Picking System

Abstract

To provide a picking system capable of being constructed in a short time without spending costs as much as possible not by enlarging a building to cope with increase of amount of material.SOLUTION: A picking system comprises: an unmanned transfer vehicle having a function for transferring an article collecting box for collecting articles for each order; an article collecting box receiving device for receiving the article collecting box from the unmanned transfer vehicle; a conveying device for conveying the article collecting box; an article storage shelf adjacent to the conveying device; an article collecting box delivery device for delivering the article collecting box to the unmanned transfer vehicle; and an elevator. The article collecting box is conveyed between layers by the elevator. Articles are almost simultaneously thrown into two article collecting boxes from the article storage shelf by an operator.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The present invention relates to a picking system. [Background technology]

[0002] Conventionally, there are picking systems in logistics centers to sort items by purpose. For example, a conveyor line is laid, and items are arranged in the frontage of a picking rack (flow rack) on the other side of the conveyor line according to order, and a picker picks the items from the frontage. The size of one flow rack is set to an appropriate width and height for one picker to perform picking work, and this work area is called an item input area, and the number of such areas that can be appropriately processed per day or hour is set, and this is called a picking zone, and the picking zone is arranged along the conveyor. The worker in this picking zone picks (collects) items that have been ordered for picking (collection instructions) by computer control, such as a WMS (Warehouse Management System) (or a warehouse management system such as a WCS (Warehouse Control System)), from the picking rack (flow rack), and puts them into collection boxes such as oriental containers, containers, and cardboard boxes that are transported on the conveyor. The collection boxes are conveyed to the next picking zone by conveyor, where the items are picked, and finally transported to a packaging area or the like.

[0003] This type of picking zone, which mainly uses traditional conveyor transport, is often used in warehouse-scale logistics centers with an area of ​​more than 1,650 m2 per floor and more than 20 picking workers.

[0004] Meanwhile, the rapid spread of e-commerce has caused a large increase in the overall volume of goods, and the expansion and construction of logistics warehouses has become more active, but logistics centers based on the conventional conveyor lines as mentioned above are no longer able to keep up with the processing capacity. In the conveyor line system, this is addressed by expanding the picking zone to increase processing capacity, but due to the recent labor shortage, it has become difficult to secure the planned number of workers. Therefore, the challenge has become to build a new logistics center that can handle the increasing number of processes within a limited time without using labor or expanding the floor area. For example, the introduction of AGVs (Automatic Guided Vehicles) and AMRs (Autonomous Mobile Robots) (hereinafter referred to as "unmanned transport vehicles") is being promoted to replace conveyor lines, due to the above circumstances.

[0005] It is said that a picking system that employs an unmanned transport vehicle is effective in a typical site of appropriate size of about 1000m2 with 15 or more workers. Patent Document 1 proposes a work space that includes at least a storage shelf for storing various items and supplying them to the picking position, a conveyor for transporting collection boxes, and a temporary shelf for temporarily storing items taken out of the storage boxes, with multiple picking workers arranged in a horizontal line along the longitudinal running direction of the conveyor. [Prior art documents] [Patent documents]

[0006] [Patent Document 1] JP 2019-023145 A Summary of the Invention [Problem to be solved by the invention]

[0007] In light of the above-mentioned problems of increasing volume and labor shortages due to the spread of e-commerce, the ultimate objective of this application is to build a new logistics center that can handle the increasing number of items to be processed within a limited time without using labor or expanding floor space. More specifically, this application aims to provide a picking system that can be built in a short time and with as little expense as possible, rather than dealing with the increase in volume by expanding the building. [Means for solving the problem]

