrupt task, calculating the number of tasks that the plurality of transport devices as a whole can handle within a predetermined time for each Q; identifying a Q that satisfies a defined condition regarding the number of tasks to be completed; and adding the interrupt task as the identified Qth task and assigning the interrupt task to the transport device that becomes free first.

[0011] In the above warehouse system and information processing method, for each transport device, the number of tasks that the entire transport system can execute within a predetermined time (number of completed tasks) is calculated if an interrupt task is assigned to that transport device. Then, the interrupt task is assigned to the transport device that satisfies the defined conditions regarding the number of completed tasks (for example, the transport device with the highest number of completed tasks). This suppresses situations where adding an interrupt task significantly increases the total task completion time. Therefore, the impact of interrupt processing on the overall processing of the warehouse system can be reduced. [Effects of the Invention]

[0012] According to this disclosure, the impact of interrupt processing on the warehouse system can be reduced. [Brief explanation of the drawing]

[0013] [Figure 1] This is a block diagram showing the overall configuration of the warehouse system according to the embodiment. [Figure 2] This is a schematic diagram of an automated warehouse. [Figure 3] This is a conceptual diagram of task management information. [Figure 4] This diagram illustrates an example of the situation when an interrupt task occurs. [Figure 5] This diagram illustrates how interrupt tasks are handled in the comparative example. [Figure 6] This is a diagram illustrating optimal free-order search. [Figure 7] This is a diagram illustrating the search for the optimal processing order. [Figure 8] This is a diagram illustrating the optimal free-order processing sequence search. [Figure 9] This is a diagram illustrating the optimal task queue search. [Figure 10] This is a diagram to explain globally optimal search. [Figure 11] This is a diagram to explain variance minimization. [Figure 12] A flowchart illustrating the first example of the processing procedure for optimal free-order search. [Figure 13] It is a flowchart showing a second example of the processing procedure of optimal free order search. [Figure 14] It is a flowchart showing a third example of the processing procedure of optimal free order search. [Figure 15] It is a flowchart showing an example of the processing procedure of optimal processing order search. [Figure 16] It is a flowchart showing an example of the processing procedure of optimal free order and processing order search. [Figure 17] It is a flowchart showing an example of the processing procedure of optimal task queue search. [Figure 18] It is a flowchart showing an example of the processing procedure of overall optimal search. [Figure 19] It is a flowchart showing an example of the processing procedure of dispersion minimization. [Figure 20] It is a diagram for explaining the combination of indices. [Figure 21] It is a diagram for explaining the verification conditions of the effect. [Figure 22] It is a diagram showing an example of the verification results of optimal free order search and optimal processing order search. [Figure 23] It is a diagram summarizing the verification results of optimal free order search. [Figure 24] It is a diagram summarizing the verification results of optimal processing order search. [Figure 25] It is a diagram showing an example of the verification results of optimal task queue search and dispersion minimization.

Mode for Carrying Out the Invention

[0014] Hereinafter, embodiments of the present disclosure will be described in detail with reference to the drawings. In the drawings, the same or corresponding parts are denoted by the same reference numerals, and the description thereof will not be repeated.

[0015] <Explanation of Terms> Carrying out a load from the automated warehouse to the outside is referred to as "shipping", and carrying a load from the outside into the automated warehouse is referred to as "receiving". The load may be read as an article.

[0016] [Embodiment] <Overall Structure> Figure 1 is a block diagram showing the overall configuration of a warehouse system according to an embodiment. In this example, the warehouse system 100 includes an automated warehouse 1, a task management device 2, and an integrated management device 3.

[0017] Automated warehouse 1 is configured to store multiple items and to automatically receive and ship those items. Automated warehouse 1 is, for example, a shuttle-type automated warehouse. The configuration of automated warehouse 1 is explained in detail in Figure 2.

[0018] Task management device 2 performs information processing for management of automated warehouse 1. Task management device 2 is typically a server or workstation, but may be a general-purpose computer such as a PC (Personal Computer) or a smart device. Task management device 2 includes a processor 21, memory 22, storage 23, input device 24, display 25, network controller 26, and bus 27.

[0019] The processor 21 includes processing circuitry such as a CPU (Central Processing Unit) and an MPU (Micro Processing Unit). The memory 22 includes volatile storage devices such as DRAM (Dynamic Random Access Memory) and SRAM (Static Random Access Memory). The storage 23 includes non-volatile storage devices such as ROM (Read Only Memory), HDD (Hard Disk Drive), SSD (Solid State Drive), and flash memory. The storage 23 stores a system program (not shown) including an OS (Operating System), a program 231 for task management of the automated warehouse 1, and task management information 232 used by program 231. The processor 21 generates or updates the task management information 232 by reading the system program and program 231, expanding them into memory 22, and executing them.

[0020] Although only one processor is shown in Figure 1, the task management device 2 may include multiple processors. That is, the task management device 2 includes one or more processors. The same applies to the memory 22 and storage 23. In this specification, "processor" is not limited to a processor in the narrow sense that executes processing in a stored-program manner, but may include hardwired circuits such as ASICs (Application Specific Integrated Circuits) and FPGAs (Field-Programmable Gate Arrays). Therefore, the term "processor" can also be interpreted as a processing circuit (circuitry or processing circuitry) whose processing is predefined by computer-readable code and / or hardwired circuits. The task management device 2 may be divided into multiple units according to function.

[0021] The input device 24 is a keyboard, touch panel, etc., and accepts operation from the user (such as the person in charge of task management for the automated warehouse 1). The display 25 displays the task management status (task management information 232, etc.) from the task management device 2. The network controller 26 is configured to communicate with the outside of the task management device 2 (integrated management device 3) according to the control of the processor 21. The bus 27 connects the components of the task management device 2 in a way that allows communication between them.

[0022] The integrated management device 3 operates at a higher level than the task management device 2 and manages the automated warehouse 1 (which may include other automated warehouses not shown). The integrated management device 3 may have a similar hardware configuration to the task management device 2. Therefore, a detailed explanation of the configuration of the integrated management device 3 will not be repeated.

