Picking assistance robot and picking assistance system

Abstract

To provide a picking auxiliary robot that can assist an operator to efficiently pick or stocktake articles.SOLUTION: A picking auxiliary robot comprises: an RFID reader with an antenna that is provided in a position where an RFID tag is readable when an article is stored in a storage part for storing articles to which RFID tags are attached; a terminal unit for receiving picking / stocktaking instructions; a mobile body which moves to a location where an article is disposed, on the basis of information related to an article location contained in a picking / stocktaking instruction; a storage determination part for determining that an article to which an RFID tag is attached has been stored in the storage part, on the basis of an RFID tag reading result according to the RFID reader; and a counting part for counting the number of articles that have been determined to be stored in the storage part. The counting part counts the number of articles that have been determined to be stored in the storage part in a mode of reading an RFID tag attached to an article contained in the picking / stocktaking instruction.SELECTED DRAWING: Figure 1B

Description

[Technical Field]

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

[0002] Conventionally, there has been a picking cart that includes a plurality of storage sections for storing products with RFID tags attached thereto, and a plurality of RFID antennas that are respectively placed in the plurality of storage sections and that read information from the RFID tags, each of the plurality of RFID antennas having directivity in a predetermined direction and positioned so as not to read information from the RFID tags stored in storage sections other than the one storage section in which the RFID antenna is placed. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Patent Publication No. 2021-054603 Summary of the Invention [Problem to be solved by the invention]

[0004] However, conventional picking carts are not self-propelled, so workers must move the picking cart to the desired location, which makes it difficult for workers to work efficiently. Also, while they can assist workers in picking, they are not suitable for inventory taking.

[0005] Therefore, an object of one embodiment of the present invention is to provide a picking assist robot and a picking assist system that can assist a worker in efficiently picking or inventorying items. [Means for solving the problem]

[0006] a mobile body equipped with the storage unit and the RFID reader and moving to a position where the item is to be placed based on information regarding the location of the item included in the picking instruction or the inventory instruction; a storage determination unit that determines that the RFID-tagged item has been stored in the storage unit based on the result of reading the RFID tag by the RFID reader; and a counting unit that counts the number of items determined to be stored in the storage unit by the storage determination unit, wherein the counting unit counts the number of items determined to be stored in the storage unit in a picking mode in which the RFID tag attached to the item included in the picking instruction is read, or in an inventory mode in which the RFID tag attached to all of the items included in the inventory instruction is read.

[0007] According to this aspect, a picking assist robot can be provided that moves to a shelf where an item included in a picking instruction is located, thereby assisting a worker in efficiently picking or inventorying items. Also, a picking assist robot can be provided that is capable of counting the number of items stored in a storage unit in both picking and inventorying operations. Furthermore, a single picking assist robot can be used to count items in both picking and inventorying operations. Also, a picking assist robot can be provided that is capable of counting the number of items with high accuracy in inventorying operations.

[0008] In a picking assist robot according to another aspect of an embodiment of the present invention, when the counting unit is in the inventory mode, the storage determination unit may ignore the re-reading of the RFID tag attached to an item that has been determined to be stored in the storage unit.

[0009] According to this aspect, even if an RFID tag is read again when an item that has been placed in a storage section for counting items during inventory is removed from the storage section after the counting for inventory is completed, the second read is ignored, so the number of counts in the counting section does not increase, and a picking assistance robot can be provided that is easy to use and can count the number of items during inventory with high accuracy.

[0010] In a picking assist robot according to another aspect of an embodiment of the present invention, the storage determination unit determines that an item having an RFID tag attached thereto has been stored in the storage unit when the same RFID tag is read by the RFID reader a predetermined number of times or more within a predetermined time period, and the storage determination unit may not determine that an item having an RFID tag attached thereto has been stored in the storage unit when the RFID tag attached to an item that has been determined to be stored in the storage unit is read again a predetermined number of times or more within the predetermined time period when the counting unit is in the inventory mode.

[0011] According to this aspect, a picking assistance robot can be provided that can suppress erroneous readings due to multi-path, etc., determine with high accuracy whether an item has been stored in a storage section, and count the number of items during inventory with higher accuracy.

[0012] A picking assistance robot according to another aspect of an embodiment of the present invention further includes an excess / shortage information acquisition unit that acquires excess / shortage information indicating whether the actual inventory quantity is in excess or short of the theoretical inventory quantity when the theoretical inventory quantity of the item included in the inventory instruction does not match the actual inventory quantity of the item counted by the counting unit in the inventory mode, and the terminal device may transmit the excess / shortage information acquired by the excess / shortage information acquisition unit to a higher-level management device.

[0013] According to this aspect, a picking assistance robot can be provided that can accurately determine the surplus or shortage of actual inventory relative to the theoretical inventory quantity during inventory, and can reliably transmit accurate surplus or shortage information to a higher-level management device.

[0014] In a picking assistance robot according to another aspect of an embodiment of the present invention, when an operator performs an operation on the terminal device indicating the completion of the inventory work, the counting unit may determine the number of items counted in the inventory mode as the actual inventory quantity.

[0015] According to this aspect, since the actual inventory quantity can be determined when the worker confirms that the inventory work is completed, it is possible to provide a picking assistance robot that can reliably and accurately count the actual inventory quantity. The worker simply visually checks whether there are any items remaining to be counted in the inventory work and operates the terminal device to indicate that the inventory work is completed.

[0016] A picking assistance system according to one aspect of the present disclosure is a picking assistance system including a server and a picking assistance robot according to any of the above aspects, wherein the server has an instruction management unit that transmits the picking instructions.

[0017] According to this aspect, a picking assist robot moves to a shelf where an item included in a picking instruction is placed, thereby providing a picking assist system that can assist a worker in efficiently picking or inventorying items. It is also possible to provide a picking assist system that can count the number of items stored in a storage unit in both picking and inventorying operations. It is also possible to provide a picking assist system that can count items in both picking and inventorying operations with a single picking assist robot. It is also possible to provide a picking assist system that can count the number of items with high accuracy in inventorying operations. [Effects of the Invention]

[0018] According to one embodiment of the present invention, it is possible to provide a picking assist robot and a picking assist system that can assist a worker in efficiently picking or inventorying items. [Brief explanation of the drawings]

[0019] [Figure 1A] FIG. 1 is a diagram illustrating an example of a picking assist robot 100 according to an embodiment. [Figure 1B] FIG. 1 is a diagram illustrating an example of a picking assist robot 100 according to an embodiment. [Figure 1C] FIG. 1 is a diagram illustrating an example of a picking assist robot 100 according to an embodiment. [Figure 2] 1 is a diagram illustrating an example of the overall configuration of a picking assistance system 1 according to an embodiment. [Figure 3] FIG. 2 is a sequence diagram showing an example of the overall processing of the picking assist system 1 according to the embodiment. [Figure 4] FIG. 2 illustrates an example of the hardware configuration of a management server 10 and a tablet computer 150 according to the embodiment. [Figure 5] FIG. 1 is a diagram illustrating an example of a configuration of a picking assistance system 1. [Figure 6] FIG. 10 is a diagram showing an example of an image displayed on a display of a tablet computer 150 according to an embodiment. [Figure 7] 10 is a diagram showing an example of an image displayed on the display of a tablet computer 150. FIG. [Figure 8] FIG. 10 is a diagram showing an example of an image displayed on a display of a tablet computer 150 according to an embodiment. [Figure 9] 10A and 10B are diagrams illustrating an example of the work efficiency of the picking assist robot 100. FIG. [Figure 10] 10A and 10B are diagrams illustrating an example of the work efficiency of the picking assist robot 100. FIG. [Figure 11] FIG. 10 is a diagram showing an example of a flowchart of a picking process in the management server 10. [Figure 12] FIG. 12 is a diagram illustrating an example of a flowchart of a map creation process (S11 in FIG. 11) according to the embodiment. [Figure 13] 10 is a diagram showing an example of a flowchart illustrating a switching process executed by a control device 141 of an RFID reader 140. FIG. [Figure 14]10 is a diagram showing an example of a flowchart illustrating a reading process executed by a control device 141 of an RFID reader 140. FIG. [Figure 15] 10 is a diagram showing an example of a flowchart illustrating a reading process executed by a control device 141 of an RFID reader 140. FIG. [Figure 16] 10 is a flowchart showing an example of processing executed by a control device 150A of a tablet computer 150. FIG. [Figure 17] 10 is a flowchart showing an example of processing executed by a control device 150A of a tablet computer 150. FIG. DETAILED DESCRIPTION OF THE INVENTION

[0020] Hereinafter, an embodiment to which a picking assist robot and a picking assist system according to the present invention are applied will be described.

[0021] <Embodiment> <Configuration of picking assist robot 100> 1A to 1C are diagrams illustrating an example of a picking assist robot 100 according to an embodiment. The picking assist robot 100 includes a transport vehicle 110, a frame 120, boxes 130A and 130B, an RFID (Radio Frequency Identifier) ​​reader 140, a tablet computer 150, a face authentication unit 160, and a shielding unit 170.

[0022] The picking assist robot 100 is a robot (device) used in buildings such as stores, logistics centers, and warehouses, and automatically travels on a self-propelled guided vehicle 110 to assist a worker in picking items (selecting and removing items) or inventorying. The picking assist robot 100 can operate in a picking assist mode to assist in picking, and an inventory assist mode to assist in inventorying. Since the picking assist mode and the inventory assist mode have some commonalities, the following description will focus on the case where the picking assist robot 100 operates in the picking assist mode, and the operation in the inventory assist mode will be described with supplementary explanation of the differences. The picking assist robot 100 may also be capable of executing processing in a replenishment assist mode to assist in the replenishment of items onto shelves (displaying).

[0023] 1A is the front of the picking assist robot 100, and the right in FIG. 1A is the rear of the picking assist robot 100. Hereinafter, the front and rear in the traveling direction of the picking assist robot 100 will be referred to as the front-to-rear direction, and the left and right sides relative to the front will be referred to as the left-to-right direction. The transport vehicle 110 can travel in any direction within 360 degrees in a plan view, and when moving to perform picking, it mainly moves forward, forward right, and forward left.

[0024] Here, the term "items" refers to various products and the like arranged on shelves and the like in buildings such as stores, logistics centers, warehouses, etc., and may be, for example, various products such as clothing, daily necessities, etc. Furthermore, the items may also be medicines such as oral medications, injectable medications, or topical treatments, masks, or other medical clothing and equipment, etc.

[0025] <Transport vehicle 110> The guided vehicle 110 is an example of a moving body, and is realized, for example, by a so-called AGV (Automatic Guided Vehicle). The guided vehicle 110 has a control device configured by a computer. The control device of the guided vehicle 110 is capable of data communication with the tablet computer 150 via wired or wireless communication. The control device of the guided vehicle 110 moves the guided vehicle 110 to a predetermined position represented by position information transmitted from the tablet computer 150, according to an electronic map created for the passages between shelves and other structures arranged in a building. Upon completing movement to the predetermined position represented by the position information, the control device of the guided vehicle 110 transmits an arrival notification to the tablet computer 150 indicating that the guided vehicle 110 has arrived at the predetermined position. Note that, here, a form in which the guided vehicle 110 moves using position information included in a picking instruction or an inventory instruction received by the tablet computer 150 from a management server will be described; however, the guided vehicle 110 may have a wireless communication function that enables direct wireless communication with the management server and may obtain position information directly from the management server via wireless communication.

[0026] <Frame 120> The frame 120 is attached to the transport vehicle 110 and has a frame main body 121 and a stay 122. The frame main body 121 is, for example, a rod-shaped member made of aluminum, and is, for example, fixed to the front end of the upper surface of the transport vehicle 110. A stay 122 made of, for example, iron and a control device 141 of the RFID reader 140 are attached to the upper end of the frame main body 121. A shielding unit 170 is fixed to the frame main body 121. The shielding unit 170 is fixed to the frame main body 121 while being mounted on the transport vehicle 110.

[0027] The stay 122 is attached to the upper end of the frame main body 121 and extends rearward, holding the tablet computer 150 at its rear end. As an example, a face authentication unit 160 is attached above the tablet computer 150. The tablet computer 150 and the face authentication unit 160 are attached facing rearward. This is because a worker using the picking assist robot 100 stands behind the picking assist robot 100 to place items into boxes 130A and 130B. The stay 122 may be extendable in the front-to-rear direction and may also be extendable in the up-to-down direction. In this case, the positions of the tablet computer 150 and the face authentication unit 160 can be adjusted in the front-to-rear and up-to-down directions.

[0028] <Boxes 130A and 130B> Boxes 130A and 130B are placed on the upper and lower shelves, respectively, of the shielding section 170. Box 130A is an example of a first storage section, and box 130B is an example of a second storage section. The upper shelf of the shielding section 170 is on an intermediate plate 170M of the shielding section 170, and the lower shelf of the shielding section 170 is on a bottom plate 170B of the shielding section 170. Box 130A is positioned higher than box 130B.

[0029] As an example, boxes 130A and 130B are rectangular parallelepiped resin boxes, each having openings 131A and 131B that are open at the top. Openings 131A and 131B are rectangular. Items must pass through openings 131A and 131B when being placed into boxes 130A and 130B, and items picked by a worker pass through openings 131A and 131B and are stored in boxes 130A and 130B, respectively. Note that boxes 130A and 130B are not limited to being rectangular parallelepiped, and may have various shapes. For example, boxes 130A and 130B may have at least one of their four corners chamfered, or may be circular or elliptical in plan view.

[0030] The boxes 130A and 130B are surrounded on three sides, the front, left side, and right side, by a shielding portion 170. The three sides, the front, left side, and right side, of the boxes 130A and 130B are the three sides in a plan view. The three sides in a plan view are three of the four directions (four directions) including the front direction (forward) in the movement direction of the picking assist robot 100. The shielding portion 170 extends in the vertical direction from the bottom end of the box 130B to a position higher than the top end of the box 130A. In addition, an intermediate plate 170M is provided between the boxes 130A and 130B, and a bottom plate 170B is located below the box 130B.

[0031] By providing the shielding portions 170 for the boxes 130A and 130B as described above, the picking assist robot 100 is configured so that an article can be placed inside the box 130A from the upper side of the opening 131A, and is particularly configured so that an article can be easily placed inside the box 130A from the upper rear side of the opening 131A. Also, the picking assist robot 100 is configured so that an article can be placed inside the box 130A from the upper rear side of the opening 131B.

[0032] Furthermore, because shielding portion 170 is disposed relative to boxes 130A and 130B as described above, a magnetic shield that blocks radio waves is provided on three sides (front, left, and right) of box 130A, as well as on the bottom. Furthermore, a magnetic shield that blocks radio waves is provided on three sides (front, left, and right) of box 130B, as well as on the bottom and top. This is to prevent antenna 142B from reading RFID tags attached to items that pass over opening 131A of box 130A and items contained in box 130A, and to prevent antenna 142A from reading RFID tags attached to items that pass over opening 131B of box 130B and items contained in box 130B. Also, this is to prevent antennas 142A and 142B from reading RFID tags attached to articles located outside openings 131A and 131B in plan view.

[0033] Boxes 130A and 130B are removable from shielding unit 170. FIG. 1C shows a state in which upper box 130A has been removed. Note that boxes 130A and 130B do not have to be removable from shielding unit 170, and may be fixed to shielding unit 170, for example. Boxes 130A and 130B may also be integrally configured with shielding unit 170. In this case, the integral structure of boxes 130A and 130B with shielding unit 170 only needs to have the same magnetic shielding function as shielding unit 170.

[0034] Here, a description will be given of a configuration in which workers take out items from boxes 130A and 130B through openings 131A and 131B. For this reason, openings 131A and 131B are openings used as entrances and exits. However, boxes 130A and 130B may have dedicated openings that are used only for taking out items.

[0035] Also, here, a configuration will be described in which boxes 130A and 130B are placed on the upper and lower shelves of the shielding section 170, respectively. However, as long as box 130A is positioned higher than box 130B, the boxes 130A and 130B may be attached in any manner. Also, here, a configuration will be described in which the picking assist robot 100 includes two boxes 130A and 130B, but the number of boxes may be one, or three or more. Also, boxes 130A and 130B may be arranged side by side. More specifically, for example, boxes 130A and 130B may be arranged left and right or front and back. Another box may be provided above or below boxes 130A and 130B arranged left and right or front and back.

[0036] <RFIDリーダ140> The RFID reader 140 includes a control device 141 and antennas 142A and 142B. For example, the RFID reader 140 includes two antennas, 142A and 142B. The antenna 142A is an example of a first antenna, and the antenna 142B is an example of a second antenna.

[0037] The control device 141 is connected to the antennas 142A and 142B, and causes the antennas 142A and 142B to emit radio waves at a frequency for reading RFID tags. The control device 141 also controls the antennas 142A and 142B to switch between a readable state and an unreadable state, and when an RFID tag is read by the antennas 142A and 142B, controls the control to determine whether an item with an RFID tag is stored in either the box 130A or 130B; these details will be described later using FIG. 5.