[0008] As a first aspect of the present invention, a picking system operated by a control system based on picking information for collecting items includes an unmanned transport vehicle having a function of transferring collection boxes for collecting items by order, a collection box receiving device for receiving the collection boxes from the unmanned transport vehicle, a transport device for transporting the collection boxes, an item storage shelf adjacent to the transport device, a collection box delivery device for delivering the collection boxes to the unmanned transport vehicle, and an elevator, wherein the first collection box receiving device, the first transport device, and the first collection box delivery device are installed on a first plane at the same height suitable for transporting the collection boxes, and further, a second collection box receiving device, a second transport device, and a second collection box delivery device are installed on one or more layers. The product box transfer device is installed on a second plane of the same height suitable for transporting collection boxes, and is characterized in that a worker deposits products from the product storage shelf into a first collection box transported by the first transporting device and stopped at a first product input position installed on the first plane, and a second collection box transported by the second transporting device and further transported by the elevator and stopped at a second product input position installed on the second plane, and the first collection box is transferred to the unmanned transport vehicle by the first collection box transfer device, and the second collection box is transported by the elevator and transferred to the second collection box transfer device and delivered to the unmanned transport vehicle.

[0009] As a second aspect of the present invention, in relation to the first aspect, it may be characterized in that items are dropped into the first collection box stopped at the first item drop-in position and the second collection box stopped at the second item drop-in position at approximately the same time.

[0010] As a third aspect of the present invention, in relation to the first aspect, the first item input position and the second item input position may be at an optimal height that reduces the strain on the worker's lower back when repeatedly inputting items into the first collection box and the second collection box, and may be characterized in that the standing height is 60 cm to 80 cm from the floor.

[0011] As a fourth aspect of the present invention, relative to the first aspect, the running floor of the unmanned transport vehicle may be provided with floor panels capable of forming a lightweight running bed, and may have a first floor suitable for the unmanned transport vehicle to transfer collection boxes between the first collection box receiving device and the first collection box delivery device, and a second floor suitable for the unmanned transport vehicle to transfer collection boxes between the second collection box receiving device and the second collection box delivery device, and at least the second floor may be supported by a support on the floor of a building.

[0012] As a fifth aspect of the present invention, in addition to the first aspect, a waiting area in which the unmanned guided vehicle waits may be provided.

[0013] As a sixth aspect of the present invention, in relation to the first aspect, the waiting area may further include a mechanism for charging the unmanned transport vehicle.

[0014] As a seventh aspect of the present invention, in relation to the fourth aspect, the running floor of the automatic guided vehicle may be characterized in that at least one of an IC tag, a QR code, a magnetic tape, and a light reflective tape is used as a grid function that is a mark for the AGV (Automatic Guided Vehicle) to run on. Effect of the Invention

[0015] According to the present invention, it is possible to avoid the costly and time-consuming method of expanding the building of a logistics center in order to increase the processing capacity of the logistics center, and by making the floors multi-story, the effective floor area can be increased, allowing workers to simultaneously place items into multiple collection bins, improving work efficiency. [Brief description of the drawings]

[0016] [Figure 1] FIG. 1 is a perspective view of a picking system according to an embodiment of the present invention. [Diagram 2] FIG. 2 is an explanatory diagram illustrating a picking zone according to the present embodiment. [Diagram 3] FIG. 2 is a schematic diagram of a floor panel laid on the floor of the present embodiment. [Figure 4] FIG. 2 is a block diagram of an overall control computer according to the present embodiment. [Diagram 5] FIG. 2 is a block diagram of a motion information generating unit according to the present embodiment. [Figure 6] 1 is a flowchart (1) showing the operation of the picking system of the present embodiment. [Figure 7] 11 is a flowchart (2) showing the operation of the picking system of the present embodiment. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0017] Hereinafter, an embodiment of the present invention will be described in detail with reference to the attached drawings. In this example, the left-right direction refers to the left-right direction when looking at the picking system 1 from the front. When looking at the up-down direction, the floor surface is the downward direction when looking at it from the front, and the higher side is the upward direction. When looking at the front-to-back direction, the near side is the forward direction when looking at it from the front, and the rear side is the rear direction, and these are indicated by coordinates in the drawings as necessary. In this example, a description of already known technologies will be omitted.