[0023] The integrated management device 3 outputs multiple normal tasks to the task management device 2 for shipping goods from the automated warehouse 1 according to a prior plan. When the task management device 2 receives multiple normal tasks from the integrated management device 3, it generates task management information 232 for processing those multiple normal tasks. In addition, the integrated management device 3 outputs one or more interrupt tasks to the task management device 2 for shipping goods from the automated warehouse 1 according to a plan other than the prior plan (for example, a request that suddenly arises). When the task management device 2 receives one or more interrupt tasks from the integrated management device 3, it adds those one or more interrupt tasks to the task management information 232 and updates the task management information 232.

[0024] Alternatively, the task management device 2 may acquire tasks (normal tasks or interrupt tasks) through user operations on the input device 24, instead of receiving them from the integrated management device 3.

[0025] The task management device 2 outputs a cargo transport command to the shuttle (described later) of the automated warehouse 1 based on the generated or updated task management information 232. In addition, the task management device 2 receives reports on the cargo transport status from the automated warehouse 1.

[0026] <Warehouse Configuration> Figure 2 is a schematic diagram of automated warehouse 1. Figure 2 shows a plan view of automated warehouse 1 from above. In the example shown in Figure 2, automated warehouse 1 includes five vertical aisles 411-415, five storage units 421-425, one horizontal aisle 43, five shipping ports 441-445, five buffer units 451-455, and three shuttles 51-53. However, the number of components other than the horizontal aisle 43 is not limited to these numbers and can be any number of two or more.

[0027] The vertical passages 411 to 415 are passages that extend in the vertical direction (direction V in the figure). Each of the vertical passages 411 to 415 is restricted to only one shuttle traveling at a time. The vertical passages 411 to 415 correspond to the "multiple first passages" as described in this disclosure.

[0028] Storage units 421 to 425 are located on either side of the vertical aisles 411 to 415, respectively. Each of the storage units 421 to 425 contains multiple storage spaces 46. Each of the multiple storage spaces 46 can either store only one package L or no packages L at all. In other words, two or more packages L are never stored in the same storage space 46.

[0029] The lateral passage 43 is a passage that extends in the lateral direction (direction H in the figure). The lateral passage 43 connects two adjacent shipping ports from among the shipping ports 441 to 445 on the upper side of the figure, and connects two adjacent vertical passages from among the vertical passages 411 to 415 on the lower side. Two or more shuttles may travel in the lateral passage 43 as long as they do not collide with each other. The lateral passage 43 corresponds to the "second passage" in this disclosure.

[0030] Shipping ports 441-445 are the locations (shipping locations) from which package L is shipped. Shipping ports 441-445 may also serve as receiving ports.

[0031] Buffer units 451 to 455 are each located near the shipping ports 441 to 445. Buffer units 451 to 455 temporarily store the goods L that have been transported to the corresponding shipping port among the shipping ports 441 to 445 until they are shipped. Buffer units 451 to 455 do not necessarily have to be provided in the automated warehouse 1.

[0032] Shuttles 51-53 are transport devices (shuttle carts) that transport cargo L. The shuttles may also be called agents. Shuttles 51-53 process the task of transporting cargo L according to transport commands from the task management device 2. Specifically, according to transport commands from the task management device 2, shuttles 51-53 retrieve cargo L from the designated storage space 46 (collection location) of the designated storage unit 421-425 among the storage units 421-425, and transport the retrieved cargo L to the designated shipping port (shipping location) among the shipping ports 441-445.

[0033] In the situation shown in Figure 2, shuttle 51 is transporting cargo L in the lateral passage 43. Shuttle 52 has completed its task of transporting cargo L to the shipping port 444 and is in a "free" state with no tasks to perform. Shuttle 53 is transporting cargo L in the longitudinal passage 415.

[0034] The time required for shuttles 51-53 to move from one node to an adjacent node (i.e., to move one square in the diagram) is referred to as "1 time step".

[0035] <Task Management Information> Figure 3 is a conceptual diagram of task management information 232. Tasks are classified into normal tasks and interrupt tasks, and Figure 3 shows task management information 232 generated to handle a large number of normal tasks.

[0036] The task management information 232 has the form of a parallel task queue, and in this example includes five task queues TQ1 to TQ5. Task queues TQ1 to TQ5 are provided corresponding to shipping ports 441 to 445, respectively. Each task queue TQ1 to TQ5 corresponds to a "queue" as described in this disclosure.

[0037] Tasks are processed in order from the normal tasks shown at the bottom of the diagram for each task queue TQ1 to TQ5. Normal tasks are removed from task management information 232 when they are assigned to any shuttle. When a shuttle is assigned a normal task, it processes that task and becomes free once processing is complete. Below, we assume that each of task queues TQ1 to TQ5 has 10 normal tasks.

[0038] Each regular task includes three pieces of information, for example, the pickup location of package L, the shipping location of package L, and the pickup time of package L. This is represented in the diagram as a tuple: (pickup location, shipping location, pickup time).

[0039] The collection location is indicated by a number from 0 to 4 for the vertical aisles 411 to 415 where the storage space 46 for collecting the package L is located. The shipping location is indicated by a number from 1 to 5 for the shipping dock for shipping the package L. Since there is a one-to-one correspondence between the task queue and the shipping dock, the shipping location for the same task queue is the same. The collection time is the time the shuttle occupies the vertical aisle. More specifically, the collection time is the sum of the time it takes for the shuttle to reach the designated storage space 46 from the horizontal aisle 43 through the vertical aisle, the time it takes for the shuttle to collect the package L from the designated storage space 46, and the time it takes for the shuttle to return to the horizontal aisle 43 from the storage space 46 through the vertical aisle. The location of the storage space 46 for package L in each of the vertical aisles 411 to 415 can be determined from the collection time.

[0040] <Handling interrupt tasks> Figure 4 illustrates an example of the situation when an interrupt task occurs. In this example, shuttle 52 is free after unloading cargo L to the shipping port 444. Shuttles 51 and 53 are currently occupied, but after shuttle 52, shuttle 51 becomes free, and finally shuttle 53 becomes free.

