Picking support system and automated warehouse

Abstract

We provide a novel picking support system and automated warehouse. [Solution] The picking support system is a picking support system that assists in picking a specific item from a container capable of holding multiple items, each with a wireless tag attached, and comprises: a communication mechanism including at least one antenna that sends a transmission signal from outside the container to the wireless tag and receives a response signal from the wireless tag to the transmission signal; an ID acquisition unit that acquires the ID of the wireless tag from the response signal; a reception strength acquisition unit that acquires the reception strength of the transmission signal at the wireless tag from the response signal; an estimation unit that estimates the location or range of the specific item in the container based on the ID acquired by the ID acquisition unit and the reception strength acquired by the reception strength acquisition unit; and an output control unit that controls an output unit to output an output indicating the location or range of the location estimated by the estimation unit.

Description

Technical Field

[0001] The present invention relates to a picking support system and an automated warehouse.

Background Art

[0002] Conventionally, a conveying device equipped with an RFID (radio frequency identification) reader for reading an RFID tag attached to an article moving on a conveyor has been known (see, for example, Patent Document 1). According to Patent Document 1, the position of an article in the conveying device can be tracked.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] In a picking operation where an operator picks a specific article from a container, if effects such as improving work efficiency can be obtained by using RFID, it is beneficial.

[0005] Therefore, one of the problems of the present invention is to provide a novel picking support system and an automated warehouse that can further improve the picking operation by using RFID.

Means for Solving the Problems

[0006] The picking support system of the present invention is a picking support system that assists in a picking operation in which a specific item is picked from a container capable of holding a plurality of items, each to which a wireless tag is attached, and comprises: a communication mechanism including at least one antenna that sends a transmission signal to the wireless tag from outside the container and receives a response signal to the transmission signal from the wireless tag; an ID acquisition unit that acquires the ID of the wireless tag from the response signal; a reception strength acquisition unit that acquires the reception strength of the transmission signal at the wireless tag from the response signal; an estimation unit that estimates the location or range of the specific item in the container based on the ID acquired by the ID acquisition unit and the reception strength acquired by the reception strength acquisition unit; and an output control unit that controls an output unit to output an output indicating the location or range of the location estimated by the estimation unit.

[0007] Furthermore, the picking support system of the present invention is a picking support system that assists in a picking operation in which a specific item is picked from a container capable of holding a plurality of items, each to which a wireless tag is attached, and comprises: a communication mechanism including at least one antenna that sends a transmission signal to the wireless tag from outside the container and receives a response signal to the transmission signal from the wireless tag; an ID acquisition unit that acquires the ID of the wireless tag from the response signal; a reception strength acquisition unit that acquires the reception strength of the transmission signal at the wireless tag from the response signal; an estimation unit that estimates the location or range of the specific item in the container based on the ID acquired by the ID acquisition unit and the reception strength acquired by the reception strength acquisition unit; and a first posture changing mechanism that changes the posture of the container based on the estimation of the location or range by the estimation unit.

[0008] Furthermore, the automated warehouse of the present invention includes, for example, the picking support system, a shelf provided with a plurality of storage compartments capable of storing the containers, and a transport mechanism capable of transporting the containers between the shelf, a communication position in which the communication mechanism of the picking support system communicates with the wireless tag inside the container, and a picking position in which the picking work is performed, wherein the container is provided with an article contained in such a position that the wireless tag is positioned close to one side of the container, and a second posture changing mechanism that changes the posture of the container when it is placed on the shelf so that one side of the container faces the communication mechanism when the container is transported from the shelf to the communication position by the transport mechanism without its posture being changed. [Brief explanation of the drawing]

[0009] [Figure 1] Figure 1 is an illustrative and schematic plan view of the picking processing unit of the first embodiment. [Figure 2] Figure 2 is an exemplary and schematic plan view of an article, a container for containing the article, and an antenna assembly in the picking processing unit of the first embodiment. [Figure 3] Figure 3 is an exemplary and schematic side view of an antenna assembly installed in the picking processing unit of the first embodiment. [Figure 4] Figure 4 is an exemplary control block diagram of the picking support system according to the embodiment. [Figure 5] Figure 5 is an exemplary and schematic perspective view showing multiple three-dimensional regions set within a container in the picking support system of the embodiment. [Figure 6] Figure 6 is an example of an overhead view image displayed on the display of the picking support system of the embodiment, showing the location area of ​​an item estimated to be a container. [Figure 7] Figure 7 shows an image displayed on the display of the picking support system of the embodiment, and is a different example from Figure 6, which is an overhead view showing the location area of ​​the item estimated to be a container. [Figure 8]Figure 8 shows an image displayed on the display of the picking support system of the embodiment, and is a different example from the overhead images in Figures 6 and 7 that show the location area of ​​the item estimated to be a container. [Figure 9] Figure 9 is an example of an image displayed on the display of the picking support system of the embodiment, which is different from the overhead images in Figures 6-8 that show the location area of ​​the item estimated to be a container. [Figure 10] Figure 10 is an exemplary and schematic plan view of the picking processing unit of the second embodiment. [Figure 11] Figure 11 is an exemplary and schematic plan view of the picking processing unit of the third embodiment. [Figure 12] Figure 12 is a schematic perspective view showing an example of changing the orientation of a container by the first orientation changing mechanism included in the picking support system of the third embodiment. [Figure 13] Figure 13 is an exemplary and schematic perspective view showing a lighting device and container included in the picking support system of the fourth embodiment. [Figure 14] Figure 14 is an illustrative and schematic plan view showing the illumination state inside a container by a lighting device included in the picking support system of the fourth embodiment. [Figure 15] Figure 15 is an exemplary and schematic plan view of an automated warehouse including multiple picking processing units according to the fifth embodiment. [Figure 16] Figure 16 is an exemplary and schematic plan view of an item in the picking processing unit included in the fifth embodiment of the picking support system, a container whose orientation has been changed by the second orientation changing mechanism, and an antenna assembly. [Modes for carrying out the invention]

