Picking assistance system and picking assistance robot

Abstract

To provide a picking auxiliary system that can assist an operator to efficiently pick articles.SOLUTION: A picking auxiliary system 1 includes a management server 10 and a picking auxiliary robot 100. On an RFID tag 41 attached to an article 40 being a picking object, [specific information] for specifying a kind of the article 40, and [intrinsic information] containing information excluding the kind related to the article 40, are written. The management server 10 includes: a picking instruction management section 101 which transmits a picking instruction to the picking auxiliary robot 100; an information reception section 104 for receiving the specific information and the intrinsic information written on the RFID tag 41 attached to an article 40 and read by the RFID reader 140 comprised in the picking auxiliary robot 100; and an article management section 107 for managing an article 40 being a picking object according to the intrinsic information.SELECTED DRAWING: Figure 4

Description

[Technical Field]

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

[0002] Conventionally, when shipping items stored in a logistics center or the like in response to an order, a picking operation is known in which a worker selects and removes items to be shipped from among the items in the logistics center or the like. For example, Patent Document 1 describes that a worker picks items by looking at a picking order displayed on a display provided on a picking cart. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Utility Model Application Publication No. 7-15622 Summary of the Invention [Problem to be solved by the invention]

[0004] However, because conventional picking carts are not self-propelled, workers must move the picking cart to the location where they want to perform the work, which makes it difficult for the workers to perform their work efficiently.

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

[0006] A picking assist system according to one aspect of an embodiment of the present invention includes a management server and a picking assist robot, wherein the picking assist robot includes a storage unit that stores an item having an RFID tag attached thereto, an RFID reader having an antenna positioned so as to be able to read the RFID tag when the item is stored in the storage unit, a terminal that receives picking instructions from the management server, and a mobile object that is equipped with the storage unit and the RFID reader and that moves to a location where the item is to be placed based on information regarding the item's location included in the picking instruction, wherein the RFID tag attached to the item has written therein specific information for identifying the type of the item and unique information including information related to the item other than the type, and the management server receives the picking instruction. the item management unit limits items to be picked based on the unique information from among a group of items to be picked that are identified by the specific information, and an expiration date is set for the items, and the unique information includes information relating to the expiration date of the items; and if there is an item with an expiration date approaching in addition to the picked item in the group of items to be picked, the item management unit displays an instruction on the terminal device to replace the item with one with the expiration date approaching, based on the unique information. The unique information includes information regarding a sales promotion campaign, and when there is a target item of the campaign in addition to the picked item among the group of items to be picked based on the unique information, the item management unit displays on the terminal a command to replace the target item with the target item of the campaign. .

[0007] According to this aspect, a worker can complete the picking work at a picking location by walking to the location where the picking assistance robot is waiting and placing the item in the storage unit while viewing the picking instructions displayed on the terminal. This allows the worker to pick items efficiently. Furthermore, the RFID tag attached to the item to be picked contains unique information, including information other than the item's type, in addition to specific information for identifying the type of item. This unique information is also provided to the management server during picking. This allows the upper management server to use the unique information of the item to be picked to perform more detailed management, such as issuing more appropriate instructions to re-pick the item, or identifying and disposing of defective items, thereby making the picking work more efficient. Therefore, according to this aspect, a picking assistance system can be provided that can assist workers in picking items efficiently.

[0009] Also, According to this aspect, it becomes easier to guide the worker to pick the more appropriate item, making the picking work more efficient.

[0011] Also, According to this aspect, it is possible to prioritize picking items with an approaching expiration date from a group of items to be picked, which not only improves picking efficiency but also contributes to reducing waste of goods such as food waste.

[0013] According to this aspect, when the group of items to be picked is in the middle of a sales promotion campaign, it is possible to pick campaign-related items preferentially, which not only improves picking efficiency but also makes it possible to carry out sales promotion campaigns more effectively.

[0014] In a picking assistance system according to another aspect of an embodiment of the present invention, the unique information written on the RFID tag attached to the item to be picked may include information regarding the place of production or the time of production of the item. In this case, when the item management unit acquires information regarding the occurrence of a defective item, if the group of items to be picked has the same place of production or the same time as the defective item based on the unique information, it may determine that there is a defective item in the group of items, and may display a command to pick the defective item on a terminal device of the picking assistance robot.

[0015] According to this aspect, when information on the occurrence of defective items is acquired, it is possible to quickly determine whether or not there are any defective items among the group of items stored on shelves, etc., and if there are any defective items, they can be quickly removed, thereby enabling the disposal of defective items to be carried out efficiently.