[0041] In the event of an interrupt task occurring under these circumstances, the task management device 2 in this embodiment executes one of six processes for handling the interrupt task. Five of these processes are referred to as "optimal free sequence search," "optimal processing sequence search," "optimal free sequence processing sequence search," "optimal task queue search," "overall optimal search," and "distribution minimization." To facilitate understanding, a comparative example will be described first, followed by a description of the six processes in order.

[0042] ≪Comparative Example≫ Figure 5 illustrates how interrupt tasks are handled in the comparative example. When an interrupt task occurs, in the comparative example, one of the shipping ports 441 to 445 is designated according to a predetermined rule. In this example, shipping port 443 is designated. The interrupt task is added to the bottom of the task queue TQ3 corresponding to shipping port 443 (i.e., at the front of the queue) as the task to be processed first.

[0043] In the comparative example, the interrupt task is simply assigned to the shuttle that becomes free first among shuttles 51-53. In the diagram, the shuttles shown at the bottom become free earlier. In this example, shuttle 52 becomes free first (it is already free in Figure 4), so the interrupt task is assigned to shuttle 52. Then, shuttle 52 moves to the shipping port 443 to process the interrupt task.

[0044] Although not shown in the diagram, each shuttle becomes free after completing the task it is currently processing, and becomes free again after completing the next task assigned to it. Therefore, if we represent the order in which shuttles become free as P (where P is a natural number), the upper limit of P is not limited to the number of shuttles, but can be greater than the number of shuttles. In this example, P ≥ 4 is also possible. However, to avoid cluttering the page, we will limit P to 1 to 3 below.

[0045] ≪Optimal Free Sorting Search≫ Figure 6 is a diagram illustrating the optimal free order search. The optimal free order search is a process that searches for the optimal shuttle to which the interrupt task should be assigned, based on the order in which shuttles 51 to 53 become free (hereinafter also referred to as "free order").

[0046] In the optimal free sequence search, as in the comparative example, the interrupt task is added to the bottom of the task queue TQ3 corresponding to the designated shipping port 443 according to a predetermined rule. On the other hand, unlike the comparative example where the interrupt task is assigned to the shuttle 52 that becomes free first, in the optimal free sequence search, the task management device 2 estimates the task processing status assuming that the interrupt task is assigned to each shuttle that becomes free second or later, and decides which shuttle to assign the interrupt task to based on the estimation result.

[0047] More specifically, the task management device 2 calculates the total number of tasks that can be executed within a predetermined time if an interrupt task is assigned to the Pth free shuttle. This number of tasks is referred to as the "number of completed tasks". In the example shown in Figure 6, the task management device 2 calculates the number of completed tasks when an interrupt task is assigned to the first free shuttle 52, when an interrupt task is assigned to the second free shuttle 51, and when an interrupt task is assigned to the third free shuttle 53.

[0048] Next, the task management device 2 identifies P among the three completed tasks that satisfies a condition. The condition is, for example, that the number of completed tasks is maximized. Here, it is assumed that the number of completed tasks will be maximized when an interrupt task is assigned to shuttle 51, which becomes the second free shuttle. In this case, the task management device 2 assigns the interrupt task to shuttle 51.

[0049] In the comparative example, the interrupt task is simply assigned to the first free shuttle 52. Such a simple method can significantly increase the overall task completion time. In other words, interrupt processing can have a major impact on the overall operation of the warehouse system 100.

[0050] In contrast, in the optimal free sequence search of this embodiment, for each sequence P in which a shuttle becomes free, the total number of tasks that can be executed within a predetermined time by all shuttles 51 to 53 if an interrupt task is assigned to that free shuttle is calculated. Then, for example, an interrupt task is assigned to the shuttle in the free sequence P that results in the maximum number of completed tasks. This suppresses situations in which the processing of interrupt tasks significantly increases the total task completion time. Therefore, the impact of interrupt processing on the overall processing of the warehouse system 100 can be reduced.

[0051] As mentioned above, each shuttle can be free not just once, but multiple times. Therefore, in the optimal free order search, it may be necessary to set P≧4 to account for situations where a shuttle becomes free for the second time or later.

[0052] ≪Optimal Processing Order Search≫ Figure 7 is a diagram illustrating the optimal processing order search. The optimal processing order search is a process that searches for the optimal processing order in a specified task queue to which an interrupt task should be added, according to predetermined rules.

[0053] Specifically, task queue TQ3 has 10 normal tasks in this example. Task management device 2 calculates the number of tasks to be completed if an interrupt task were added to the processing sequence of task queue TQ3, for each of the Q (Q=1 to 11) processing sequences (the position before and after each normal task) of the specified task queue TQ3. The interrupt task is assigned to the shuttle that becomes free first when the interrupt task is processed in that processing sequence (i.e., when the interrupt task becomes the first task in task queue TQ3). Figure 7 shows an example where the interrupt task is assigned to shuttle 51 with P=2, but the interrupt task can also be assigned to shuttles with P=1, P=3 (or P≧4).

[0054] Subsequently, the task management device 2 identifies the Q that will result in the maximum number of completed tasks. In other words, the task management device 2 identifies which processing sequence of task queue TQ3 should be used to add the interrupt task in order to maximize the number of completed tasks. Then, the task management device 2 adds the interrupt task to the identified processing sequence and assigns the interrupt task to the shuttle that becomes free first in that processing sequence.

[0055] In this embodiment, the optimal processing order search calculates the number of completed tasks for each processing order within the task queue specified according to predetermined rules. Then, an interrupt task is added to the processing order that results in the largest number of completed tasks, for example, and the interrupt task is assigned to the shuttle that becomes free first in that processing order. This suppresses situations where the processing of interrupt tasks significantly increases the overall task completion time. Therefore, the impact of interrupt processing on the overall processing of the warehouse system 100 can be reduced.

[0056] ≪Optimal Free Sequential Processing Order Search≫ Figure 8 is a diagram illustrating the optimal free-sequence processing order search. The optimal free-sequence processing order search is a process that combines the optimal free-sequence search and the optimal processing order search. By performing the optimal processing order search, it is determined which processing order in the task queue the interrupt task should be added to and which shuttle the interrupt task should be assigned to.

