Picking System

Abstract

To efficiently perform picking operation in a warehouse.SOLUTION: A picking system 100 comprises: autonomous-running carts 1 which assist picking operation of operators who collect designated products from racks; and control means 2 and 20 that control the autonomous-running cart. The autonomous-running cart has: storing means that stores map information including information on passages on which the autonomous-running cart can run in a space in which the racks are placed; reading means 61 that obtains code information, from display codes arranged in the space; and sensors 81 and 91 that sense at least an object at a front side in an advancing direction. The control means controls the autonomous-running cart, on the basis of the map information and at least either of sensed results of the sensors and the code information.SELECTED DRAWING: Figure 1

Description

[Technical field]

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

[0002] Picking systems are known that assist in the picking work of storing products in a warehouse onto carts. Logistics warehouses are facing a chronic labor shortage problem, and the demand for self-propelled picking carts is increasing. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2019-1890380 A Summary of the Invention [Problem to be solved by the invention]

[0004] Therefore, one of the objects of the present invention is to efficiently perform picking operations in a warehouse. [Means for solving the problem]

[0005] In order to achieve the above-mentioned objective, the picking system of the present invention comprises an autonomously driven cart that assists a worker in the picking work of collecting specified products from shelves, and a control means for controlling the autonomously driven cart, wherein the autonomously driven cart has a memory means for storing map information including information of the aisles along which the autonomously driven cart can travel within a space in which the shelves are placed, a reading means for acquiring code information from display codes arranged within the space, and a sensor for detecting objects at least ahead in the direction of travel, and the control means controls the travel of the autonomously driven cart based on the map information and at least one of the detection results of the sensor and the code information. [Brief description of the drawings]

[0006] [Figure 1] 1 is a schematic perspective view showing a cart of a picking system according to an embodiment of the present invention; [Diagram 2] FIG. 2 is a perspective view of the cart as viewed from the front and left side, and FIG. 2 is a perspective view of the cart as viewed from the front and right side, showing a state in which a container is placed on the cart. [Diagram 3] FIG. 2A is a rear view and FIG. 2B is a left side view of the cart. [Figure 4] FIG. 2 is a functional block diagram showing a configuration of the picking system. [Diagram 5] FIG. 2 is a conceptual diagram showing an example of a travel path of a cart within a warehouse along which the picking system travels and picks up products. [Figure 6] 1A and 1B are conceptual diagrams showing an example of the state of shelves placed in the warehouse, in which (a) is a perspective view and (b) is a front view. [Figure 7] 13 is an example of a table relating to attributes of workers stored in the picking system. [Figure 8] 13 is an example of a screen displaying the work progress of a picking work instruction. [Figure 9] 1A and 1B are examples of screens displayed on a display unit of the cart, in which (a) is an example of an operator setting screen, and (b) is an example of a menu screen. [Figure 10] 1A and 1B are examples of screens displayed on a display unit of the cart, in which (a) is a menu screen and (b) is a self-position designation screen. [Figure 11] 13A and 13B are examples of screens displayed on a display unit of the cart, in which (a) is an example of a movement start screen and (b) is an example of a movement in progress screen. [Figure 12] 13A and 13B are examples of screens displayed on a display unit of the cart, and show (a) a work instruction confirmation screen and (b) a label / scale strapping screen. [Figure 13] 13A and 13B are examples of screens displayed on a display unit of the cart, in which (a) is an example of a movement start screen and (b) is an example of a movement in progress screen. [Figure 14] 13 is an example of an arrival screen displayed on a display unit of the cart. [Figure 15] 13A and 13B are examples of screens displayed on a display unit of the cart, in which (a) is an example of a picking operation screen, and (b) is an example of a product insertion screen. [Figure 16] 13A and 13B are examples of screens displayed on a display unit of the cart, in which (a) is an example of an input completion screen, and (b) is an example of a product confirmation screen. [Figure 17] 13A and 13B are examples of screens displayed on a display unit of the cart, in which (a) is an example of a movement start screen and (b) is an example of a movement in progress screen. [Figure 18] 13A and 13B are examples of screens displayed on a display unit of the cart, in which (a) is an example of a movement start screen and (b) is an example of a movement in progress screen. [Figure 19] 13A and 13B are examples of screens displayed on a display unit of the cart, in which (a) is an example of a movement start screen and (b) is an example of a movement in progress screen. [Figure 20] 13A and 13B are examples of screens displayed on a display unit of the cart, and show (a) an error screen and (b) an emergency stop screen. [Figure 21] 1A and 1B are examples of screens displayed on a display unit of the cart, and show (a) a location information linking screen and (b) a self-location recognition screen. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0007] Hereinafter, a picking system according to an embodiment of the present invention will be described with reference to the drawings. ●Picking system overview A picking system is a system that travels carts for carrying and transporting products in a warehouse in which many kinds of products are stored, and assists in picking work from the warehouse. The warehouse is an example of a space in which shelves are placed. The shelves are an example of a configuration for partitioning and storing products, and may be pallets or cardboard boxes laid flat on the floor. The picking system manages multiple carts and assigns information on the type and number of products to be picked to the multiple carts. The picking system also transmits information indicating the products to be stored in each cart, i.e., picking work instructions, to a picking worker. The picking system may include an autonomously traveling cart that has an electric drive unit and travels autonomously, and a manual cart that is moved manually by a worker.

[0008] Overview of the autonomous cart 1 to 3, the cart 1 is a device for transporting goods. The cart 1 autonomously travels based on instructions from a control unit 20 mounted on the cart 1 itself or a higher-level device. In the following description, the transport direction of the cart 1 is defined as the +Y direction, the width direction of the cart 1 that is perpendicular to the transport direction is defined as the +X direction, and the vertical direction is defined as the +Z direction.

[0009] The cart 1 has multiple wheels on its bottom surface, and is a device in the shape of two upper and lower tiers of flat plates connected by a support pillar at approximately the center above the wheels. A control unit 20 that controls the cart 1 and a battery that applies power to each functional unit are mounted on the lower part of the support pillar. The cart 1 has multiple weighing units 10 (10a, 10b, 10c, 10d) that weigh products. In this embodiment, the weighing units 10a, 10b are arranged side by side at the front and rear of the cart in the traveling direction on the upper tier, and the weighing units 10c, 10d are arranged at the front and rear of the cart in the traveling direction on the lower tier, sandwiching the control unit 20 therebetween.

[0010] Furthermore, each weighing unit 10 displays identification information of the weighing unit that is visible to an operator. Specifically, labels 12a to 12d, designated A to D, are attached to the sides of the weighing unit 10. Furthermore, a scale barcode containing the identification information of the weighing unit 10 is fixed near or overlapping each of the labels 12a to 12d. The scale barcode can be read by a scanner 61 to identify the identification information of the weighing unit 10.

[0011] The cart 1 has a plurality of weighing units 10. In this embodiment, there are four weighing units 10, each capable of weighing independently. As shown in FIG. 2(b), the upper surface of the weighing units 10 is flat, and a container C is placed on each of them. The container C is, for example, a foldable container, a so-called folding container, whose each surface is formed by connecting a plurality of elongated flat plates and hinges. The container C is a box-shaped member with an opening at the top, and the picked goods are stored inside the container C. The weighing units 10 weigh the goods stored in the container C for each container C. The weighing units 10 may store the weight of the container C in advance and measure the weight of the goods themselves by performing a tare process.

[0012] In the cart 1 according to this embodiment, the weighing units 10 are configured in two levels, upper and lower, with two weighing units 10 provided on each level along the traveling direction, but multiple weighing units 10, for example two, may be provided along the width direction of the cart. Also, by placing the container C across multiple weighing units 10, it is possible to transport a larger capacity container than in a usage mode in which one container C is placed on each weighing unit 10.

[0013] At the top of the cart 1, at the rear in the direction of travel, there is provided a workbench 110 on which an operator performs various operations on the cart 1. On the workbench 110, mainly arranged are a grip 101 that an operator holds when manually moving the cart 1, a printing mechanism 41 that issues labels to be affixed to containers, a touch panel display 5, a scanner 61 that reads barcodes, a physical button operation unit 7, and the like.