[0016] A picking assist robot according to one aspect of an embodiment of the present invention comprises a storage unit for storing an item having an RFID tag attached thereto, an RFID reader having an antenna positioned so as to be able to read the RFID tag when the item is stored in the storage unit, a terminal device for receiving a picking instruction from a management server, and a mobile body equipped with the storage unit and the RFID reader, which moves to a position where the item is to be placed based on information regarding the item's location included in the picking instruction, wherein the RFID tag attached to the item has written therein specific information for identifying the type of the item and unique information including information related to the item other than the type, and the terminal device The terminal device transmits the specified information and the unique information written on the RFID tag attached to the item read by the RFID reader to the management server, receives from the management server a command to limit the items to be picked based on the unique information from the group of items to be picked identified by the specified information, the items are set with expiration dates, and the unique information includes information regarding the expiration dates of the items, and receives from the management server a command to replace the item with one that is close to its expiration date if there is an item with an expiration date close to the picked item in the group of items to be picked, based on the unique information, and displays the command. The unique information includes information about a sales promotion campaign, and the terminal displays a command to replace the picked item with the campaign item if there is a campaign item in addition to the picked item among the group of items to be picked based on the unique information. .

[0017] According to this aspect, a worker can complete the picking task at a picking location by walking to a location where a picking assist robot is waiting and placing an item in a storage unit while viewing the picking instructions displayed on a terminal. This allows the worker to efficiently pick items. Furthermore, the RFID tag attached to the item to be picked contains unique information, including information other than the item's type, in addition to specific information for identifying the item's type. This unique information is also provided to the management server during picking. This allows the upper management server to use the unique information of the item to be picked to perform more detailed management, such as issuing instructions to more appropriately re-pick an item, or to identify and discard defective items, thereby making the picking task more efficient. Therefore, according to this aspect, a picking assist robot can be provided that can assist a worker in efficiently picking items. Furthermore, according to this aspect, it is easier to guide a worker to pick more appropriate items, thereby making the picking task more efficient. Furthermore, according to this aspect, it is possible to prioritize picking of items with an approaching expiration date from among a group of items to be picked, which not only improves picking efficiency but also contributes to reducing waste of items such as food loss. According to this aspect, when the group of items to be picked is in the middle of a sales promotion campaign, it is possible to pick campaign-related items preferentially, which not only improves picking efficiency but also makes it possible to carry out sales promotion campaigns more effectively. [Effects of the Invention]

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

[0019] [Figure 1] FIG. 1 is a side view showing a picking assist robot according to an embodiment. [Figure 2] 1 is a diagram illustrating the overall configuration of a picking assistance system according to an embodiment. [Figure 3] FIG. 2 is a sequence diagram showing the overall processing of the picking assistance system according to the embodiment. [Figure 4] FIG. 2 is a functional block diagram of a management server. [Figure 5] 10 is an example of a screen displayed in the embodiment. [Figure 6] 1 is an example of a display screen of a tablet computer. [Figure 7] 10 is an example of a screen displayed in the embodiment. [Figure 8] 10 is a flowchart showing a first example of an item reordering process performed by an item management unit. [Figure 9] 10 is a flowchart showing a second example of an item reordering process performed by the item management unit. [Figure 10] 10 is a flowchart illustrating an example of a defective product disposal process performed by an item management department. [Figure 11] FIG. 2 is a diagram illustrating a hardware configuration of a management server and a tablet computer according to an embodiment. [Figure 12] FIG. 10 is a functional block diagram of a picking assistance system according to another embodiment. [Figure 13] FIG. 10 is a diagram illustrating an example of a flowchart showing a switching process executed by the main body of the RFID reader. [Figure 14] FIG. 10 is a diagram showing an example of a flowchart illustrating a reading process executed by the main body of the RFID reader. [Figure 15] FIG. 10 is a diagram showing an example of a flowchart illustrating a reading process executed by the main body of the RFID reader. DETAILED DESCRIPTION OF THE INVENTION

[0020] Hereinafter, embodiments will be described with reference to the accompanying drawings. To facilitate understanding of the description, the same components in the drawings will be denoted by the same reference numerals as much as possible, and duplicated descriptions will be omitted.

[0021] [Basic configuration of picking assistance system] The basic configuration of a picking assist system 1 according to an embodiment will be described with reference to FIGS.

[0022] <Picking assistance robot> 1 is a side view showing 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.