[0057] If task queue TQ3 has 10 normal tasks, task management device 2 calculates the number of tasks to be completed for each Q (Q=1 to 11) processing sequence (the position before and after each normal task) of the specified task queue TQ3, and for each P (P=1 to 3) sequence in which shuttles 51 to 53 become free, assuming that an interrupt task is added to the processing sequence of task queue TQ3 and that the interrupt task is assigned to the shuttle in the free sequence.

[0058] Subsequently, the task management device 2 identifies the combination (P,Q) that maximizes the number of completed tasks. In other words, the task management device 2 identifies which processing sequence of task queue TQ3 to add the interrupt task to, and which free-sequence shuttle to assign the interrupt task to, will maximize the number of completed tasks. Then, the task management device 2 adds the interrupt task to the identified processing sequence and assigns the interrupt task to the identified free-sequence shuttle.

[0059] Thus, in the optimal free-order processing sequence search of this embodiment, the number of completed tasks is calculated for each processing sequence within the task queue specified according to a predetermined rule, and for each free sequence of the shuttle. Then, an interrupt task is added to the processing sequence that results in the largest number of completed tasks, and the interrupt task is assigned to the shuttle in the free sequence that results in the largest number of completed tasks. As a result, the total task completion time can be further reduced compared to the optimal free-order search or the optimal processing sequence search. Therefore, the impact of interrupt processing on the overall processing of the warehouse system 100 can be reduced more reliably.

[0060] ≪Optimal Task Queue Search≫ Figure 9 illustrates the optimal task queue search. The optimal task queue search is the process of finding the optimal position (bottom or first) of a task queue to add an interrupt task to. The optimal task queue search is achieved by adding some additional processing to the optimal free-order search. By performing the optimal task queue search, it is determined which task queue to add the interrupt task to first and which shuttle to assign the interrupt task to.

[0061] Specifically, the task management device 2 calculates the number of tasks to be completed for each R (R=1 to 5) task queue and each P (P=1 to 3) free sequence, assuming that an interrupt task is added to the processing sequence of the task queue and that the interrupt task is assigned to the shuttle in the free sequence.

[0062] Subsequently, the task management device 2 identifies the combination (P,R) that maximizes the number of completed tasks. In other words, the task management device 2 identifies which task queue to add the interrupt task to at the bottom and which free-sequence shuttle to assign the interrupt task to maximize the number of completed tasks. Then, the task management device 2 adds the interrupt task to the bottom of the identified task queue and assigns the interrupt task to the identified free-sequence shuttle.

[0063] Thus, in the optimal task queue search of this embodiment, the number of completed tasks is calculated for each task queue and for each free sequence of shuttles. Then, an interrupt task is added to the beginning of the task queue with the largest number of completed tasks, for example, and the interrupt task is assigned to the free sequence shuttle with the largest number of completed tasks, for example. As a result, the total task completion time can be further reduced compared to the optimal free sequence search. Therefore, the impact of interrupt processing on the overall processing of the warehouse system 100 can be reduced even more reliably.

[0064] ≪Overall Optimal Search≫ Figure 10 is a diagram illustrating global optimization search. Global optimization search is the process of finding the optimal task queue and processing order to add an interrupt task. Global optimization search is achieved by adding some further processing to the optimal free-order processing order search or the optimal task queue search. By performing global optimization search, it is determined which task queue and processing order to add the interrupt task to, and which shuttle to assign the interrupt task to.

[0065] Specifically, the task management device 2 calculates the number of tasks to be completed for each R (R=1 to 5) task queue, each Q (Q=1 to 11) processing sequence, and each P (P=1 to 3) free sequence, assuming that an interrupt task is added to the processing sequence of the task queue and that the interrupt task is assigned to the shuttle in the free sequence.

[0066] Subsequently, the task management device 2 identifies the combination (P, Q, R) that maximizes the number of completed tasks. In other words, the task management device 2 identifies which task queue and processing order the interrupt task should be added to, and which free-sequence shuttle the interrupt task should be assigned to maximize the number of completed tasks. Then, the task management device 2 adds the interrupt task to the identified task queue and processing order, and assigns the interrupt task to the identified free-sequence shuttle.

[0067] Thus, in the overall optimization search of this embodiment, the number of completed tasks is calculated for each task queue, each processing order within the task queue, and each free order of the shuttle. Then, an interrupt task is added to the task queue and processing order that have the largest number of completed tasks, for example, and the interrupt task is assigned to the shuttle in the free order that has the largest number of completed tasks. As a result, the total task completion time can be further reduced compared to the optimal processing order search and the optimal task queue search. Therefore, the impact of interrupt processing on the overall processing of the warehouse system 100 can be reduced even more reliably.

[0068] ≪Variance minimization≫ Figure 11 is a diagram illustrating variance minimization. In optimal free-order search, optimal processing order search, optimal free-order processing order search, optimal task queue search, and overall optimal search, the number of completed tasks is calculated. In contrast, variance minimization calculates the variance of the "number of unprocessed tasks" among task queues TQ1 to TQ5.

[0069] Specifically, the task management device 2 calculates the number of unprocessed tasks for each R (R=1 to 5) task queue and each P (P=1 to 3) free sequence, assuming that an interrupt task is added as the first task in the task queue and that the interrupt task is assigned to the shuttle in the free sequence.

[0070] Subsequently, the task management device 2 identifies the combination (P,R) that minimizes the distribution of the number of unprocessed tasks among task queues TQ1 to TQ5. In other words, the task management device 2 identifies which task queue to add the interrupt task to first and which free-sequence shuttle to assign the interrupt task to minimize the distribution of the number of unprocessed tasks. Then, the task management device 2 adds the interrupt task to the first of the identified task queue and assigns the interrupt task to the identified free-sequence shuttle.

[0071] In this disclosure, "variance" is typically the square of the standard deviation of the number of unprocessed tasks. However, "variance" is not limited to this and may also be the standard deviation of the number of unprocessed tasks. "Variance" may also be the difference between the maximum and minimum number of unprocessed tasks in task queues TQ1 to TQ5.