[0038] The RFID tag is, for example, a passive type and does not have a battery. A unique item ID (identifier) ​​is stored in the memory of the integrated circuit (IC) of each RFID tag. When each RFID tag receives radio waves from the RFID reader 140, it is activated by the power of the received radio waves and emits a signal including item ID information that represents the unique item ID. The control device 141 reads the item ID information included in the radio waves received by the antennas 142A and 142B and identifies each RFID tag. In addition, depending on which of the antennas 142A and 142B read the RFID tag, it is determined in which of the boxes 130A and 130B the item is stored.

[0039] The two antennas 142A are located directly above the front ends of the opening 131A of the box 130A on both the left and right sides. The two antennas 142A have directivity that spreads in the forward direction. The left antenna 142A of the two antennas 142A is fixed to the right surface of the left wall 170L of the shielding part 170, and therefore has rightward directivity, and is positioned so that the opening 131A is included in the range in which the RFID tag can be read. The right surface of the left wall 170L is the surface on the opening 131A side.

[0040] Similarly, the right antenna 142A of the two antennas 142A is fixed to the left surface of the right wall 170R of the shielding part 170, and therefore has leftward directivity, and is positioned so that the range in which the RFID tag can be read includes the opening 131A. The left surface of the right wall 170R is the surface on the opening 131A side.

[0041] The two antennas 142A are positioned so that the opening 131A is included in the range in which the RFID tag can be read, so that the RFID tag 41 can be read the moment the worker releases his / her hand from the item 40 directly above the opening 131A, and missed readings (missed readings) can be reduced.

[0042] The two antennas 142A are arranged, one on the right surface of the left wall portion 170L and one on the left surface of the right wall portion 170R, and face each other across the opening 131A in a plan view. In a side view of the picking assist robot 100 viewed from the left and right directions, the positions of the two antennas 142A are, for example, equal. The range in which the left antenna 142A can read RFID tags is limited to the left surface of the right wall portion 170R in the left-right direction, and the range in which the right antenna 142A can read RFID tags is limited to the right surface of the left wall portion 170L in the left-right direction. Furthermore, the range in which the two antennas 142A can read RFID tags is limited on the front side by the rear surface of the front wall portion 170F of the shielding portion 170. The rear surface of the front wall portion 170F is the surface on the opening 131A side.

[0043] In this way, by arranging one antenna 142A on the right surface of left wall portion 170L and one on the left surface of right wall portion 170R so that they face each other, the range in which the two antennas 142A can read RFID tags can be prevented from extending beyond opening 131A in the left-right direction when viewed in a plane.

[0044] Furthermore, the two antennas 142A are disposed at the front ends of the right surface of the left wall portion 170L and the left surface of the right wall portion 170R, and are provided offset forward in the front-to-back direction of the opening 131A. Because the shielding portion 170 has the front wall portion 170F located on the front side, the range in which the two antennas 142A can read RFID tags can be prevented from extending forward of the opening 131A in a plan view.

[0045] Furthermore, since the two antennas 142A are offset to the front side in the fore-and-aft direction of the opening 131A, even if the shielding portion 170 does not have a wall portion on the rear side, the range that can be read by the two antennas 142A can be configured so that it does not extend rearward of the opening 131A in the fore-and-aft direction.

[0046] The two antennas 142B are provided on the lower shelf of the shielding section 170 on which the box 130B is provided, similar to the two antennas 142A on the upper shelf. The positional relationship of the two antennas 142B with respect to the opening 131B of the box 130B is the same as the positional relationship of the two antennas 142A with respect to the opening 131A of the box 130A.

[0047] The range in which the two antennas 142B can read RFID tags is limited in the left-right direction between the left surface of right wall portion 170R and the right surface of left wall portion 170L, and is limited in the front side by the rear surface of front wall portion 170F of shielding portion 170. By arranging one antenna 142B on the right surface of left wall portion 170L and one antenna 142B on the left surface of right wall portion 170R so that they face each other, it is possible to prevent the range in which the two antennas 142B can read RFID tags from extending beyond opening 131B in the left-right direction in a plan view.

[0048] Similarly to the two antennas 142A, the two antennas 142B are provided offset forward in the front-to-back direction of the opening 131B, so that the range in which the two antennas 142B can read RFID tags can be configured not to extend forward of the opening 131B in a plan view. Also, the range in which the two antennas 142B can read RFID tags can be configured not to extend rearward of the opening 131A in the front-to-back direction.

[0049] Furthermore, the range that can be read by the two antennas 142B is limited on the up-down direction by the middle plate 170M on the upper side and by the bottom plate 170B on the lower side. This prevents the two antennas 142B from reading RFID tags located inside the box 130A or above the box 130A, and prevents the two antennas 142B from reading RFID tags located below the bottom plate 170B.

[0050] The two antennas 142B are positioned so that the opening 131B is included in the range in which the RFID tag can be read, so that the RFID tag 41 can be read the moment the worker releases his / her hand from the item 40 directly above the opening 131B, and missed readings (missed readings) can be reduced.

[0051] By providing two antennas 142A and two antennas 142B as described above, RFID tags attached to items that are picked up by a worker from a shelf or the like and stored in boxes 130A and 130B can be read more reliably, and reading omissions (missed readings) can be reduced. As a result, the desired number of desired items can be accurately picked.

[0052] Furthermore, for example, if barcodes are attached to items and read with a barcode reader, the barcodes are read one by one and multiple barcodes cannot be read simultaneously. In contrast, if RFID tags are attached to items, multiple RFID tags can be read simultaneously, so multiple RFID tags attached to multiple items can be read simultaneously with each of antennas 142A and 142B, allowing workers to perform picking work efficiently and quickly in a short time.

[0053] Furthermore, if the antennas 142A and 142B are provided below the boxes 130A and 130B, the RFID tag cannot be read unless the article reaches the lower side (bottom) of the boxes 130A and 130B.

[0054] In contrast, in this embodiment, the antennas 142A and 142B are disposed above the boxes 130A and 130B, respectively, so that the RFID tags of the articles that pass through the openings 131A and 131B and are contained in the boxes 130A and 130B can be reliably read by the antennas 142A and 142B. In addition, the occurrence of missed readings can be reduced.

[0055] Here, the configuration has been described in which two antennas 142A and two antennas 142B are arranged at the front ends of the right surface of left wall portion 170L and the left surface of right wall portion 170R. However, two antennas 142A may be arranged at any position on the right surface of left wall portion 170L or the left surface of right wall portion 170R, as long as opening 131A is included in the range where the RFID tag can be read.

[0056] Furthermore, the two antennas 142A are not limited to being arranged on the left wall 170L and the right wall 170R, but may also be arranged on the surface of the front wall 170F on the opening 131A side. The number of antennas 142A is at least one, and may be any number. This type of variable configuration also applies to antenna 142B. Antenna 142B may also be provided on the lower surface of intermediate plate 170M.

[0057] <Tablet Computer 150> The tablet computer 150 is a terminal device that has a display and a touch panel and can be operated by touching an image such as a GUI (Graphical User Interface) displayed on the display. The tablet computer 150 receives picking instructions and the picking status, or inventory instructions and the inventory status from the management server and displays them on the display, and also transmits item location information included in the picking instructions or inventory instructions to the control device of the transport vehicle 110. For example, the tablet computer 150 can use application software to display the picking instructions or inventory instructions and transmit item location information to the control device of the transport vehicle 110. The item location information is a movement instruction transmitted from the tablet computer 150 to the transport vehicle 110.

[0058] The tablet computer 150 also receives, from the RFID reader 140, the item ID information that the RFID reader 140 reads from the RFID tag and information for identifying the RFID reader 140 (identification information of the RFID reader 140). The tablet computer 150 transmits to the management server the item ID information and identification information of the RFID reader 140 received from the RFID reader 140, count information indicating the count result generated by the tablet computer 150, and surplus / deficiency information indicating the status of surplus or shortage of items. The tablet computer 150 also transmits to the management server information for identifying the worker acquired by the face authentication unit 160 in association with the item ID information read from the RFID tags attached to the items stored in the boxes 130A and 130B. This is to enable the management server to manage which worker stored which item, thereby understanding the work efficiency of each worker.

[0059] Here, the picking assist robot 100 will be described as including a tablet computer 150, but any computer terminal such as a smartphone or a notebook personal computer can be used.

[0060] <Facial Recognition Unit 160> The facial authentication unit 160 performs facial authentication on the worker to acquire worker ID information that identifies the worker. As an example, a configuration will be described in which the picking assist robot 100 includes the facial authentication unit 160 so that the management server can grasp the work efficiency of each worker. However, instead of the facial authentication unit 160, an authentication unit that identifies the worker's biometric information by other methods may be used, or a reading device that reads an ID card assigned to each worker may be used. Furthermore, if no particular management of work efficiency, etc. is performed, the picking assist robot 100 does not need to include an authentication unit that identifies the worker, such as the facial authentication unit 160. Furthermore, the information that identifies the worker acquired by the facial authentication unit 160 may be managed by the server, for example, even when the worker simply touches the picking assist robot, without associating it with the item ID information read from the RFID tags attached to the items stored in the boxes 130A and 130B.

[0061] <Shielding part 170> The shielding portion 170 is a conductive member that shields radio waves, and includes a front wall portion 170F located on the front side, a left wall portion 170L located on the left side, a right wall portion 170R located on the right side, a bottom plate 170B located on the bottom, and an intermediate plate 170M. The left wall portion 170L and the right wall portion 170R are examples of two walls that are located on both ends of the shielding portion 170 and face each other across the openings 131A and 131B in a plan view. The intermediate plate 170M is an example of an intermediate shielding plate. The conductor that constitutes the shielding portion 170 is, for example, a metal such as aluminum or stainless steel.

[0062] As an example, the shielding unit 170 has a bottom plate 170B mounted and fixed on the transport vehicle 110, and a center portion in the left-right direction of the front wall portion 170F is fixed to the frame main body 121 of the frame 120. The top surface of the bottom plate 170B is preferably horizontal, and as an example, a plate-like member parallel to the horizontal plane can be used. Note that the configuration for fixing the shielding unit 170 is not limited to the configuration described here, and various configurations can be used.

[0063] The front wall portion 170F, the left wall portion 170L, and the right wall portion 170R extend upward from the upper surface of the bottom plate 170B. The left wall portion 170L and the right wall portion 170R are provided on the left and right sides of the front wall portion 170F, respectively, and may be formed integrally with the front wall portion 170F, or may be joined or fixed to the front wall portion 170F. As an example, the left wall portion 170L and the right wall portion 170R extend in a direction perpendicular to the front wall portion 170F in a plan view, and the left wall portion 170L, the right wall portion 170R, and the front wall portion 170F are provided so as to form a U-shape in a plan view.

[0064] The front wall 170F, the left wall 170L, and the right wall 170R are, for example, equal in height. The upper ends of the front wall 170F, the left wall 170L, and the right wall 170R are located higher than the opening 131A at the upper end of the box 130A, and are, for example, located at approximately the same height as the stay 122 of the frame 120.

[0065] The intermediate plate 170M is fixed to the front wall portion 170F, the left wall portion 170L, and the right wall portion 170R at approximately the center in the up-down direction of the front wall portion 170F, the left wall portion 170L, and the right wall portion 170R. The upper surface of the intermediate plate 170M is preferably horizontal, and as an example, a plate-like member parallel to the horizontal plane can be used.

[0066] Thus, the shielding portion 170 has, as an example, a shelf-like configuration, with the middle plate 170M forming the upper shelf and the bottom plate 170B forming the lower shelf. Box 130A can be placed at the upper end of the shelf of the shielding portion 170 (on the upper surface of the middle plate 170M), and box 130B can be placed at the lower shelf of the shielding portion 170 (on the upper surface of the bottom plate 170B).

[0067] Two antennas 142A are attached to the front end sides of the surfaces of the opening 131A side of the portions corresponding to the upper stages of the left wall 170L and the right wall 170R so as to be positioned directly above the opening 131A of the box 130A. Similarly, two antennas 142B are attached to the front end sides of the surfaces of the opening 131B side of the portions corresponding to the lower stages of the left wall 170L and the right wall 170R so as to be positioned directly above the opening 131B of the box 130B.

[0068] The front wall 170F, the left wall 170L, and the right wall 170R are provided upright along the outer edges of the openings 131A and 131B of the boxes 130A and 130B on the left, right, and front sides of the boxes 130A and 130B. The outer edges of the openings 131A and 131B are the edges of the openings 131A and 131B.

[0069] In such a shielding portion 170, the upper ends of the front wall portion 170F, the left wall portion 170L, and the right wall portion 170R are located at a higher position than the opening 131A at the upper end of the box 130A in order to shield radio waves on three sides, the left, right, and front, above the opening 131A of the box 130A.

[0070] Furthermore, with respect to box 130B, front wall 170F, left wall 170L, and right wall 170R of shielding portion 170 extend to positions higher than opening 131B at the top end of box 130B. Front wall 170F, left wall 170L, and right wall 170R are provided above opening 131B of box 130B in this manner in order to shield radio waves on three sides (left, right, and front) above opening 131B of box 130B.

[0071] 1A and 1C, the shielding portion 170 can be divided into an upper portion A and a lower portion B. The height of the lower end of portion A is equal to the height of the upper surface of intermediate plate 170M, and the height of the upper end of portion A is equal to the height of the upper ends of front wall portion 170F, left wall portion 170L, and right wall portion 170R. The height of the lower end of portion B is equal to the height of the lower surface of bottom plate 170B, and the height of the upper end of portion B is equal to the height of the upper surface of intermediate plate 170M.

[0072] Of front wall portion 170F, left wall portion 170L, and right wall portion 170R of shielding portion 170, the portions included in portion A are an example of a first shielding portion, and the portions included in portion B are an example of a second shielding portion. In front wall portion 170F, left wall portion 170L, and right wall portion 170R of shielding portion 170, the portion serving as the first shielding portion and the portion serving as the second shielding portion are provided continuously in Figures 1A to 1C, but the portion serving as the first shielding portion and the portion serving as the second shielding portion may be separated vertically.

[0073] Furthermore, the portions of front wall 170F, left wall 170L, and right wall 170R of shielding unit 170 that serve as first shielding units only need to be erected above opening 131A of box 130A, and may extend along the sides of box 130A below opening 131A, as shown in FIGS. 1A to 1C. In other words, if the three side surfaces of box 130A do not need to be covered by front wall 170F, left wall 170L, and right wall 170R, front wall 170F, left wall 170L, and right wall 170R may be erected above opening 131A of box 130A and may not be located below opening 131A. In this case, box 130A may be made of, for example, a metal that can shield radio waves.

[0074] Similarly, the portions of the front wall 170F, left wall 170L, and right wall 170R of the shielding unit 170 that serve as second shielding units need only be erected above the opening 131B of the box 130B, and may extend along the sides of the box 130B below the opening 131B, as shown in FIGS. 1A to 1C. In other words, if the three side surfaces of the box 130B do not need to be covered by the front wall 170F, left wall 170L, and right wall 170R, the front wall 170F, left wall 170L, and right wall 170R may be erected above the opening 131B of the box 130B and may not be located below the opening 131B. In this case, the box 130B may be made of, for example, a metal that can shield radio waves.

[0075] In relation to box 130A, intermediate plate 170M can be regarded as an example of a shielding plate provided below box 130A. A shielding plate may also be provided above box 130A. In relation to box 130B, intermediate plate 170M can be regarded as an example of a shielding plate provided above box 130B. In addition, bottom plate 170B can be regarded as an example of a shielding plate provided below box 130B.

[0076] 1A to 1C. The shielding unit 170 is only required to be capable of arranging at least one box, and is not limited to the configurations shown in Fig. 1A to 1C. The shielding unit 170 is only required to have a configuration according to the arrangement of one or more boxes, and is only required to have a configuration according to a configuration in which boxes 130A and 130B are arranged side by side or front and back, or a configuration in which another box is provided above or below boxes 130A and 130B arranged side by side or front and back.

[0077] <System configuration> 2 is a diagram illustrating an example of the overall configuration of the picking assist system 1 according to the embodiment. Here, as an example, a case where the picking assist robot 100 operates in the picking assist mode will be described, but the operation in the inventory assist mode is basically the same.

[0078] As shown in Fig. 2, the picking assist system 1 includes a management server 10 and a picking assist robot 100. Fig. 2 shows only the main components of the picking assist robot 100, and an enlarged view of the tablet computer 150 shows a control device 150A. The control device 150A is a control unit that performs all control related to the operation of the tablet computer 150, and includes a CPU (Central Processing Unit), memory, etc.

[0079] For example, a worker performing a picking operation places items 40 placed on a shelf or the like in front of the picking assist robot 100 in a building such as a store, a logistics center, or a warehouse into box 130A or 130B. Since each item 40 has an RFID tag 41 attached thereto, when the items 40 are placed in boxes 130A and 130B, the item IDs of the RFID tags 41 attached to the items 40 are read by antennas 142A and 142B.