[0023] The picking assist robot 100 is a robot (device) used in buildings such as stores, logistics centers, and warehouses, and assists a worker in picking (selecting and removing) items while automatically traveling on a self-propelled transport vehicle 110. In FIG. 1, the left side indicated by the arrow is the front of the picking assist robot 100, and the right side in FIG. 1 is the rear of the picking assist robot 100. Hereinafter, the front and rear directions in the traveling direction of the picking assist robot 100 will be referred to as the forward and rearward directions. The transport vehicle 110 can travel 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] 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 unit configured by a computer. The control unit of the guided vehicle 110 is capable of data communication with the tablet computer 150 via wired or wireless communication. The control unit 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 unit 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 received by the tablet computer 150 from the management server 10 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] The frame 120 is attached to the transport vehicle 110 and holds the boxes 130A and 130B, the RFID reader 140, the tablet computer 150, and the face authentication unit 160. The frame 120 has a frame main body 121 and stays 122A and 122B. The frame main body 121 is, for example, a rod-shaped member made of aluminum, and the stays 122A and 122B, for example, made of iron, are attached to the frame main body 121.

[0027] The stay 122A is attached to the upper end of the frame main body 121 and extends rearward, and holds the main body 141 and antenna 142A of the RFID reader 140, the tablet computer 150, and the facial authentication unit 160. More specifically, the main body 141 of the RFID reader 140 is attached to the upper surface of the front end of the stay 122A, the antenna 142 is attached to the lower surface of the center in the front-to-rear direction of the stay 122A, and the tablet computer 150 and the facial authentication unit 160 are attached to the rear end of the stay 122A. The tablet computer 150 and the facial authentication unit 160 are attached facing rearward. The picking assist robot 100 does not travel backward, so this is to ensure the safety of the worker using the picking assist robot 100. Note that if the worker's safety can be reliably confirmed, the picking assist robot 100 may be allowed to travel backward automatically or manually.

[0028] Stay 122B is attached near the middle in the vertical direction of frame main body 121. Therefore, stay 122B is located lower than stay 122A. Box 130A is attached to the upper surface of stay 122B, and antenna 142B of RFID reader 140 is attached to the lower surface of stay 122B.

[0029] The boxes 130A and 130B are an example of a storage section, and store items picked by a worker. The boxes 130A and 130B are, for example, rectangular parallelepiped boxes, and have entrances 131A and 131B that are open at the top. The entrances 131A and 131B are places through which items must pass when being placed into the boxes 130A and 130B. Here, a configuration will be described in which the worker also uses the entrances 131A and 131B when removing items from the boxes 130A and 130B. For this reason, the entrances 131A and 131B are openings used as entrances and exits. However, the boxes 130A and 130B may have a dedicated removal opening that is used only when removing items.

[0030] As described above, box 130A is attached to the upper surface of stay 122B, and box 130B is attached to the upper surface of transport vehicle 110. Box 130A is located on the upper level, and box 130B is located on the lower level. Here, a configuration will be described in which box 130A is attached to frame main body 121 by stay 122A, and box 130B is attached to the upper surface of transport vehicle 110. However, as long as box 130A is located higher than box 130B, the attachment method of boxes 130A and 130B may be in any configuration. Also, here, a configuration will be described in which picking assist robot 100 includes two boxes 130A and 130B, but the number of boxes may be one, or three or more.

[0031] The RFID reader 140 has a main body 141 and antennas 142A and 142B. The antennas 142A and 142B have downward directivity. The main body 141 is connected to the antennas 142A and 142B, and emits radio waves at a frequency for reading RFID tags from the antennas 142A and 142B and receives the radio waves returned by the RFID tags. The RFID tags are, for example, passive types and do not have batteries. A unique item ID (identifier) ​​is stored in the memory of an 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 the unique item ID. The main body 141 reads the item ID included in the radio waves received by the antennas 142A and 142B and identifies each RFID tag.

[0032] Antenna 142A is located directly above entrance 131A of box 130A, in a position where it can reliably read the RFID tags attached to items that are placed in box 130A through entrance 131A. Antenna 142B is located directly above entrance 131B of box 130B, in a position where it can reliably read the RFID tags attached to items that are placed in box 130B through entrance 131B. By arranging antennas 142A and 142B in this manner, it is possible to reliably read the RFID tags attached to items that a worker picks from a shelf or the like and places in boxes 130A and 130B, thereby reducing missed readings (missed readings). This allows the desired number of desired items to be accurately picked.

[0033] 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.

[0034] Furthermore, if the antennas 142A and 142B are provided below the boxes 130A and 130B, and an item has metal packaging such as aluminum film, the reading radio waves emitted by the antennas 142A and 142B may be blocked by the metal packaging of the item already contained in the boxes 130A and 130B, and the RFID tag of the item passing through the entrances 131A and 131B of the boxes 130A and 130B may not be read. Also, if the object contains liquid, and the antennas 142A and 142B are provided below the boxes 130A and 130B, the radiation distribution of the reading radio waves emitted by the antennas 142A and 142B may change due to the liquid in the item already contained in the boxes 130A and 130B, and the RFID tag of the item passing through the entrances 131A and 131B of the boxes 130A and 130B may not be read.