[0018] FIG. 1 is a schematic diagram of a picking system 1. FIG. 2 is an explanatory diagram for explaining a picking zone 10 of the picking system 1. As shown in FIG. 1 and FIG. 2, in this embodiment, the picking system 1 is structured to have a floor 25 and a floor 23 on which an unmanned transport vehicle such as an AGV (Automatic Guided Vehicle) / AMR (Autonomous Mobile Robot) (hereinafter collectively referred to as "AMR4") can run in multiple levels (described as two levels in this embodiment), and multiple picking zones 10 are configured in which an operator S picks up an item from a flow rack 21 behind the floor 25 and places the item in a collection box 5. The picking zone 10 includes an upper level conveyor 7 (transport device), a lower level conveyor 11 (transport device), a lifter 19 (elevator), a lower level collection box receiving device 13, a lower level collection box delivery device 15, an upper level collection box receiving device 9, and an upper level collection box delivery device 20. The upper layer conveyor 7 is equipped with an upper layer collection box receiving device 9 upstream (to the right in FIG. 1). Collection boxes 5 are transferred from the AMR 4 traveling on the upper layer floor 23 to the upper layer collection box receiving device 9, transported from the upstream to the downstream (to the left in FIG. 1) of the upper layer conveyor 7, and then transferred to a lifter 19 waiting at conveyor height of the upper layer conveyor 7.

[0019] The collection box 5 transferred from the upper level conveyor 7 to the lifter 19 is transported by the lifter 19 to the lifter item input position 19A, which corresponds to the height of the lower level conveyor 11 and is the location where items are input from the upper level to the collection box, and an worker S picks items from the flow rack 21 (item storage shelf) and inputs them into the collection box 5. Once the input is complete, the collection box 5 is transported by the lifter 19 to a position corresponding to the conveyor height of the upper level conveyor 7 and transferred to the upper level collection box delivery device 20. The collection box 5 is then transferred to the AMR 4 by the upper level collection box delivery device 20.

[0020] The lower layer collection box receiving device 13, lower layer collection box delivery device 15, upper layer collection box receiving device 9, and upper layer collection box delivery device 20 use right-angle branching type devices, for example, the movement direction of the conveyor 7 can be moved by a roller conveyor (not shown), and for transfer to and from the AMR 4, a right-angle branching type device installed in the gap of the roller conveyor is used.

[0021] In addition, the upper layer collection box delivery device 20 may use a roller conveyor and a right-angle branching type device, and when a picking zone is adjacent to the left, it may also function as the upper layer collection box receiving device 9 for the upper layer conveyor 7 of that picking zone 10.

[0022] The lower level conveyor 11 is equipped with a lower level collection box receiving device 13 upstream (to the right in Figure 1), and collection boxes 5 are transferred to the lower level collection box receiving device 13 by the AMR 4 running on the lower level floor 25, and then transported from the upstream to the lower level collection box delivery device 15 downstream (to the left in Figure 1) of the lower level conveyor 11. Items are picked from the flow rack 21 by an operator S and placed into the collection box 5 at the collection box loading location from the lower level of the lower level collection box delivery device 15, and once loading is complete, the collection box 5 is transferred to the AMR 4 by the lower level collection box delivery device 15.

[0023] The upper floor 23 is secured to and rests on supports 18 above the building's structural floor 16. The lower floor 25 may use the building's structural floor 16 or may be secured to and rests on supports 18.

[0024] The upper part of the lifter 19 has a conveyor function that can move left and right, and it is preferable that the upper conveyor 7 and the lower conveyor 11 are fixed to a support (not shown) above the building's structural floor 16.

[0025] In addition, the lifter 19 is guided by a lift base 17 equipped with a lift belt 171 erected on the building's structural floor 16 and can move and stop freely in the vertical direction, and is driven by a servo motor (not shown).

[0026] The upper level collection box delivery device 20 is fixed and installed on a support 18 on the building's framework floor 16 or on the lift base 17 .

[0027] In addition, the picking system 1 is configured with a control unit that manages inventory of items, issues picking instructions, and controls the AMR 4, the upper layer conveyor 7, the lower layer conveyor 11, the lifter 19, the lower layer collection box receiving device 13, the lower layer collection box delivery device 15, the upper layer collection box receiving device 9, and the upper layer collection box delivery device 20.