[0080] The management server 10 transmits picking instructions to the tablet computer 150. The picking instructions may include information on the location to which the picking assist robot 100 should move, the items 40 that the worker should place in the box 130A or 130B, and the number of items 40 that the worker should place in the box 130A or 130B. The location to which the picking assist robot 100 should move is the location where the items 40 are placed, stored, etc. The management server 10 also transmits picking status information to the tablet computer 150. The picking status information may include information on the number of each item 40 that has already been placed in the box 130A or 130B. Specifically, the management server 10 counts the number of each item 40 that has been placed in the box 130A or 130B based on the item ID information that the RFID reader 140 reads from the RFID tag 41.

[0081] The management server 10 is configured with one or more computers. The management server 10 can also send and receive data to and from a tablet computer 150 via an arbitrary network 50. Details of the management server 10 will be described later.

[0082] The tablet computer 150 receives picking instructions and the picking status from the management server 10 and displays them on the display, while also transmitting the location information included in the picking instructions to the control device of the transport vehicle 110. The transport vehicle 110 moves to the location indicated by the location information. For example, the tablet computer 150 can use application software to display the picking instructions and transmit the location information included in the picking instructions to the control device of the transport vehicle 110. The worker walks to the location where the picking assist robot 100 is located, checks the type of item 40 and the location of the shelf or the like displayed on the tablet computer 150, picks the item 40, and places it in the boxes 130A and 130B.

[0083] The RFID reader 140 reads the item ID information written in the RFID tag 41. The RFID reader 140 transmits the item ID information read from the RFID tag 41 to the tablet computer 150.

[0084] The tablet computer 150 also receives item ID information from the RFID reader 140. The tablet computer 150 transmits the item ID information received from the RFID reader 140 to the management server 10. When the tablet computer 150 receives the item ID information and determines that the item 40 is the correct item according to the picking instructions, it outputs a response sound indicating that the item 40 is the correct item. On the other hand, when the tablet computer 150 receives the item ID information and determines that the item 40 is not the correct item according to the picking instructions, it outputs a response sound indicating that the item 40 is not the correct item. The worker can confirm from the response sound whether the picking work he or she is performing is correct. Note that the tablet computer 150 may display a response display on the display indicating that the item 40 is the correct item or not the correct item 40, instead of or in addition to the response sound.

[0085] The picking assist robot 100 includes a tablet computer 150 and an RFID reader 140. Here, as an example, a configuration will be described in which the picking assist robot 100 includes two boxes 130A and 130B, the RFID reader 140 has two antennas 142A and 142B, and the antennas 142A and 142B are disposed in the boxes 130A and 130B, respectively. The worker may place the picked item 40 in either of the two boxes 130A and 130B, but may also place the item in either of the two boxes 130A and 130B depending on, for example, the shipping destination. Furthermore, when there are two shipping destinations, the two boxes 130A and 130B may be used separately for the two shipping destinations.

[0086] As described above, the items 40 are various products and the like that are placed on shelves and the like in buildings such as stores, logistics centers, warehouses, etc. An RFID tag 41 is attached to the items 40. The RFID tag 41 has an IC chip with a built-in memory in which item ID information is written. One RFID tag 41 is attached to each item 40. Attaching the RFID tag 41 to the item 40 means attaching the RFID tag 41 to the item 40, and specifically means, for example, pasting, sewing, or fastening the RFID tag 41 to the item 40 with a strap or the like.

[0087] When an item 40 arrives at a logistics center or the like, the management server 10 manages the item ID information written in the RFID tag 41 by linking it with the information on the item 40 to which the RFID tag 41 is attached. The management server 10 also manages information indicating whether the RFID reader 140 is stored in box 130A or 130B of the picking assist robot 100.

[0088] When the picking assist robot 100 operates in the inventory assistance mode, the management server 10 transmits an inventory instruction to the tablet computer 150. The management server 10 also transmits the inventory status to the tablet computer 150. The inventory status may include information on the number of each item 40 already placed in the box 130A or 130B. The tablet computer 150 receives the inventory instruction and the inventory status from the management server 10 and displays them on its display, while transmitting the location information included in the inventory instruction to the control device of the transport vehicle 110. The RFID reader 140 reads the item ID information written in the RFID tag 41. When the tablet computer 150 receives the item ID information and determines that the item 40 is the correct item according to the inventory instruction, it outputs a response sound indicating that the item 40 is the correct item. When the tablet computer 150 determines that the item 40 is not the correct item according to the inventory instruction, it outputs a response sound indicating that the item 40 is not the correct item.

[0089] The inventory instruction may include information on the location to which the picking assist robot 100 should move for inventory, the items 40 that the worker should place in the box 130A or 130B for inventory, and the number of items 40 that the worker should place in the box 130A or 130B for inventory. The number of items 40 included in the inventory instruction represents the number of items 40 in the theoretical inventory.

[0090] Here, the number of items 40 in theoretical stock is the number of items 40 present as inventory on shelves in a warehouse or the like, recorded in the inventory data at the time of arrival, storage, and shipment of the items 40, and is the inventory number expressed as a number recorded in a ledger. In contrast, the number of items 40 in actual stock is the actual number of items in stock that is actually counted by the picking assist robot 100.

[0091] <Overall processing> FIG. 3 is a sequence diagram showing an example of the overall processing of the picking assist system 1 according to the embodiment.

[0092] The management server 10 creates a map for guiding the picking assist robot 100 (step S1).

[0093] The management server 10 transmits data of the picking instruction to the tablet computer 150 (step S2). As described above, the picking instruction may include information on the location to which the picking assist robot 100 should move (the location where the items 40 are stored), the items 40 that the worker should place in the box 130A or 130B at that location, and the number of items 40 that the worker should place in the box 130A or 130B.

[0094] The tablet computer 150 transmits the position information included in the picking instruction received from the management server 10 to the control device of the transport vehicle 110 (step S2A).

[0095] The transport vehicle 110 moves to a predetermined position included in the picking instruction (step S2B). The predetermined position represents the location of a shelf or the like on which the item 40 included in the picking instruction is placed. By processing step S2B, the picking assist robot 100 moves to the front of the shelf or the like on which the item 40 included in the picking instruction is placed.

[0096] When the control device of the transport vehicle 110 has completed movement to the predetermined position included in the picking instruction, it notifies the tablet computer 150 that it has arrived at the predetermined position (step S2C). The picking assist robot 100 waits at the predetermined position until it receives the next movement instruction. That is, the picking assist robot 100 waits in front of a shelf or the like where the item 40 included in the picking instruction is stored until the worker has completed the picking work. The worker can recognize that the location around him where the picking assist robot 100 is waiting is the location where there is picking work to be done.

[0097] When the tablet computer 150 receives a notification from the control device of the transport vehicle 110 in step S2C that the transport vehicle 110 has arrived at the predetermined position, the tablet computer 150 displays the picking instructions received from the management server 10 in step S2 on the display (step S3). The worker can walk to the location where the picking assist robot 100 is waiting and perform the picking work while looking at the picking instructions displayed on the tablet computer 150 of the picking assist robot 100.

[0098] The RFID reader 140 reads the item ID information written in the RFID tag 41 attached to each item 40 that the worker put in the box 130A or 130B (step S4). The RFID reader 140 uses the antennas 142A and 142B to read the RFID tag 41 attached to the item 40 that passes through the openings 131A and 131B of the boxes 130A and 130B. By the processing of step S4, it is possible to obtain the item ID of the RFID tag 41 attached to the item 40 that the worker put in the box 130A or 130B.

[0099] The RFID reader 140 transmits the item ID information read in step S4 and information for identifying the RFID reader 140 (identification information of the RFID reader 140) to the tablet computer 150 (step S5).

[0100] The tablet computer 150 performs a picking number counting process to count the number of items 40 placed in the box 130A or 130B (step S6). In addition to the picking number counting process, the tablet computer 150 can also perform a cancellation process and an inventory counting process, but Fig. 3 will explain the process when performing the picking number counting process. The cancellation process and inventory counting process will be described later.

[0101] The tablet computer 150 transmits count information indicating the count result and surplus / shortage information indicating the surplus / shortage status of the items to the management server 10 (step S7).

[0102] The management server 10 generates picking status data based on the number of each item 40 indicated by the count information and surplus / deficiency information received in step S7, and transmits the data to the tablet computer 150 (step S8). As described above, the picking status may include information on the number of each item 40 already placed in box 130A or 130B.

[0103] The tablet computer 150 displays the picking status received in step S8 on the display (step S9). By viewing this picking status, the worker can determine whether or not to place more items 40 into boxes 130A and 130B.

[0104] <Hardware Configuration of Management Server 10 and Tablet Computer 150> 4 is a diagram illustrating an example of the hardware configuration of the management server 10 and the tablet computer 150 according to the embodiment. The management server 10 and the tablet computer 150 include a CPU (Central Processing Unit) 1001, a ROM (Read Only Memory) 1002, and a RAM (Random Access Memory) 1003. The CPU 1001, the ROM 1002, and the RAM 1003 form a so-called computer.

[0105] The management server 10 and the tablet computer 150 also include an auxiliary storage device 1004, a display device 1005, an operation device 1006, an I / F (Interface) device 1007, and a drive device 1008. The hardware components of the management server 10 and the tablet computer 150 are connected to each other via a bus 1009.

[0106] The CPU 1001 is a computing device that executes various programs installed in the auxiliary storage device 1004 .

[0107] The ROM 1002 is a non-volatile memory. The ROM 1002 functions as a main storage device that stores various programs, data, etc. required for the CPU 1001 to execute various programs installed in the auxiliary storage device 1004. Specifically, the ROM 1002 functions as a main storage device that stores boot programs such as a BIOS (Basic Input / Output System) and an EFI (Extensible Firmware Interface).

[0108] The RAM 1003 is a volatile memory such as a dynamic random access memory (DRAM) or a static random access memory (SRAM). The RAM 1003 functions as a main storage device that provides a working area in which various programs installed in the auxiliary storage device 1004 are expanded when the CPU 1001 executes them.

[0109] The auxiliary storage device 1004 is an auxiliary storage device that stores various programs and information used when the various programs are executed.

[0110] The display device 1005 is a display device that displays the internal states of the management server 10 and the tablet computer 150, etc.

[0111] The operation device 1006 is an input device through which the administrator of the management server 10 and the tablet computer 150 inputs various instructions to the management server 10 and the tablet computer 150 .

[0112] The I / F device 1007 is a communication device that connects to the network 50 and communicates with the management server 10 and the tablet computer 150.

[0113] The drive device 1008 is a device for loading a storage medium 1010. The storage medium 1010 here includes media that record information optically, electrically, or magnetically, such as a CD-ROM, a flexible disk, or a magneto-optical disk. The storage medium 1010 may also include semiconductor memory that records information electrically, such as an EPROM (Erasable Programmable Read Only Memory) or flash memory.

[0114] The various programs to be installed in the auxiliary storage device 1004 are installed, for example, by setting the distributed storage medium 1010 in the drive device 1008 and reading out the various programs recorded on the storage medium 1010 by the drive device 1008. Alternatively, the various programs to be installed in the auxiliary storage device 1004 may be installed by being downloaded from a network different from the network 50 via the I / F device 1007.

[0115] <Configuration of picking assistance system 1> Fig. 5 is a diagram showing an example of the configuration of the picking assist system 1. Fig. 5 shows the transport vehicle 110, RFID reader 140, tablet computer 150, and management server 10 included in the picking assist system 1. The functional configurations of the RFID reader 140, tablet computer 150, and management server 10 are shown. The transport vehicle 110, RFID reader 140, and tablet computer 150 included in the picking assist robot 100 are configured to be able to communicate with each other via a communication cable or the like. The tablet computer 150 and management server 10 are configured to be able to communicate with each other via wireless communication via a network 50 (see Fig. 2).

[0116] The management server 10 can include an instruction management unit 101, an instruction storage unit 102, a map creation unit 103, an information receiving unit 104, and a picking status management unit 105. Furthermore, the management server 10 can function as the instruction management unit 101, the map creation unit 103, the information receiving unit 104, and the picking status management unit 105 by executing a program. Each of these will be described below.

[0117] The tablet computer 150 may have some or all of the functions of the management server 10. For example, the tablet computer 150 may include a means for receiving picking instructions (also referred to as a picking instruction receiving unit), an information receiving unit 104, and a picking status management unit 105.

[0118] When the picking assist robot 100 is in a picking assist mode in which it assists in picking, the instruction management unit 101 transmits picking instruction data to the tablet computer 150. For example, in response to the worker tapping a screen for starting the picking work displayed on the tablet computer 150, the instruction management unit 101 starts transmitting the picking instruction data. As described above, the picking instruction may include information on the location to which the picking assist robot 100 should move (the location of a shelf or the like where the items 40 are stored), the items 40 that the worker should place in the box 130A or 130B at that location, and the number of items 40 that the worker should place in the box 130A or 130B. In addition, the instruction management unit 101 stores the picking instruction data in the instruction storage unit 102.

[0119] Furthermore, the instruction management unit 101 transmits inventory instruction data to the tablet computer 150 when the picking assist robot 100 is in an inventory assistance mode in which the picking assist robot 100 assists in inventory.

[0120] The instruction storage unit 102 stores data on picking instructions and data on inventory instructions sent to the tablet computer 150.

[0121] Hereinafter, with reference to FIG. 6, an image showing picking instructions displayed on the tablet computer 150 will be described.

[0122] FIG. 6 is a diagram showing an example of an image displayed on the display of the tablet computer 150 of the embodiment. In the image shown in FIG. 6, boxes 130A and 130B are indicated as A and B. As shown in FIG. 6, a location to which the picking assist robot 100 should move (the location of a shelf or the like where the items 40 are stored, also referred to as a "picking location") may be displayed. Also, as shown in FIG. 6, the name of the item 40 (the item to be picked) that the worker should place in the box 130A or 130B at that location and an image of the item 40 (for example, an image of the item 40 as stored in a logistics center or the like) may be displayed as picking instructions. Also, as shown in FIG. 6, the number of items 40 that the worker should place in the box 130A or 130B (in the example of FIG. 6, the number to be placed in the boxes 130A and 130B) may be displayed as picking instructions. 6, the date on which the picking work is being performed (working date), the worker's identifier (worker ID), the worker's name (worker name), the number of items 40 that have been picked out of the total number of items 40 to be picked (number completed / total number of items), the elapsed time out of the target time until picking is completed (elapsed time / target time), etc. may also be displayed. By viewing an image such as that shown in FIG. 6, the worker can know which items 40 should be picked at which locations and how many of each. Note that if the items 40 are specified as being to be placed in either box 130A or 130B, the worker can immediately know by viewing an image such as that shown in FIG. 6 that they have been placed in the wrong box 130A or 130B, which differs from the instructions.

[0123] It should be noted that for each box 130A and 130B, a list may be displayed indicating one or more items 40 that the worker should place in the box 130A and 130B, and the number of each item 40 that the worker should place in the box 130A and 130B. Below, with reference to FIG. 7, an image showing picking instructions for each box 130A and 130B that is displayed on the tablet computer 150 will be described.

[0124] FIG. 7 is a diagram showing an example of an image displayed on the display of the tablet computer 150. FIG. 7 shows, as an example, display content related to the items 40 to be placed in the box 130A. For example, when the display showing the screen of FIG. 6 is tapped, the screen may transition to the image of FIG. 7. As shown in FIG. 7, one or more items 40 that the worker should place in the box 130A may be displayed. Also, as shown in FIG. 7, the number of each item 40 that the worker should place in the box 130A may be displayed. Also, as shown in FIG. 7, the destination (destination) to which the items 40 are to be shipped, the total number (number of items) of items 40 to be placed in the box 130A, the shipping date, etc. may be displayed. By looking at an image such as that of FIG. 7, the worker can know how many of each item 40 should be picked for each of the boxes 130A and 130B.

[0125] Returning to Figure 5, the information receiving unit 104 receives from the tablet computer 150 the item ID information read from the RFID tag 41 by the RFID reader 140, the identification information of the RFID reader 140, and the count information and surplus / deficiency information generated by the counting unit 152 and the surplus / deficiency information acquisition unit 153 of the tablet computer 150. Upon receiving the item ID information, count information, surplus / deficiency information, and identification information of the RFID reader 140, the information receiving unit 104 notifies the map creating unit 103 of the item ID information and the identification information of the RFID reader 140, and notifies the picking status managing unit 105 of the item ID information, count information, surplus / deficiency information, and identification information of the RFID reader 140.

[0126] The map creation unit 103 performs a map creation process. Specifically, the map creation unit 103 creates a map for guiding the picking assist robot 100. Below, the map creation at the start of picking and the map creation during picking will be explained separately.

[0127] <When picking begins> The map creation unit 103 generates a route (path) with the shortest distance that passes through all locations where the item 40 that the worker is instructed to put in the box 130A or 130B is stored. The map creation unit 103 creates a map that clearly shows the generated route, the next picking location (i.e., the picking location to which the picking assist robot 100 should next go), and all picking locations on a layout diagram of each shelf in a logistics center or the like. The picking assist robot 100 moves to each picking location according to the location information included in the picking instruction that the tablet computer 150 receives from the management server 10 and the map created by the map creation unit 103.