[0035] In contrast, in this embodiment, antennas 142A and 142B are disposed directly above boxes 130A and 130B, respectively, so even if boxes 130A and 130B already contain articles with metal packaging or articles containing liquid, antennas 142A and 142B can reliably read the RFID tags of articles that pass through entrances 131A and 131B and are contained in boxes 130A and 130B. Furthermore, failure to read any RFID tags can be prevented.

[0036] 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 from the management server 10 and displays them on the display, and also transmits the item location information included in the picking instructions to the control unit of the transport vehicle 110. For example, the tablet computer 150 can use application software to display the picking instructions and transmit the location information to the control unit of the transport vehicle 110.

[0037] Furthermore, the tablet computer 150 receives, from the RFID reader 140, the identification information that the RFID reader 140 reads from the RFID tag. The tablet computer 150 transmits the identification information received from the RFID reader 140 to the management server. The tablet computer 150 also transmits to the management server, information that identifies the worker acquired by the face authentication unit 160, in association with the identification 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 ascertaining the work efficiency of each worker.

[0038] 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.

[0039] 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, simply by touching the picking assist robot, without associating it with the identification information read from the RFID tag attached to the item stored in the box 130A, 130B.

[0040] The shielding portion 170 is a conductive member that blocks radio waves. The shielding portion 170 is provided between the box 130A and the antenna 142B, and prevents the antenna 142A from reading RFID tags attached to items stored in the box 130B. If the antenna 142B also has directivity in the upward direction, the shielding portion 170 can be used to block the antenna 142B from reading RFID tags located above it.

[0041] <System configuration> Fig. 2 is a diagram illustrating the overall configuration of a picking assist system 1 according to an embodiment. As shown in Fig. 2, the picking assist system 1 includes a management server 10 and a picking assist robot 100. In Fig. 2, only the main components of the picking assist robot 100 are shown, and a tablet computer 150 is enlarged to show a control unit 151. The control unit 151 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.

[0042] 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.

[0043] 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 the picking status to the tablet computer 150. The picking status 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 specific information read from the RFID tag 41 by the RFID reader 140.

[0044] 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.

[0045] 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 unit 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 unit 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 box 130A, 130B.

[0046] The RFID reader 140 reads the identification information and unique information written on the RFID tag 41. The identification information is information for identifying the type of product to which the RFID tag 41 is attached. For example, a GS1 standard product identification code such as the GTIN (Global Trade Item Number) used in existing barcode-based systems can be used as the identification information. The GTIN includes information such as the GS1 company code and product item code. The GTIN is sometimes called the JAN code (Japanese Article Number) or the EAN code (European Article Number).

[0047] The unique information is information other than the type of product that is unique to the product to which the RFID tag 41 is attached. Specific examples of the unique information include, for example, the place of production of the product, the time of production, and information about a sales promotion campaign (whether a campaign is currently being held, whether the product is packaged for a promotion, etc.). Furthermore, if the product is a food product, the unique information can also include information about the expiration date of the food product.

[0048] Furthermore, an EPC (Electronic Product Code) may be used as information written to the RFID tag 41. An example of an EPC is an SGTIN (Serialized Global Trade Item Number). The SGTIN is a GTIN, which is a product identification code, to which a serial number (sequential number) is added, and it is possible to individually identify each product even if it has the same GTIN. When the registration information of the RFID tag 41 is an EPC, both the above-mentioned specific information and unique information can be included in the EPC. Note that in the SGTIN, the serial number portion (corresponding to unique information) added to the GTIN (corresponding to specific information) may be changed to any data. Alternatively, a configuration may be adopted in which the expiration date or the like of the registration information in the management server 10 is determined from the serial number and returned to the tablet computer 150.

[0049] The RFID reader 140 transmits the specific information and unique information read from the RFID tag 41 to the tablet computer 150 .

[0050] The tablet computer 150 also receives the identifying information and the unique information from the RFID reader 140. The tablet computer 150 transmits the identifying information and the unique information received from the RFID reader 140 to the management server 10. When the tablet computer 150 receives the identifying information and the unique 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 identifying information and the unique 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.

[0051] 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.

[0052] As described above, the item 40 is various products or the like that are placed on shelves or the like in a building such as a store, a logistics center, or a warehouse. An RFID tag 41 is attached to the item 40. The RFID tag 41 has an IC chip with a built-in memory in which specific information and unique information are 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.