[0010] Exemplary embodiments of the present invention are disclosed below. The configurations of the embodiments shown below, as well as the operations and results (effects) obtained from such configurations, are examples. The present invention can also be realized by configurations other than those disclosed in the following embodiments. Further, according to the present invention, it is possible to obtain at least one of various effects (including derivative effects) obtained by the following configurations.

[0011] In each figure, the X direction, Y direction, and Z direction intersect each other and are orthogonal to each other. The X direction and Y direction are substantially along the horizontal direction and may also be referred to as the lateral direction. The Z direction is substantially along the vertically upward direction and may also be referred to as the upward direction, longitudinal direction, or height direction. Also, the opposite direction of the Z direction may be referred to as the downward direction. Note that the Z direction is also represented as the H direction.

[0012] In the embodiments disclosed below, the same operations and effects are obtained by the same configurations. For such same configurations, common reference numerals are assigned, and redundant descriptions may be omitted.

[0013] In this specification, ordinal numbers may be provided for convenience in distinguishing directions, positions, members, parts, mechanisms, etc. Also, ordinal numbers do not indicate priorities or orders, nor do they specify numbers.

[0014] [First Embodiment] [Picking Processing Unit] FIG. 1 is a plan view of the picking processing unit 100A (100) according to the embodiment. As shown in FIG. 1, the picking processing unit 100A includes a transport mechanism 10 for transporting the container C. The transport mechanism 10 has a plurality of conveyors 11 to 15. The conveyors 11 to 15 each place the container C thereon and transport it in the lateral direction. In FIG. 1, the arrows given within the quadrilaterals indicating the respective conveyors 11 to 15 indicate the main transport direction of the container C. The container C is an example of a container, and for example, is a foldable container having a rectangular parallelepiped or cubic box shape that is open in the Z direction. However, the container is not limited to this, and is not limited to a container, may not be foldable, and may be provided with a removable lid.

[0015] As shown in FIG. 1, in the picking processing unit 100A, a detection area Ad and a picking area Ap are set in the middle of the transport path of the container C by the transport mechanism 10.

[0016] The article A is attached with a wireless tag T (see FIG. 2), which is an RFID tag. In the detection area Ad, the transport of the container C by the conveyor 13 is temporarily stopped at the position Pd, and in the stopped state, the wireless tag T is detected by communication between the antenna included in the antenna assembly 21H and the wireless tag T. The picking support system 200 (see FIG. 4) estimates the location or location area of the article A (hereinafter simply referred to as the target article A) to be picked in the container C (inside the storage unit) based on the detection result. The estimation result is displayed and output on a display 22A placed at a position visible to the operator W who performs the picking operation. These detection, estimation, and output will be described in detail later. In the example of FIG. 1, the detection area Ad is set on the conveyor 12 that changes the transport direction substantially at a right angle, but it is not limited to this. The target article A is an example of a specific article. The position Pd is an example of a detection position. Also, the display 22A is an example of the output unit 22.

[0017] The picking area Ap is set on the conveyor 13 downstream of the conveyor 12, in other words, on the conveyor 13 located in front of the conveyor 12 in the direction of transport. In this embodiment, the detection area Ad and the picking area Ap are separated from each other, and the picking area Ap is located in front of the detection area Ad in the direction of transport. However, this is not limited to this configuration, and the detection area Ad may be in the same position as the picking area Ap.

[0018] In the picking area Ap, the transport of container C by conveyor 13 is temporarily paused at position Pp, and while stopped, worker W picks the target item A (see Figure 2). During picking, information about the target item A is displayed on, for example, display 22A. This information includes images and text showing, for example, its appearance, name, form, and item code. As mentioned above, display 22A also displays information indicating the estimated location or area of ​​the target item A. Therefore, worker W can pick the item A from within container C more reliably and quickly based on this information displayed on display 22A. Position Pp is an example of a picking position. In the example in Figure 1, the picked item A is placed in container Cr on conveyor 16, but this is not limited to this. Also, the information indicating the target item A and the information indicating the location or area of ​​the item A within container C may be displayed on separate displays. Furthermore, this information may be presented to the worker W in a different output format from the display output, such as audio output, or in conjunction with such different output format.

[0019] [Articles, containers, and antenna assemblies] Figure 2 is a plan view of item A, container C, and antenna assembly 21H(21). As shown in Figure 2, multiple items A, each with a wireless tag T, are contained within container C. The multiple items A are stored stacked on the bottom surface of container C. In Figure 2, the multiple items A are stored in a 3x3 matrix arrangement, but the storage arrangement of items A within container C is not limited to the arrangement shown in Figure 2. Furthermore, item A is not limited to a box shape as shown in Figure 2, and the multiple items A stored within container C do not all have to be the same shape.

[0020] Preferably, item A is housed in a container C such that the wireless tag T is positioned close to one side Ca of the container C. In this case, as shown in Figure 2, by arranging the container C so that the side Ca and the antenna assembly 21H face each other in the detection area Ad, the distance between the antenna assembly 21H and the wireless tag T can be shortened, and consequently, the detection sensitivity of the wireless tag T by the antenna assembly 21H can be further increased.