[0128] <Picking in progress> The map creation unit 103 creates a map that clearly shows the route generated at the start of picking, the next picking location (i.e., the picking location next to the picking location where picking has been completed), and all picking locations on a layout diagram of each shelf in a logistics center, etc. The map creation unit 103 can also create a new route instead of using the route generated at the start of picking.

[0129] When there are multiple picking assist robots 100, both at the start of picking and during picking, the map creation unit 103 may generate routes based on the picking status of the multiple picking assist robots 100 so that the multiple picking assist robots 100 do not collide with each other (for example, the multiple picking assist robots 100 do not pass through the same aisle in the same or opposite directions at the same time or within a predetermined time period). In addition, the current locations and routes (paths) of the multiple picking assist robots 100 may be clearly displayed on the map. The map creation unit 103 can generate routes (paths) that avoid shelves crowded with other picking assist robots 100.

[0130] Hereinafter, an image showing a map displayed on the tablet computer 150 will be described with reference to FIG.

[0131] Fig. 8 is a diagram showing an example of an image displayed on the display of the tablet computer 150 of the embodiment. For example, when the display showing the screen of Fig. 6 is tapped, the screen may transition to the image of Fig. 8. As shown in Fig. 8, a map showing the route, the next picking location, and all picking locations may be displayed on a layout diagram of each shelf in a logistics center or the like.

[0132] Returning to Figure 5, the picking status management unit 105 generates picking status data based on the number of each item 40 represented by the count information and the surplus / shortage status of each item 40 represented by the surplus / shortage information, and transmits the data to the tablet computer 150. As described above, the picking status may include information on the number of each item 40 already placed in the box 130A or 130B. Below, the display of the picking status on the image showing picking instructions will be described with reference to Figures 6 and 7.

[0133] As shown in Figure 6, the number of items 40 that the worker should put in box 130A or 130B may be displayed as a picking instruction (see the denominator of the fraction). Along with displaying the number of items 40 that the worker should put in box 130A or 130B, the number of items 40 that have already been put in box 130A or 130B may be displayed (see the numerator of the fraction). Furthermore, the excess or shortage of the number of items already put in box 130A or 130B compared to the number of items that the worker has been instructed to put in box 130A or 130B may be displayed. The counting unit 152 counts the number of items 40, and the excess or shortage information acquisition unit 153 calculates the excess or shortage.

[0134] For example, the display may be such that the worker can easily distinguish between a shortage of items 40, completion of picking, and an excess of items 40. For example, no check mark may be added if there is a shortage of items 40, a check mark may be added if picking is complete, and an X mark may be added if there is an excess of items 40. Note that such a display on the tablet computer 150 is also the same when an inventory instruction is received. In the case of an inventory, the number of items 40 that the worker should put in box 130A or 130B, represented by the denominator of the fraction, represents the number of theoretical inventory.

[0135] As shown in FIG. 7 , the number of one or more items 40 that the worker should place in the box 130A may be displayed. Along with the display of the number of each item 40 that the worker should place in the box 130A, the number of each item 40 that has already been placed in the box 130A may also be displayed. Furthermore, the excess or shortage of the number of items already placed in the box 130A compared to the number of items the worker is instructed to place in the box 130A may also be displayed. For example, the display may be such that the worker can easily distinguish between a shortage of items 40, completion of picking, and an excess of items 40. For example, if there is a shortage of items 40, no check mark may be added, if picking is complete, a check mark may be added, and if there is an excess of items 40, an X mark may be added. Note that such a display may also be displayed for the box 130B in the same way.

[0136] Furthermore, if there are excess items 40, an X mark may be added and a cancel button 155 may be displayed. The cancel button 155 is displayed on the display as a GUI button, and when the worker touches it, the operation is accepted by the touch panel and the tablet computer 150 switches to the cancel mode. In the cancel mode, when the worker removes excess items 40 from the box 130A or 130B, the RFID reader 140 ignores the reading. The cancel mode will be described in detail later.

[0137] Furthermore, when the tablet computer 150 is in an inventory count mode in which it counts the items 40 for inventory, it may display an inventory completion button 156 as indicated by the dashed line in Fig. 7. The inventory completion button 156 is displayed on the display as a GUI button, and when the worker touches it upon completion of the inventory, the operation is accepted by the touch panel, and the tablet computer 150 confirms the number of items 40 counted up to that point as the actual inventory number. The worker visually checks the shelves, etc., and when all of the inventory items 40 have been placed in box 130A or 130B, they simply press the inventory completion button 156. Details of the inventory count mode will be described later.

[0138] <Configuration of the transport vehicle 110> 5, the transport vehicle 110 has a control device 111 and a motor 112. The control device 111 is a control unit realized by a computer including a CPU, RAM, ROM, an input / output interface, an internal bus, etc. The motor 112 is an example of a power source.

[0139] When the control device 111 acquires the position information of the item from the tablet computer 150, it generates a drive signal indicating that the motor 112 should be driven and outputs the drive signal to the motor 112. As a result, the motor 112 is driven, and the picking assist robot 100 moves toward the position indicated by the position information of the item. Note that the drive signal may be generated by the tablet computer 150 based on the position information of the item and output to the control device 111. The picking assist robot 100 may also perform position control using a LIDAR (light detection and ranging) sensor.

[0140] When the picking assist robot 100 arrives at the position indicated by the item position information, the control device 111 generates a drive signal indicating that the motor 112 should be stopped, and outputs the drive signal to the motor 112. As a result, the motor 112 is stopped, and the picking assist robot 100 stops at the position indicated by the item position information. The worker picks the item at the position indicated by the item position information.

[0141] When the tablet computer 150 detects that picking has ended while the motor 112 is stopped, the tablet computer 150 notifies the control device 111 that it has detected that picking has ended, and the control device 111 outputs a drive signal to the motor 112 indicating that the motor 112 should be driven.

[0142] The tablet computer 150 detects that picking has been completed, for example, when the tablet computer 150 determines that a completion operation has been performed in step S67 described below, when the tablet computer 150 determines that the worker ID has been acquired in step S68 described below, or when the tablet computer 150 associates the item ID information with the worker ID information and transmits them to the management server 10 in step S69 described below.

[0143] When the picking assist robot 100 moves to the position indicated by the item's position information according to the electronic map, the control device 111 generates a drive signal indicating that the motor 112 should be stopped and outputs the drive signal to the motor 112. As a result, the motor 112 stops at the position indicated by the item's position information. The electronic map may be stored in the memory of the control device 111.

[0144] The control device 111 also outputs a drive signal to the motor 112 and to the RFID reader 140. A drive signal that indicates that the motor 112 is to be driven is a signal whose voltage and current values ​​are at predetermined signal levels and that is input to the motor 112. The motor 112 is driven by the drive signal that indicates that the motor 112 is to be driven. A drive signal that indicates that the motor 112 is to be stopped is a signal whose voltage and current values ​​are lower than predetermined signal levels and that is input to the motor 112. The drive signal that indicates that the motor 112 is to be stopped does not drive the motor 112. The drive signal that indicates that the motor 112 is to be stopped may be a signal whose signal level is zero. In this case, outputting a drive signal that indicates that the motor 112 is to be stopped is synonymous with not outputting a drive signal that indicates that the motor 112 is to be driven.

[0145] <Configuration of RFID Reader 140> Here, with reference to FIG. 5, the functional configuration of the control device 141 of the RFID reader 140 will be described. The control device 141 includes a main control unit 141A, a switching control unit 141B, a housing determination unit 141C, and a memory 141D. The control device 141 is a control unit realized by a computer including a CPU, a RAM, a ROM, an input / output interface, an internal bus, and the like. The control device 141 may have the same configuration as the computers of the management server 10 and the tablet computer 150 shown in FIG. 4. The main control unit 141A, the switching control unit 141B, and the housing determination unit 141C represent the functions (functions) of the program executed by the control device 141 as functional blocks. Also, the memory 141D functionally represents the memory of the control device 141.

[0146] <Main Control Unit 141A> The main control unit 141A is a processing unit that oversees the control processing of the control device 141, and performs control processing other than the control processing performed by the switching control unit 141B and the housing determination unit 141C.

[0147] <Switching Control Unit 141B> When a stop condition indicating that the transport cart 110 has stopped is satisfied, the switching control unit 141B switches the antennas 142A and 142B of the RFID reader 140 to a readable state, and when an end condition indicating that picking has ended is satisfied, switches the antennas 142A and 142B of the RFID reader 140 to a non-readable state.

[0148] The switching control unit 141B determines whether the stop condition and the termination condition are met based on the drive signal input from the control device 111 of the transporting vehicle 110. More specifically, the switching control unit 141B determines that the stop condition is met when a drive signal instructing to stop the motor 112 is input, and determines that the termination condition is met when a drive signal instructing to drive the motor 112 is input while the stop condition is met. The drive signal input from the control device 111 of the transporting vehicle 110 to the switching control unit 141B is the same as the drive signal input from the control device 111 to the motor 112 in the transporting vehicle 110.

[0149] That is, the stop condition is met when the picking assist robot 100 arrives at the position indicated by the position information and a drive signal indicating that the motor 112 is to be stopped is input to the switching control unit 141B. This is because, when a worker performs picking, the picking assist robot 100 stops when it arrives at the position indicated by the position information. Also, the readable state of the antennas 142A and 142B is a state in which the antennas 142A and 142B are outputting radio waves for reading the RFID tag 41.

[0150] Furthermore, the end condition indicating that picking has ended is met when picking at the position indicated by the position information ends and a drive signal indicating that the motor 112 should be driven is input to the switching control unit 141B. This is because, when picking at the position indicated by the position information ends, the picking assist robot 100 moves toward the next picking position.

[0151] The switching control unit 141B determines whether the stop condition and the termination condition are met in order to determine whether the picking assist robot 100 is moving, and to switch the antennas 142A and 142B of the RFID reader 140 to an unreadable state so as not to read unnecessary RFID tags 41 while moving.

[0152] The unreadable state refers to, for example, a state in which the antennas 142A and 142B are not outputting radio waves for reading, or a state in which the antennas 142A and 142B are outputting radio waves for reading but the radio wave output is sufficiently low to read the RFID tag 41. The unreadable state may also refer to a state in which the radio waves for reading output from the antennas 142A and 142B are blocked by an object that blocks the radio waves. The picking assist robot 100 travels within a building, such as a store, a logistics center, or a warehouse, and therefore passes through locations where many different items 40 that are not to be picked are placed during its movement. In such a case, in order to avoid reading unnecessary RFID tags 41, the switching control unit 141B switches the antennas 142A and 142B of the RFID reader 140 to the unreadable state upon determining that the termination condition is met.

[0153] Furthermore, by switching the antennas 142A and 142B of the RFID reader 140 to a read-disabled state while the picking assist robot 100 is moving, it is possible to reduce the power consumption of the RFID reader 140. Furthermore, the reduction in power consumption extends the operable time, allowing the worker to pick items efficiently.

[0154] The switching control unit 141B determines that the stop condition is met when a predetermined time has elapsed since a drive signal indicating that the motor 112 should be stopped is input to the motor 112. The predetermined time is, for example, one second. For example, if the stop condition is determined to be met in a case where the picking assist robot 100 stops for a moment while moving to pass a worker or another picking assist robot 100, the antennas 142A and 142B will be switched to a readable state during movement, and unnecessary RFID tags 41 will be read. The predetermined time is not limited to one second and may be set to an appropriate time depending on the usage situation, etc.

[0155] In this way, in order to prevent the stop condition from being determined to be satisfied when the motor 112 stops momentarily during movement, the switching control unit 141B determines that the stop condition is satisfied when a predetermined time has elapsed since a drive signal instructing the motor 112 to stop is input to the motor 112. Note that, if there is no operational problem even if the predetermined time has not elapsed, the switching control unit 141B may determine that the stop condition is satisfied when a drive signal instructing the motor 112 to stop is input to the motor 112.

[0156] In addition, the switching control unit 141B sets the antennas 142A and 142B of the RFID reader 140 to an unreadable state when the transport vehicle 110 is in a standby state waiting to receive an instruction to move to the location of the item included in the picking instruction, and when a drive signal indicating that the motor 112 should be driven is input to the motor 112 in the standby state, the switching control unit 141B maintains the antennas 142A and 142B of the RFID reader 140 in an unreadable state.

[0157] The standby state is a state in which the transport vehicle 110 stops before all picking starts and waits to receive a movement instruction to the location of an item included in the picking instruction. In this standby state, the antennas 142A and 142B of the RFID reader 140 are set to an unreadable state. Furthermore, when the transport vehicle 110 is driven from the standby state and the picking assist robot 100 starts moving, the antennas 142A and 142B of the RFID reader 140 are kept in an unreadable state to prevent unnecessary reading during movement.

[0158] The switching control unit 141B may be provided outside the control device 141, for example, in the tablet computer 150. For example, the tablet computer 150 may switch the antennas 142A and 142B between a readable state and an unreadable state based on a drive signal, or may switch between a readable state and an unreadable state based on position information or the like included in a picking instruction.

[0159] <Accommodation determination unit 141C> When the same RFID tag 41 is read by the RFID reader 140 a predetermined number of times or more within a predetermined time period, the accommodation determination unit 141C determines that the item 40 to which the RFID tag 41 is attached is accommodated in the box 130A or 130B, and adds the item 40 to which the RFID tag 41 is attached to the accommodation list. Note that the accommodation determination unit 141C may determine that the item 40 to which the RFID tag 41 is attached is accommodated in the box 130A or 130B not only when the same RFID tag 41 is read a predetermined number of times or more within a predetermined time period, but also, for example, when the RFID reader 140 reads the RFID tag 41 with a radio wave intensity equal to or greater than a predetermined strength within a predetermined time period.

[0160] Furthermore, when the RFID reader 140 is reading, if the same RFID tag 41 is read before a predetermined time has elapsed, the accommodation determination unit 141C ignores the second and subsequent reads of the RFID tag 41.

[0161] The item ID information read from the RFID tag 41 attached to the item 40 determined by the storage determination unit 141C to be stored in the box 130A or 130B is transmitted by the main control unit 141A to the tablet computer 150 together with the identification information of the RFID reader 140. The identification information of the RFID reader 140 is supplemented with information indicating which of the antennas 142A and 142B read the RFID tag 41. This information is antenna identification information that identifies the antennas 142A and 142B.

[0162] Furthermore, when the counting unit 152 is in the cancel mode, the containment determination unit 141C ignores the RFID tag 41 read by the RFID reader 140. The cancel mode is a mode that can be used by an operator when removing an item 40 stored in the box 130A or 130B. In the cancel mode, the operator can operate the tablet computer 150 to decrease the count of the item 40. When the operator removes an item 40 from the box 130A or 130B, there is a risk that the antenna 142A or 142B will pass through the opening 131A or 131B and the RFID tag 41 will be read. Therefore, the containment determination unit 141C ignores the read RFID tag 41 even if the antenna 142A or 142B is in a readable state and the RFID tag 41 is read. As a result, it is possible to prevent the count of the item 40 from increasing when the item 40 is removed from the box 130A or 130B.

[0163] Furthermore, when the counting unit 152 is in inventory mode, the inventory completion button 156 (see FIG. 7) is operated, and the item ID information of the RFID tag 41 read by the RFID reader 140 is already in the inventory list, the storage determination unit 141C ignores the second read. This is to determine whether to ignore the read when an item 40 with item ID information already registered in the storage list is read again after the inventory completion button 156 is operated and the inventory is completed. This is to prevent double counting when an operator removes an item 40 from the box 130A or 130B and returns it to the shelf after the inventory is completed. Note that, in this way, the process of ignoring the second read in order to return the item 40 from the box 130A or 130B to the shelf or the like during inventory can be performed in inventory mode, and does not need to be conditional on the operation of the inventory completion button 156 (see FIG. 7). In other words, when the counting unit 152 is in inventory mode and the RFID tag 41 attached to the item 40 that has been determined to be stored in the boxes 130A and 130B is read again, the storage determination unit 141C may ignore the second reading.

[0164] As described above, the storage determination unit 141C determines that the item 40 to which the RFID tag 41 is attached is stored in the boxes 130A and 130B when the same RFID tag 41 is read a predetermined number of times or more within a predetermined time by the RFID reader 140. Therefore, when the counting unit 152 is in inventory mode, if the RFID tag 41 attached to the item 40 that has been determined to be stored in the boxes 130A and 130B is read again a predetermined number of times or more within a predetermined time, the storage determination unit 141C will not determine that the item 40 to which the RFID tag 41 is attached is stored in the boxes 130A and 130B.

[0165] The storage determination unit 141C may be provided outside the control device 141, for example, in the tablet computer 150. For example, the tablet computer 150 may determine whether the item 40 is stored in the boxes 130A and 130B based on the reading result of the antenna 142A or 142B.

[0166] Memory 141D stores programs and data used by main control unit 141A, switching control unit 141B, and accommodation determination unit 141C to execute the processes described above, as well as data generated when executing the processes described above.