[0014] As shown in Fig. 3(a), the printing mechanism 41 is held on the underside of the workbench 110, and prints on labels pulled out from a label roll 41r. The printed labels are discharged from the side of the cart 1. Note that in a case where an ESL (Electric Shelf Label) is connected to an object to which the label is to be affixed, such as a container C, the configuration may not include the printing mechanism 41. In this case, the picking system 100 performs a process of changing the display content of the ESL instead of issuing a label.

[0015] The touch panel display 5 has a structure in which a liquid crystal display 5a and a touch panel 5b are stacked on top of each other, and data can be displayed and input on the same surface. The liquid crystal display 5a is an example of a notification means for displaying various data. When the operator's finger touches the touch panel 5b, it detects the touched position and accepts input according to the detected position. The liquid crystal display 5a displays information on the product to be picked or the status of the cart 1 to the worker. The scanner 61 can read barcodes on products, shelves in the warehouse, containers C, labels, etc. The scanner 61 may include a wireless handheld scanner 61a, as well as a fixed scanner 61b that is fixed above the work table 110 and has a reading area that is a part of the work table 110. The fixed scanner 61b can read barcodes, for example, by holding a label issued by the printing mechanism unit 41 downward. The scanner 61 is an example of a reading means.

[0016] A drive wheel 71 and a number of auxiliary wheels 72 are arranged on the bottom surface of the cart 1. The drive wheel 71 is arranged in the center of the bottom surface of the cart 1, below the control unit 20. The drive wheels 71 are arranged in pairs in the width direction, and each is driven independently. The drive wheels 71 are controlled by the control unit 20 to cause the cart 1 to travel autonomously. The multiple auxiliary wheels 72 are arranged on the periphery of the bottom surface of the cart 1, support the cart 1, and rotate as the cart 1 moves.

[0017] The cart 1 also has a rod-shaped sign pole 102. The sign pole 102 is disposed on the left side at the rear in the traveling direction and extends upward. The sign pole 102 can flash in one or more colors, and is another example of a notification means for notifying an operator of the state of the cart 1 and the presence or absence of an abnormality.

[0018] Further, a frame 103 that surrounds the entire cart 1 from the outside is provided below the cart 1. The frame 103 is configured integrally with at least the drive wheels 71 via a predetermined member, and when the frame 103 is lifted, the drive wheels 71 move away from the traveling surface.

[0019] Non-contact sensors 81, 82 and a contact sensor 91 are provided in front of the cart 1 to detect objects at least in the direction of travel. The non-contact sensor 81 is a sensor that detects objects in front and to the sides of the cart 1 in a three-dimensional manner. The non-contact sensor 81 is configured, for example, by using a laser range finder and an ultrasonic sensor in combination. With this configuration, it is possible to detect even black walls, glass, and mirrors. The non-contact sensor 81 can be used, for example, to recognize routes that the cart can travel and generate a map of the cart 1 that can be traveled. The non-contact sensor 81 also detects obstacles, people, etc. in front of the cart 1 in a non-contact manner, and decelerates or stops the drive wheels 71 according to the detection results.

[0020] The non-contact sensor 82 is a 2D sensor capable of detecting objects on a plane, and is provided below the bumper incorporating the contact sensor 91. Unlike the non-contact sensor 81, this non-contact sensor 82 is not used for generating a map, but can detect obstacles, people, etc. ahead of the vehicle on a plane at a height close to the traveling surface without contact. This makes it possible to prevent the cart 1 from colliding with an obstacle, etc., or the driving wheels 71 and auxiliary wheels 72 from getting entangled with an obstacle, etc. It is noted that the driving wheels 71 may also be slowed down or stopped depending on the detection result of the non-contact sensor 81.

[0021] The contact sensor 91 is a sensor that is built into the bumper at the front of the cart 1 and detects contact with an object. The contact sensor 91 is, for example, a switch sensor. The cart 1 stops the driving wheels 71 in response to detection by the contact sensor 91. The contact sensor 91 can also prevent accidents caused by collisions of the cart 1.

[0022] Block diagram FIG. 4 is a block diagram showing the configuration of the cart 1. The cart 1 includes a control unit 20, a weighing unit 10, a printing unit 40, an operation unit 50, a reading unit 60, a driving unit 70, an object detection unit 80, and a collision detection unit 90. The weighing unit 10 includes a load cell 11 and measures the weight of the product. The printing unit 40 includes a printing mechanism 41. The printing mechanism 41 prints a label and ejects (issues) the printed label from the label issuing unit 42 shown in FIG. 3. The operation unit 50 is realized by the button operation unit 7 and the touch panel 5b. The reading unit 60 includes a scanner 61 and reads information such as a barcode.

[0023] The control unit 20 includes a CPU 21, a load cell control unit 22, a print control unit 23, an operation control unit 24, a display control unit 25, a ROM 26, a RAM 27, a reading control unit 28, a drive control unit 29, an object detection control unit 30, a collision detection control unit 31, and a communication processing unit 32. The CPU 21 is mutually connected to each unit included in the control unit 20 via a bus.

[0024] The CPU 21 reads out the control program stored in the ROM 26 and various information stored in the RAM 27, and controls each part based on the read control program and various information. The CPU 21 also stores necessary information in the RAM 27. The ROM 26 stores various information such as various programs executed by the CPU 21. The RAM 27 is a temporary storage area that stores information used by the CPU 21. The RAM 27 is also a storage means that stores various files.

[0025] The CPU 21 also functions as an input control unit that acquires information input to the touch panel 5b and the button operation unit 7 via the operation control unit 24. The touch panel 5b and the button operation unit 7 are each an example of an input unit.

[0026] The CPU 21 also functions as an output control unit that changes the display contents of a screen G1 (described below) displayed on the touch panel 5b. The output control unit is configured to output various information to be communicated to the operator, and may use other methods such as sound instead of or in addition to the above-mentioned configuration of controlling the liquid crystal display 5a to display information. The output control unit may also control the blinking mode of the sign pole 102.

[0027] The load cell control unit 22 controls the load cell 11 provided in the weighing unit 10. The printing control unit 23 controls the printing unit 40. The operation control unit 24 controls the touch panel 5b and the button operation unit 7. The touch panel 5b instructs a desired operation by touching a specific portion of a screen G1 or the like, which is displayed on the liquid crystal display 5a and which will be described below. The display control unit 25 controls the liquid crystal display 5a. The reading control unit 28 controls the scanner 61 provided in the reading unit 60. The drive control unit 29 controls the drive wheels 71 of the drive unit 70. The object detection control unit 30 controls the non-contact sensors 81 and 82 of the object detection unit 80. The collision detection control unit 31 controls the contact sensor 91 of the collision detection unit 90.

[0028] The communication processing unit 32 is a functional unit that performs wireless communication with an external device. The communication processing unit 32 transmits and receives information to and from the management device 2 through, for example, the network NW. The management device 2 is a higher-level device such as a server or a cloud computer. The communication processing unit 32 receives information such as identification information of the products to be loaded on the cart 1, location information in the warehouse where the products are stored, i.e., information on the lane, shelf, and the row and column on the shelf, and the amount of the products to be loaded. The communication processing unit 32 also receives a travel route planned for the cart 1. Furthermore, the communication processing unit 32 may transmit identification information of the worker inputted via the touch panel 5b to the management device 2. Note that a part or all of the above-mentioned information may be stored in the management device 2 instead of being stored in the control unit 20 of the cart 1 and transmitted to the cart 1. The functional blocks formed by the control unit 20 and the management device 2 will be described later.

[0029] The manual cart moved by the operator is configured similarly to the autonomous cart 1 except for the drive control unit 29, drive unit 70, and drive wheels 71, except for the configuration of the autonomous cart 1. The manual cart may be configured such that the drive control unit 29 or drive unit 70 of the autonomous cart 1 is disabled.

[0030] Overview of cart driving in warehouses As shown in FIG. 5, the warehouse W is roughly divided into a picking area A10, a charging area A1, an orienting container area A2, a picking start area A3, a transport area A4, and a holding area A5. The areas are merely called differently based on the work content of the cart 1, and do not have to be physically divided. The areas may be physically divided by doors that open and close. At least one area in the warehouse W is divided into an area that is recognized in advance as the cart's own position. This area corresponds to the area where the cart 1 is placed, for example. In addition, the outer edge of this area is divided by tape, for example, so that the area can be seen by the worker and the cart 1 can move in and out of the area.