[0028] The overall control computer 2 in Figure 4 creates information about the items to be picked, selects the AMR 4 that is best suited for transportation to the specified picking zone 10 and can move in, for example, a short time, sends information about the destination picking zone to the selected AMR 4, sends instructions regarding the transfer of the collection box 5 from the AMR 4 to the upper level collection box receiving device 9 or lower level collection box receiving device 13, sends instructions regarding the raising and lowering of the lifter 9, sends picking information (shelf position, item name, quantity, etc.) to worker S, checks whether the items have been correctly placed in the collection box 5, selects the best AMR 4 for transportation, and sends instructions regarding the transfer of the collection box 5 from the lower level collection box delivery device 15 or upper level collection box delivery device 20.

[0029] In addition, in the picking system 1, communication between the overall control computer 2 and AMR 4 is via a wireless network, and communication between the overall control computer 2 and the upper level conveyor 7, lower level conveyor 11, lifter 19, lower level collection box receiving device 13, lower level collection box delivery device 15, upper level collection box receiving device 9, upper level collection box delivery device 20, and flow rack 21 is via a wired network and / or a wireless network.

[0030] In this embodiment, the means by which the AMR 4 moves is constituted by attaching floor panels 8 equipped with marks and magnetic tape as markers in a checkerboard pattern on the upper floor 23 and lower floor 25, and the AMR travels to a predetermined position using the information from these marks and magnetic tape. The floor panels 8 can form a lightweight travel floor rather than the building's structural floor, so that the AMR can be installed on supports on the building's structural floor, and the upper floor 23 can easily have additional travel floors added.

[0031] An appropriate number of AMRs 4 are placed on the upper floor 23 and the lower floor 25. The number of floors is determined based on the picking work capacity of the worker S, the distance at which the AMR 4 can travel when loaded with collection boxes, and distances that take into consideration maintenance and inspection of the AMR 4, and is used to construct the picking system 1.

[0032] The installation height of the lower conveyor 11 is desirably within a range suitable for the worker S to put items into the collection box 5. For example, taking into consideration the standing work, the optimum height is 60 cm to 80 cm from the floor surface, which is the optimum height for reducing the burden on the worker's lower back from the repeated work of putting items into the collection box.

[0033] The collection box 5 used for picking may be at least one of an Oricon (foldable container), a cardboard box, a plastic box, a reusable plastic assembled rack box, a bag, a container or a tray, and the size is not limited to one type, and shipping containers of various sizes can be used.

[0034] The flow rack 21 is provided with an instruction display (not shown) that instructs the removal of an item from the warehouse. This instruction display receives information from the overall control computer 2 and instructs the worker S to pick the item. Following this instruction, the worker S places the specified number of items in the collection box 5 from a specified shelf position.

[0035] The shipping area is an area where collection boxes 5 containing articles are sorted into truck berths for different destinations, placed in shipping boxes, and loaded onto trucks (not shown).

[0036] Furthermore, as shown in FIG. 2, the collection box 5 transferred from the upper conveyor 23 to the lifter 19 is lifted by the lifter 19 to the conveyor height of the lower conveyor 11. Applicable The collection box 5 is transported from the upstream (right direction in FIG. 1) of the lower-layer conveyor 11 to the lower-layer collection box delivery device 15 downstream (left direction in FIG. 1), and the worker S picks the article from the flow rack 21 and puts it into the collection box 5 at approximately the same timing as the article is put into the collection box 5 from the upper-layer conveyor 23 at the lifter article input position 19A.

[0037] Charging is performed in a charging facility (not shown) provided in an area on floors 23 and 25 where the AMR 4 does not interfere with the transportation operation of other AMRs 4, for example, in a waiting area (not shown). Charging by the charging facility may be performed by a contact method or a non-contact method.

[0038] In principle, the AMR 4 waits in a waiting area (not shown) on each floor when it is not in the process of transporting. When the AMR 4 waits in the waiting area, it can be charged by a charging facility (not shown) provided in the waiting area.