[0167] <Control device 150A of tablet computer 150> The tablet computer 150 includes a control device 150A as shown in Fig. 5. The control device 150A is a part of the tablet computer 150 that includes the CPU 1001, ROM 1002, RAM 1003, auxiliary storage device 1004, and drive device 1008 shown in Fig. 4.

[0168] The control device 150A has a main control unit 151, a counting unit 152, an excess / deficiency information acquiring unit 153, and a memory 154. The main control unit 151, the counting unit 152, and the excess / deficiency information acquiring unit 153 are functional blocks representing the functions of a program executed by the control device 150A. The memory 154 is a functional representation of the memory of the control device 150A.

[0169] The main control unit 151 is a processing unit that oversees the control processing of the control device 150A, and performs control processing other than the control processing performed by the counting unit 152 and the surplus / deficiency information acquisition unit 153. The main control unit 151 performs, for example, a process of outputting item position information included in a picking instruction received from the management server 10 to the transport vehicle 110, and a process of notifying the RFID reader 140 of mode information indicating the mode of the tablet computer 150. The modes of the tablet computer 150 indicated by the mode information include a picking count mode, a cancel mode, and an inventory count mode. Details of these modes will be described later.

[0170] <Counter 152> The counting unit 152 counts the number of each item 40 that the worker is instructed to put into the box 130A or 130B by referring to the picking instruction or inventory instruction received from the management server 10. The counting unit 152 also counts the number of each item 40 stored in the box 130A or 130B based on the item ID information received from the RFID reader 140. Specifically, when the counting unit 152 receives the item ID information from the RFID reader 140, it determines that an item 40 having an RFID tag 41 with the item ID information written therein has been stored in the box 130A or 130B, and counts the number of items. The counting unit 152 generates count information that associates the counted number of each item with the item ID information. The tablet computer 150 transmits the count information to the management server 10.

[0171] The counting unit 152 can determine whether the item 40 is placed in box 130B or 130B based on the item ID information, the identification information of the RFID reader 140, and information indicating whether the RFID reader 140 read the item ID information using antenna 142A or 142B.

[0172] The counting unit 152B can execute processing in three modes: a picking count mode, a cancel mode, and an inventory count mode. The picking count mode is an example of a picking mode, and the inventory count mode is an example of an inventory mode. The picking count mode and the inventory count mode are also examples of count modes.

[0173] The picking count mode is a mode in which the number of items picked is counted, and when the picking assist robot 100 is in the picking assist mode, the main control unit 151 selects the picking count mode in response to a picking instruction.

[0174] The cancel mode is a mode that can be used by an operator when removing items 40 stored in box 130A or 130B, and is a mode that performs a cancellation process that can reduce the count of items 40. When an operator selects the cancel mode by touching the cancel button 155 (see FIG. 7) displayed on the tablet computer 150, the main control unit 151 selects the cancel mode in response to the operator's operation. In the cancel mode, the counting unit 152 reduces the counted number in response to the operator's operation. In the cancel mode, the item ID information of the item 40 to be canceled is specified. Note that the cancel mode is primarily intended to be used to return items 40 to a shelf or the like when too many items 40 have been placed inside box 130A or 130B in the picking count mode, but it can also be used in the inventory count mode.

[0175] The inventory count mode is a mode in which an inventory count process is performed by reading the RFID tags 41 attached to all items 40 included in the inventory instruction, and when the picking assistance robot 100 is in the inventory assistance mode, the main control unit 151 selects the inventory count mode in response to the inventory instruction.

[0176] When the worker operates the complete button 156 on the tablet computer 150 in the inventory count mode, the counting unit 152 confirms the number of items 40 counted in the inventory count mode as the actual inventory quantity. The worker can simply operate the complete button 156 when he or she visually confirms that there are no remaining items 40 that should be placed in the box 130A or 130B during the inventory count. Since the actual inventory quantity can be confirmed when the worker confirms that the inventory is complete, the actual inventory quantity can be counted reliably and accurately.

[0177] The counting unit 152 may be provided outside the tablet computer 150, for example, in the control device 141. The control device 141 may count the articles 40 based on information indicating whether the article ID information was read by the antenna 142A or 142B.

[0178] <Excess / deficiency information acquisition unit 153> In the picking count mode, the surplus / shortage information acquisition unit 153 calculates the surplus / shortage of the number of items 40 already placed in the box 130A or 130B relative to the number of items instructed to be placed in the box 130A or 130B based on the number of items indicated by the picking instruction and the number counted by the counting unit 152. Specifically, the surplus / shortage information acquisition unit 153 determines that there is a shortage of items 40 when the number of items indicated by the picking instruction is greater than the number counted by the counting unit 152, determines that picking is complete when the instructed number is the same as the counted number, and determines that there is an excess of items 40 when the instructed number is less than the counted number. The surplus / shortage information acquisition unit 153 also generates surplus / shortage information indicating the surplus / shortage of items. The tablet computer 150 transmits the surplus / shortage information to the management server 10.

[0179] In addition, in the inventory count mode, the surplus / shortage information acquisition unit 153 calculates the surplus / shortage of the actual inventory quantity relative to the theoretical inventory quantity for each item 40 based on the quantity specified in the inventory instruction (theoretical inventory quantity) and the actual inventory quantity counted by the counting unit 152.

[0180] When the theoretical stock quantity and the actual stock quantity match, the surplus / shortage information acquisition unit 153 registers the match in the notification list together with the item ID information of the selected item 40. When the theoretical stock quantity and the actual stock quantity do not match, the surplus / shortage information acquisition unit 153 registers in the notification list surplus / shortage information indicating the surplus / shortage of the actual stock quantity relative to the theoretical stock quantity together with the item ID information of the selected item 40. The notification list is a list created by the tablet computer 150 in the inventory count mode to register information indicating the surplus / shortage of the actual stock quantity relative to the theoretical stock quantity of the item 40 and notify the management server 10.

[0181] The surplus / deficiency information acquisition unit 153 may be provided outside the tablet computer 150, for example, in the control device 141. The control device 141 may calculate, for each item 40, the surplus or shortage of the number of items already placed in the box 130A or 130B relative to the number of items instructed to be placed in the box 130A or 130B.

[0182] The memory 154 stores programs and data executed when the main control unit 151, the counting unit 152, and the excess / deficiency information acquiring unit 153 perform the above-mentioned processes, as well as data generated by the above-mentioned processes.

[0183] 9A and 9B are diagrams illustrating an example of the work efficiency of the picking assist robot 100. For example, when picking is performed using a hand-pushed cart as shown in Fig. 9A, the worker pushes the cart to search for the shelf 6 on which the items 40 (1) to (4) are placed and pick the items.

[0184] 9(B) shows a situation in which three picking assist robots 100A to 100C are used, with the picking assist robot 100A picking items 40 (1A) to (4A), the picking assist robot 100B picking items 40 (1B) to (4B), and the picking assist robot 100C picking items 40 (1C) to (4C). The picking assist robots 100A to 100C are the same as the picking assist robot 100 shown in FIG.

[0185] As an example, the picking assist robots 100A to 100C are located in the same aisle. The picking assist robots 100A to 100C wait in front of the shelf indicated by the position information included in the picking instruction, so the worker simply walks to the location of the picking assist robots 100A to 100C and picks the item 40 included in the picking instruction while looking at the display on the tablet computer 150. The picking assist robot (one of 100A to 100C) for which the completion operation has been performed automatically moves to wait in front of the shelf in accordance with the next picking instruction, so the worker simply approaches the moved picking assist robot (one of 100A to 100C) and performs the picking work. Therefore, the use of the picking assist robot 100 can significantly improve the efficiency of picking work. In particular, the use of multiple picking assist robots 100 can further improve work efficiency.

[0186] 10A and 10B are diagrams illustrating an example of the work efficiency of the picking assist robot 100. When picking is performed using a push cart as shown in FIG. 10A, the worker picks items by pushing the cart from the packing station 5 around the area where the shelves 6 are located. The worker returns to the packing station 5 every time the cart becomes full of items 40. The packing station 5 is where the items 40 are removed from the cart.

[0187] 10(B), if the picking assist robot 100 is set to automatically shuttle between the packing station 5 and the area where the shelves 6 are located, the worker can concentrate on picking work in the area where the shelves 6 are located, and there is no need for the worker to return to the packing station 5. If a worker is stationed at the packing station 5 to retrieve the items 40 from the picking assist robot 100, the picking assist robot 100 can return to the area where the shelves 6 are located with the boxes 130A and 130B empty, and wait at the position included in the picking instruction. This can significantly improve work efficiency.

[0188] <Picking process in management server 10> FIG. 11 is a diagram showing an example of a flowchart of the picking process in the management server 10.

[0189] The map creation unit 103 performs a map creation process (step S11). At the start of picking, the map creation unit 103 generates a route (path) with the shortest distance that passes through all locations where the item 40 that the worker is instructed to put in box 130A or 130B is stored. Next, the map creation unit 103 creates a map on a layout diagram of each shelf in a logistics center or the like that clearly shows the generated route, the next picking location (i.e., the picking location to which the worker should first go), and all picking locations.

[0190] The instruction management unit 101 transmits data of the picking instruction to the tablet computer 150 (step S12). As described above, the picking instruction may include information on the location to which the picking assist robot 100 should move (i.e., the picking location to which the picking assist robot 100 should move), the items 40 that the worker should put into the box 130A or 130B at that location, and the number of items 40 that the worker should put into the box 130A or 130B.

[0191] The tablet computer 150 displays the picking instructions sent by the instruction management unit 101 in S12 on the display. The transport vehicle 110 moves to a predetermined position according to the position information included in the picking instructions. The worker can perform the picking work while looking at the display on the tablet computer 150 of the picking assist robot 100 that has moved to the predetermined position. The worker can transition from the image showing the picking instructions to the map in S11.

[0192] The information receiving unit 104 receives the item ID information, count information, and identification information of the RFID reader 140 from the tablet computer 150 (step S13). Specifically, the information receiving unit 104 receives the item ID information written in the RFID tag 41 attached to each item 40 that the worker put into the box 130A or 130B, the count information generated by the counting unit 152 of the tablet computer 150, and the identification information of the RFID reader 140.

[0193] The picking status management unit 105 generates picking status data based on the item ID information, count information, and identification information of the RFID reader 140 received in S13 (step S14). The picking status includes information on the number of each item 40 already placed in the box 130A or 130B. More specifically, the picking status includes information indicating the number of each item 40 placed in the box 130A or 130B for each item ID.

[0194] The picking status management unit 105 transmits data on the picking status to the tablet computer 150 (step S15).

[0195] The picking status management unit 105 determines whether all of the items 40 that should be placed in the box 130A or 130B at the current picking location have been placed therein (step S16). If they have been placed therein, the process proceeds to step S17. If they have not been placed therein, the process returns to step S13.

[0196] Returning to step S13, the information receiving unit 104 receives the item ID information, count information, and identification information of the RFID reader 140 transmitted from the tablet computer 150.

[0197] In step S17, the picking status management unit 105 determines whether all of the items 40 that should be placed in the box 130A or 130B (i.e., all of the items 40 that should be placed in the box 130A or 130B at all picking locations) have been placed (step S17). If they have been placed, the process proceeds to step S18. If they have not been placed, the process returns to step S11.

[0198] Returning to step S11, the map creation unit 103 creates a map indicating the next picking location to which the picking assist robot 100 should go. Specifically, the map creation unit 103 creates a map on a layout diagram of each shelf in a logistics center or the like, indicating the route generated at the start of picking (or a newly generated route), the next picking location (i.e., the picking location to which the picking assist robot 100 should move next), and all picking locations. Thereafter, in step S12, the instruction management unit 101 transmits picking instruction data to the tablet computer 150. The picking instruction may include information on the location to which the picking assist robot 100 should move (the picking location to which the picking assist robot 100 should move next), the items 40 that the worker should put into the box 130A or 130B at that location, and the number of items 40 that the worker should put into the box 130A or 130B.

[0199] In step S18, the picking status management unit 105 notifies the tablet computer 150 that the picking work has been completed (step S18).

[0200] <Map creation process> FIG. 12 is a diagram illustrating an example of a flowchart of the map creation process (S11 in FIG. 11) according to the embodiment.

[0201] The map creating unit 103 generates a route (path) with the shortest distance that passes through all locations where the item 40 that the worker is instructed to put in the box 130A or 130B is stored (step S21).

[0202] The map creation unit 103 identifies the next picking location (step S22).

[0203] The map creation unit 103 creates a map that shows the route generated in S21, the next picking location identified in S22, and all the picking locations on the layout diagram of each shelf in the logistics center or the like (step S23).

[0204] <Switching process executed by the control device 141 of the RFID reader 140> FIG. 13 is a diagram showing an example of a flowchart representing the switching process executed by the control device 141 of the RFID reader 140. The switching process shown in FIG. 13 is a common process for both the case of picking and the case of inventory taking.

[0205] When the switching control unit 141B starts the process, it sets the antennas 142A and 142B to a non-readable state in the standby state (step S31). The standby state is a state in which the transport vehicle 110 waits to receive an instruction to move to the position of the article 40 included in the picking instruction. Since the state before the process starts and the transport vehicle 110 moves is the standby state and there is no need to read the RFID tag 41, the switching control unit 141B sets the antennas 142A and 142B to a non-readable state in order to reduce power consumption.

[0206] The switching control unit 141B determines whether it has received a drive signal indicating that the motor 112 is to be driven (step S32). This is to determine whether the transport vehicle 110 is to move. If the switching control unit 141B determines that it has not received a drive signal indicating that the motor 112 is to be driven (S32: NO), it repeatedly executes the process of step S32 until it receives a drive signal indicating that the motor 112 is to be driven.

[0207] When determining that the switching control unit 141B has received a drive signal instructing to drive the motor 112 (S32: YES), the switching control unit 141B determines whether a predetermined time has elapsed since the drive signal instructing to stop the motor 112 was received (step S33). This is because, if the motor 112 is stopped, the antennas 142A and 142B are switched to a readable state. Note that the predetermined time is, for example, one second.

[0208] If the switching control unit 141B determines that the predetermined time has not elapsed since receiving the drive signal indicating that the motor 112 should be stopped (S33: NO), the switching control unit 141B repeatedly executes the process of step S33 until the predetermined time has elapsed since receiving the drive signal indicating that the motor 112 should be stopped. Note that while the transport vehicle 110 is moving, the antennas 142A and 142B are kept in a read-disabled state so as not to read unnecessary RFID tags 41.

[0209] When the switching control unit 141B determines that a predetermined time has elapsed since receiving the drive signal indicating that the motor 112 is to be stopped (S33: YES), the switching control unit 141B switches the antennas 142A and 142B to a readable state (step S34) in order to perform picking or inventory.

[0210] The switching control unit 141B determines whether or not it has received a drive signal instructing it to drive the motor 112 (step S35). If it determines that it has not received a drive signal instructing it to drive the motor 112 (S35: NO), it repeatedly executes the process of step S32 until it receives a drive signal instructing it to drive the motor 112.

[0211] When the switching control unit 141B determines that it has received a drive signal indicating that it should be driven (S35: YES), it switches the antennas 142A and 142B to a read-disabled state (step S36) in order to prevent unnecessary RFID tags 41 from being read while the transport vehicle 110 is moving.

[0212] The switching control unit 141B determines whether to end (step S37). For example, it ends when all picking and inventory taking are completed and the power of the picking assist robot 100 is turned off.

[0213] If the switching control unit 141B determines not to end (S37: NO), it returns the flow to step S33. Also, if the switching control unit 141B determines to end (S37: YES), it ends a series of switching processes (end).

[0214] <The reading process executed by the control device 141 of the RFID reader 140> FIG. 14 and FIG. 15 are diagrams showing an example of a flowchart representing the reading process executed by the control device 141 of the RFID reader 140. The accommodation determination unit 141C of the control device 141 executes the process shown in FIG. 14 and the process shown in FIG. 15 in parallel.

[0215] <The process shown in FIG. 14> The accommodation determination unit 141C sets the reading time T and the threshold value of the number of readings N (step S41). As an example, the main control unit 141A radiates reading radio waves from the antennas 142A and 142B every 1 / 200 seconds to read the RFID tag 41. The reading time T is, for example, 5 seconds, and the threshold value of the number of readings N is, for example, 40 times. That is, when the same RFID tag 41 is read 40 times or more in 5 seconds, the accommodation determination unit 141C determines that the article 40 with the RFID tag 41 attached is accommodated in the box 130A or 130B.

[0216] The reading time T and the threshold value of the number of readings N may be set to appropriate values ​​depending on the time it takes for a worker to manually place the item 40 into the box 130A or 130B and the number of times the RFID tag 41 is read. The above-mentioned time and number of times are examples, and may be set to appropriate values ​​depending on the shape and size of the picking assist robot 100, the height of the shelf, or the size or weight of the item 40. The conditions defined by the reading time T and the threshold value of the number of readings N are reading conditions. Whether the item is placed in box 130A or 130B is determined by whether the antenna 142A or 142B is used to read it.