[0021] [Antenna Assembly] Figure 3 is a side view of the antenna assembly 21H(21). As shown in Figure 3, the antenna assembly 21 has a base 21a and a plurality of antennas 21b fixed to the base 21a. The base 21a has, for example, a plate-like shape that extends in a direction intersecting the Y direction. The plurality of antennas 21b are fixed in a matrix-like arrangement in the horizontal (X direction) and vertical (Z direction). Note that the shape of the base 21a is not limited to a plate shape, and may have other shapes such as a mesh or frame shape.

[0022] Antenna 21b is an RFID antenna that performs wireless communication with, for example, a wireless tag T, which is an RFID tag. In this embodiment, antenna 21b is a relatively directional antenna, such as a linearly polarized antenna. Referring to Figure 2, each antenna 21b is located outside the container C and radiates radio waves as transmission signals substantially along the Y direction. That is, the direction of radiation of radio waves from each antenna 21b is set to substantially align with the Y direction. Each antenna 21b also receives a response signal to the transmission signal from each wireless tag T. The radio waves penetrate the side walls of the container C. The transmission signal is transmitted from outside the container C through the side walls into the container C, and the response signal is transmitted from inside the container C through the side walls to outside the container C. Here, the maximum communication distance in the Y direction of each antenna 21b is set to be longer than the distance from each antenna 21b to the side Cb opposite to the side Ca of the container C located at position Pd. The multiple antennas 21b are arranged in two dimensions, as illustrated in Figure 3, substantially along a virtual plane Vp that intersects with and is orthogonal to the Y direction (and its opposite direction). This arrangement of the multiple antennas 21b, along with the setting of the radiation direction and maximum communication distance for each antenna 21b, enables the detection of the wireless tag T throughout the entire three-dimensional space in the X, Z, and Y directions within the container C. In this configuration, the multiple antennas 21b arranged in two dimensions along the virtual plane Vp constitute an example of an antenna array. Furthermore, the virtual plane Vp faces the container C (side Ca) in the direction opposite to the Y direction. In other words, the virtual plane Vp of the antenna assembly 21H intersects with the Y direction, is separated from the container C by a gap in the direction opposite to the Y direction, and faces the Y direction. The virtual plane Vp is an example of a virtual plane, and the direction opposite to the Y direction is an example of a first direction.

[0023] In the detection area Ad, the conveyor 12 may move the container C between a position closer to the antenna assembly 21H (for example, a position where it is in contact) and a position further away from the antenna assembly 21H, in the direction in which the container C (side Ca) and the antenna assembly 21H face each other (the Y direction in the example of Figures 1-3). Alternatively, the antenna assembly 21H may be configured to be movable in the direction facing the container C, thereby switching between a state where the container C (side Ca) and the antenna assembly 21H are closer and a state where they are farther apart. Or, the state where the container C and the antenna assembly 21H are closer and a farther apart may be switched by both the operation of the conveyor 12 described above and the operation of the movable antenna assembly 21H described above. With any of these configurations, the detection sensitivity can be increased when the container C and the antenna assembly 21H are closer, and interference between the container C and the antenna assembly 21H can be avoided when the container C and the antenna assembly 21H are farther apart, ensuring ease of transport of the container C.

[0024] [Picking support system] Figure 4 is a block diagram of the picking support system 200. As shown in Figure 4, the picking support system 200 includes a support device 20, a plurality of antennas 21b (antenna assembly 21), and a display 22A.

[0025] The support device 20 is configured as a computer and includes an arithmetic processing unit 23, a main memory unit 24, and an auxiliary storage unit 25. The arithmetic processing unit 23 is, for example, a processor (circuit) such as a central processing unit (CPU). The main memory unit 24 is, for example, random access memory (RAM) or read-only memory (ROM), and the auxiliary storage unit 25 is, for example, a solid-state drive (SSD) or a hard disk drive (HDD).

[0026] The arithmetic processing unit 23 operates according to the installed program, executing processing using a predetermined algorithm defined in the program. The program may be provided as an installable or executable file, recorded on a computer-readable recording medium. The recording medium may also be referred to as a program product. Information such as values, tables, and maps used in the program and processor's arithmetic processing may be pre-stored in the ROM of the main memory unit 24 or in the auxiliary storage unit 25, or they may be stored in the memory of a computer connected to a communication network and downloaded to the auxiliary storage unit 25 via the communication network. The arithmetic processing by the arithmetic processing unit 23 may be performed, at least partially, by hardware. In this case, the arithmetic processing unit 23 may include, for example, an FPGA (field programmable gate array) or an ASIC (application-specific integrated circuit).

[0027] The arithmetic processing unit 23, related to picking assistance, includes a transmit / receive control unit 23a, an ID acquisition unit 23b, a received signal strength acquisition unit 23c, a location estimation unit 23d, and an output information generation unit 23e.

[0028] The transmit / receive control unit 23a controls each antenna 21b to perform predetermined communication with the wireless tag T. The antenna 21b transmits a command (transmit signal), and the wireless tag T transmits a response (response signal) corresponding to the received command, which includes the ID (identifier, identification code) of the wireless tag T and the RSSI (received signal strength indicator). The antenna 21b receives the response signal. The antenna 21b and antenna assembly 21 are an example of a communication mechanism.

[0029] The ID acquisition unit 23b acquires the ID of each wireless tag T included in the response signal.