[0031] The charging area A1 is an area where the battery of the cart 1 is charged. The battery may be chargeable while mounted on the cart 1, or may be removed from the cart 1 and charged. The charging area A1 may be an area where the battery mounted on the cart 1 is replaced with a charged battery. The cart 1 moves from the charging area A1 to the rechargeable battery area A2.

[0032] The oriental container area A2 is an area where empty containers C are loaded onto the cart 1. The empty containers C are folded and stored in the oriental container area A2 in a stacked manner. A worker in the oriental container area A2 assembles the containers C to form them into a shape capable of storing products, and loads them onto the weighing units 10 of the cart 1. The containers C may be loaded onto all the weighing units 10, or may be loaded onto only the weighing units 10 for which product collection is planned based on a work instruction for the cart 1. In this case, in the oriental container area A2, information on the weighing units 10 for which product collection is planned for the cart 1 may be displayed on the liquid crystal display 5a of the cart 1. This information may be displayed, for example, by operating the touch panel 5b. In addition, the cart 1 may recognize that the cart 1 is present in the oriental container area A2 and display information on the weighing units 10 for which collection is planned, or an operator for prompting such display may be displayed on the touch panel 5b. The cart 1 loaded with the containers C moves to the picking start area A3.

[0033] The picking start area A3 is an area defined at the entrance of the picking area A10. The cart 1 starts picking work by passing through the picking start area A3. In a mode in which a picking worker performs picking work while running alongside the cart 1, the picking worker starts running alongside the cart 1 in the picking start area A3. When the picking worker performs login processing using the touch panel 5b or the button operation unit 7, the picking worker and the cart 1 are linked.

[0034] When a picking worker and a cart 1 are linked, work instructions for the cart 1 may be determined according to the identification information or attributes of the picking worker. After the picker and cart 1 are linked, cart 1 moves to picking area A10.

[0035] The picking area A10 is an area where multiple shelves S that store products to be picked are placed and where pickers perform picking work. The multiple shelves S are placed along the walls of the area or inside the area, and define an aisle along which the cart 1 can travel. In other words, the aisle T along which the cart 1 can travel is defined between the multiple shelves S. Map information that defines the areas within the warehouse W into areas where the cart 1 can travel and areas where it cannot travel is called map information.

[0036] The cart 1 repeatedly travels and stops in the picking area A10 to assist the picking work. Specifically, the cart 1 travels autonomously to the shelf S on which the product to be picked is stored, and stops near the shelf S. The picking worker identifies the product to be picked according to the picking work instructions displayed on the liquid crystal display 5a, and places the specified number of products into the container C on the cart 1, i.e., performs the picking work. When the picking work is completed, the cart 1 travels autonomously to the shelf S on which the next product to be picked is stored.

[0037] At this time, the picking worker may run alongside the cart 1, or one picking worker may perform picking work for multiple carts 1 running in a vertical line. The number of carts 1 is calculated by the picking system 100 calculating the volume of products included in the picking plan. With this configuration, one worker can perform picking work for multiple carts, making it possible to transport a large amount of products at one time. Also, the picking worker may wait for the cart 1 near the shelf S. That is, the picking worker waits for the cart 1 to autonomously travel and performs work on the cart 1 that has traveled. In this case, the picking worker does not need to log in to the cart 1. With this configuration, the picking worker does not need to travel alongside the cart 1, so the workload is reduced. Also, by arranging many picking workers in areas where picking work is required frequently and arranging fewer picking workers in areas where picking work is required less frequently, picking work can be performed efficiently with a small number of people.

[0038] When the picking work included in the picking work instruction is completed, the cart 1 moves to the transport area A4.

[0039] The transport area A4 is an area where the container C is transported after picking. A conveyor extending to the outside of the transport area A4 is provided in the transport area A4. For example, the container C is unloaded from the cart 1 by a transport worker in the transport area A4 and is taken out of the warehouse W via the conveyor. After the container C is unloaded, the cart 1 moves to the container area A2. If there is a next job, an instruction to load an empty container C is displayed on the cart 1, and the cart 1 waits for loading in the container area A2. If there is no next job, or if the battery capacity of the cart 1 is below a predetermined value, the cart 1 moves to the charging area A1. The predetermined value is, for example, the battery capacity predicted to be used in the next job.

[0040] The fully loaded container C may be transported to the transport area A4 by the cart 1 that transported the container C during the picking operation, or may be transferred to another cart in the picking area A10, and this cart 1 transports the container C to the transport area A4. This configuration is efficient because the fully loaded container C is transported to the transport area A4 without waiting for another container loaded on the same cart 1 to become fully loaded. Also, the cart 1 transporting the container C during the picking operation does not need to move to the transport area A4. This aspect is particularly useful when the picking operator waits for the cart 1 near the shelf S.

[0041] The holding area A5 is an area for storing containers C when products sufficient to meet the plan cannot be collected in the picking area A10. Containers C are stored in the holding area A5 when, for example, there is not enough stock of the product to be picked on the shelf S due to a delay in replenishing the shelf S or a shortage, and the product cannot be collected. When there is at least one container C for which picking work could not be completed, the cart 1 moves from the picking area A10 to the holding area A5 before moving to the transport area A4. When the shelf S is replenishing with products, the containers C stored in the holding area A5 are loaded back onto the cart 1, and the picking work is performed.

[0042] ●Shelves in the warehouse The shelves S arranged side by side in the warehouse W will be described in detail with reference to Fig. 6. Note that in Fig. 6(a), the partitions and products on the shelves S are omitted. As shown in FIG. 6(a), the shelf S has a storage section S101 for storing products, and a plurality of outlets are provided on the same surface and in the same direction. In the figure, each storage section S101 is divided by a horizontal shelf board, but in addition to this, it may be divided into left and right by a vertical partition. The storage section S101 may have openings on both sides of the shelf S, penetrating the shelf S. In this case, when replenishing the shelf S with products, the worker may store the products from the side of the storage section S101 from which the worker removes the products, or from the other side. By removing and replenishing the products from different sides, it is easy to implement a first-in, first-out system. In addition, since the worker who replenishing the products does not use the traffic lines of the picking worker and the cart 1, the traffic lines of each are secured, and work efficiency is good.

[0043] The shelves S1 and S2 arranged side by side form lanes L1, L2, and L3, respectively. The shelves S1 and S2 form lane L1. An aisle T is formed between lanes L1 and L2. The aisle T is a travel path for the cart 1, and has a width corresponding to the width of the cart 1, for example. The outlet of the shelf forming lane L1 and the outlet of the shelf forming lane L2 face each other. A picker can pick up products from lanes L1 and L2 in the aisle T and store them in the cart 1.

[0044] FIG. 6(b) is a schematic diagram showing the state of the storage section S101 of the shelf S1. There are multiple storage sections S101, which are divided into multiple tiers and rows. In the figure, the shelf S1 has three tiers D1, D2, and D3, and three rows R1, R2, and R3. In addition, products P11 to P33 are stored in each tier and row. The products are placed on the shelf S1, for example, in a state where each product is stored in a storage container. Note that in each tier and row, all sections may be separated by physical partitions, or there may be a section that does not have a partition between adjacent sections. The storage location of the products in the warehouse W is identified by information such as lane numbers indicating lanes L1 and L2, shelf numbers indicating shelves S1 and S2, tier numbers indicating tiers D1, D2, and D3, and row numbers indicating rows R1, R2, and R3. In the above explanation, an example is described in which products are stored on shelf S1. When products are stored on pallets or cardboard boxes laid flat on the floor, the tier numbers in the location information are all "1".

[0045] A display code B1 is attached to the shelf S. The display code B1 is, for example, a one-dimensional or two-dimensional barcode, and the code information can be read by the scanner 61. The display code B1 is attached to each storage section S101 of the shelf S. The code information includes location information such as an aisle number, a shelf number, a row number, a column number, and a floor (level) number. This location information is information that can identify the location of the product stored in each storage section S101. The location information may include a lane number instead of the aisle number. In addition, a display code B2 indicating the identification information of the product is attached to each of the products P11 to P33. The display codes of the products P11 to P33 may be attached to the products themselves or to the storage containers. The display codes B1 and B2 may be JAN codes, EAN codes, or UPC codes.