[0217] The accommodation determination unit 141C determines whether the antennas 142A and 142B are in a readable state (step S42). This is because in a readable state, the RFID tag 41 can be read. If the accommodation determination unit 141C determines that the antennas 142A and 142B are not in a readable state (S42: NO), it repeatedly executes the process of step S42 until it determines that the antennas 142A and 142B are in a readable state (S42: YES).

[0218] If the accommodation determination unit 141C determines that the card is in a readable state (S42: YES), it starts reading (step S43).

[0219] The accommodation determination unit 141C determines whether the counting unit 152 is in the cancel mode (step S44). If the counting unit 152 is in the cancel mode, the RFID tag 41 is ignored even if it is read.

[0220] If the storage determination unit 141C determines that the storage mode is not the cancel mode (S44: NO), it determines whether the item ID information of the read RFID tag 41 is in the storage list (step S45). The storage list is a list (table-format data) that registers item ID information about the items 40 that the storage determination unit 141C determines to be stored in the box 130A or 130B.

[0221] When the accommodation determination unit 141C determines that the item ID information of the read RFID tag 41 is not in the accommodation list (S45: NO), it stores the item 40 to which the read RFID tag 41 is attached, the timestamp of the reading time, and the number of times the timestamp has been updated in a temporary memory (step S46). The temporary memory is a part of the memory 141D, and is, for example, the RAM 1003 shown in FIG. 4. Note that when the accommodation determination unit 141C reads an RFID tag 41 whose item ID information is not in the accommodation list for the first time, it starts counting the reading time T for that RFID tag 41. The accommodation determination unit 141C uses the timestamp of the reading time for the RFID tag 41 whose item ID information is not in the accommodation list only when it starts counting the reading time T for the first time it reads an RFID tag 41 whose item ID information is not in the accommodation list; it does not particularly use the timestamp obtained from the second or subsequent reads.

[0222] If the accommodation determination unit 141C determines that the item ID information of the read RFID tag 41 is in the accommodation list (S45: YES), it ignores the item ID information of the read RFID tag 41 (step S47).

[0223] Furthermore, if the storage determination unit 141C determines in step S44 that the mode is the cancel mode (S44: YES), even if it acquires the item ID information specified in the cancel mode, it ignores reading the RFID tag 41 including the item ID information (step S48). This is because the item 40 with the item ID information specified in the cancel mode is the item that the worker decided to return to the shelf by operating the cancel button 155 (see FIG. 7).

[0224] 14 is now completed (END). The storage determination unit 141C stores the item ID information etc. in the temporary memory in step S46 when the item ID information of the read RFID tag 41 is not in the storage list and when the RFID tag 41 is read for the first time.

[0225] When reading the RFID tag 41 for the second time or later, in step S47 the accommodation determination unit 141C ignores the item ID information of the RFID tag 41. Ignoring the item ID information means that although the RFID tag 41 is read and the item ID information is acquired, it is not stored in temporary memory, is not added to the accommodation list, and the number of times it is read is simply counted.

[0226] <Process shown in Figure 15> The accommodation determination unit 141C determines whether the read time T has elapsed and whether there is an RFID tag 41 whose read count N is equal to or greater than a threshold value (step S51). Specifically, whether the read time T has elapsed can be determined by whether the time elapsed since counting began in step S46 described above has reached the read time T. Furthermore, the timestamp is not updated in the first read, and counting of the number of timestamp updates begins from the second read onwards. Therefore, the read count N is one more than the number of timestamp updates. Therefore, whether the read count N is equal to or greater than a threshold value can be determined by determining whether there is an RFID tag 41 whose read count N, calculated by adding 1 to the number of timestamp updates stored in the temporary memory in step S46 described above, is equal to or greater than a threshold value.

[0227] When the reading time T has elapsed and it is determined that there is no RFID tag 41 whose number of reads N is equal to or greater than the threshold value (S51: NO), the accommodation determination unit 141C deletes the item ID information of that RFID tag 41 from the temporary memory (step S52). This is because the RFID tag 41 does not satisfy the reading conditions and is therefore deleted from the temporary memory in preparation for the next determination.

[0228] When the storage determination unit 141C determines that the reading time T has elapsed and that there is an RFID tag 41 whose number of reads N is equal to or greater than the threshold value (S51: YES), it determines whether the inventory completion button 156 has been operated and the item ID information is in the storage list (step S53). This is to determine whether to ignore the reading when an item 40 with item ID information already registered in the storage list is read again after the inventory completion button 156 has been operated and the inventory has been completed. This determination process is provided to prevent double counting when an operator removes an item 40 from the box 130A or 130B and returns it to the shelf after the inventory has been completed in inventory mode. For this reason, the determination process in step S53 also uses the operation of the inventory completion button 156 as a criterion for determination.

[0229] When the accommodation determination unit 141C determines that the inventory completion button 156 has been operated and that the item ID information is in the accommodation list, and the condition that the item ID information is not satisfied (S53: NO), the accommodation determination unit 141C deletes from the temporary memory the item ID information of the RFID tag 41 for which it was determined in step S51 that the reading time T has elapsed and the number of reads N is equal to or greater than the threshold value, and adds it to the accommodation list (step S54). Because the reading condition is satisfied, it is added to the accommodation list and registered.

[0230] Furthermore, when the storage determination unit 141C determines in step S53 that the conditions that the inventory completion button 156 has been operated and the item ID information is in the storage list are met (S53: YES), it ignores the item ID information of the RFID tag 41 for which it was determined in step S51 that the reading time T has elapsed and the number of reads N is equal to or greater than the threshold (step S55).This is to prevent double counting when an operator takes an item 40 out of box 130A or 130B and returns it to the shelf after inventory is completed in inventory mode.

[0231] When the accommodation determination unit 141C completes the process of step S52, S54, or S55, it ends the series of processes (END).

[0232] In a building such as a store, logistics center, or warehouse where a large number of items 40 are lined up on multiple shelves 6 (see FIG. 9), erroneous readings may occur due to the effects of multipath or the like. For this reason, if the RFID tag 41 is stably read and the reading conditions, including the reading time T and the threshold value of the number of readings N, are satisfied, it is determined that the item 40 is stored in the box 130A or 130B. By setting such reading conditions, erroneous readings due to multipath or the like can be suppressed, and it is possible to determine with high accuracy whether the item 40 is stored in the box 130A or 130B.

[0233] <Processing Executed by the Control Device 150A of the Tablet Computer 150> 16 is a flowchart showing an example of processing executed by the control device 150A of the tablet computer 150. Here, as an example, to explain the processing when an operator picks items, a mode will be described in which the control device 150A executes processing in response to a picking instruction in a picking count mode. However, even when an operator performs an inventory, the control device 150A executes similar processing in response to an inventory instruction.

[0234] As a prerequisite, it is assumed that the tablet computer 150 has received a picking instruction from the management server 10 and stored it in memory.

[0235] The main control unit 151 transmits the position information included in the picking instruction to the control device of the transport vehicle 110 (step S61). As a result, the picking assist robot 100 moves to the predetermined position indicated by the position information.

[0236] The main control unit 151 determines whether or not an arrival notification has been received (step S62). If the main control unit 151 determines that an arrival notification has not been received, it repeats the process of step S62.

[0237] When the main control unit 151 determines that it has received the arrival notification (S62: YES), it displays the type, number, etc. of the items 40 included in the picking instruction on the display (step S63).

[0238] The main control unit 151 determines whether or not the item ID information has been received from the RFID reader 140 (step S64). If the main control unit 151 determines that the item ID information has not been received (S64: YES), it repeats the process of step S64.

[0239] If the main control unit 151 determines that it has received the item ID information (S64: YES), it compares the received item ID information with the type of item 40 included in the picking instruction and determines whether it is the correct item 40 to be picked (step S65).

[0240] If the main control unit 151 determines that the article 40 is the correct one (S65: YES), it outputs a response sound indicating that the article 40 is the correct one (step S66A).

[0241] If the main control unit 151 determines that the item 40 is not the correct one (S65: NO), it outputs a response sound indicating that the item 40 is not the correct one (step S66B). The response sound output in step S66B is different from the response sound output in step S66A. Therefore, the operator can confirm the determination result from the response sound.

[0242] The main control unit 151 determines whether a completion operation has been performed (step S67). The completion operation is performed by the worker operating the tablet computer 150 when the worker looks at the display on the tablet computer 150 and confirms that all of the items 40 to be picked at that picking location have been picked. The completion operation is, for example, pressing the OK button. The determination in step S67 is a process of determining whether a completion operation has been performed within a predetermined time after the processing of step S66A or S66B has ended. The predetermined time is, for example, five seconds.

[0243] If the main control unit 151 determines that a completion operation has been performed (S67: YES), it determines whether or not face authentication has been performed by the face authentication unit 160 and worker ID information has been acquired (step S68). The main control unit 151 repeatedly executes the process of step S68 until worker ID information is acquired.

[0244] When the main control unit 151 determines that the worker ID information has been acquired (S68: YES), it associates the item ID information about the item 40 determined to be the correct item 40 in step S65 with the worker ID information that identifies the worker authenticated in step S68 and transmits them to the management server 10 (step S69). Since the item ID information about the item 40 and the worker ID information are associated and transmitted to the management server 10, the management server 10 can grasp the amount of work and work efficiency of each worker.

[0245] When the main control unit 151 finishes the process of step S69, it ends the series of processes (END). The main control unit 151 repeatedly executes the process shown in FIG. 16. The main control unit 151 again executes the process of step S61 to read the picking instruction, causing the picking assist robot 100 to move to the next picking location, and when an arrival notification is received in step S62, the picking assist robot 100 displays the type, number, etc. of the items 40 on the display and waits in step S63. In other words, the picking assist robot 100 waits in front of the shelf without moving until a completion operation is performed and worker ID information is acquired by face authentication. Furthermore, when a completion operation is performed and worker ID information is acquired by face authentication, the picking assist robot 100 will move.

[0246] If the main control unit 151 determines in step S67 that a completion operation has not been performed (S67: NO), the main control unit 151 returns the flow to step S64. This is because the picking operation is not completed and item ID information for other items 40 is to be received.

[0247] Furthermore, if the main control unit 151 determines NO in the process of step S62, S64, or S68 and repeats the process of step S62, S64, or S68 a predetermined number of times (for example, five times), it may perform error processing. The error processing may include outputting a sound indicating an error or stopping the process shown in FIG. 16.

[0248] 16 illustrates an embodiment in which the control device 150A executes processing in response to a picking instruction in the picking count mode. However, when the control device 150A executes processing in response to an inventory instruction in the inventory count mode, the control device 150A executes similar processing in response to the inventory instruction, moves according to the location information included in the inventory instruction, displays the type and number of items 40 included in the inventory instruction, and outputs a response sound depending on whether the item is the correct product. Then, when a completion operation is performed and worker ID information is acquired, the control device 150A associates the item ID information with the worker ID information and transmits them to the management server 10.

[0249] <Processing Executed by Control Device 150A> 17 is a flowchart illustrating an example of processing executed by the control device 150A of the tablet computer 150. The control device 150A can execute processing in three modes: a picking count mode, a cancel mode, and an inventory count mode.

[0250] When the process starts, the main control unit 151 determines whether the mode is the picking count mode, the cancel mode, or the inventory count mode. The mode is determined by the operator's operation on the tablet computer 150.

[0251] When it is determined in step S70 that the mode is the picking count mode, the count unit 152 notifies the RFID reader 140 that the mode is the picking count mode (step S71A).

[0252] The counting unit 152 starts the picking number counting process and, by referring to the picking instructions received from the management server 10, identifies the number of each item 40 that the worker has been instructed to place in box 130A or 130B (step S72A).

[0253] The counting unit 152 counts the number of each item 40 placed in the box 130A or 130B based on the item ID information received from the communication unit 143 of the RFID reader 140 while the worker is picking the items 40 (step S73A). Specifically, when the counting unit 152 receives the item ID information from the RFID reader 140, it determines that an item 40 to which an RFID tag 41 in which the item ID information is written is attached is placed in the box 130A or 130B.

[0254] The surplus / shortage information acquisition unit 153 calculates the surplus / shortage of the number of items 40 already placed in the box 130A or 130B relative to the number of items the worker is instructed to place in the box 130A or 130B, based on the number identified in step S72A and the number counted in step S73A (step S74A). Specifically, the surplus / shortage information acquisition unit 153 determines that there is a shortage of items 40 when the number identified in step S72A is greater than the number counted in step S73A, determines that picking is complete when the number identified in step S72A is the same as the number counted in step S73A, and determines that there is an excess of items 40 when the number identified in step S72A is less than the number counted in step S73A. The surplus / shortage information is transmitted from the tablet computer 150 to the management server 10. This completes the picking count mode process (END).

[0255] If the counting unit 152 determines in step S70 that the mode is the cancel mode, it notifies the RFID reader 140 that the mode is the cancel mode (step S71B). As a result, the RFID reader 140 operates in the cancel mode. This completes the process executed by the counting unit 152 for the cancel mode (END).

[0256] If it is determined in step S70 that the mode is the inventory count mode, the count unit 152 notifies the RFID reader 140 that the mode is the inventory count mode (step S71C).

[0257] The counting unit 152 starts the inventory count process and identifies the number of each item 40 by referring to the inventory instruction received from the management server 10 (step S72C). The number of each item 40 identified in the inventory instruction represents the theoretical inventory number (theoretical inventory quantity) of each item.

[0258] The counting unit 152 counts the number of each item 40 placed in the box 130A or 130B based on the item ID information received from the communication unit 143 of the RFID reader 140 while the worker is picking the items 40 (step S73C).

[0259] The counting unit 152 determines whether an operation indicating the completion of the inventory work (inventory completion operation) has been performed by the worker (step S74C). The inventory completion operation can be performed by touching a GUI button displayed on the display of the tablet computer 150.

[0260] If the counting unit 152 determines that the inventory completion operation has not been performed (S74C: NO), the flow returns to step S73C.

[0261] When the counting unit 152 determines that the inventory completion operation has been performed (S74C: YES), it determines the number of each item 40 counted in the inventory count mode as the actual stock number of each item 40 (step S75C).

[0262] If there are a plurality of items 40 whose actual stock quantities have been confirmed, the surplus / shortage information acquisition unit 153 selects one item 40 (step S76C).

[0263] The surplus / shortage information acquisition unit 153 determines whether the theoretical stock quantity identified by the counting unit 152 in step S72C matches the actual stock quantity determined in step S75C for the selected item 40 (step S77C).

[0264] When the surplus / shortage information acquisition unit 153 determines that the theoretical inventory quantity and the actual inventory quantity match (S77C: YES), it registers the match together with the item ID information of the selected item 40 in the notification list (step S78CY). After completing the processing of step S78CY, the surplus / shortage information acquisition unit 153 causes the flow to proceed to step S79CA.

[0265] Furthermore, when the surplus / shortage information acquisition unit 153 determines that the theoretical stock quantity and the actual stock quantity do not match (S77C: NO), it registers surplus / shortage information indicating the surplus / shortage of the actual stock quantity relative to the theoretical stock quantity together with the item ID information of the selected item 40 in the notification list (step S78CN). After completing the processing of step S78CN, the surplus / shortage information acquisition unit 153 causes the flow to proceed to step S79CA.

[0266] If there are multiple items 40 whose actual inventory numbers have been confirmed, the surplus / shortage information acquisition unit 153 determines whether all of the items 40 have been selected (step S79CA). If the surplus / shortage information acquisition unit 153 determines that all of the items 40 have not been selected (S79CA: NO), the flow returns to step S76C.

[0267] When the surplus / shortage information acquisition unit 153 determines that all items 40 have been selected (S79CA: YES), it transmits the notification list to the management server 10 (step S79CB). Transmitting the notification list including the surplus / shortage information to the management server 10 is equivalent to transmitting the surplus / shortage information to the management server 10. This completes the processing of the inventory count mode (END).

[0268] <Effects> As described above, the picking assistance robot 100 according to one aspect of the embodiment moves to the shelf where the item 40 included in the picking instruction is located, and sets the antennas 142A and 142B to a readable state only when the stop condition is met.

[0269] Therefore, it is possible to provide a picking assist robot 100 that can assist a worker to efficiently pick items 40 and can suppress unnecessary reading of RFID tags 41 while moving. It is also possible to provide a picking assist robot 100 that reduces power consumption. Furthermore, since the reduced power consumption extends the operable time, it is possible to provide a picking assist robot 100 that can assist a worker to efficiently pick items 40.

[0270] Furthermore, the switching control unit 141B determines whether the stop condition and the termination condition are met based on the drive signal input to the motor 112 of the transport vehicle 110, so it is possible to determine whether the transport vehicle 110 is moving without using a sensor to detect whether the transport vehicle 110 is moving, and it is possible to provide a picking assist robot 100 with a simple configuration that can prevent unnecessary RFID tags 41 from being read while the transport vehicle 110 is moving. Note that a sensor that detects whether the transport vehicle 110 is moving may also be used.