[0053] When an item 40 arrives at a logistics center or the like, the management server 10 manages the specific information and unique information written in the RFID tag 41 by linking them with information about the item 40 to which the RFID tag 41 is attached. The management server 10 also manages information indicating in which box 130A or 130B of the picking assist robot 100 the RFID reader 140 is stored.

[0054] <Overall processing> FIG. 3 is a sequence diagram showing the overall processing of the picking assist system 1 according to the embodiment.

[0055] The management server 10 creates a map for guiding the picking assist robot 100 (step S1).

[0056] 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.

[0057] The tablet computer 150 transmits the location information included in the picking instruction received from the management server 10 to the control unit of the transport vehicle 110 (step S2A).

[0058] 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.

[0059] When the control unit 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 a location where there is picking work to be performed.

[0060] When the tablet computer 150 receives a notification from the control unit of the transport vehicle 110 in step S2C indicating 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.

[0061] The RFID reader 140 reads the identifying information and unique information written on the RFID tag 41 attached to each item 40 that the worker has placed in the box 130A or 130B (step S4). The RFID reader 140 uses antennas 142A and 142B to read the RFID tag 41 attached to the item 40 that passes through the entrances 131A and 131B of the boxes 130A and 130B. By the processing of step S4, it is possible to obtain the identifying information and unique information of the RFID tag 41 attached to the item 40 that the worker has placed in the box 130A or 130B.

[0062] The RFID reader 140 transmits the specific information and unique information read in step S4 and information for identifying the RFID reader 140 to the tablet computer 150 (step S5).

[0063] The tablet computer 150 transmits the specific information and unique information received in step S5 and information for identifying the RFID reader 140 to the management server 10 (step S6).

[0064] The management server 10 counts the number of each item 40 placed in the box 130A or 130B based on the specific information received in step S6 (step S7).

[0065] The management server 10 transmits data on the picking status to the tablet computer 150 based on the number of each item 40 counted in step S7 (step S8). As described above, the picking status may include information on the number of each item 40 that has already been placed in the box 130A or 130B.

[0066] The tablet computer 150 displays the picking status received in step S8 on the display (step S9). While viewing this picking status, the worker can determine whether or not to place more items 40 into boxes 130A and 130B.

[0067] The management server 10 manages the items 40 to be picked based on the unique information received in step S6 (step S10). As an example of item management, the items 40 to be picked can be further limited based on the unique information from the group of items to be picked identified by the identification information. Details of the item management in step S10 will be described later with reference to Figures 8 to 10.

[0068] When the management server 10 determines in step S10 that there is another item 40 that should be picked first for each item 40 counted in step S7, i.e., for each item 40 placed in box 130A or 130B, the management server 10 sends a command to the tablet computer 150 to have the item re-picked (step S11). The tablet computer 150 displays the command to re-pick the item received in step S11 on the display. In response to this command, the worker can re-place another item 40 into box 130A, 130B.

[0069] <Function block> Fig. 4 is a functional block diagram of the management server 10. As shown in Fig. 4, the management server 10 can include a picking instruction management unit 101, a picking instruction storage unit 102, a map creation unit 103, an information receiving unit 104, a counting unit 105, a picking status management unit 106, and an item management unit 107. Furthermore, by executing a program, the management server 10 can function as the picking instruction management unit 101, the map creation unit 103, the information receiving unit 104, the counting unit 105, the picking status management unit 106, and the item management unit 107. Each of these units will be described below.

[0070] 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, a counting unit 105, and a picking status management unit 106.

[0071] The picking instruction management unit 101 transmits picking instruction data to the tablet computer 150. For example, in response to the worker tapping on a screen for starting a picking operation displayed on the tablet computer 150, the picking 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. The picking instruction management unit 101 also stores the picking instruction data in the picking instruction storage unit 102.

[0072] The picking instruction storage unit 102 stores data of the picking instructions transmitted to the tablet computer 150.

[0073] Hereinafter, the screen showing picking instructions displayed on the tablet computer 150 will be described with reference to FIG.

[0074] FIG. 5 is an example of a screen displayed in the embodiment. In the screen shown in FIG. 5, boxes 130A and 130B are indicated as A and B. As shown in FIG. 5, 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. 5, the name of the item 40 (the item to be picked) that the worker should place in 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. 5, the number of items 40 that the worker should place in box 130A or 130B (in the example of FIG. 5, the number to be placed in box 130A or 130B) may be displayed as picking instructions. 5, 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 looking at a screen such as that shown in FIG. 5, 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 looking at a screen such as that shown in FIG. 5 that they have been placed in the wrong box 130A or 130B, which differs from the instructions.