[0039] The flow rack 21 is a multi-tiered rack in which items to be picked are stored, with multiple openings provided, and a downward slope from the rear to the openings, and generally, cardboard boxes containing items are stored as is from the input opening at the rear to the openings. The cardboard boxes have holes punched on the opening side with a cutter knife or the like to make it easier for the worker S to take out the items inside.

[0040] Figure 3 is an explanatory diagram explaining the movement of the AMR 4. As shown in Figure 3(a), a pair of guides (magnetic tapes, etc. 8a, 8b and 8c, 8d) are provided at opposing positions at a fixed distance from the center point on the floor panel 8, and a sensor confirmation means (mark 12) is provided at the center point of the floor panel 8. This enables the AMR 4 to move accurately in a straight line from one floor panel 8 to another floor panel 8.

[0041] Furthermore, as a running confirmation means for the running sensor of the AMR 4 controlled by the overall control computer 2, an AMR running floor device is provided which is constructed by laying out a large number of floor panels 8 which have been processed in advance into a small, portable, standard size, and each floor panel 8 may employ a first sensor confirmation means using orthogonal tape-shaped guides and a second sensor confirmation means provided at the intersection of the tape-shaped guides.

[0042] As shown in Figure 3(b), in the direction perpendicular to Figure 3(a), the floor panel 8 is also equipped with a sensor confirmation means consisting of a pair of guides (magnetic tapes, etc. 8a, 8b and 8c, 8d) at opposing positions a certain distance from the center point, and a sensor confirmation means (mark 12) at the center point of the floor panel 8, enabling the AMR 4 to move accurately in a straight line.

[0043] In addition, the label (or RFID) or the like is read or detected by a sensor, allowing the overall control computer to determine the location of the AMR4.

[0044] The overall control computer 2 acquires the current location information of the AMR 4, calculates the moving distance to the upper level collection box receiving device 9, the lower level collection box receiving device 13, the lower level collection box delivery device 15, and the upper level collection box delivery device 20 in the picking zone 10, which corresponds to the next destination of the AMR 4, selects the optimal AMR 4 that can move in the shortest time, and transmits an instruction to move to the above-mentioned destination to the selected AMR 4. In this embodiment, it is assumed that the AMR 4 autonomously acquires the current location information of the AMR 4 using a magnetic tape and a mark 12 installed on the floor, but the present invention is not limited to this, and it is possible to autonomously determine the current location information of the AMR 4 using any position identification means, or to employ a mode in which the overall control computer 2 grasps and manages the location information of each AMR 4 using a known technology not shown, and the overall control computer 5 notifies each AMR 4 of the location information of each destination.

[0045] The overall control computer 2 is connected to the AMR 4 via a wireless network, and transmits mechanism instructions, which are information indicating operation instructions to be performed at the relevant position.

[0046] The overall control computer 2 is configured with a CPU (Central Processing Unit), a ROM (Read-only Memory) that stores control programs and the like that run on the CPU, and a RAM (Random Access Memory) for temporarily storing various data (none of which are shown).

[0047] Fig. 4 is a functional block diagram of one embodiment of the overall control computer 2 used in the picking system 1. As shown in Fig. 5, the overall control computer 2 functions as a picking information management unit 51, an AMR selection unit 52, a position information generation unit 53, an operation information generation unit 54 which controls the operations of the AMR 4, the lifter 19, the conveyors 7 and 11, a mark information generation unit 55, a transmission unit 57, and a reception unit 58 by the CPU expanding the control program stored in the ROM into the RAM and executing it.

[0048] The picking information management unit 51 performs control to display the type and number of items to be picked on an instruction display (not shown) provided on the flow rack 21.

[0049] The AMR selection unit 52 selects one or more AMRs 4 involved in the transportation and transfer of the collection box based on the current position of each AMR 4.