[0046] ● Functional section The picking system 100 includes a calculation unit such as a central processing unit (CPU) for executing information processing, and a storage device such as a random access memory (RAM) or a read only memory (ROM), in the control unit 20 of the cart 1 or the management device 2. As a result, the picking system 100 includes at least a map information storage unit, a location information linking unit, a location information storage unit, a picking plan acquisition unit, a product information storage unit, a worker information storage unit, an allocation unit, a speed control unit, a destination determination unit, a stop determination unit, a self-location recognition unit, a stop position update unit, a patrol control unit, and an obstacle detection unit as software resources. The control unit 20 executes a computer program for controlling the cart 1. The computer program can be provided by downloading via a network such as the Internet, or can be provided by recording it on various computer-readable recording media such as a CD-ROM. The above-mentioned functional units may be realized in part or in whole by the control unit 20 or by the management device 2. The management device 2 may be configured with one or more pieces of hardware, or may be a cloud computer. The management device 2 and the control unit 20 are each an example of a control means.

[0047] [Configuration for pegging processing within the warehouse] The map information storage unit, the product information storage unit, the location information linking unit, and the location information storage unit are functional units related to the process of linking a point in the warehouse W with information indicating the storage location of the product, mainly when the autonomous traveling cart is introduced, so that the cart 1 travels to the product to be picked. In other words, this process is performed as preparation before a series of picking operations.

[0048] The map information storage unit is a functional unit that stores map information including information on the aisles T along which the cart 1 can travel within the warehouse W on which the shelves S are placed. The map information is referenced so that the cart 1 can travel autonomously without colliding with the shelves S during picking operations. The map information is acquired by the cart 1 itself, for example, by running the cart 1 in a map generation mode. The map generation mode is a mode in which the cart 1 travels slowly within the warehouse W while detecting obstacles using the non-contact sensors 81, 82 or the contact sensor 91 of the cart 1. The picking system 100 can control the travel of the cart 1 based on the map information and the detection results by the sensors 81 and 91. This configuration allows the cart 1 to travel smoothly based on the stored map information, and is safe because the sensors 81 and 91 can detect obstacles and avoid collisions.

[0049] The product information storage unit is a functional unit that stores product identification information and product attributes. Product attributes include, for example, the weight or volume of the product. The product attributes may also include information such as the number of products that can be placed in one container C. The product information storage unit also stores product identification information in association with location information indicating the position of the shelf S and storage unit S101 on which the product is stored.

[0050] The location information linking unit is a functional unit that links location information to the map information based on code information read from the shelf S or the product by the reading means. That is, when the code information of the shelf S is read by the reading means, the location information linking unit directly sets the location information. Furthermore, in a warehouse that has been conventionally operated only with manual carts, data linking the product to the location information already exists. In such a case, the location information linking unit can indirectly set the location information by reading the code information of the product by the reading means and referring to the data linking the product to the location information. The location information linking unit acquires the stopping position of the cart 1 when the code information is read, and links the stopping position to the location information corresponding to the code information. The stopping position becomes the destination where the cart 1 should stop when collecting the product at the location information. The processing mode for linking the map information to the location information is started, for example, when a predetermined operation is received on the touch panel 5b. In this processing mode, the cart 1 may be moved and stopped by the operator, or may be moved and stopped automatically at fixed distances. The location information linking unit displays information on the liquid crystal display 5a, which is different from the picking work instruction, urging the operator to obtain code information by reading the display code of the shelf S or the product with the scanner 61 (see screen G25 in FIG. 21(a)). In this way, the picking system 100 can control the travel of the cart 1 based on the map information and the code information.

[0051] The location information storage unit is a functional unit that stores the map information, the code information, and the position of the cart 1 when the code information was read, which are linked by the location information linking unit. The destination determination unit, which will be described in detail later, refers to the work instruction assigned to the cart 1 and the information in the location information storage unit, and determines a stopping position for collecting the product included in the work instruction.

[0052] [Configuration for cart allocation process] The picking plan acquisition unit, the worker information storage unit, the allocation unit, and the speed control unit are functional units related to the process of allocating products to be picked up to the autonomously traveling cart 1 and the manual cart.

[0053] The picking plan acquisition unit is a functional unit that acquires the type and number of products to be picked by the picking system 100 at a predetermined time, i.e., a picking plan. The picking plan includes, for example, the type and number of products to be delivered during a certain work day or by a delivery time. The picking plan may be input by an operator via the management device 2, or may be received from another device via a network, etc.

[0054] As shown in FIG. 7, the worker information storage unit is a functional unit that stores identification information of a worker and at least attributes of the worker in association with each other. The attributes of a worker are information related to the physical strength or endurance of the worker, such as the worker's physique, muscle strength, or gender. The worker information storage unit may have information on the worker's physical condition and injury, which can be registered for each day or time of work. The worker information storage unit may store the weight of an allocable product or the total weight of a group of products for each worker. In the table of FIG. 7, for example, the physique, muscle strength, and physical condition are stored in five stages. In addition, the presence or absence of an injury is stored. The presence or absence of an injury may further include the location and degree of the injury. Furthermore, the weight per unit of the allocable product and the allocable total weight are stored. The weight per unit of the allocable product and the allocable total weight may be stored by input by the worker, or may be automatically calculated based on the attributes of the gender, physique, muscle strength, physical condition, and injury.

[0055] The allocation unit is a functional unit that allocates a picking plan to at least one cart and determines picking work instructions for each cart. The picking work instructions are a subdivision of the picking plan, and indicate information on products to be collected in a series of operations from when one cart 1 starts picking work in the picking area A10 until it returns to the container area A2. The allocation unit refers to the product information storage unit and calculates the weight of the products to be put into each container C. The allocation unit may determine the picking work instructions so that the total weight of the multiple containers C loaded on one cart does not exceed the load capacity of the cart. The allocation unit may also refer to the location information storage unit and determine the type of products to be loaded on one cart so that the total travel distance from the picking start area A3 to the transport area A4 is shortened.

[0056] The allocation unit allocates a picking task to either an autonomous cart or a manual cart depending on the attributes of the product included in the picking task. The attributes of the product may be, for example, a product classification, and may include information that the product is a beverage. For example, if the product classification is a beverage, the allocation unit may allocate the product to an autonomous cart because it is estimated to be heavy.

[0057] The allocation unit allocates picking work instructions in which the weight of the goods to be put into one container C is relatively large to the autonomous cart, and allocates picking work instructions in which the weight is relatively small to the manual cart. The allocation unit also allocates picking work instructions in which the total weight of the goods to be loaded into one cart is relatively large to the autonomous cart, and allocates picking work instructions in which the total weight is relatively small to the manual cart. According to this configuration, even when the picking system 100 includes both the autonomous cart and the manual cart and the autonomous cart and the manual cart are mixed, the heavy container C can be transported by the autonomous cart, so that the burden on the picking worker can be reduced. In addition, even if a business operator who has a small initial investment cost and cannot configure all carts with autonomous carts can conveniently use it. The allocation unit may calculate the weight of each picking work instruction that needs to be allocated, and determine which cart to allocate each picking work instruction to based on the number of autonomous carts and manual carts included in the picking system 100. In other words, the allocation unit compares the total weight calculated for each picking work instruction, determines whether the weight is relatively large or small, and assigns the relatively large picking work instruction to an autonomous cart and the relatively small picking work instruction to a manual cart.

[0058] When the allocation unit is mounted on the cart 1, the allocation unit of the autonomous cart may be configured to select a picking work instruction that has a relatively large weight or total weight among the picking work instructions, and the allocation unit of the manual cart may be configured to select a picking work instruction that has a relatively small weight or total weight.

[0059] In addition, the allocation unit may store a threshold value for the weight of goods to be placed into one container C or the total weight of a group of goods loaded onto one cart, and assign the picking work instruction to an autonomous cart if the weight or total weight is greater than or equal to the threshold, and assign the picking work instruction to a manual cart if the weight or total weight is less than the threshold.