[0030] The received signal strength acquisition unit 23c acquires the received signal strength at each wireless tag T of the transmitted signal from the RSSI included in the response signal.

[0031] The location estimation unit 23d estimates the location or range of the wireless tag T and, consequently, the item A to which the wireless tag T is attached, based on the ID acquired by the ID acquisition unit 23b and the received signal strength corresponding to each ID acquired by the received signal strength acquisition unit 23c.

[0032] Figure 5 is a perspective view showing a total of 27 three-dimensional regions Ar (hereinafter simply referred to as region Ar) in a 3x3x3 configuration, created by dividing the storage space for the cubic item A inside container C (see Figure 2) into three sections in the X direction (X1-X3), three sections in the Y direction (Y1-Y3), and three sections in the Z direction (H direction) (H1-H3). Note that X1-X3 are the positions of region Ar in the X direction, Y1-Y3 are the positions of region Ar in the Y direction, and H1-H23 are the positions of region Ar in the Z direction.

[0033] As shown in Figure 3, in this embodiment, the multiple antennas 21b form a 3x3 matrix (grid point) two-dimensional array in the XZ plane. Also, as described above, the direction of radiation of radio waves from each antenna 21b is the Y direction. Therefore, in the examples of Figures 1 to 3, each antenna 21b can detect the wireless tag T in a columnar region that includes three regions Ar aligned in the Y direction relative to each antenna 21b. In Figure 5, an example of a columnar region Ac is shown by a thick line. This columnar region Ac corresponds to the antenna 21bp shown by a thick dashed line in Figure 3, that is, the antenna 21bp located at X1 in the X direction and H2 in the Z direction in the two-dimensional array of the multiple antennas 21b. The detection area of ​​each antenna 21b in Figure 3 is the columnar region (three regions Ar) aligned with each antenna 21b in the Y direction (the direction perpendicular to the plane of the paper in Figure 3). With this configuration, the location estimation unit 23d can estimate the columnar region where the target tag T, i.e., the target item A, is located, by identifying the antenna 21b with the strongest received signal strength for the wireless tag T of the target item A (hereinafter referred to as the target tag T) among the multiple antennas 21b.

[0034] Furthermore, the location estimation unit 23d can estimate the region Ar where the target tag T, i.e., the target item A, is located (hereinafter referred to as the estimated region Are) from among the three regions Ar that constitute the columnar region corresponding to the antenna 21b with the strongest received signal at the target tag T, based on the received signal strength. The received signal strength at the wireless tag T is inversely proportional to the square of the distance from the antenna 21b. That is, the received signal strength at the wireless tag T becomes stronger the closer it is to the antenna 21b and weaker the farther it is from the antenna 21b. The location estimation unit 23d can use this property to estimate the region Ar corresponding to the received signal strength from among the three regions Ar. For example, if numerical ranges R1 of the received signal strength corresponding to region Ar in Y1, numerical range R2 of the received signal strength corresponding to region Ar in Y2 (greater than the maximum value of numerical range R1), and numerical range R3 of the received signal strength corresponding to region Ar in Y3 (greater than the maximum value of numerical range R2) are obtained in advance through experiments or simulations, and each numerical range R1 to R3 is stored in the ROM of the main memory unit 24 or in the auxiliary memory unit 25, the location estimation unit 23d can identify the numerical ranges R1 to R3 that include the received signal strength of the wireless tag T, and determine the region Ar corresponding to the identified numerical range as the region Ar where the target tag T, i.e., the target item A, exists. However, the unit is not limited to this example. For example, if information showing the relationship between the received signal strength and the position of the wireless tag T in the radiation direction (e.g., a table, map, formula, function, etc.) is stored in the ROM of the main memory unit 24 or in the auxiliary memory unit 25, the location estimation unit 23d can refer to this information and determine the estimated region Are from the position of the wireless tag T corresponding to the received signal strength.

[0035] In the example of the numerical range R1 to R3, if the received intensity falls between two adjacent numerical ranges (R1 and R2, or R2 and R3) (where the absolute value of the difference from the boundary value is within a predetermined value), the location estimation unit 23d may identify the two adjacent regions Ar corresponding to those two numerical ranges as the region Ar where the target tag T, i.e., the target item A, exists.

[0036] Furthermore, the location estimation unit 23d may determine a single estimated region Are in which the target tag T, i.e., the target item A, is located, based on the distribution of received signals of multiple wireless tags T detected by the antenna 21b with the strongest received signal at the target tag T, that is, the received signal value of the target tag T within that distribution range.

[0037] The output information generation unit 23e generates information to be output to the display 22A. The output control unit 23f controls the display 22A to display the information generated by the output information generation unit 23e, in other words, to output an output indicating the location or location range estimated by the location estimation unit 23d.

[0038] Figures 6-9 show examples of images Im output by display 22A. Image Im is an overhead view showing container C and estimated area Are. Note that the overhead angles in Figures 6-9 are examples, and these angles can be set or changed to an angle that is easier for the operator W to recognize. Each image Im in Figures 6-9 contains: • Coordinate axes in the X, Y, and Z (H) directions. • Border line indicating container C, • Border lines indicating the estimated region, • Notation indicating the position of the estimated region Are in the X, Y, and Z (H) directions. (X1~X3, Y1~Y3, H1~H3), and • Auxiliary lines to make the relative position of the estimated region Are within container C more easily visible. This includes the following: Figure 6 shows the case where the estimated region Are is located at X2, Y2, H1; Figure 7 shows the case where the estimated region Are is located at X2, Y2, H2; Figure 8 shows the case where the estimated region Are is located at X1, Y3, H2; and Figure 9 shows the case where the estimated region Are is located at X2, Y3, H1. If one item A exists in region Are, then region Are can be said to be the location of item A. If multiple items A may exist in region Are, then region Are can be said to be the location range of item A. In other words, region Are is an example of a location or location range. The location estimation unit 23d is an example of an estimation unit. The display mode of the image Im can be changed in various ways.