[0075] It is also possible to display a list for each box 130A, 130B indicating one or more items 40 that the worker should place in the box 130A, 130B, and the number of each item 40 that the worker should place in the box 130A, 130B. Below, with reference to Figure 6, a screen showing picking instructions for each box 130A, 130B that is displayed on the tablet computer 150 will be described.

[0076] FIG. 6 is an example of a display screen of the tablet computer 150. FIG. 6 shows, as an example, display content related to the items 40 to be placed in the box 130A. For example, when the screen of FIG. 5 is tapped, the screen may transition to the screen of FIG. 6. As shown in FIG. 6, one or more items 40 that the worker should place in the box 130A may be displayed. Also, as shown in FIG. 6, the number of each item 40 that the worker should place in the box 130A may be displayed. Also, as shown in FIG. 6, 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 a screen such as that of FIG. 6, the worker can know how many of each item 40 should be picked for each of the boxes 130A and 130B.

[0077] Returning to Fig. 4, the information receiving unit 104 receives from the tablet computer 150 the specific information and unique information read from the RFID tag 41 by the RFID reader 140, as well as information for identifying the RFID reader 140. Upon receiving the specific information and the information for identifying the RFID reader 140, the information receiving unit 104 notifies the map creating unit 103 and the counting unit 105. Furthermore, upon receiving the unique information, the information receiving unit 104 notifies the item management unit 107.

[0078] 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.

[0079] <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.

[0080] <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.

[0081] 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.

[0082] Hereinafter, the screen showing the map displayed on the tablet computer 150 will be described with reference to FIG.

[0083] Fig. 7 is an example of a screen displayed in the embodiment. For example, tapping the screen in Fig. 5 may transition to the screen in Fig. 7. As shown in Fig. 7, a map indicating 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.

[0084] Returning to FIG. 4 , the counting unit 105 performs a picking number count process. Specifically, the counting unit 105 refers to the picking instructions stored in the picking instruction storage unit 102 to identify the number of each item 40 that the worker has been instructed to place in the box 130A or 130B. Furthermore, the counting unit 105 counts the number of each item 40 placed in the box 130A or 130B based on the identification information received from the information receiving unit 104. Specifically, upon receiving the identification information from the information receiving unit 104, the counting unit 105 determines that an item 40 with an RFID tag 41 bearing the identification information has been placed in the box 130A or 130B. Furthermore, based on the instructed number and the counted number, the counting unit 105 determines whether the number of each item 40 already placed in the box 130A or 130B is greater than or equal to the number of each item 40 that the worker has been instructed to place in the box 130A or 130B. Specifically, the counting unit 105 determines that there is a shortage of items 40 when the instructed number is more than the counted number, 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.

[0085] The counting unit 105 can determine whether the item 40 is placed in box 130B or 130B based on the specific information, information for identifying the RFID reader 140, and information indicating whether the RFID reader 140 read the specific information using antenna 142A or 142B.

[0086] The picking status management unit 106 transmits picking status data to the tablet computer 150 based on the number of each item 40 counted by the counting unit 105. As described above, the picking status may include information on the number of each item 40 already placed in the box 130A or 130B. Hereinafter, the display of the picking status on the screen showing picking instructions will be described with reference to Figures 5 and 6.

[0087] As shown in FIG. 5 , the number of items 40 that the worker should place in box 130A or 130B may be displayed as a picking instruction (see the denominator of the fraction). Along with the display of the number of items 40 that the worker should place in box 130A or 130B, the number of items 40 that have already been placed 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 placed in box 130A or 130B compared to the number of items that the worker is instructed to place in box 130A or 130B may 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 are a shortage of items 40, no check mark may be placed, if picking is complete, a check mark may be placed, and if there are an excess of items 40, an X mark may be placed.

[0088] As shown in FIG. 6 , 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 are a shortage of items 40, no check mark may be placed, if picking is complete, a check mark may be placed, and if there are an excess of items 40, an X mark may be placed. Note that such a display may also be displayed for the box 130B in the same way.

[0089] The item management unit 107 manages the items to be picked based on the unique information received from the information receiving unit 104. Specifically, when the item management unit 107 receives the unique information from the information receiving unit 104, it determines what unique information is written to the RFID tag 41 attached to the item 40 placed in the box 130A or 130B. It can then determine whether the item to be picked placed in the box 130A or 130B is appropriate.

[0090] The item management unit 107 sends a re-picking command to the tablet computer 150 if there is another item that is more suitable than the item to be picked that is placed in the box 130A or 130B.