[0072] In this embodiment of minimizing the distribution, the number of unprocessed tasks is calculated for each task queue and for each free position in the shuttle. Then, an interrupt task is added as the first task in the task queue where the distribution of unprocessed tasks is minimized, and the interrupt task is assigned to a free position shuttle where the distribution of unprocessed tasks is minimized. This reduces the non-uniformity (so-called variability) of the number of unprocessed tasks among task queues TQ1 to TQ5. Therefore, it is possible to suppress situations where normal tasks in some task queues among task queues TQ1 to TQ5 are not completed, resulting in a longer overall task completion time. Thus, the impact of interrupt processing on the overall processing of the warehouse system 100 can be reduced even more reliably.

[0073] <Processing Flow> Next, we will explain the processing procedures for optimal free-order search, optimal processing order search, optimal free-order processing order search, optimal task queue search, globally optimal search, and distributed minimization in order. Which of the six processes will be executed is predetermined, for example, by the user.

[0074] ≪Optimal Free Sorting Search≫ The first to third examples of the processing procedure for optimal free-order search will be explained in order.

[0075] Figure 12 is a flowchart showing the first example of the processing procedure for optimal free-order search. The process shown in this flowchart is called and executed from the main routine (not shown) when predetermined conditions are met (for example, at predetermined intervals). Each step is implemented by software processing by the task management device 2 (processor 21), but may also be implemented by hardware (electrical circuits) located within the task management device 2. Hereinafter, steps will be abbreviated as S. The same applies to other flowcharts.

[0076] In S11, the task management device 2 determines whether an interrupt task has occurred. The task management device 2 determines that an interrupt task has occurred when it receives an interrupt task from the integrated management device 3, or when it receives a user operation to add an interrupt task to the input device 24. If no interrupt task has occurred (NO in S11), the task management device 2 skips the subsequent processing and returns processing to the main routine. If an interrupt task has occurred (YES in S11), the task management device 2 proceeds processing to S12.

[0077] In S12, the task management device 2 sets a range of free shuttle sequences (P sequences) used to determine the conditions defined regarding the number of completed tasks. P can be set in advance by the user. In the example in Figure 6, P is equal to the number of shuttles (P=3), but in principle it is independent of the number of shuttles. P can be set to any natural number greater than or equal to 2.

[0078] In S13, the task management device 2 calculates the number of completed tasks for each free sequence P set in S12. A greedy algorithm, for example, is used to calculate the number of completed tasks.

[0079] In S14, the task management device 2 identifies P, which has the highest number of completed tasks among the number of completed tasks calculated in S13.

[0080] In S15, the task management device 2 assigns an interrupt task to the P-th free shuttle identified in S14.

[0081] According to the first example of the optimal free-order search process, the number of completed tasks (the number of tasks that can be executed within a given time) is maximized, and therefore the total task completion time (the completion time of all tasks, including both normal and interrupt tasks) is most likely to be the shortest.

[0082] Figure 13 is a flowchart of the second example of the processing procedure for optimal free-order search. This flowchart differs from the first example flowchart (see Figure 12) in that it includes processes S16A and S16B instead of process S14. Processes S11 to S13 are common to both.

[0083] In S16A, the task management device 2 calculates the response time for each of the P free sequences set in S12. The response time is the time from when an interrupt task occurs until it is completed (or the average time if multiple interrupt tasks occur).

[0084] In S16B, the task management device 2 identifies a P that satisfies the specified conditions regarding both the number of completed tasks calculated in S13 and the reaction time calculated in S16A. In this example, the task management device 2 identifies a P where the number of completed tasks is equal to or greater than a baseline number, and the reaction time is equal to or less than a baseline time. If there are multiple such combinations of (number of completed tasks, reaction time), the task management device 2 selects one of them according to a predetermined rule. For example, if the overall processing speed of the tasks is prioritized, the task management device 2 may select the combination that maximizes the number of completed tasks. On the other hand, if the processing speed of interrupt tasks is prioritized, the task management device 2 may select the combination that minimizes the reaction time.

[0085] The threshold number for task completion may be set to a fixed value specified in advance by the user, depending on the required performance for automated warehouse 1. Alternatively, the threshold number may be set to a variable value corresponding to a specified order when the P task completion numbers are arranged in descending order (for example, the third largest value). The threshold time for response time can be set in a similar manner.

[0086] In S15, the task management device 2 assigns an interrupt task to the P-th free shuttle identified in S16B.

[0087] Compared to the comparative example where interrupt tasks are processed immediately, the optimal free-sequence search can shorten the total task completion time, but it may delay the processing of interrupt tasks. According to the second example of the optimal free-sequence search processing procedure, the response time to interrupt tasks is taken into consideration in addition to the number of completed tasks, so it is possible to suppress situations in which the processing of core tasks is excessively delayed.

[0088] Figure 14 is a flowchart of the third example of the processing procedure for optimal free-order search. This flowchart differs from the flowchart of the first example (see Figure 12) in that it includes processes S17A and S17B instead of process S14. Processes S11 to S13 are common to both.

[0089] In S17A, the task management device 2 calculates the average delay time caused by the occurrence of interrupt tasks for each of the P free sequences set in S12. Processing an interrupt task may cause many other normal tasks to be delayed by a small amount. The average delay time is the average time that normal tasks are delayed for each occurrence of an interrupt task.

[0090] In S17B, the task management device 2 identifies a P that satisfies the specified conditions regarding both the number of completed tasks calculated in S13 and the average delay time calculated in S17A. In this example, the task management device 2 identifies a P where the number of completed tasks is equal to or greater than a baseline number, and the average delay time is equal to or less than a baseline time. If there are multiple such combinations of (number of completed tasks, average delay time), the task management device 2 selects one of them according to a predetermined rule. For example, if the overall processing speed of the tasks is prioritized, the task management device 2 may select the combination that maximizes the number of completed tasks. On the other hand, if the processing speed of the tasks is usually prioritized, the task management device 2 may select the combination that minimizes the average delay time.

[0091] The reference time for average delay time may be set to a fixed value specified in advance by the user, depending on the required performance of the automated warehouse 1. Alternatively, the reference time may be set to a variable value corresponding to the specified order when the P average delay times are arranged in ascending order (for example, the third shortest value).