[0050] The position information generating unit 53 generates one or more pieces of destination information indicating the position and destination of the transportation and transfer of the collection box to be moved by the AMR 4, which is to be transmitted to the AMR 4 involved in the transportation and transfer of the collection box. The destination information specifically includes information related to the upper layer collection box receiving device 9, lower layer collection box receiving device 13, upper layer collection box delivery device 20, and lower layer collection box delivery device 15 in the picking zone 10.

[0051] The operation information generation unit 54 generates operation information for the AMR 4 indicating the operations to be performed at the location and destination related to the transportation and transfer of each collection box. The AMR 4 has a conveyor function on its upper part, and performs operations related to the transportation and transfer of collection boxes 5 based on the operation information. Operation information is generated regarding the timing of receiving and handing over the collection boxes 5 and the AMR 4. For the lifter 19, operation information is generated regarding the lifting and lowering operations and the timing of receiving and handing over the collection boxes 5. For the worker (flow rack), the items to be picked are displayed on a display unit (not shown).

[0052] The mark information generating unit 55 generates mark information for the AMR 4 to travel. For example, it generates a command to move to mark A, then mark B, and finally mark C in that order. The AMR 4 travels according to this command. The command also includes information on moving straight or at right angles.

[0053] The transmitter 57 and receiver 58 transmit and receive information between the AMR 4 and the overall control computer 52 .

[0054] The lower level collection box receiving device 13 is a device that receives a collection box 5 from an AMR 4 traveling on a lower level floor 25. The upper level collection box receiving device 9 is a device that receives a collection box 5 from an AMR 4 traveling on an upper level floor 23. The lower level collection box delivery device 15 is a device that delivers a collection box 5 to an AMR 4 traveling on a lower level. The upper level collection box delivery device 20 is a device that delivers a collection box 5 to an AMR 4 traveling on an upper level.

[0055] 5 is a block diagram of the operation information generating unit 54. The operation information generating unit 54 includes an upper conveyor control unit 541, a lower conveyor control unit 542, a lifter position control unit 543, a contact sensing unit 544, a collaborative operation control unit 545, a transmitting unit 547, and a receiving unit 548.

[0056] The upper layer conveyor control unit 541 controls the upper layer conveyor 7. Specifically, it detects the collection box 5 received by the upper layer collection box receiving device 9, receives the collection box 5, and controls the conveyance from upstream to downstream (from right to left in Figs. 1 and 2) using a right-angle branching device.

[0057] The lower layer conveyor control unit 542 controls the lower layer conveyor 11. Specifically, it detects the collection box 5 received by the lower layer collection box receiving device 13, receives the collection box 5, and controls the conveyance from upstream to downstream (from right to left in Figs. 1 and 2) using a right-angle branching device.

[0058] The lifter position control unit 543 controls the vertical position of the lifter 19. That is, when it detects a collection box 5 carried by the upper layer conveyor 7, it controls the lifter 19 to receive the collection box 5 and descend. Then, when it receives a signal indicating that picking is complete, it raises the lifter 19 and passes the collection box 5 to the upper layer collection box delivery device 20. This allows the AMR 4 to receive the collection box 5 via the right-angle branch device.

[0059] The collection box sensing unit 544 is provided in the upper layer collection box receiving device 9, the lifter 19, the lower layer collection box receiving device 13, the lower layer collection box delivery device 15, and the upper layer collection box delivery device 20, and upon detecting a collection box 5, it sends a detection signal to the upper layer conveyor 7, the lower layer conveyor 11, and the AMR 4, respectively.

[0060] The coordinated operation control unit 545 controls the coordination of operations among the AMR 4, the upper conveyor 7, the lower conveyor 11, and the lifter 19.

[0061] The transmitter 547 and receiver 548 communicate with the overall control computer 2 , the AMR 4 , the upper conveyor 7 , the lower conveyor 11 , and the lifter 19 .

[0062] The operation of the picking system 1 will be described with reference to FIG.

[0063] First, in step S1, under the control of the overall control computer 2, the AMR 4 on the floor 23 transports the collection box 5 to the upper level collection box receiving device 9.

[0064] In step S3, under the control of the overall control computer 2, the AMR 4 on the floor 25 transports the collection box 5 to the lower level collection box receiving device 13.