[0091] For example, consider a case where the item to be picked is a food product and the unique information includes information regarding the expiration date of the food product. In this case, if there is another item (item 40 stored in box 130A or 130B) among the group of items to be picked that is close to its expiration date, the item management unit 107, based on the unique information, causes the tablet computer 150 to display a command to replace the item 40 with an item that is close to its expiration date. For example, as shown in FIG. 5, a command window 152 regarding a re-picking command based on the expiration date is displayed on the screen of the tablet computer 150 that displays the picking instructions. In the example of FIG. 5, for the item 40 stored in box 130B, a message stating "There is another item with an upcoming expiration date, please pick it again" is displayed in the command window 152.

[0092] Also, consider an example in which the unique information includes information related to a sales promotion campaign. In this case, if there is a campaign target item other than the picked item (item 40 placed in box 130A or 130B) among the group of items to be picked, based on the unique information, the item management unit 107 causes the tablet computer 150 to display a command to replace the item 40 with the campaign target item. For example, as shown in FIG. 6, a command window 153 related to a re-picking command based on the campaign information is displayed on the screen showing the picking instructions of the tablet computer 150. In the example of FIG. 6, a message saying "There is another item in a campaign package, so please pick it again" is displayed in the command window 153 for the item 40 placed in box 130A or 130B.

[0093] [Example of processing by the Goods Management Department] An example of processing performed by the goods management unit 107 will be described with reference to FIGS.

[0094] Fig. 8 is a flowchart showing a first example of an item reordering process performed by the item management unit 107. In the first example of the item reordering process shown in Fig. 8, a reordering command is issued based on the expiration date described above.

[0095] In step S101, information regarding the expiration date of the picked item 40 is obtained from the unique information of the item.

[0096] In step S102, the expiration date information of a group of items of the same type as the picked item 40 is compared with the information acquired in step S101. Note that the expiration date information of the group of items can be obtained, for example, by a configuration in which the management server 10 has a database that stores unique information about each item in the group of items stored on a shelf or the like, and the item management unit 107 acquires the necessary information from this database.

[0097] In step S103, based on the comparison result of step S102, it is determined whether there is another item whose expiration date is closer to that of the picked item 40. If there is another item whose expiration date is closer to that of the picked item 40 (Yes in step S103), the process proceeds to step S104, and an instruction to re-pick up the item, such as the instruction window 152 illustrated in FIG.

[0098] On the other hand, if there is no item 40 whose expiration date is closer than that of the picked item (No in step S103), it is determined that the appropriate item has been picked, and this control flow ends without issuing a re-picking command in step S104.

[0099] In addition to food, the items that are subject to the reorder command based on the expiration date shown in the flowchart of Figure 8 include all items that are subject to deterioration over time. For example, items that can be set with an expiration date, such as medicines, batteries, and daily necessities, may also be subject to the command.

[0100] Fig. 9 is a flowchart showing a second example of the item replacement process performed by the item management unit 107. In the second example of the item replacement process shown in Fig. 9, a replacement command is issued based on the campaign information described above.

[0101] In step S201, campaign information is acquired from the unique information of the picked item 40.

[0102] In step S202, it is determined whether the picked item 40 is a campaign-eligible item based on the campaign information acquired in step S201. Campaign-eligible items are items that, for example, have campaign-related information printed on the product packaging or have a campaign-related sticker or label attached, and are therefore visually different from regular items.

[0103] If the picked item 40 is a campaign item (Yes in step S202), it is determined that an appropriate item has been picked, and the control flow ends without performing the following process.

[0104] On the other hand, if the picked item 40 is not a campaign eligible item (No in step S202), the process proceeds to step S203, where campaign information for a group of items of the same type as the picked item 40 is acquired. As with the explanation of step S102 in Fig. 8, the campaign information for the group of items can be obtained by, for example, having the management server 10 equipped with a database that stores unique information about each item in the group of items stored on a shelf or the like, and the item management unit 107 acquiring the necessary information from this database.

[0105] In step S204, it is determined based on the information acquired in step S203 whether or not there are any campaign-eligible products in the group of products of the same type as the picked product 40. If there are other campaign-eligible products (Yes in step S204), the process proceeds to step S205, and an item re-picking command, such as the command window 153 shown in Fig. 6, is displayed on the tablet computer 150. On the other hand, if there are no campaign-eligible products in the group of products of the same type as the picked product 40 (No in step S204), the re-picking command in step S205 is not issued and this control flow ends.