[0092] In S15, the task management device 2 assigns an interrupt task to the P-th free shuttle identified in S17B.

[0093] While optimal free-order search can shorten the total task completion time, it can delay the processing of normal tasks due to the handling of interrupt tasks. According to the third example of the optimal free-order search procedure, the average delay time due to the occurrence of interrupt tasks is also taken into consideration in addition to the number of completed tasks, thus suppressing situations where the processing of normal tasks is excessively delayed.

[0094] Although not shown in the diagram, the second and third examples of optimal free-sequence search are combinable. In other words, the task management device 2 may decide which free-sequence shuttle to assign the interrupt task to, taking into account the number of completed tasks, response time, and average delay time.

[0095] ≪Optimal Processing Order Search≫ Figure 15 is a flowchart showing an example of the processing procedure for finding the optimal processing order. The process in S21 is the same as the process in S11 in Figure 12.

[0096] In S22, the task management device 2 sets a range of Q processing order within the task queue. Q can be set to any natural number greater than or equal to 2 and less than or equal to the maximum number of normal tasks + 1 (Q = 11 in the example in Figure 6).

[0097] In S23, the task management device 2 calculates the number of completed tasks (i.e., Q completed tasks) for each processing order Q set in S22. This process is the same as the process in S13 in Figure 12.

[0098] In S24, the task management device 2 identifies the Q task completion count that results in the maximum number of completed tasks among the Q task completion counts calculated in S23. This process is basically the same as the process in S14 in Figure 12, although the number of completed tasks is different.

[0099] In S25, the task management device 2 adds an interrupt task to the Qth processing sequence identified in S24, and assigns the interrupt task to the shuttle that becomes free first in that processing sequence.

[0100] ≪Optimal Free Sequential Processing Order Search≫ Figure 16 is a flowchart showing an example of the processing procedure for optimal free-order processing and order search. The process in S31 is the same as the process in S11 in Figure 12.

[0101] In S32, the task management device 2 sets the range of free order for the shuttle P ways and the range of processing order within the task queue Q ways. Q can be set to any natural number greater than or equal to 2 and less than or equal to the maximum number of normal tasks + 1.

[0102] In S33, the task management device 2 calculates the number of completed tasks (i.e., (P × Q) tasks) for each free order P and processing order Q set in S32. This process is the same as the process in S13 in Figure 12.

[0103] In S34, the task management device 2 identifies the combination (P,Q) that maximizes the number of completed tasks among the (P×Q) tasks calculated in S33. This process is basically the same as the process in S14 in Figure 12, although the number of completed tasks is different.

[0104] In S35, the task management device 2 adds an interrupt task to the Qth processing sequence identified in S34, and assigns the interrupt task to the Pth free shuttle identified in S34.

[0105] ≪Optimal Task Queue Search≫ Figure 17 is a flowchart showing an example of the processing procedure for finding the optimal task queue. The process in S41 is the same as the process in S11 in Figure 12.

[0106] In S42, the task management device 2 sets the range of P free sequences for the shuttle and the range of R task queues. R is typically the number of task queues (R=5 in the example in Figure 9), but is not limited to this. R can be set to any natural number between 2 and the number of task queues.

[0107] In S43, the task management device 2 calculates the number of completed tasks (i.e., (P × R) tasks) for each free order P and task queue R set in S42. This process is the same as the process in S13 in Figure 12.

[0108] In S44, the task management device 2 identifies the combination (P,R) that maximizes the number of completed tasks among the (P × R) tasks calculated in S43. This process is basically the same as the process in S14 of Figure 12, although the number of completed tasks is different.

[0109] In S45, the task management device 2 adds an interrupt task to the beginning of the R-th task queue identified in S44, and assigns the interrupt task to the P-th free shuttle identified in S44.

[0110] ≪Overall Optimal Search≫ Figure 18 is a flowchart showing an example of the processing procedure for a globally optimal search. The process in S51 is the same as the process in S11 in Figure 12.

[0111] In S52, the task management device 2 sets the range of free order for the shuttle P ways, the range of processing order within the task queue Q ways, and the range of the task queue R ways. R can be set to any natural number greater than or equal to 2 and less than or equal to the number of task queues, similar to the optimal task queue search.

[0112] In S53, the task management device 2 calculates the number of completed tasks (i.e., (P × Q × R) tasks) for each free order P, processing order Q, and task queue R set in S52. This process is the same as the process in S13 in Figure 12.

[0113] In S54, the task management device 2 identifies the combination (P, Q, R) that maximizes the number of completed tasks among the (P × Q × R) tasks calculated in S53. This process is basically the same as the process in S14 of Figure 12, although the number of completed tasks is different.

[0114] In S55, the task management device 2 adds an interrupt task to the R-th task queue identified in S54 and to the Q-th processing order within that task queue, and assigns the interrupt task to the P-th free shuttle identified in S54.

[0115] ≪Variance minimization≫ Figure 19 is a flowchart showing an example of the variance minimization process. The process in S61 is the same as the process in S11 in Figure 12.

[0116] In S62, the task management device 2 sets the range of free order for P shuttles and the range of R task queues. In distributed minimization, interrupt tasks are added as the first task in any task queue, so it is not necessary to set the processing order within the task queues.

[0117] In S63, the task management device 2 calculates the number of completed tasks for each condition (P × R) set in S62. This process is the same as the process in S13 in Figure 12.

[0118] In S64, the task management device 2 calculates the number of unprocessed tasks for each free order P and task queue R set in S62. A greedy algorithm, for example, can be used to calculate the number of unprocessed tasks.

[0119] In S65, the task management device 2 calculates the variance of the number of unprocessed tasks between task queues for the same combination (P,R). As mentioned above, the variance may be the statistical variance (square of the standard deviation), the magnitude of the standard deviation, or the difference between the maximum and minimum values.