[0039] As illustrated in Figures 6-9, the display 22A shows an image Im indicating the relative position of the estimated area Are to the container C. This allows the worker W to pick the target item A from inside the container C more reliably and quickly while viewing the image Im.

[0040] As described above, in this embodiment, the location estimation unit 23d (estimation unit) estimates the estimated area (location or range) of the target item A in the container C (container) based on the ID of the wireless tag T acquired by the ID acquisition unit 23b and the received signal strength at the wireless tag T acquired by the received signal strength acquisition unit 23c. The output control unit 23f controls the display 22A (output unit) to output the estimated area. With this configuration, the worker W can grasp the estimated area of ​​the target item A in the container C during picking, so that the picking operation can be performed more reliably and quickly.

[0041] Furthermore, in this embodiment, the picking support system 200 includes an antenna array in which multiple antennas 21b are arranged in two dimensions. With this configuration, the two-dimensional array of antennas 21b can detect the target tag T and, consequently, the target item A, which is located at any position in the three-dimensional space within the container C. In addition, there is an advantage that a communication mechanism capable of detecting the target tag T and, consequently, the target item A, which is located at any position in the three-dimensional space within the container C, can be realized with a relatively simple configuration. Note that the antenna array may include multiple antennas 21b arranged in one dimension, depending on the shape of the target item A and its arrangement within the container C. For example, if the location or range in the Z direction is not specified, and only the location or range in the X and Y directions is specified, the antenna array may include multiple antennas 21b arranged in one dimension in the X direction.

[0042] Furthermore, in this embodiment, in the two-dimensional antenna array, the multiple antennas 21b face the container C from the opposite direction of the Y direction (first direction), and are arranged in two dimensions substantially along a virtual plane Vp that intersects the opposite direction of the Y direction. With this configuration, it becomes easier to arrange the multiple antennas 21b included in the antenna array along the side surface Ca of the container C and close to that side surface Ca, and consequently, the detection sensitivity of each antenna 21b can be further increased.

[0043] [Second Embodiment] Figure 10 is a plan view of the picking processing unit 100B(100) of the second embodiment. As shown in Figure 10, a plurality of antenna assemblies 21 are provided in this embodiment.

[0044] Antenna assembly 21H, one of the antenna assemblies 21, faces the container C located at position Pd within the detection area Ad set on the conveyor 11 in the opposite direction to the X direction. In other words, the virtual plane Vp of antenna assembly 21H intersects the X direction, is separated from the container C with a gap in the opposite direction to the X direction, and faces the X direction. Although antenna assembly 21H differs from antenna assembly 21H of the first embodiment in its orientation (attitude) relative to the container C, the arrangement of the multiple antennas 21b is the same. That is, in antenna assembly 21H of this embodiment, the multiple antennas 21b are arranged in two dimensions substantially along a virtual plane (not shown) that intersects with and is orthogonal to the X direction (or the opposite direction). Specifically, the multiple antennas 21b constitute a 3x3 matrix-like (grid-like) two-dimensional array along the Y-row and Z-column in the YZ plane. The direction of radiation of radio waves from each antenna 21b is the X direction. The antenna array faces the container C in the opposite direction to the X direction. In the antenna assembly 21H, the direction opposite to the X direction is an example of the first direction.

[0045] Antenna assembly 21V, the other antenna assembly 21, faces the Z direction with respect to container C located at position Pd within the detection area Ad set on the conveyor 11. In other words, the virtual plane Vp of antenna assembly 21V intersects the Z direction, is separated from container C by a gap in the Z direction, and faces in the opposite direction to the Z direction. Although antenna assembly 21V differs from antenna assembly 21H in its orientation (attitude) relative to container C, the arrangement of the multiple antennas 21b within antenna assembly 21V is the same as that of antenna assembly 21H. That is, in antenna assembly 21V of this embodiment, the multiple antennas 21b are arranged in two dimensions substantially along a virtual plane (not shown) that intersects and is orthogonal to the Z direction. Specifically, the multiple antennas 21b constitute a 3x3 matrix-like (grid-like) two-dimensional array along the rows in the X direction and the columns in the Y direction in the XY plane. The direction of radio wave radiation from each antenna 21b is in the opposite direction to the Z direction. The antenna array faces the container C in the Z direction. In the antenna assembly 21V, the Z direction is an example of the first direction.

[0046] As in this embodiment, when multiple antenna assemblies 21 (antenna 21b, array of multiple antennas 21b) are provided facing the container C from different directions, it may become unnecessary to estimate the position based on the intensity in the radiation direction of each antenna. In the example of Figure 10, the estimated region Are is the region where the columnar region aligned in the X direction with respect to the antenna 21b that has the strongest reception intensity of the target tag T among the multiple antennas 21b included in antenna assembly 21H intersects with the columnar region aligned in the opposite direction in the Z direction with respect to the antenna 21b that has the strongest reception intensity of the target tag T among the multiple antennas 21b included in antenna assembly 21V.