[0065] In step S5, the collection box 5 transported to the conveyor 7 of the picking zone 10 is stopped at the lifter item input position 19A via the lifter 19. The lower-level collection box 5 is transported to the lower-level conveyor 11 and transported to the picking position (lower-level collection box delivery device 15). Then, the worker S picks the specified items and places them in the collection box 5. After picking, the collection box 5 is transported by the lifter 19 to the upper-level collection box delivery device 20. Meanwhile, since the collection box 5 is in the lower-level collection box delivery device 15, it is delivered to the AMR 4 in this state.

[0066] The overall control computer 2 creates information on the items to be picked, selects an AMR 4 that is optimal for moving to the specified picking zone 10, for example, one that can move in a short time, transmits information on the destination picking zone to the selected AMR 4, transmits instructions on the transfer of the collection box 5 from the AMR 4 to the upper level collection box receiving device 9 or the lower level collection box receiving device 13, transmits instructions on the lifting and lowering of the lifter 9, transmits picking information (shelf position, item name, number, etc.) to the worker S, checks whether the items have been correctly put into the collection box 5, selects the AMR 4 that is optimal for transfer, and transmits instructions on the transfer of the collection box 5 from the lower level collection box delivery device 15 or the upper level collection box delivery device 20. As a result, in step S7, the overall control computer 2 judges whether there is a work order for the AMR 4. If it is determined that there is a work order, the process proceeds to step S13. If it is determined that there is no work order, the process proceeds to step S9.

[0067] In step S9, the AMR 4 continues charging until a work command is received from the information from the overall control computer 2. Then, the process returns to step S7.

[0068] In step S13, the overall control computer 2 judges whether or not all work orders have been completed. If it is judged that all picking work has been completed, the process proceeds to step S15. If it is judged that all work orders have not been completed, the process does not proceed and the process of step S11 is repeated.

[0069] Once all tasks are completed, AMR4 returns to its initial position, at which point it waits in the charging area to charge.

[0070] A second operation of the picking system 1 will be described with reference to FIG.

[0071] First, in step S21, the AMR 4 on the floor 23 conveys the collection box 5 to the upper level collection box receiving device 9 under the control of the overall control computer 2.

[0072] In step S23, under the control of the overall control computer 2, the AMR 4 on the floor 25 transports the collection box 5 to the lower level collection box receiving device 13.

[0073] In step S25, the collection box 5 transported to the upper conveyor 7 is transferred onto the lifter 19, and the lifter 19 descends and stops at the lifter article insertion position 19A where items are inserted into the collection box from the upper layer.

[0074] The collection box 5 transported by the lower-layer conveyor 11 stops at the lower-layer collection box delivery device 15, which is the position where items are inserted into the collection box from the lower layer.

[0075] In step S27, the worker S puts articles into the collection boxes 5 stopped at the lifter article input position 19A and the lower-level collection box delivery device 15 at approximately the same time, and the collection box 5 from the lower-level conveyor 11 is transferred from the lower-level collection box delivery device 15 to the AMR 4, and the AMR 4 loaded with the collection box 5 moves to the next picking zone 10 in accordance with a work command from the overall control computer 2. The collection box 5 from the upper-level conveyor 7 is raised by the lifter 19 from the lifter article input position 19A to the height position of the upper-level collection box delivery device 20, and transferred from the upper-level collection box delivery device 20 to the AMR 4, and the AMR 4 loaded with the collection box 5 moves to the next picking zone 10 in accordance with a work command from the overall control computer 2.

[0076] If necessary, when the AMR 4 on the upper floor 23 is operating at full capacity and the AMR 4 on the lower floor 25 has a low operating rate, it is possible to move the collection boxes to the AMR 4 on the lower floor 25 to adjust the balance of operation between the upper and lower floors 23 and 25.

[0077] In step S29, the overall control computer 2 determines whether or not there is a work order for the AMR 4 and the other AMR 4. If it is determined that there is a work order, the process proceeds to step S35. If it is determined that there is no work order, the process proceeds to step S31.