[0060] The allocating unit may allocate a picking work instruction for a cart based on information of a picker who puts products into the cart. When a worker performs a login process for a cart, the allocating unit refers to the worker information storage unit, and allocates a picking work instruction with a large product weight or total weight of a group of products to the cart if the picker is large in build, has strong muscles, or is male. The allocating unit may also allocate a picking work instruction with a larger weight or total weight to the picker with a larger build or strength. The allocating unit may refer to the results of a physical fitness test of the picker, and allocate a picking work instruction with a larger weight or total weight to the picker with a higher evaluation value for his or her physical strength. With this configuration, the picker can efficiently perform picking work according to his or her physical strength or stamina. The information on the picking worker may be manually input before the process of assigning the picking work instruction.

[0061] Here, a function for manually changing the cart 1 assigned by the assignment unit will be described with reference to Figs. 8(a) and (b). Figs. 8(a) and (b) show an example of a screen displaying the progress of a picking work instruction. This screen is displayed on the display of the management device 2, for example.

[0062] FIG. 8(a) shows the scheduled shipping time, work instruction number, work instruction name, total weight, number of items, assigned cart, and status of each picking work instruction in association with each other. The "number of items" item may be the number of locations indicating the number of destinations to visit to collect the items, instead of the number of items. In this case, the total number of items may be displayed separately as the "number of items." The "allocated cart" item may include information on the cart type, including whether the cart 1 is an automatic cart or a manual cart. Also, the identification number of each cart 1 may be displayed. The "status" is information on whether the picking work instruction is in progress or not yet started.

[0063] FIG. 8(a) shows the result of cart 1 being automatically assigned by the assignment unit. Note that the assignment result in the figure may be a manual assignment by an administrator. Here, work order No. "001" and work order No. "005" are both assigned to "Autonomous Driving Cart No. 1." The work of work order No. "005" is performed after the work of work order No. "001" is completed.

[0064] The screen shown in FIG. 8(a) displays check boxes for selecting each picking work instruction on the screen. In the figure, work instruction No. "004" and work instruction No. "006" are selected. By selecting the check boxes in this way and then performing a confirming operation, the cart 1 assigned to the work instruction, particularly the cart type, can be changed. In this example, since the work for work instruction No. "004" is likely to be delayed, it is replaced with the cart 1 assigned to work instruction No. "006". As a result, as shown in FIG. 8(b), the cart assigned to work instruction No. "004" has been changed from a manual cart to an autonomous cart.

[0065] It should be noted that the assigned cart cannot be changed for a picking work instruction whose "status" is "in progress." Therefore, it may be possible to narrow down and display only picking work instructions whose "status" is "not started" on the screen shown in FIG. 8(a). When only picking work instructions whose "status" is "not started" are displayed, it is possible to select a check box and change the cart type. With this configuration, only picking work instructions whose cart type can be changed can be viewed, making it easy to change the cart type.

[0066] The speed control unit controls the travel speed of the autonomously traveling cart 1 by the drive control unit 29. The speed control unit changes the travel speed according to the weight of the product loaded on the cart 1. More specifically, the heavier the product, the slower the travel speed is. With this configuration, even when the cart 1 loaded with a heavy product turns right or left or meanders, centrifugal force can be suppressed to prevent the cart 1 from tipping over. In addition, the impact when the cart 1 hits an obstacle can be reduced.

[0067] [Configuration for control during autonomous driving] The destination determination unit is a functional unit that determines a destination where the cart 1 stops. The destination determination unit determines multiple destinations of the cart 1 in the picking area A10 based on a picking work instruction. That is, the destination determination unit refers to location information linked to the product included in the picking work instruction and determines the stop position set for each product as the destination of the cart 1. The destination determination unit may determine the order of arrival of multiple destinations determined in association with the products. The destination determination unit may determine the multiple destinations to be arrived in order of proximity to the current position, or may determine the destinations so that the total travel distance or total travel time is the shortest. In other words, the destination determination unit determines the travel route of the cart 1 in the warehouse W, for example, in the picking area A10.

[0068] The destination determination unit may determine the stopping position of the cart 1 for each commodity depending on the position on the cart 1 of the container C into which the commodity is to be placed. More specifically, the destination determination unit may stop the cart 1 at a position a predetermined distance away from the specified stopping position depending on the position on the cart 1 of the container C into which the commodity is to be placed. For example, the destination determination unit may stop the cart 1 forward in the traveling direction from the specified stopping position for a commodity to be placed into a container C placed on the weighing units 10a, 10c at the rear in the traveling direction. Also, the destination determination unit may stop the cart 1 backward in the traveling direction from the specified stopping position for a commodity to be placed into a container C placed on the weighing units 10b, 10d at the front in the traveling direction.

[0069] The destination determination unit may set different stopping positions when loading containers C placed on the upper weighing units 10a and 10b and when loading containers C placed on the lower weighing units 10c and 10d. The stopping positions changed according to the positions of the containers C may be applied only to the cart 1 without being stored in the location information storage unit.

[0070] The destination determination unit may determine movement between the areas in the warehouse W, i.e., the charging area A1, the container area A2, the picking start area A3, the picking area A10, the transport area A4, and the holding area A5. For example, when the destination determination unit receives an instruction to move to the container area A2 in the charging area A1, the destination determination unit may determine the next destination of the cart 1 to be the container area A2. When a container C is loaded on the cart 1 in the container area A2, the destination determination unit may determine the destination of the cart 1 to be the picking start area A3. When the picker and the cart 1 are linked in the picking start area A3, the destination determination unit may determine the destination of the cart 1 to be the picking area A10.

[0071] When a specific condition based on the state of the cart 1 or the progress of the picking operation is satisfied, the destination determination unit determines a destination set corresponding to the condition as the destination of the cart 1. The state of the cart 1 is, for example, the capacity of a battery mounted on the cart 1. In other words, when the battery capacity is equal to or less than a predetermined value, the destination determination unit may determine the destination of the cart 1 to be the charging area A1.

[0072] The state of the cart 1 may be the weight measured by the weighing unit 10 of the cart 1. The destination determination unit compares the weight measured by each weighing unit 10 with the designated weight to be placed on the weighing unit 10, and when the measured weight is greater than the designated weight, or when it is expected that the weight will exceed the designated amount during the introduction of the goods, it decides to move to the next destination. The designated weight is calculated based on the picking work instruction. When the container C is heavier than the designated weight, it requires a lot of effort, especially for a worker outside the warehouse W, to carry the container C. Therefore, when the weight of the container C is heavier than the designated weight, the destination determination unit decides to interrupt the introduction work into the container C and move to the next destination. The next destination is, for example, the transport area A4, but may also be a storage location of another product included in the picking work instruction.

[0073] The state of the cart 1 may be an abnormality or a malfunction of the cart 1. When an abnormality or a malfunction of the cart 1 is detected, the destination determination unit moves the destination of the cart 1 to outside the picking area A10, for example, to the charging area A1.

[0074] The destination determination unit may determine the destination to be the transport area A4 when the locations of all the products included in the picking work instruction are reached in the picking area A10. That is, the destination determination unit moves the cart 1 containing the products that have been picked up in the picking work to the transport area from which the products are to be removed. When there is at least one product that has not been picked up, the destination determination unit may determine the holding area A5 as the destination after the locations of all the products are reached. With this configuration, it is possible to prevent a container C that has not been picked up from being transported to the transport area A4, and to reliably reserve the container C in the holding area A5.

[0075] The destination determination unit may determine, as the destination, a position indicated by location information corresponding to the code information read by the scanner 61. In this case, for example, a list listing barcodes corresponding to destinations is prepared in advance. With this configuration, the cart 1 can be made to travel autonomously even in an emergency, such as when the touch panel 5b is inoperable. Furthermore, when the display code of a product is read, the destination determination unit may determine, as the destination, a position indicated by location information corresponding to this code information. With this configuration, even in the task of replenishing products on the shelf S, the cart 1 can be made to travel autonomously to the shelf S. In other words, the cart 1 can be used as a transport machine for replenishing products.