[0047] According to this embodiment, the estimation of the position of the target tag T and, consequently, the target item A, can be made more accurate by using multiple antenna assemblies 21 facing the container C from different directions. In this embodiment, it can be said that multiple antennas 21b are arranged in three dimensions. Note that the number of antenna assemblies 21 (antenna arrays) facing the container C at position Pd is not limited to two, and three or more antenna assemblies 21 facing the container C from different directions may be provided.

[0048] [Third Embodiment] Figure 11 is a plan view of the picking processing unit 100C(100) of the third embodiment. Figure 12 is a perspective view of the container C showing an example of the change in the orientation of the container C by the turntables 17a and 17b.

[0049] As shown in Figure 11, in this embodiment, the transport mechanism 10 has the same configuration as the picking processing unit 100A of the first embodiment. However, the transport mechanism 10 of this embodiment has a turntable 17a instead of the conveyor 12 of the picking processing unit 100A, and a turntable 17b instead of the conveyor 14.

[0050] As shown in Figure 11, worker W is positioned away from container C, which is located at position Pp within the picking area Ap, in the opposite direction in the Y direction. Here, in the orientation P1 of container C shown on the left side of Figure 12, the estimated area Are, i.e., the area where the target item A is most likely to be located, is at the Y-direction end of container C, i.e., the position furthest from worker W in the Y direction. If container C is transported to the picking area Ap while maintaining this orientation P1, worker W can perform the picking operation. However, if the target item A is located closer to worker W, worker W can perform the picking operation more easily and quickly.

[0051] Therefore, in this embodiment, a turntable 17a is provided. The turntable 17a can change the orientation of the container C by rotating it around a rotation axis Ax1 that is substantially aligned with the Z direction. For example, as shown in Figure 12, the rotation of the turntable 17a changes the orientation of the container C from orientation P1 shown on the left side of Figure 12 to orientation P2 shown on the right side of Figure 12. In orientation P2, the estimation area Are is at the end of the container C opposite to the Y direction, i.e., the position closest to the worker W in the Y direction. Therefore, the worker W can perform the picking work more easily and quickly.

[0052] The operation of the turntable 17a is controlled by the transport control unit 23g (see Figure 4). When the container C has a rectangular shape in a plan view in the opposite direction of the Z-axis, the rotation angle of the turntable 17a around the rotation axis Ax1 is 90°, 180°, or 270°. However, the rotation angle is preferably 90° or 180°. In addition, the rotation direction of the turntable 17a is either clockwise or counterclockwise in the plan view, but may be limited to either one of these.

[0053] The turntable 17b has the same configuration as the turntable 17a, and its operation is controlled by the transport control unit 23g. The turntable 17b returns the orientation of the container C, which has been changed by the turntable 17a, to its original position.

[0054] The transport control unit 23g controls the operation (rotation) of the turntable 17a to change the orientation of the container C when the position of the estimated region Are obtained by the location estimation unit 23d satisfies predetermined conditions. Specifically, in the detection area Ad, if the estimated region Are is away from the side wall that is the opposite end of the container C in the Y direction, i.e., the side wall closer to the worker W, the unit controls the rotation of the turntables 17a and 17b. However, this is limited to positions where the estimated region Are (for example, its center of gravity) can be moved in the opposite direction of the Y direction by the rotation of the container C around the rotation axis Ax1. For example, if the position of the estimated region Are in the X direction is X2 and its position in the Y direction is Y2 (see Figure 5), the estimated region Are aligns with the rotation axis Ax1 of the container C. In this case, even if the container C rotates around the rotation axis Ax1, the position of the estimated region Are in the Y direction does not change, and the estimated region Are does not move in the opposite direction of the Y direction. Therefore, in such cases, the transport control unit 23g does not control the rotation of the turntable 17a. In the division of region Ar as shown in Figure 5, if the position of the estimated region Are in the Y direction is Y2 or Y3 and the position in the X direction is X1 or X3, the rotation of the container C can move the estimated region Are in the opposite direction in the Y direction. Therefore, in these cases, the transport control unit 23g changes the posture of the container C by controlling the rotation of the turntable 17a to bring the estimated region Are closer to the worker W. After this posture change is made, the rotation control of the turntable 17b returns the posture of the container C to the posture before the posture change caused by the rotation of the turntable 17a. The turntable 17a and the transport control unit 23g are an example of a first posture change mechanism that changes the posture of the container C based on the estimation of the estimated region Are by the location estimation unit 23d. This first posture change mechanism can support the picking work by the worker W.

[0055] Furthermore, when the orientation of container C is changed by the turntable 17a, the output information generation unit 23e sets the image Im on the display 22A to correspond to the changed orientation. In the example shown in Figure 12, the output information generation unit 23e generates an image Im corresponding to orientation P2, and the output control unit 23f controls the display 22A to display the image Im.

[0056] In the example shown in Figure 11, the turntable 17a is located behind the detection area Ad and before the picking area Ap, that is, it is positioned forward of the detection area Ad in the transport direction and behind the picking area Ap in the transport direction. However, it is not limited to this, and for example, the turntable 17a may be located in the detection area Ad or the picking area Ap. Similarly, the turntable 17b is located behind the picking area Ap, that is, it is positioned forward of the picking area Ap in the transport direction, but it is not limited to this, and for example, it may be located in the picking area Ap. Furthermore, a single turntable that functions as both turntable 17a and turntable 17b may be provided in the picking area Ap. In this case, the advantage is that the configuration of the picking processing unit 100 can be further simplified.