[0271] Furthermore, when a predetermined time has elapsed since a drive signal indicating that the motor 112 is stopped is input to the motor 112, the switching control unit 141B determines that the stop condition is met and switches the antennas 142A and 142B to a readable state, so that it is no longer necessary to determine that the stop condition is met when the robot stops for an instant during movement, but can determine that the stop condition is met when the robot stops to read the RFID tag 41. Therefore, it is possible to provide a picking assist robot 100 that can set the antennas 142A and 142B to a readable state when necessary and more effectively reduce power consumption.

[0272] Furthermore, when a drive signal indicating that the motor 112 should be driven when the stop condition is met is input to the motor 112, the switching control unit 141B determines that the termination condition is met and switches the antennas 142A and 142B to an unreadable state. This ensures that the antennas 142A and 142B are unreadable while the transport vehicle 110 is moving, and more reliably prevents unnecessary RFID tags 41 from being read while the transport vehicle 110 is moving.

[0273] Furthermore, when the tablet computer 150 detects that picking has finished while the stop condition is met, a drive signal indicating that the motor 112 should be driven is input to the motor 112. Therefore, the transport vehicle 110 moves only after picking has finished, and the RFID reader 140 can be reliably turned on and the RFID tag 41 can be read until picking finishes.

[0274] In addition, the switching control unit 141B can make the antennas 142A and 142B unreadable even when the transport vehicle 110 is in a standby state waiting to receive an instruction to move to the location of the item 40 included in the picking instruction, thereby providing a picking assistance robot 100 with reduced power consumption.

[0275] Furthermore, when a drive signal instructing the motor 112 to be driven is input to the motor 112 in the standby state, the switching control unit 141B keeps the antennas 142A and 142B in a read-disabled state. Therefore, even when the transport vehicle 110 transitions from the standby state to the moving state, the antennas 142A and 142B can be kept in a read-disabled state, and power consumption can be further reduced.

[0276] The picking assist system 1 also includes a management server 10 and a picking assist robot 100. The management server 10 has an instruction management unit 101 that transmits picking instructions. The picking assist robot 100 moves to a shelf where an item 40 included in the picking instruction is located, and sets the antennas 142A and 142B to a readable state only when a stop condition is met.

[0277] Therefore, it is possible to provide a picking assist system 1 that can assist a worker to efficiently pick items 40 and can suppress unnecessary reading of RFID tags 41 while moving. It is also possible to provide a picking assist system 1 that reduces power consumption. Furthermore, since the reduced power consumption extends the operable time of the picking assist robot 100, it is possible to provide a picking assist system 1 that can assist a worker to efficiently pick items 40.

[0278] As described above, the storage determination unit 141C determines that the item 40 to which the RFID tag 41 is attached is stored in the boxes 130A and 130B when the same RFID tag 41 is read by the RFID reader 140 a predetermined number of times or more within a predetermined time period, or when the RFID reader 140 reads the RFID tag 41 with a radio wave strength equal to or greater than a predetermined strength within a predetermined time period.

[0279] Therefore, the picking assist robot 100 can be provided that moves to the shelf where the item 40 included in the picking instruction is located and can suppress the effects of multipath and the like, thereby assisting the worker in efficiently picking the item 40, suppressing erroneous readings due to multipath and the like, and determining with high accuracy whether the item 40 has been placed in the boxes 130A and 130B. Furthermore, being able to determine with high accuracy whether the item 40 has been placed in the boxes 130A and 130B can further improve work efficiency.

[0280] Furthermore, the counting unit 152 has a counting mode and a canceling mode, and in the canceling mode, the counted number is decreased in response to an operator's operation, making it possible to count the items 40 stored in the boxes 130A and 130B and to cancel the count. This makes it possible to correct the counted number when the wrong items 40 are placed in the boxes 130A and 130B or when too many items 40 are mistakenly placed in the boxes 130A and 130B.

[0281] Furthermore, the accommodation determination unit 141C may ignore the RFID tag 41 read by the RFID reader 140 when the counting unit 152 is in the cancel mode.

[0282] According to this embodiment, even if the RFID reader 140 reads the RFID tag 41 attached to the item 40 when removing the item 40 that has been mistakenly placed in the boxes 130A and 130B, the storage determination unit 141C ignores the reading, so the count does not increase when removing the item 40 that has been mistakenly placed in the boxes 130A and 130B, and a user-friendly picking assistance robot 100 can be provided.

[0283] Furthermore, when the RFID reader 140 is performing a reading operation and the same RFID tag 41 is read before a predetermined time has elapsed, the storage determination unit 141C ignores the second and subsequent readings of the RFID tag 41, and when the same RFID tag 41 is read by the RFID reader 140 a predetermined number of times or more within a predetermined time, the storage determination unit 141C determines that the item 40 with the RFID tag 41 attached is stored in the boxes 130A and 130B, and adds the item 40 with the RFID tag 41 attached to the storage list. This effectively prevents erroneous reading due to multipath or the like, and makes it possible to more accurately and reliably determine whether the item 40 is stored in the boxes 130A and 130B.

[0284] The picking assist system 1 also includes a management server 10 and a picking assist robot 100, and the management server 10 has an instruction management unit 101 that transmits picking instructions.

[0285] Therefore, it is possible to provide a picking assist system 1 including a picking assist robot 100 that can move to the shelf where the item 40 included in the picking instruction is located, suppress the effects of multipath and the like, assist the worker in efficiently picking the item 40, suppress erroneous reading due to multipath and the like, and determine with high accuracy whether the item 40 has been placed in the boxes 130A and 130B. Furthermore, being able to determine with high accuracy whether the item 40 has been placed in the boxes 130A and 130B can further improve work efficiency.

[0286] Furthermore, as described above, the counting unit 152 counts the number of items 40 determined to be stored in boxes 130A and 130B in a picking mode in which the RFID tags 41 attached to the items 40 included in the picking instruction are read, or in an inventory mode in which the RFID tags 41 attached to all items 40 included in the inventory instruction are read.

[0287] Therefore, it is possible to provide a picking assist robot 100 that can move to the shelf where the items 40 included in the picking instruction are located and can assist the worker in efficiently picking or inventorying the items 40. Furthermore, it is possible to count the number of items 40 stored in the boxes 130A and 130B in both picking and inventorying work. Furthermore, counting of the items 40 in both picking and inventorying work can be achieved with a single picking assist robot 100. Furthermore, in inventorying work, there is no need for a human to count the items 40, and the number of items 40 can be counted accurately, making it possible to count the number of items 40 with high precision in inventorying work.

[0288] In addition, when the counting unit 152 is in inventory mode, if the RFID tag 41 attached to the item 40 that has been determined to be stored in the boxes 130A and 130B is read again, the storage determination unit 141C may ignore the second reading.

[0289] According to this embodiment, when items 40 that have been placed in boxes 130A and 130B once for counting items 40 during inventory are removed from boxes 130A and 130B after the counting for inventory is completed, even if the RFID tag 41 is read again, the second reading is ignored, so the count number of the counting unit 152 does not increase, and a picking assistance robot 100 can be provided that is easy to use and can count the number of items 40 with high accuracy during inventory.

[0290] Furthermore, when the RFID reader 140 reads the same RFID tag 41 a predetermined number of times or more within a predetermined time, the storage determination unit 141C determines that the item 40 to which the RFID tag 41 is attached is stored in the boxes 130A and 130B. Furthermore, when the counting unit 152 is in inventory mode, when the RFID tag 41 attached to the item 40 that has been determined to be stored in the boxes 130A and 130B is read again a predetermined number of times or more within a predetermined time, the storage determination unit 141C does not need to determine that the item 40 to which the RFID tag 41 is attached is stored in the boxes 130A and 130B. This makes it possible to suppress erroneous reading due to multipath or the like, to accurately determine whether the item 40 is stored in the boxes 130A and 130B, and to more accurately count the number of items 40 during inventory.

[0291] Furthermore, if the theoretical inventory number of the item 40 included in the inventory instruction does not match the actual inventory number of the item 40 counted in inventory mode, surplus / shortage information is obtained and sent to the management server 10, so that the surplus / shortage of the actual inventory number relative to the theoretical inventory number in the inventory can be accurately determined, and a picking assistance robot 100 can be provided that can reliably transmit accurate surplus / shortage information to the management server 10.

[0292] Furthermore, when the worker operates the inventory completion button 156, the surplus / shortage information acquisition unit 153 determines the number of items 40 counted by the counting unit 152 in inventory mode as the actual inventory quantity, thereby enabling the actual inventory quantity to be counted reliably and accurately.

[0293] The picking assist system 1 also includes a management server 10 and a picking assist robot 100, and the management server 10 has an instruction management unit 101 that transmits picking instructions.

[0294] Therefore, it is possible to provide a picking assist system 1 in which the picking assist robot 100 moves to the shelf where the item 40 included in the picking instruction is placed, and which can assist the worker in efficiently picking or inventorying the item 40. It is also possible to provide a picking assist system 1 in which the number of items 40 stored in the boxes 130A and 130B can be counted in both picking and inventorying work, and the counting of the items 40 in both picking and inventorying work can be achieved with a single picking assist robot 100, and which can count the number of items 40 with high accuracy in inventorying work.

[0295] As described above, the box 130A also includes an RFID reader 140 having an antenna 142A that is positioned so that the opening 131A of the box 130A is included in the range in which the RFID tag 41 can be read, and that reads the RFID tag 41 attached to the item 40 placed inside the box 130A through the opening 131A.

[0296] Therefore, the picking assistance robot 100 can be provided, which moves to the shelf where the item 40 included in the picking instruction is located, and the antenna 142A is positioned so that the opening 131A is included in the readable range, thereby assisting the worker in picking the item 40 efficiently and capable of reliably reading the RFID tag 41.

[0297] In addition, the box 130A includes a first shielding portion that is erected above the opening 131A along the outer edge of the opening 131A and shields the radio waves from the RFID reader 140 or the RFID tag 41. This suppresses erroneous reading due to multipath or the like when the antenna 142A reads the RFID tag 41, and enables the RFID tag 41 attached to the item 40 stored in the box 130A to be read with high accuracy.

[0298] Furthermore, since the first shielding portion is provided on three sides of the box 130A when viewed in a plane, erroneous reading due to multipath or the like on three sides of the box 130A when viewed in a plane can be suppressed, and the RFID tag 41 attached to the item 40 stored in the box 130A can be read with higher accuracy.

[0299] Moreover, the RFID reader 140 has two antennas 142A, and the two antennas 142A are disposed on the surfaces of the left wall 170L and the right wall 170R, which are located at both ends of the first shielding part and face each other across the opening 131A in a plan view, respectively. Therefore, with the left wall 170L and the right wall 170R in front of the two antennas 142A, erroneous reading due to multipath or the like on three sides of the box 130A in a plan view is suppressed, and intrusion of radio waves due to multipath or the like into the antenna 142A is effectively suppressed, making it possible to read the RFID tag 41 attached to the item 40 stored in the box 130A with high accuracy.

[0300] Furthermore, the first shielding portion is erected above opening 131A and extends along the side of box 130A below opening 131A, so that it can shield the area above opening 131A and the area around the side wall below opening 131A, thereby suppressing erroneous readings due to multipath, etc., and suppressing the intrusion of radio waves into box 130A, thereby enabling RFID tags 41 attached to items 40 stored in box 130A to be read with higher accuracy.

[0301] The box 130B is also arranged below the box 130A and has an opening 131B at the top, and the RFID reader 140 has an antenna 142B arranged so that the opening 131B is included in the range in which the RFID tag 41 can be read. Therefore, the RFID tags 41 attached to the items 40 placed in the boxes 130A and 130B, respectively, can be reliably read through the openings 131A and 131B, thereby assisting the worker in efficiently picking the items 40.

[0302] In addition, since it includes an intermediate plate 170M that blocks radio waves between boxes 130A and 130B, radio waves are blocked between boxes 130A and 130B, and the RFID tags 41 attached to the items 40 stored in boxes 130A and 130B can be read with high accuracy.

[0303] In addition, the box 130B includes a second shielding portion that is erected above the opening 131B along the outer edge of the opening 131B and that shields the radio waves from the RFID reader 140 or the RFID tag 41. This suppresses erroneous reading due to multipath or the like when the antenna 142B reads the RFID tag 41, and enables the RFID tag 41 attached to the item 40 stored in the box 130B to be read with high accuracy.

[0304] Furthermore, since the second shielding portion is provided on three sides of the box 130B in a planar view, when the antenna 142B reads the RFID tag 41, erroneous reading due to multipath or the like on the three sides of the box 130B in a planar view is suppressed, and the RFID tag 41 attached to the item 40 stored in the box 130B can be read with higher accuracy.

[0305] The box 130B also includes two antennas 142B, which are located on both ends of the second shielding portion and are respectively arranged on the surfaces of the left wall portion 170L and the right wall portion 170R facing each other across the opening 131B in a plan view. Therefore, by reading the RFID tag 41 with the two antennas 142B arranged on the opening 131B sides of the left wall portion 170L and the right wall portion 170R at both ends of the second shielding portion and facing each other, erroneous reading due to multipath or the like on three sides of the box 130B in a plan view can be suppressed with the left wall portion 170L and the right wall portion 170R located directly in front of the two antennas 142B. Furthermore, by effectively suppressing the intrusion of radio waves due to multipath or the like into the two antennas 142B, the RFID tag 41 attached to the item 40 stored in the box 130B can be read with higher accuracy.

[0306] Furthermore, the second shielding portion is erected above the opening 131B of the box 130B and extends along the side of the box 130B below the opening 131B, so that it is possible to shield the area above the opening 131B of the box 130B and the area around the side wall below the opening 131B. This prevents erroneous reading due to multipath and the like, and also prevents radio waves from entering the box 130B, thereby enabling the RFID tag 41 attached to the item 40 stored in the box 130B to be read with higher accuracy.

[0307] Furthermore, since the second shielding portion is provided continuously with the first shielding portion, the boxes 130A and 130B can be shielded by the continuously provided shielding portion 170. Therefore, erroneous reading due to multipath or the like can be suppressed with a simple configuration, and by suppressing the intrusion of radio waves into the boxes 130A and 130B, the RFID tags 41 attached to the items 40 stored in the boxes 130A and 130B can be read with higher accuracy.

[0308] Furthermore, since the box 130B includes a bottom plate 170B between the box 130B and the transport vehicle 110 that blocks radio waves from the RFID reader 140 or RFID tag 41, radio waves propagating from below the box 130B are blocked, and the RFID tag 41 attached to the item 40 stored in the box 130B can be read with high accuracy. The radio waves propagating from below the box 130B are mainly reflected waves that are reflected by the floor or the like.

[0309] In addition, the box 130A includes a shielding plate that is provided on the underside of the box 130A or above the opening 131A and blocks radio waves from the RFID reader 140 or RFID tag 41. This shields radio waves on the underside of the box 130A or above the opening 131A, allowing the RFID tag 41 attached to the item 40 stored in the box 130A to be read with high accuracy.

[0310] The picking assist system 1 also includes a management server 10 and a picking assist robot 100, and the management server 10 has an instruction management unit 101 that transmits picking instructions.

[0311] Therefore, the picking instruction moves to the shelf where the item 40 is located, and the antenna 142A is positioned so that the opening 131A is included in the readable range, thereby assisting the worker in picking the item 40 efficiently and enabling the RFID tag 41 to be read reliably.

[0312] In addition, the following items will be disclosed:

[0313] (Item 1A) a storage section for storing items with RFID tags attached; an RFID reader having an antenna disposed at a position where the RFID tag can be read when the item is stored in the storage section; A terminal device that receives picking instructions; a mobile body that is equipped with the storage unit and the RFID reader and that moves to a position where the item is to be placed based on information about the location of the item included in the picking instruction; a switching control unit that switches the antenna of the RFID reader to a readable state when a stop condition indicating that the moving object has stopped is satisfied, and switches the antenna of the RFID reader to a readable state when an end condition indicating that picking has been completed is satisfied; and Picking assistance robots, including

[0314] According to this aspect, a picking assist robot can be provided that moves to a shelf where an item included in a picking instruction is located and turns the antenna of the RFID reader into a readable state only when a stop condition is met, thereby assisting a worker in picking items efficiently and suppressing the reading of unnecessary RFID tags while moving. It is also possible to provide a picking assist robot that consumes less power. Furthermore, since the reduced power consumption extends the operational time, it is possible to provide a picking assist robot that can assist a worker in picking items efficiently.

[0315] (Item 2A) The picking assist robot according to item 1A, wherein the switching control unit determines whether the stop condition and the termination condition are satisfied based on a drive signal input to a power source of the moving body.

[0316] According to this aspect, it is possible to provide a picking assistance robot that can determine whether a moving object is moving without using a sensor that detects whether the moving object is moving, and that has a simple configuration and can prevent unnecessary RFID tags from being read while moving.

[0317] (Item 3A) The picking assist robot described in item 2A, wherein the switching control unit determines that the stop condition is met when a predetermined time has elapsed since the drive signal indicating that the power source is to be stopped is input to the power source.

[0318] According to this aspect, it is no longer necessary to determine that the stop condition is met when the robot stops for a moment while moving, but rather that the stop condition is met when the robot stops to read an RFID tag. This makes it possible to provide a picking assist robot that can set the RFID reader antenna to a readable state when necessary and more effectively reduces power consumption.