[0120] In S66, the task management device 2 identifies (P,R) that satisfies the specified conditions regarding both the number of completed tasks calculated in S63 and the distribution of unprocessed tasks among task queues calculated in S65. In this example, the task management device 2 identifies (P,R) where the number of completed tasks is equal to or greater than the baseline number, and the distribution of unprocessed tasks decreases from the current distribution. The task management device 2 may, but is not limited to, identifying (P,R) where the distribution is minimized. This is because the distribution will decrease as long as no interrupt task is added to the task queue with the largest number of unprocessed tasks currently. Therefore, calculating the distribution in S65 is not mandatory.

[0121] In S67, the task management device 2 adds the interrupt task as the first task in the R-th task queue identified in S65, and assigns the interrupt task to the P-th free shuttle identified in S65.

[0122] Figure 20 is a diagram illustrating the combinations of metrics. In the figure, check marks indicate that metrics can be combined, and horizontal bars indicate that metrics cannot be combined. In optimal processing order search (see Figure 15), optimal free processing order search (see Figure 16), optimal task queue search (see Figure 17), global optimal search (see Figure 18), and variance minimization (see Figure 19), similar to the second example (see Figure 13) or third example (see Figure 14) of optimal free order search, the number of completed tasks or the number of unprocessed tasks may be combined with reaction time alone, or with mean delay time alone. Alternatively, the number of completed tasks or unprocessed tasks may be combined with both reaction time and mean delay time.

[0123] <Verification of effectiveness> Finally, we will explain the results of our verification of the effectiveness of four processes: optimal free-order search, optimal processing order search, optimal task queue search, and distributed minimization.

[0124] Figure 21 is a diagram illustrating the conditions for verifying the effect. In this verification, the number of vertical aisles was set to 5. The number of storage spaces provided on one side of each vertical aisle was set to 3 (6 in total). The number of shuttles was set to 3. The number of normal tasks stored in each task queue at the start was set to 10. The upper limit time step for accepting interrupt tasks was set to 200. The probability of interrupt task occurrence was set to 0.03. The number of trials was set to 100.

[0125] Figure 22 shows an example of the verification results for optimal free sequence search and optimal processing sequence search. The index indicating how long the shuttle to which a task is assigned can be delayed is hereafter referred to as the "Procrastination Limit" (PL). When the Procrastination Limit PL=0, the task is assigned to the first free shuttle. When the Procrastination Limit PL=1, the task is assigned to the first or second free shuttle. When the Procrastination Limit PL=2, the task is assigned to the first, second, or third free shuttle. The same applies when PL≧3.

[0126] The verification results for the comparative example correspond to the verification results when PL=0 in the optimal free sequence search. The total task completion time was 380.79, the response time was 26.71, and the average delay time was 12.49. These values ​​can be used as criteria for evaluation.

[0127] Figure 23 summarizes the verification results of the optimal free sequence search. Figure 24 summarizes the verification results of the optimal processing sequence search. The horizontal axis represents the response time to interrupt tasks, and the vertical axis represents the total task completion time. The relationship between the response time and the total task completion time is shown for each case where the deferral limit PL is PL=0 to 9. Cases closer to the bottom left of the graph are preferable, as both the response time and the total task completion time are shorter.

[0128] As shown in Figure 23, reaction time increases as the procrastination limit PL increases. Furthermore, there is a trade-off between reaction time and total task completion time, where the longer the reaction time, the shorter the total task completion time. In addition, it can be seen that in all cases of procrastination limit PL = 1 to 9, the total task completion time is shorter compared to the case of PL = 0 (comparative example). In the example shown in Figure 23, in the cases of PL = 1 to 5, the reaction time is not excessively long and the total task completion time is also short, so it can be seen that PL = 1 to 5 is particularly preferable.

[0129] Similar to Figure 23, Figure 24 also shows a trend of layoff between reaction time and total task completion time. Furthermore, almost identical results were obtained in the case where PL ≥ 4. This is likely because, since the original number of normal tasks (10) is relatively small, in the case where PL ≥ 4, an interrupt task was added to the end of the normal tasks in every case, resulting in no differences between cases.

[0130] Figure 25 shows an example of the verification results for optimal task queue search and distribution minimization. The total task completion time in the optimal task queue search (357.41) was significantly shorter than both the total task completion time in the optimal free sequence search (minimum 362.00) and the total task completion time in the optimal processing sequence search (minimum 362.89). This means that the total task completion time can be significantly reduced by removing the constraint of fixing the task queue to which interrupt tasks are added (i.e., pre-specifying the output slot). In addition, the response time and average delay time in the optimal task queue search were also kept to sufficiently short.

[0131] Even with variance minimization, the total task completion time was significantly reduced compared to the comparative example. Furthermore, it was confirmed that reaction time and average delay time could also be sufficiently reduced.

[0132] <Summary> As described above, in this embodiment, the task management device 2 assumes that among multiple shuttles, normal tasks are processed and the shuttle with the P-th free position executes the interrupt task, and under this assumption, calculates the number of completed tasks for each P. Under the condition P≧2, the number of completed tasks may be greater than under the condition P=1 (comparative example). By identifying such P and assigning the interrupt task to the shuttle with the P-th free position, the total task completion time is shortened. Therefore, according to this embodiment, the impact of interrupt processing on the overall processing of the warehouse system 100 can be reduced.

[0133] It was explained that the task management device 2 is capable of performing six processes: optimal free sequence search, optimal processing sequence search, optimal free sequence processing sequence search, optimal task queue search, overall optimal search, and distributed minimization. However, the task management device 2 may be capable of performing only the optimal free sequence search, or only the optimal processing sequence search, or only the optimal free sequence processing sequence search, or only the optimal task queue search, or only the overall optimal search, or only distributed minimization. Alternatively, the optimal free sequence search may be capable of performing only two, three, four, or five of the six processes.

[0134] The embodiments disclosed herein should be considered in all respects to be illustrative and not restrictive. The scope of this disclosure is indicated by the claims rather than by the description of the embodiments above, and all modifications within the meaning and scope equivalent to the claims are intended to be included. [Explanation of symbols]

[0135] 100 Warehouse system, 1 Automated warehouse, 2 Task management device, 21 Processor, 22 Memory, 23 Storage, 231 Program, 232 Task management information, 24 Input device, 25 Display, 26 Network controller, 27 Bus, 3 Integrated management device, 411-415 Vertical aisles, 421-425 Storage units, 43 Horizontal aisles, 441-445 Shipping docks, 451-455 Buffer units, 46 Storage space, 51, 52, 53 Shuttles.