[0057] [Fourth Embodiment] Figure 13 is a perspective view showing the container C and lighting device 22D of the fourth embodiment. Figure 14 is a plan view of the container C of this embodiment. In this embodiment, the output indicating the estimated area Are is provided as illumination of item A inside the container C by the lighting device 22D. The lighting device 22D is an example of the output unit 22. The lighting device 22D can be applied to the picking processing unit 100A and picking support system 200 of the first embodiment as an output unit 22, either in place of the display 22A or in combination with the display 22A.

[0058] As shown in Figure 13, the lighting device 22D is located away from the container C at position Pp in the Z direction. However, it is not necessary for the lighting device 22D to be located away from the centroid (geometric center) of the container C in the Z direction; it may be located offset from the center line extending in the Z direction through the centroid.

[0059] Furthermore, the lighting device 22D is configured to be rotatable, for example, around two non-parallel rotation axes Ax2 and Ax3, and thus capable of changing the direction of light irradiation. As a result, the lighting device 22D can change the irradiation area Ai within the container C, as shown in Figure 14. The operation of the lighting device 22D is controlled by the output control unit 23f (see Figure 4).

[0060] In this embodiment as well, the container C has a region Ar (see Figure 5) similar to that in the first embodiment, and when the container C is located at position Pp, the estimation of the estimated region Are by the location estimation unit 23d is assumed to have already been completed. The output control unit 23f controls the operation of the lighting device 22D to illuminate the estimated region Are when the container C is located at position Pp. As a result, the estimated region Are or its vicinity, specifically, the target item A located in the estimated region Are or the item A located furthest away from the target item A in the Z direction, can be illuminated by the lighting device 22D. In this embodiment as well, the picking work by the worker W can be supported.

[0061] Furthermore, the position of the estimated region Are in the Z direction (H direction) may be indicated by the difference in the illumination pattern provided by the lighting device 22D. For example, the color of the illuminated region Ai can be changed by changing the output intensity of the lighting device 22D, changing the light source that emits color, or changing the color filter that transmits light, depending on the position in the Z direction (H1 to H3). Alternatively, multiple lighting devices 22D corresponding to each region Ar may be provided, and light may be output only from the lighting device 22D corresponding to the estimated region Are, thereby making the estimated region Are the illuminated region Ai. By changing the illumination pattern according to the position in the Z direction, the worker W can perform the picking work more reliably and quickly.

[0062] [Fifth Embodiment] Figure 15 is a plan view showing the automated warehouse of the fifth embodiment. Figure 16 is a plan view showing the antenna assembly 21H2 of the picking processing unit 100-2 and the container C facing the antenna assembly 21H2.

[0063] As shown in Figure 15, this embodiment provides two automated warehouses 301 and 302. Each automated warehouse 301 and 302 includes a shelf 33 with multiple storage compartments capable of storing containers C, transport mechanisms 10-1 and 10-2 constituting picking processing units 100-1 and 100-2, and a stacker crane 32 for transporting containers C between the transport mechanisms 10-1 and 10-2 and the shelf 33. In automated warehouse 301, the transport mechanism 10-1 and the stacker crane 32 constitute a transport mechanism for transporting containers C between the picking area Ap1 and detection area Ad1 and each storage compartment of the shelf 33. In automated warehouse 302, the transport mechanism 10-2 and the stacker crane 32 constitute a transport mechanism for transporting containers C between the picking area Ap2 and detection area Ad2 and each storage compartment of the shelf 33. Furthermore, in automated warehouses 301 and 302, the orientation of container C will not change when it moves between the storage compartment of shelf 33 and the detection areas Ad1 and Ad2. The transport mechanisms 10-1 and 10-2 are also used to load container C into each storage compartment of shelf 33.

[0064] Automated warehouses 301 and 302 are configured to be substantially symmetric with respect to a virtual plane intersecting the Y direction. Accordingly, each antenna 21b included in the antenna assembly 21H1 of the picking processing unit 100-1 of automated warehouse 301 emits radio waves in the Y direction to container C located in detection area Ad1. On the other hand, each antenna 21b included in the antenna assembly 21H2 of the picking processing unit 100-2 emits radio waves in the opposite direction to the Y direction to container C located in detection area Ad2.

[0065] Now, let's consider the case where both automated warehouses 301 and 302 store container C in the same orientation, for example, the orientation shown in Figure 2. In this case, in the detection area Ad1 of the picking processing unit 100-1 of automated warehouse 301, similar to Figure 2, the wireless tag T is positioned closer to the antenna assembly 21H for each item A within the container C, thus increasing the detection sensitivity of the wireless tag T by the antenna 21b.

[0066] In contrast, in the detection area Ad2 of the picking processing unit 100-2 of the automated warehouse 302, the antenna assembly 21H2 is positioned in the opposite position to that shown in Figure 2, i.e., shifted in the Y direction, or in other words, facing the Y direction. Therefore, within the container C, the wireless tags T are positioned on the side furthest from the antenna assembly 21H for each item A, resulting in a lower detection sensitivity of the wireless tags T by the antenna 21b.