[0076] Movement to the destination may be started immediately when the destination is determined. Also, after displaying the fact that the destination has been determined on the liquid crystal display 5a, the operator may be prompted to input a movement permission, and when the input is accepted, the movement may be started. Also, the movement may be determined in advance according to the destination, whether to start the movement immediately or to start the movement after the operation of the movement permission is accepted. For example, when the storage positions of all the products included in the picking work instruction are reached, the movement to the transport area A4 may be started immediately. Also, when there is a container C that has not been picked sufficiently, the movement to the holding area A5 may be started after the operation of the movement permission is accepted. When an abnormality or a malfunction of the cart 1 is detected, the fact may be displayed on the liquid crystal display 5a, and the operation of the movement permission may be accepted. In this case, the destination determination unit may accept the input of the destination via the touch panel 5b or the button operation unit 7.

[0077] The stop determination unit is a functional unit that determines whether or not to stop on the route to the destination. The stop determination unit refers to the current time and determines whether to continue running or to stop the cart 1 at a specific point on the map based on whether the current time matches a preset condition. The carts 1 running in the same warehouse W have different conditions for continuing running at the specific point. In other words, the carts 1 are controlled as if a traffic light were installed at an intersection to stop and proceed. In this case, the times are synchronized between the carts 1 running in the same warehouse W. According to this configuration, collisions of the carts 1 at intersections can be avoided without communicating with a higher-level control system such as the management device 2.

[0078] When the non-contact sensors 81, 82 detect another cart while the cart 1 is traveling, the stop determination unit may determine whether to allow the cart 1 to continue traveling or to stop temporarily based on a command from the management device 2. The cart 1 having priority continues traveling and enters the intersection, while the other cart stops temporarily. With this configuration, collisions at intersections can be avoided with an inexpensive configuration without using an advanced control system.

[0079] The self-location recognition unit is a functional unit that recognizes its own location using code information when the cart 1 is unable to recognize its own current location. In a state where location information is linked to map information, the location information storage unit stores where the display codes B1 and B2 of the shelf S and the product are located on the map information. When the self-location recognition unit receives code information of the shelf S or the product by the scanner 61, the self-location recognition unit refers to the location information storage unit and causes the cart 1 to recognize its current location again based on the location information corresponding to the acquired code information. At this time, the self-location recognition unit displays a notification on the liquid crystal display 5a as information different from the picking work instruction, urging the cart 1 to read the display codes B1 and B2 of the shelf S or the product in the vicinity (see screen G26 in FIG. 21(b)). Conventionally, when recovering from the loss of its own location, it was necessary to move the cart 1 to a recovery point that was set in advance. In contrast, according to the above-mentioned configuration, if the cart 1 is in the vicinity of the shelf S or the product stored in the shelf S, the cart 1 can easily recognize its own location.

[0080] The stop position update unit is a functional unit that updates the stop position of the cart 1 when picking up each product. Depending on the shape of the product, the manner in which it is stored on the shelf S, the physique of the picker, etc., the stop position stored in the location information storage unit may cause inconvenience during picking. Therefore, it is desirable for the picker to be able to easily adjust the stop position.

[0081] The stop position update unit accepts the movement of the cart 1 by the worker when the cart 1 is stopped near the shelf S and the picking operation of the product is being performed. The cart 1 may be moved forward, backward, left, right, and right in response to pressing of a direction input key displayed on the liquid crystal display 5a. Alternatively, the cart 1 may be moved by a separate physical key or controller. Furthermore, the cart 1 may be moved manually by the worker. The worker moves the cart 1 to a position where the picking operation of the product is easy. Then, when the stop position update unit accepts a specific operation by the worker, such as pressing of a button for updating the position, the stop position update unit stores the current position of the cart 1 as the stop position for the product. According to this configuration, the stop position can be easily adjusted during the picking operation. In particular, the worker can adjust the stop position on the spot while actually checking the stop position, and a separate operation by the manager is not required, so that a simple and highly accurate adjustment is possible.

[0082] The stop position update unit may store the stop position of the cart 1 for each product in the location information storage unit in association with the identification information of the picker. In particular, the stop position after update may be stored in association with the identification information of the picker who performed the update process described above. With this configuration, the picker can log in to set the stop position of the cart 1 according to the picker.

[0083] [Functional departments related to peripheral business] The patrol control unit is a functional unit that patrols the cart 1 regardless of the location information. The patrol control unit, for example, causes the cart 1 to travel on a route that comprehensively patrols the entire picking area A10 or the entire warehouse W. According to this configuration, for example, cleaning tools such as a mop or wiper for cleaning the floor surface can be connected to the cart 1 and the cart 1 can be traveled to clean the floor surface. In addition, the cart 1 can be used as a trash collection cart by carrying a trash box and patrolling the warehouse W or waiting in the main passage. In the warehouse W, trash such as cardboard boxes and bands used to pack products is generated, and conventionally, workers have to go to the trash box to throw it away, but according to this configuration, the trouble of going to throw it away can be eliminated. Furthermore, before starting the picking work, the cart 1 may be traveled comprehensively to check whether there are any obstacles. By removing obstacles in advance, the efficiency of the picking work can be improved.

[0084] Regarding use in peripheral tasks different from such picking work, it is advisable to use an available cart 1 when the number of tasks included in the picking plan is small compared to the number of carts 1. The picking system 100 may refer to the picking plan and the number of carts 1 to determine whether or not there are carts 1 that can be controlled by the patrol control unit and the number of carts 1. The picking system 100 may start the running of the cleaning carts 1 before the picking work instruction is sent or when all picking plans are completed, or may start the running at a specified time.

[0085] The travel control unit may decide to move the cart 1 to a destination indicated by specific location information when a specific condition is met. The specific condition includes, for example, that the weight of the trash can placed on the weighing unit 10 is equal to or greater than a predetermined value, particularly that the trash can is fully loaded. The specific location information is, for example, a trash collection site. According to this configuration, when the trash can is fully loaded, it can be automatically transported to the trash collection site, which is convenient as it eliminates the need for an operator to transport the trash.

[0086] The obstacle detection unit is a functional unit that stops the cart 1 when the non-contact sensors 81, 82 or the contact sensor 91 detects an obstacle. The obstacle detection unit may also determine whether or not the object detected by the non-contact sensor 81 is a human, and vary the next action of the cart 1 depending on the determination result. The obstacle detection unit may recognize a unique shape specific to a person and determine whether or not it is an obstacle. For example, the obstacle detection unit may obtain the shape of an obstacle near the floor surface, and determine that the obstacle is a person if the shape of the feet can be read.

[0087] When the obstacle detection unit determines that the obstacle is a person, it may issue a voice message such as "please let me through" requesting the person to move out of the way. When the obstacle is a person, the cart 1 may wait in place until the person moves out of the way. When the obstacle detection unit determines that the obstacle is not a person, it issues a message urging the worker to remove the obstacle via a notification means such as the light emitted by the sign pole 102, a buzzer, or the liquid crystal display 5a. This configuration is particularly useful when the picking worker is not traveling alongside the cart 1.

[0088] ●Screen example FIG. 9(a) is an example of the worker setting screen G1 displayed on the liquid crystal display 5a. As shown in the figure, the worker setting screen G1 is divided into a work screen G1a, a work message screen G1b, and an autonomous driving control screen G1c. The work screen G1a is a field where information and input fields related to picking work are displayed. The work message screen G1b is a field where operation guidance and replenishment explanations related to the operation status of the cart are displayed according to the work flow. The autonomous driving control screen G1c is a field where information and input fields related to the autonomous driving of the cart 1 are displayed.

[0089] The worker setting screen G1 is a screen for inputting a worker's identification number and performing login processing for the picking worker who will perform the picking work with the cart 1. The work screen G1a displays a worker number display field G1d, a numeric keypad display field G1e for receiving input of the worker number, a confirmation key G1f, etc. When the login processing for the picking worker is completed, the screen transitions to the menu screen G2 shown in FIG. 9(b).

[0090] As shown in Fig. 9(b), the menu screen G2 displays selectable pre-processing such as start-up inspection to be performed before picking work. Before the start-up inspection, the self-position setting button G2a for setting the self-position is inactive and cannot be selected.