[0078] In step S31, the AMR 4 charges until a work command is received, and then the process returns to step S29.

[0079] In step S35, the overall control computer 2 judges whether or not all work orders have been completed. If it is judged that all picking work has been completed, the process proceeds to step S37. If it is judged that all picking work has not been completed, the process does not proceed and the judgment in step S33 is repeated.

[0080] When all tasks are completed, AMR4 returns to its initial position, at which point it waits in the charging area to charge.

[0081] Although the present embodiment has been described above, the present invention is not limited to this, and various modifications are possible within the scope of the gist of the present embodiment. For example, the worker S may be replaced with a robot. [Industrial Applicability]

[0082] Since the picking system according to each aspect of the present invention can be used for picking operations, the present invention has great industrial applicability in various industries including the manufacturing industry and the logistics industry. [Explanation of symbols]

[0083] 1. Picking system 2. Overall control computer 4. AMR 5 Collection box 7 Upper Conveyor 8 Floor Panel 9 Upper layer collection box receiving device 10 Picking Zone 11 Lower Conveyor 13 Lower layer collection box receiving device 15 Lower level collection box delivery device 16 Building structure floor 17 Lifting base 18 Support 19 Lifter 20 Upper layer collection box delivery device 21 Flowrack 23 Upper Floors 25 Lower Floor 171 Lifting Belt S worker

Claims

1. In a picking system that operates in a building using a control system based on picking information to collect items, The system comprises an unmanned transport vehicle having a function of transferring a collection box for collecting items by order, a collection box receiving device for receiving the collection box from the unmanned transport vehicle, a transport device for transporting the collection box, an item storage shelf adjacent to the transport device, a collection box delivery device for delivering the collection box to the unmanned transport vehicle, and an elevator, The unmanned transport vehicle includes at least a lower-floor unmanned transport vehicle that travels on a lower floor that is formed as a structural floor of the building or that is fixed to and installed on a support on the structural floor of the building, and an upper-floor unmanned transport vehicle that travels on an upper floor that is fixed to and installed on the support and forms a composite floor with the lower floor, The first collection box receiving device, the first transport device, and the first collection box delivery device are installed at a substantially identical first height suitable for transporting the collection box, and the second collection box receiving device, the second transport device, and the second collection box delivery device are installed at a substantially identical second height suitable for transporting the collection box, an operator places items from the item storage shelf into a first collection box that has been transferred from the first lower level unmanned transport vehicle to the first transport device via the first collection box receiving device, and then transported by the first transport device and stopped at a first item input position; and a second collection box that has been transferred from the first upper level unmanned transport vehicle to the second transport device via the second collection box receiving device, and then transported by the second transport device and further transported by the elevator, and stopped at a second item input position; The first collection box into which the article has been put is delivered to the second lower level unmanned transport vehicle by the first collection box delivery device, A picking system characterized in that the second collection box into which the item has been dropped is transported by the elevator, transferred to a second collection box delivery device, and delivered to the second upper level unmanned transport vehicle.

2. The picking system according to claim 1, characterized in that items are inserted into the first collection box stopped at the first item insertion position and the second collection box stopped at the second item insertion position at approximately the same time.

3. The first item input position and the second item input position are: The picking system described in claim 1, characterized in that the height reduces the strain on the worker's lower back when repeatedly inserting items into the first collection box and the second collection box, and the standing height is approximately 60 cm to approximately 80 cm from the floor.

4. 2. The picking system according to claim 1, wherein the upper floor and the lower floor are provided with floor panels capable of forming a lightweight running floor.

5. The picking system according to claim 1 , further comprising a waiting area in which the unmanned transport vehicle waits.

6. The picking system according to claim 5 , wherein the waiting area is provided with a mechanism for charging the unmanned transport vehicle.

7. The picking system according to claim 4, characterized in that the running floor of the unmanned transport vehicle uses at least one of an IC tag, a QR code (registered trademark), a magnetic tape, and a light reflective tape as a grid function that is a mark for the AGV (Automatic Guided Vehicle) to run on.

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