Claims

1. An automated warehouse including multiple conveying devices, each handling the task of transporting goods from multiple storage spaces to multiple shipping docks, The system includes a task management device that manages normal tasks using multiple queues corresponding to each of the multiple shipping ports, When an interrupt task occurs, the task management device sets P to a natural number of 2 or more. Assuming that the interrupt task is added to the queue corresponding to a designated shipping port among the multiple shipping ports, and that the P-th transport device that becomes free processes the interrupt task, the number of tasks that the entire group of transport devices can process within a predetermined time is calculated for each P device. Identify P that satisfies the specified conditions regarding the number of completed tasks, A warehouse system that assigns the interrupt task to the identified P-th transport device.

2. The task management device takes Q as a natural number of 2 or more, Assuming that the interrupt task is added as the Qth task in the queue corresponding to the designated shipping port, and that the Pth transport device in the free order processes the interrupt task, the number of completed tasks is calculated for each combination of P and Q (P, Q). Identify (P, Q) that satisfy the above conditions, The warehouse system according to claim 1, further comprising adding the interrupt task as the Qth task and assigning the interrupt task to the Pth transport device that becomes free.

3. The task management device uses R as a natural number of 2 or more. Assuming that the interrupt task is added as the Qth task in the queue corresponding to the Rth of the multiple shipping ports, and that the Pth transport device that becomes free processes the interrupt task, the number of completed tasks is calculated for each combination of P, Q, and R (P, Q, R). Identify (P, Q, R) that satisfy the above conditions, The warehouse system according to claim 2, wherein the interrupt task is added as the Qth task in the queue corresponding to the Rth specified shipping gate, and the interrupt task is assigned to the Pth specified transport device that becomes free.

4. The task management device uses R as a natural number of 2 or more. Assuming that the interrupt task is added as the first task in the queue corresponding to the R-th shipping port among the multiple shipping ports, and that the P-th transport device that becomes free processes the interrupt task, the number of completed tasks is calculated for each combination of P and R (P, R), and the number of unprocessed tasks, which is the number of unprocessed tasks in each of the multiple queues, is calculated for each (P, R). In addition to the number of completed tasks, identify (P, R) that satisfy the conditions defined with respect to the number of unprocessed tasks. The warehouse system according to claim 1, further comprising adding the interrupt task as the first task in the queue corresponding to the R-th identified shipping port, and assigning the interrupt task to the P-th identified free transport device.

5. The warehouse system according to any one of claims 1 to 4, wherein the condition is that the number of completed tasks is maximized.

6. The warehouse system according to claim 4, wherein the condition is that the distribution of the number of unprocessed tasks among the plurality of queues decreases compared to before the assignment of the interrupt task.

7. The warehouse system according to any one of claims 1 to 4, wherein the conditions are defined in addition to the number of completed tasks, with respect to the reaction time from when the interrupt task occurs until the interrupt task is completed.

8. The warehouse system according to any one of claims 1 to 4, wherein the conditions are determined in addition to the number of completed tasks, with respect to the delay time of the normal tasks due to the occurrence of the interrupt tasks.

9. The task management device is In each of the multiple first passages connecting the multiple storage spaces and the multiple shipping ports, only one of the multiple conveying devices can travel at a time, The warehouse system according to any one of claims 1 to 4, wherein the number of completed tasks is calculated under the constraint that two or more of the multiple conveying devices can travel in the second passage connecting the multiple shipping entrances.

10. An information processing method performed by a processor for managing an automated warehouse, The automated warehouse includes multiple conveying devices, each handling the task of transporting goods from multiple storage spaces to multiple shipping docks. Normally, tasks are managed using multiple queues corresponding to each of the multiple shipping ports. The aforementioned information processing method, when an interrupt task occurs, sets P to a natural number of 2 or more. The interrupt task is added to the queue corresponding to a designated shipping port among the multiple shipping ports, and the P-th transport device among the multiple transport devices that becomes free processes the interrupt task. The step of calculating the number of completed tasks for each P device, which is the number of tasks that the entire set of transport devices can process within a predetermined time, is: A step of identifying P that satisfies the conditions defined regarding the number of completed tasks, An information processing method comprising the step of assigning the interrupt task to the P-th designated free transport device.

11. An automated warehouse including multiple conveying devices, each handling the task of transporting goods from multiple storage spaces to multiple shipping docks, The system includes a task management device that manages normal tasks using multiple queues corresponding to each of the multiple shipping ports, When an interrupt task occurs, the task management device sets Q to a natural number of 2 or more. Assuming that the interrupt task is added as the Qth task in the queue corresponding to a designated shipping port among the multiple shipping ports, and that the first transport device to become free when the interrupt task is processed in the corresponding queue processes the interrupt task, the number of completed tasks, which is the total number of tasks that all of the multiple transport devices can process within a predetermined time, is calculated for each Q. Identify Q that satisfies the specified conditions regarding the number of completed tasks, A warehouse system that adds the interrupt task as the identified Qth task and assigns the interrupt task to the first transport device to become free.

12. An information processing method performed by a processor for managing an automated warehouse, The automated warehouse includes multiple conveying devices, each handling the task of transporting goods from multiple storage spaces to multiple shipping docks. Normally, tasks are managed using multiple queues corresponding to each of the multiple shipping ports. The aforementioned information processing method, when an interrupt task occurs, sets Q to a natural number of 2 or greater, The interrupt task is added as the Qth task in the queue corresponding to a designated shipping port among the multiple shipping ports, and assuming that the first transport device to become free when the interrupt task is processed in the corresponding queue processes the interrupt task, the number of tasks that the multiple transport devices as a whole can process within a predetermined time is calculated for each Q, which is the number of tasks that the entire group of transport devices can process within a predetermined time. A step of identifying Q that satisfies the specified conditions regarding the number of completed tasks, An information processing method comprising the steps of adding the interrupt task as the identified Qth task, and assigning the interrupt task to the transport device that becomes free first.

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