[0091] The screen G3 shown in Fig. 10(a) is a display screen after the start-up inspection has been performed. After the start-up inspection has been performed, the self-location setting button G2a is active and selection is permitted. In addition, the work message screen G1b displays a guide to set the self-location when autonomous driving starts. When the self-location setting button G2a is selected, the screen transitions to screen G4 in Fig. 10(b).

[0092] As shown in FIG. 10(b), the autonomous driving control screen G4c of the self-position designation screen G4 displays areas that are set in advance as candidates for the self-position. Areas that are recognized in advance as the self-position include, for example, the charging area A1, the orienting area A2, the working area 1, the working area 2, the transport area 1, and the transport area 2. The working area 1 and the working area 2 are areas within the picking area A10. The transport area 1 and the transport area 2 are areas within the transport area A4. When an area is selected on the screen G4, the self-position of the cart 1 is determined in the picking system 100. In other words, the worker stops the cart 1 in any of the areas that are recognized in advance as the self-position, and then selects the area, thereby causing the picking system 100 to recognize the self-position of the cart 1.

[0093] When the user's own position is determined on the user's own position designation screen G4, the shipping key G41a shown on the work screen G1a in Fig. 10(b) becomes selectable. When the shipping key G41a is selected, the screen transitions to the movement start screen G5 shown in Fig. 11(a). As shown in FIG. 11(a), the movement start screen G5 displays that the next destination is the Oricon area, and prompts the operator to select the movement start key G5c.

[0094] When the start movement key G5c is selected, the screen transitions to the moving screen G6 in Fig. 11(b). The work screen G1a of the screen G6 displays that the cart 1 is moving autonomously to the Oricon area. The start movement key G5c changes to a stop movement key G6c, and the work message screen G1b displays a guide to press the stop movement key G6c when stopping the autonomous travel of the cart 1.

[0095] In the following description, the instruction to start moving may be input only by the button operation unit 7, instead of inputting the start moving key G5c on the touch panel 5b. This configuration reduces the risk of erroneous operation that causes the cart 1 to start moving by mistake, and allows the cart 1 to be safely controlled. The start moving key G5c is active only when there is a display on the work screen G1a or the work message screen G1b prompting the user to select the start moving key G5c, and is inactive otherwise. This configuration also makes it possible to prevent the cart 1 from moving unintentionally due to erroneous operation.

[0096] The work instruction confirmation screen G7 shown in FIG. 12(a) is a confirmation screen for work instructions displayed in the container area A2. When a customer group is selected from the customer group selection field G7a on the work instruction confirmation screen G7 and the start key G7b is selected, the cart 1 or the management device 2 checks whether or not there is a work instruction for the cart 1 in the picking plan for the customer group. Here, "SS" in the figure is an example of the name of a retail store such as a supermarket, a convenience store, or a general store. If there is a work instruction for the cart 1 to work, the printing mechanism unit 41 prints a label containing information corresponding to the work instruction, that is, a shipping label. The shipping label contains information such as the type, quantity, and weight of the product, the shipping destination of the product, and identification information given to the container C. At this time, the worker in the container area A2 loads the cart 1 with the number of containers C corresponding to the number of labels to be issued, and attaches the shipping label to each container C.

[0097] When the start key G7b is selected on the work instruction confirmation screen G7, if there is no work instruction for the cart 1, the screen transitions to a movement start screen G21 shown in FIG. 19(a). The movement start screen G21 displays a message informing the operator that movement to the charging area will start and a message encouraging the operator to press the movement start key G5c. When the movement start key G5c is pressed, the cart 1 starts moving to the charging area A1, and the moving screen G22 shown in FIG. 19(b) is displayed on the liquid crystal display 5a. The movement start key G5c changes to a movement stop key G6c. The work message screen G1b displays a message informing the operator to press the movement stop key G6c when stopping the autonomous traveling.

[0098] When there is a work instruction for the cart 1, once the issuance of the shipping label is completed, the screen transitions to the label / scale binding screen G8 shown in Fig. 12(b). Note that the transition from the work instruction confirmation screen G7 to the label / scale binding screen G8 may be triggered by the issuance of the shipping label, instead of by the detection that the same number of containers C as the shipping labels are loaded on the weighing unit 10, or the screen transitions to the label / scale binding screen G8 when the operator performs a specified input on the touch panel 5b or button operation unit 7 after the shipping label is issued or the containers C are loaded.

[0099] The label / scale binding screen G8 displays an instruction to scan the shipping label and scale barcode. The scale barcode is a barcode that is affixed to each weighing unit 10. When the scanner reads the shipping label and scale barcode one by one, the weighing unit 10 and the shipping label are bound together. In other words, the type and quantity or weight of the product to be loaded on each weighing unit 10 are bound together. This binding operation is performed the same number of times as the number of containers C. This operation allows the picking system 100 to check whether the picking operation is being performed accurately, and ensures the accuracy of the picking operation.

[0100] Screens G9 to G16 shown in Figs. 13 to 16 are screens displayed on the liquid crystal display 5a of the cart 1 when assisting in picking work in the picking area A10. The screens when assisting in picking work are broadly divided into picking work screens G9, G13 to G16 that mainly display work instructions and the like when the cart 1 stops, and autonomous driving screens G10 and G11 that are displayed during and before and after the autonomous driving of the cart 1. In the picking work screens G9, G13 to G16, when there is a picking target product at the current destination or stopping position (hereinafter also referred to as the "first picking target product"), and a picking target product at the next destination to be headed for after reaching the current destination (hereinafter also referred to as the "second picking target product"), information on the second picking target product is displayed. In the example shown in the figure, location information "31-01-14-02-04" and the product name "QQ Roasted Sesame Dressing" are displayed as information on the first picking target product. In the example shown in the figure, location information "31-01-26-01-02" and the product name "M Oyster Sauce" are displayed as information about the second picking target product. This information is, for example, the product name and location information. That is, in the picking work screens G9, G13 to G15, the current destination of the autonomous driving cart 1, the next destination to which the cart will move after reaching the current destination, and information about the autonomous driving are displayed on the same screen. Note that the screen G16 is a screen when all picking work for the picking target products is completed, so neither the first nor the second picking target product is displayed. The autonomous driving screens G10 and G11 display the first picking target product, but not the second picking target product.

[0101] The movement start screen G9 shown in Fig. 13(a) is an example of a screen displayed on the liquid crystal display 5a in the picking area A10. The work screen G1a displays at least the name of the product to be picked at the next destination, its identification information, and code information as location information that identifies the storage section of the product. In the figure, a JAN code is displayed as the identification information. In addition, an image or illustration of the product may be displayed on the screen G9.

[0102] When the movement start key G5c is selected on the screen G9, the screen transitions to the screen G10 shown in FIG. 13(b). The screen G10 displays location information of the destination on the work screen G1a, and displays that the cart is moving to the destination. Also, on the screen G9, the movement speed of the autonomously traveling cart 1 is displayed on the same screen as information indicating that the autonomously traveling cart 1 is autonomously traveling. On the screen G9, that is, during movement, a movement stop button G5b is displayed instead of the movement start key G5c. A predetermined sound or music may be played while the cart 1 is autonomously traveling. Additionally, screens G8 and G9 display the name of the product to be picked, its identification information, and the message "Please scan the product's barcode." In other words, the scanner 61 is ready to receive the reading of the product's barcode. The product's barcode read in this process may be the barcode attached to the product itself, or the display code B2 attached to the box in which the product is stored. The barcode and the display code B2 may be the same.

[0103] When the cart 1 arrives at the destination, the cart 1 stops and transitions to a screen G11 shown in FIG. 14. Based on an input to the touch panel 5b or the button operation unit 7, the screen moves to a picking work screen G13 shown in FIG. 15(a). Note that when the cart 1 arrives at the destination, the screen may automatically transition to the picking work screen G13. When the barcode of the product is read on the picking work screen G13, the screen transitions to a product insertion screen G14 shown in FIG. 15(b). On the work screen G1a of the product insertion screen G14, a container display field G14a corresponding to the container C mounted on the cart 1 is displayed, and the field corresponding to the container C being inserted is displayed in a different manner from other containers C. In the example of the same figure, the state in which the barcode of the product linked to the weighing unit 10b of the cart 1 is read is shown. In addition, the number of pieces to be inserted included in the work instruction and the number of pieces currently inserted are displayed.