[0319] (Item 4A) The picking assist robot described in item 2A or 3A, wherein the switching control unit determines that the termination condition is met when the drive signal indicating that the power source is to be driven when the stop condition is met is input to the power source.

[0320] According to this aspect, when the drive signal indicating that the power source is to be driven is input to the power source, it is determined that the termination condition is met. Therefore, the antenna of the RFID reader can be reliably made unreadable while the mobile object is moving, and reading of unnecessary RFID tags while the mobile object is moving can be more reliably prevented.

[0321] (Item 5A) The picking assistance robot described in item 4A, wherein a drive signal indicating that the power source is to be driven is input to the power source when the terminal device detects that the picking has ended while the stop condition is met.

[0322] According to this aspect, the moving body moves only after picking is reliably completed, and the RFID reader can be reliably turned on and the RFID tag can be read until picking is completed.

[0323] (Item 6A) The picking assistance robot according to any one of items 2A to 5A, wherein the switching control unit sets the antenna of the RFID reader to an unreadable state when the mobile body is in a standby state in which the mobile body is waiting to receive an instruction to move to the location of an item included in the picking instruction.

[0324] According to this aspect, the antenna of the RFID reader can be made unreadable even in the standby state, and a picking assist robot with reduced power consumption can be provided.

[0325] (Item 7A) The picking assist robot described in item 6A, wherein the switching control unit keeps the antenna of the RFID reader in an unreadable state when the drive signal indicating that the power source is to be driven in the standby state is input to the power source.

[0326] According to this aspect, the RFID reader antenna can be made unreadable even when the mobile body transitions from a standby state to a moving state, making it possible to provide a picking assistance robot with reduced power consumption.

[0327] (Item 8A) A picking assist system including a server and the picking assist robot according to any one of items 1A to 7A, The server has an instruction management unit that transmits the picking instruction.

[0328] According to this aspect, the picking assist system moves to the shelf where the item included in the picking instruction is located, and the antenna of the RFID reader is set to a readable state only when the stop condition is met, thereby providing a picking assist system that can assist the worker in picking items efficiently and suppress the reading of unnecessary RFID tags during movement. It is also possible to provide a picking assist system that reduces power consumption. Furthermore, because the reduced power consumption extends the operational time of the picking assist robot, it is possible to provide a picking assist system that can assist the worker in picking items efficiently.

[0329] (Item 1B) a storage section for storing items with RFID tags attached; an RFID reader having an antenna disposed at a position where the RFID tag can be read when the item is stored in the storage section; A terminal device that receives picking instructions; a mobile body that is equipped with the storage unit and the RFID reader and that moves to a position where the item is to be placed based on information about the location of the item included in the picking instruction; a storage determination unit that determines that an item to which an RFID tag is attached has been stored in the storage unit when the same RFID tag is read by the RFID reader a predetermined number of times or more within a predetermined time period, or when the RFID tag is read by the RFID reader with a radio wave intensity equal to or greater than a predetermined intensity within a predetermined time period; Picking assistance robots, including

[0330] According to this aspect, a picking assist robot can be provided that can move to the shelf where the item included in the picking instruction is located and can suppress the effects of multi-path and the like, thereby assisting the worker in picking items efficiently, suppressing erroneous readings due to multi-path and the like, and determining with high accuracy whether the item will be placed in the storage unit. Furthermore, being able to determine with high accuracy whether the item will be placed in the storage unit can further improve work efficiency.

[0331] (Item 2B) a counting unit having a count mode for counting the number of articles determined by the storage determination unit to be stored in the storage unit and a cancel mode for reducing the counted number; The picking assist robot according to item 1B, wherein in the cancel mode, the counting unit decreases the counted number in response to an operation by a worker.

[0332] According to this aspect, it is possible to count the items stored in the storage section and cancel the count, and a picking assistance robot can be provided that can correct the count number in cases such as when the wrong item is placed in the storage section or when too many items are mistakenly placed in the storage section.

[0333] (Item 3B) The picking assist robot according to item 2B, wherein when the counting unit is in the cancel mode, the storage determination unit ignores the reading even if the RFID reader reads an RFID tag attached to an item specified in the cancel mode.

[0334] According to this aspect, even if the RFID reader reads the RFID tag attached to an item when removing the item that has been mistakenly placed in the storage section, the storage determination section ignores the reading, so the count does not increase when removing an item that has been mistakenly placed in the storage section, and a user-friendly picking assistance robot can be provided.

[0335] (Item 4B) The accommodation determination unit When the RFID reader is reading, if the same RFID tag is read before the predetermined time has elapsed, the second and subsequent reads of the RFID tag are ignored; The picking assistance robot according to any one of items 1B to 3B, wherein when the same RFID tag is read by the RFID reader a predetermined number of times or more within the predetermined time period, it determines that the item with the RFID tag has been stored in the storage section, and adds the item with the RFID tag to a storage list.

[0336] According to this aspect, the second or subsequent reading before a predetermined time has elapsed is ignored, and if the RFID tag is read a predetermined number of times or more within a predetermined time, the item with the RFID tag is added to the storage list. This effectively suppresses erroneous readings due to multi-path, etc., and provides a picking assistance robot that can more accurately and reliably determine whether an item has been stored in a storage section.

[0337] (Item 5B) A picking assist system including a server and the picking assist robot according to any one of items 1B to 4B, The server has an instruction management unit that transmits the picking instruction.

[0338] According to this aspect, a picking assistance system including a picking assistance robot can be provided that can assist a worker in picking items efficiently, suppress erroneous readings due to multi-pass, etc., by moving to a shelf where an item included in a picking instruction is located, and can suppress the effects of multi-pass, etc., and can determine with high accuracy whether an item has been placed in a storage unit. Furthermore, being able to determine with high accuracy whether an item has been placed in a storage unit can further improve work efficiency.

[0339] (Item 1D) a first storage section having a first opening at an upper portion thereof and configured to store an RFID-tagged item that is placed inside through the first opening; an RFID reader having a first antenna arranged so that the first opening is included in a range in which the RFID tag can be read, the first antenna reading the RFID tag attached to the item placed inside the first storage section through the first opening; A terminal device that receives picking instructions; a mobile body that is equipped with the first storage unit and the RFID reader and that moves to a position where the item is to be placed based on information regarding the location of the item included in the picking instruction; Picking assistance robots, including

[0340] According to this aspect, a picking assistance robot can be provided that moves to the shelf where the item included in the picking instruction is located, and the first antenna is positioned so that the first opening is included in the readable range, thereby assisting the worker in picking items efficiently and capable of reading RFID tags more reliably.

[0341] (Item 2D) The picking assist robot described in Item 1D further includes a first shielding portion that is erected above the first opening along the outer edge of the first opening and that blocks radio waves from the RFID reader or the RFID tag.

[0342] According to this aspect, a picking assistance robot can be provided that can suppress erroneous readings due to multipath or the like when the first antenna reads an RFID tag, and can read RFID tags attached to items stored in the first storage section with high accuracy.

[0343] (Item 3D) The picking assist robot according to item 2D, wherein the first shielding section is provided on three sides of the first storage section in a plan view.

[0344] According to this aspect, when the first antenna reads an RFID tag, erroneous reading due to multipath or the like on three sides in a plan view of the first storage section can be suppressed, and a picking assistance robot can be provided that can read RFID tags attached to items stored in the first storage section with higher accuracy.

[0345] (Item 4D) the RFID reader has two first antennas; The picking assist robot described in Item 3D, wherein the two first antennas are located on both ends of the first shielding portion and are respectively arranged on the surfaces of the first opening side of two wall portions that face each other across the first opening in a planar view.

[0346] According to this aspect, by reading RFID tags with two first antennas that are positioned on the first opening side of the two walls on both ends of the first shielding section and that face each other, with the walls on both ends of the first shielding section directly in front of the two first antennas, erroneous readings due to multipath or the like on three sides in a planar view of the first storage section can be suppressed, and the intrusion of radio waves due to multipath or the like into the two first antennas can be effectively suppressed, thereby providing a picking assistance robot that can read RFID tags attached to items stored in the first storage section with higher accuracy.

[0347] (Item 5D) The picking assist robot according to any one of items 2D to 4D, wherein the first shielding section is erected above the first opening of the first storage section and extends along the side of the first storage section below the first opening.

[0348] According to this aspect, it is possible to shield the area above the first opening of the first storage section and the area around the side wall below the first opening of the first storage section, thereby suppressing erroneous readings due to multipath, etc., and suppressing the intrusion of radio waves into the first storage section, thereby providing a picking assistance robot that can read RFID tags attached to items stored in the first storage section with higher accuracy.

[0349] (Item 6D) a second storage unit disposed below the first storage unit and mounted on the moving body, the second storage unit having a second opening at an upper portion thereof, the second storage unit storing an RFID-tagged item that is placed inside through the second opening; The picking assistance robot described in any one of items 2D to 5D, wherein the RFID reader further includes a second antenna that is positioned so that the second opening is included in a range in which the RFID tag can be read, and that reads the RFID tag attached to the item placed inside the second storage section through the second opening.

[0350] According to this aspect, a picking assist robot can be provided that can more reliably read RFID tags attached to items placed in the first storage unit and the second storage unit through the first opening and the second opening, respectively. Furthermore, because the RFID tags attached to the items placed in the first storage unit and the second storage unit can be more reliably read, a picking assist robot can be provided that can assist a worker in efficiently picking items.

[0351] (Item 7D) The picking assistance robot described in item 6D further includes an intermediate shielding plate that shields radio waves from the RFID reader or the RFID tag between the first storage unit and the second storage unit.

[0352] According to this aspect, a picking assistance robot can be provided that can block radio waves between the first storage section and the second storage section and read RFID tags attached to items stored in the first storage section and the second storage section with high accuracy.

[0353] (Item 8D) The picking assist robot described in Item 6D or 7D further includes a second shielding portion that is erected above the second opening along the outer edge of the second opening and that blocks radio waves from the RFID reader or the RFID tag.

[0354] According to this aspect, a picking assistance robot can be provided that can suppress erroneous readings due to multipath or the like when the second antenna reads an RFID tag, and can read RFID tags attached to items stored in the second storage section with high accuracy.

[0355] (Item 9D) The picking assist robot according to item 8D, wherein the second shielding section is provided on three sides of the second storage section in a plan view.

[0356] According to this aspect, when the second antenna reads an RFID tag, erroneous reading due to multipath or the like on three sides in a plan view of the second storage section can be suppressed, and a picking assistance robot can be provided that can read RFID tags attached to items stored in the second storage section with higher accuracy.

[0357] (Item 10D) the RFID reader has two second antennas; The picking assist robot described in Item 9D, wherein the two second antennas are located at both ends of the second shielding portion and are respectively arranged on the surfaces of the two wall portions facing each other across the second opening in a planar view.

[0358] According to this aspect, by reading RFID tags with two second antennas that are positioned on the second opening side of the two walls on both ends of the second shielding section and that face each other, with the walls on both ends of the second shielding section directly in front of the two second antennas, erroneous readings due to multipath or the like on three sides in a planar view of the second storage section can be suppressed, and the intrusion of radio waves due to multipath or the like into the two second antennas can be effectively suppressed, thereby providing a picking assistance robot that can read RFID tags attached to items stored in the second storage section with higher accuracy.

[0359] (Item 11D The picking assist robot according to any one of items 8D to 10D, wherein the second shielding section is erected above the second opening of the second storage section and extends along the side of the second storage section below the second opening.

[0360] According to this aspect, it is possible to shield the area above the second opening of the second storage section and the area around the side wall below the second opening of the second storage section, thereby suppressing erroneous readings due to multipath, etc., and suppressing the intrusion of radio waves into the second storage section, thereby providing a picking assistance robot that can read RFID tags attached to items stored in the second storage section with higher accuracy.

[0361] (Item 12D) The picking assist robot according to item 11D, wherein the second shielding portion is provided continuously with the first shielding portion.

[0362] According to this aspect, the first storage unit and the second storage unit can be shielded by the first shielding unit and the second shielding unit, which are arranged consecutively, and which has a simple configuration that suppresses erroneous reading due to multipath or the like, and by suppressing the intrusion of radio waves into the first storage unit and the second storage unit, a picking assistance robot can be provided that can read RFID tags attached to items stored in the first storage unit and the second storage unit with higher accuracy.

[0363] (Item 13D) A picking assistance robot described in any one of items 6D to 12D, further including a bottom plate that blocks radio waves from the RFID reader or the RFID tag between the second storage section and the moving body.

[0364] According to this aspect, it is possible to provide a picking assist robot that can block radio waves propagating from below the second storage unit and can read RFID tags attached to items stored in the second storage unit with high accuracy. The radio waves propagating from below the second storage unit are mainly reflected waves that are reflected by the floor, etc.

[0365] (Item 14D) The picking assistance robot according to any one of items 1D to 5D, further including a shielding plate provided on the underside of the first storage section or the upper side of the first opening, which shields radio waves from the RFID reader or the RFID tag.

[0366] According to this aspect, a picking assistance robot can be provided that can block radio waves on the underside of the first storage section or the upper side of the first opening, and can read RFID tags attached to items stored in the first storage section with high accuracy.

[0367] (Item 15D) A picking assist system including a server and the picking assist robot according to any one of items 1D to 14D, The server A picking assistance system having an instruction management unit that transmits the picking instruction.

[0368] According to this aspect, the picking assistance system moves to the shelf where the item included in the picking instruction is located, and the first antenna is positioned so that the first opening is included in the readable range, thereby providing a picking assistance system that can assist workers in picking items efficiently and can read RFID tags more reliably.

[0369] The above describes the picking assist robot and picking assist system 1 according to exemplary embodiments of the present invention. However, the present invention is not limited to the specifically disclosed embodiments, and various modifications and changes are possible without departing from the scope of the claims. [Explanation of symbols]

[0370] 1. Picking assistance system 10 Management Server 40 Goods 41 RFID tags 50 Network 100 Picking Assist Robot 101 Instruction Management Department 102 Instruction storage unit 103 Map Creation Department 104 Information Receiving Unit 105 Picking Status Control Department 110 Transport Vehicle 111 Control device 120 frames 121 Frame body 122 Stay 130A, 130B Box 131A, 131B opening 140 RFID Reader 141 Control device 141A Main control unit 141B Switching control unit 141C Detention Determination Department 141D Memory 142A, 142B antennas 150 tablet computers 150A control device 151 Main control unit 151 152 Counting section 153 Surplus / Deficiency Information Acquisition Department 154 memory 160 Face Recognition Unit 170 Shielding part 170F front wall 170L left wall section 170R Right wall section 170B bottom plate 170M intermediate plate 1001 CPU 1002 ROM 1003 RAM 1004 Auxiliary storage device 1005 Display device 1006 Operating device 1007 I / F device 1008 Drive device 1009 Bus 1010 Storage medium

Claims

1. a storage unit for storing an item with an RFID tag attached thereto; an RFID reader having an antenna disposed at a position where the RFID tag can be read when the item is stored in the storage section; A terminal device that receives picking instructions or inventory instructions; a mobile body that is equipped with the storage unit and the RFID reader and that moves to a position where the item is to be placed based on information about the location of the item that is included in the picking instruction or the inventory instruction; a storage determination unit that determines whether an item with an RFID tag attached thereto has been stored in the storage unit based on a result of reading the RFID tag by the RFID reader; a counting unit that counts the number of articles that are determined to be stored in the storage unit by the storage determination unit; Including, the counting unit counts the number of items determined to be stored in the storage unit in a picking mode in which the RFID tags attached to the items included in the picking instruction are read, or in an inventory mode in which the RFID tags attached to all of the items included in the inventory instruction are read, When the counting unit is in the inventory mode, if the RFID tag attached to the item that has been determined to be stored in the storage unit is read again, the storage determination unit ignores the second read, the storage determination unit determines that an item to which the RFID tag is attached has been stored in the storage unit when the same RFID tag has been read by the RFID reader a predetermined number of times or more within a predetermined time period; When the counting unit is in the inventory mode, if the RFID tag attached to an item that has been determined to be stored in the storage unit is read again at least the specified number of times within the specified time period, the storage determination unit does not determine that the item to which the RFID tag is attached has been stored in the storage unit.

2. further comprising an excess / shortage information acquisition unit that acquires excess / shortage information indicating whether the actual inventory quantity is in excess or short of the theoretical inventory quantity when the theoretical inventory quantity of the item included in the inventory instruction does not match the actual inventory quantity of the item counted by the counting unit in the inventory mode; The picking assist robot according to claim 1 , wherein the terminal device transmits the surplus / shortage information acquired by the surplus / shortage information acquisition unit to a higher-level management device.

3. 3. The picking assist robot according to claim 2, wherein the counting unit determines the number of items counted in the inventory mode as the actual inventory quantity when an operator performs an operation on the terminal device indicating completion of the inventory work.

4. A picking assist system including a server and the picking assist robot according to any one of claims 1 to 3, The server has an instruction management unit that transmits the picking instruction or the inventory instruction.

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