[0067] Therefore, in this embodiment, as shown in Figure 15, the transport mechanism 10 is provided with a turntable 18 that can rotate around a rotation axis Ax1 substantially along the Z direction to change the orientation of the container C, and the shelves 33 of the automated warehouse 301 and the shelves 33 of the automated warehouse 302 are stored in different orientations. In the case of Figure 15, for example, the container C to be stored in the automated warehouse 301 is transported to each storage section of the shelves 33 of the automated warehouse 301 without its orientation being changed on the turntable 18, that is, in the orientation shown in Figure 2. On the other hand, the container C to be stored in the automated warehouse 302 is transported to each storage section of the shelves 33 of the automated warehouse 302 after its orientation has been changed by 180° around a rotation axis Ax1 substantially along the Z direction on the turntable 18, that is, in the orientation shown in Figure 16. As a result, as shown in Figure 16, in the detection area Ad2 of the picking processing unit 100-2 of the automated warehouse 302, similar to Figure 2, the wireless tag T is positioned closer to the antenna assembly 21H in each item A within the container C, thereby increasing the detection sensitivity of the wireless tag T by the antenna 21b. The turntable 18 is an example of a second posture changing mechanism. However, the operation of the turntable 18 is not limited to this; the turntable 18 can rotate the container C so that in each detection area Ad1, Ad2, the wireless tag T is positioned closer to the antenna assembly 21 (antenna 21b). The rotation angle and direction of the turntable 18 for positioning the wireless tag T closer to the antenna assembly 21 in each item A are determined by the posture of the container C when it is brought in by the transport mechanism 10 and the direction in which the antenna assemblies 21H1, 21H2 (antenna 21b) face the container C in the detection areas Ad1, Ad2.

[0068] According to this embodiment, the turntable 18 allows the container C to be stored in each storage compartment of the shelf 33 in a position that increases the detection sensitivity of the wireless tag T in each detection area Ad1, Ad2. In the example shown in Figure 15, the turntable 18 may be provided in the path (transport mechanism 10-2) for transporting the container C to the automated warehouse 302 where it is necessary to change the orientation of the container C.

[0069] Although embodiments of the present invention have been illustrated above, these embodiments are merely examples and are not intended to limit the scope of the invention. The above embodiments can be implemented in various other forms, and various omissions, substitutions, combinations, and modifications can be made without departing from the spirit of the invention. Furthermore, each configuration and specification (structure, type, orientation, model, size, length, width, thickness, height, number, arrangement, position, material, etc.) can be modified as appropriate. [Explanation of Symbols]

[0070] 10, 10-1, 10-2… Conveying mechanism 17a... Turntable (First posture change mechanism) 18…Turntable (Second posture change mechanism) 21, 21H, 21H1, 21H2, 21V… Antenna Assembly (Communication Mechanism) 21b, 21bp… Antenna (antenna array, communication mechanism) 22…Output section 22A…Display (output section) 22D…Lighting device (output unit) 23b…ID acquisition section 23c...Received signal strength acquisition unit 23d...Location estimation section 23f... Output control unit 32…Stacker crane (transport mechanism) 33... shelf 100, 100-1, 100-2, 100A, 100B, 100C… Picking Processing Unit 200... Picking support system 301, 302… Automated warehouse A... Goods, target items (specific items) Are... Estimated area (location, location range) C... Container Ca,Cb…side Pd... Position (detection position) Pp... Position (picking position) T... Wireless tag, target tag Vp...Virtual plane W...Worker X... direction (opposite direction to the first direction) Y... Direction (opposite direction to the first direction) Z…direction (first direction)

Claims

1. A picking support system that assists in picking specific items from a container capable of holding multiple items, each with a wireless tag attached, A communication mechanism including at least one antenna that sends a transmission signal from outside the container to the wireless tag and receives a response signal from the wireless tag to the transmission signal, An ID acquisition unit that acquires the ID of the wireless tag from the response signal, A reception strength acquisition unit that acquires the reception strength of the transmitted signal in the wireless tag from the response signal, An estimation unit estimates the location or range of the specific article in the container based on the ID acquired by the ID acquisition unit and the received intensity acquired by the received intensity acquisition unit. An output control unit controls the output unit to output an output indicating the location or location range estimated by the estimation unit, A picking support system equipped with the following features.

2. The aforementioned communication mechanism includes multiple antennas, The picking support system according to claim 1, wherein the plurality of antennas are arranged in one dimension, two dimensions, or three dimensions.

3. The picking support system according to claim 2, wherein the plurality of antennas are arranged in a two-dimensional array along a virtual plane that intersects with the first direction, and the system includes an antenna assembly facing the container from the first direction.

4. The picking support system according to claim 1, wherein the communication mechanism has antennas facing the container from multiple different directions.

5. A picking support system that assists in picking specific items from a container capable of holding multiple items, each with a wireless tag attached, A communication mechanism including at least one antenna that sends a transmission signal from outside the container to the wireless tag and receives a response signal from the wireless tag to the transmission signal, An ID acquisition unit that acquires the ID of the wireless tag from the response signal, A reception strength acquisition unit that acquires the reception strength of the transmitted signal in the wireless tag from the response signal, An estimation unit estimates the location or range of the specific article in the container based on the ID acquired by the ID acquisition unit and the received intensity acquired by the received intensity acquisition unit. A first posture changing mechanism that changes the posture of the container based on the estimation of the location or location range by the estimation unit, A picking support system equipped with the following features.

6. A picking support system according to any one of claims 1 to 5, A shelf provided with multiple storage compartments capable of accommodating the aforementioned containers, At a minimum, the system includes a shelf, a communication position where the communication mechanism of the picking support system communicates with the wireless tag inside the container, and a picking position where the picking operation is performed, and a transport mechanism capable of transporting the container between these two locations. Equipped with, The container contains the article such that the wireless tag is positioned close to one side of the container. An automated warehouse comprising a second posture changing mechanism that changes the posture of a container when it is placed on a shelf so that one side of the container faces the communication mechanism when the container is transported from the shelf to the communication position by the transport mechanism without its posture being changed.

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