[0104] 16, when the number of items added in the container display field G14a becomes the same as the number of items included in the work instruction, a Confirm button G15a is displayed on the screen. When the Confirm button G15a is pressed, the weighing of the items on the weighing unit 10b is completed, and the contents of the container C are confirmed. Next, if there is a work instruction for another item, the screen transitions to the screen G13, and this is repeated until the work instructions for all items are completed.

[0105] If the picker is unable to pick products that satisfy the plan from the shelf S, the picking operator may select the skip button G14b on the product input screen G14. When the skip button G14b is selected, the work instruction for the product is suspended regardless of the number of products input, and the screen may transition to screen G13. When the skip button G14b is selected and there is at least one container C for which the work instruction has been suspended, the container C is moved from the picking area A10 to the holding area A5 before moving to the transport area A4, and the container C is transported to the holding area A5. Furthermore, when the replenishment request label button G13a is selected on the picking work screen G13, a replenishment request label displaying information regarding replenishment to the shelf S, i.e., the type and number of products that need to be replenished to the shelf S, and identification information of the container C for which the picking work could not be completed, is issued from the printing mechanism 41. Furthermore, the information regarding replenishment may be transmitted to the management device 2 or another external terminal instead of or in addition to being printed on the replenishment request label, and the inventory manager of the shelf S may be notified of the information.

[0106] When all work instructions for the cart 1 are completed, the screen transitions to screen G16 shown in FIG. 16(b). The container display field G14a of screen G16 displays "Complete" for all containers C, indicating that all work instructions have been completed. When the Confirm button G16a is selected, the screen transitions to screen G17 shown in FIG. 17(a). Screen G17 displays a message indicating that the cart will move to the transport area A4, and the start movement key G5c is actively displayed. When the start movement key G5c is selected, the cart 1 starts autonomous traveling. Furthermore, the liquid crystal display 5a displays screen G18 shown in FIG. 17(b) during autonomous traveling.

[0107] In the transport area A4, a screen G19 shown in Fig. 18(a) is displayed. This screen G19 displays a message that the container C will be discharged in the transport area A4, and a guide to select the movement start key G5c when the discharge is completed. When the movement start key G5c is selected, the cart 1 starts autonomous travel to the oricon area A2. In addition, the liquid crystal display 5a displays a screen G20 shown in Fig. 18(b) during autonomous travel.

[0108] 20(a) is an example of a screen displayed on the liquid crystal display 5a when an obstacle is detected during autonomous traveling of the cart 1. The cart 1 may detect the obstacle using the non-contact sensors 81, 82 or the contact sensor 91. This screen displays a message that an obstacle has been detected and prompts the operator to remove the obstacle.

[0109] The cart 1 may display differently when an obstacle is detected by the non-contact sensors 81 and 82 than when it is detected by the contact sensor 91. For example, when an obstacle is detected by the contact sensor 91, a screen G24 shown in FIG. 20(b) may be displayed on the liquid crystal display 5a. In addition, the operation for resuming the autonomous traveling may be different when an obstacle is detected by the non-contact sensors 81 and 82 than when it is detected by the contact sensor 91. For example, when an obstacle is detected by the non-contact sensors 81 and 82, the cart 1 may resume traveling by detecting that the obstacle has been removed. When an obstacle is detected by the contact sensor 91, the cart 1 may resume traveling by having the operator select an emergency stop release button after removing the obstacle. The emergency stop release button is realized by, for example, the button operation unit 7.

[0110] In addition, the picking system 100 may notify the user of any abnormality or malfunction in the cart 1 through notification means such as the light emitted by the sign pole 102, a buzzer, or the liquid crystal display 5a. Also, the notification may be made in different ways depending on the type of abnormality or malfunction.

[0111] According to the picking system according to the present embodiment described above, picking work in a warehouse can be carried out efficiently.

[0112] Summary of the implementation form The present invention relates to a picking system.

[0113] Picking systems are known that assist in the picking work of storing products in a warehouse onto carts. Logistics warehouses are facing a chronic labor shortage problem, and the demand for self-propelled picking carts is increasing.

[0114] Patent document 1 is JP 2019-1890380 A.

[0115] Therefore, one of the objects of the present invention is to efficiently perform picking operations in a warehouse.

[0116] In order to achieve the above-mentioned objective, the picking system of the present invention comprises an autonomously driven cart that assists a worker in the picking work of collecting specified products from shelves, and a control means for controlling the autonomously driven cart, wherein the autonomously driven cart has a memory means for storing map information including information of the aisles along which the autonomously driven cart can travel within a space in which the shelves are placed, a reading means for acquiring code information from display codes arranged within the space, and a sensor for detecting objects at least ahead in the direction of travel, and the control means controls the travel of the autonomously driven cart based on the map information and at least one of the detection results of the sensor and the code information.

[0117] The autonomously traveling cart may further include an alarm means for alarming an operator, and the control means may alarm a picking work instruction indicating the specified product via the alarm means, and the control means may alarm, via the alarm means, information different from the picking work instruction, prompting the reading means to obtain the code information.

[0118] The control means may link location information to the map information based on code information read from the shelf or the product by the reading means.

[0119] The control means may refer to the location information corresponding to the code information acquired by the reading means, and determine the current position of the autonomous driving cart based on the map information linked to the location information.

[0120] The control means may stop the autonomously driving cart at a stopping position set for the product during the picking operation, and the control means may be configured to store the current position of the autonomously driving cart as the stopping position for the product when a specific operation is received.

[0121] The control means may move the autonomous cart to a destination according to the location information that corresponds to the code information acquired by the reading means.

[0122] The autonomous cart may be equipped with a display unit that displays, on the same screen, the current destination of the autonomous cart, the next destination to which the autonomous cart will head after reaching the current destination, and information regarding autonomous driving.

[0123] The autonomous driving cart may include a display unit that displays information indicating that the autonomous driving cart is autonomously driving and the travel speed of the autonomous driving cart on the same screen.

[0124] According to the picking system of the present invention, picking work in a warehouse can be carried out efficiently. [Explanation of symbols]

[0125] 100 Picking System 1 Cart 5a LCD display 5b Touch Panel 10. Weighing Section 20 Control section 61 Scanner 81 Non-contact sensor 82 Non-contact sensor 91 Contact Sensor 102 Sign Pole 2 Management device C Container S shelf

Claims

1. A picking system that assists a worker in picking a specified product from a shelf, comprising: an autonomous cart into which the products to be collected are placed; A control means for controlling the autonomous cart; Equipped with The autonomous cart includes: a storage means for storing map information including information on paths along which the autonomous cart can travel within the space in which the shelf is placed; A reading means for acquiring code information from a display code disposed within the space; A sensor that detects an object ahead in at least a traveling direction; A display unit that displays a current destination of the autonomous cart and information related to the autonomous driving on the same screen; having the control means controls the traveling of the autonomous cart based on the map information and at least one of the detection result of the sensor and the code information. Picking system.

2. A picking system that assists a worker in picking a specified product from a shelf, comprising: an autonomous cart into which the products to be collected are placed; A control means for controlling the autonomous cart; Equipped with The autonomous cart includes: a storage means for storing map information including information on paths along which the autonomous cart can travel within the space in which the shelf is placed; A reading means for acquiring code information from a display code disposed within the space; A sensor that detects an object ahead in at least a traveling direction; a display unit that displays information indicating that the autonomous driving cart is autonomously driving and a moving speed of the autonomous driving cart on the same screen; having the control means controls the traveling of the autonomous cart based on the map information and at least one of the detection result of the sensor and the code information. Picking system.

3. The control means associates location information with the map information based on code information read from the shelf or the product by the reading means. The picking system according to claim 1 or 2.

4. The control means refers to the location information corresponding to the code information acquired by the reading means, and determines a current position of the autonomous driving cart based on the map information linked to the location information. The picking system according to claim 3.

5. The control means stops the autonomously traveling cart at a stopping position set for the product during the picking operation, When the control means receives a specific operation, the control means stores a current position of the autonomous cart as the stopping position for the product. The picking system according to claim 3 or 4.

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