[0106] 8 and 9, a configuration has been described in which the worker places item 40 in box 130A or 130B based on a picking instruction, and then issues a command to retake the item if a more suitable item is found, but a configuration in which the item management unit 107 issues a command before picking can also be used. For example, the picking instructions sent by the picking instruction management unit 101 may include instructions regarding unique information such as expiration dates and campaign-eligible products, and when the picking instructions are displayed on the tablet computer 150 (step S3 in FIG. 3), the instructions regarding the unique information may also be displayed.

[0107] In addition, in the examples of Figures 8 and 9, a configuration is shown in which information regarding expiration dates and campaign information is used as unique information for determining whether to carry out a product reorder process, but a configuration may also be used in which other unique information, such as a specific production location or production period, is used.

[0108] Furthermore, the item management unit 107 can also perform processing other than issuing commands to pick more appropriate items as exemplified in Figures 8 and 9, as long as the processing uses unique information. For example, if there are defective items among the group of items stored on a shelf or the like, it can issue a command to pick and discard these defective items. This will be explained below with reference to Figure 10.

[0109] Fig. 10 is a flowchart showing an example of a defective product disposal process performed by the product management unit 107. In the defective product disposal process shown in Fig. 10, the unique information includes information about the place of production or the time of production of the product.

[0110] In step S301, information on occurrence of defective products of the same type as the group of products to be picked is acquired. The information on occurrence of defective products is input from outside the management server 10, for example.

[0111] In step S302, information such as the place of production and the time of production is obtained from the unique information of the group of items to be picked. Note that, for example, the management server 10 may have a database that stores unique information about each item in the group of items stored on a shelf or the like, and the item management unit 107 may obtain the necessary information from this database.

[0112] In step S303, the defective products acquired in step S301 are compared with the information on the place of production and the time of production of the group of items acquired in step S302.

[0113] In step S304, based on the comparison result in step S303, it is determined whether or not any of the items to be picked that are currently stored on the shelves or the like are produced in the same place or at the same time as the defective item.

[0114] If there are any items in the group of items that were produced in the same place or during the same period as the defective item (Yes in step S304), the process proceeds to step S305, and a defective item disposal command is displayed on the tablet computer 150 to pick and discard the defective item from the group of items to be picked that are stored on a shelf, etc.

[0115] On the other hand, if there are no items in the group of items that are produced in the same place or at the same time as the defective item (No in step S304), it is determined that there are no defective items in the group of items to be picked that are currently stored on shelves, etc., and this control flow ends without issuing a command to dispose of the defective items in step S305.

[0116] [effect] As described above, the worker can complete the picking work at the picking location by walking to the location where the picking assist robot 100 is waiting and placing the item 40 in the box 130A or 130B while looking at the picking instructions displayed on the tablet computer 150. Therefore, it is possible to provide the picking assist robot 100 and the picking assist system 1 that can assist the worker in efficiently picking the item 40.

[0117] Furthermore, the antennas 142A and 142B of the RFID reader 140 can read multiple RFID tags 41 at once, allowing workers to perform picking work efficiently and quickly in a short time. In particular, when there are a large number of the same type of items 40, being able to read them all at once greatly improves work efficiency. Examples of such items 40 include medicines such as oral medications, injectable medications, and topical treatments, masks, and other medical clothing and equipment.

[0118] Furthermore, when placing the item 40 in the box 130A or 130B, the response sound allows the worker to know whether it is the correct item 40. This allows the worker to accurately pick the item 40, improving work efficiency.

[0119] Furthermore, since the face authentication unit 160 authenticates the workers, it is possible to grasp the amount of work and work efficiency of each worker.

[0120] Furthermore, the picking assistance robot 100 waits in front of the shelf without moving until the completion operation is performed and the worker ID information is acquired through facial recognition, so that the robot can move in accordance with the worker's intentions, thereby improving work efficiency.

[0121] In addition, the picking assist robot 100 moves when the completion operation is performed and worker ID information is acquired through facial recognition, so that work efficiency can be improved by moving in accordance with the worker's intentions.

[0122] Furthermore, the picking assistance robot 100 moves in front of the shelf or the like where the item 40 is located in accordance with picking instructions for the item 40 that is located in a position different from its current position, and thus, by moving in accordance with the worker's intentions, work efficiency can be improved.

[0123] Furthermore, since antennas 142A and 142B are disposed directly above boxes 130A and 130B, even if boxes 130A and 130B already contain articles with metal packaging or articles containing liquid, antennas 142A and 142B can reliably read the RFID tags of the articles that pass through entrances 131A and 131B and are contained in boxes 130A and 130B. This also prevents missed readings.

[0124] Furthermore, by providing antennas 142A, 142B at entrances 131A, 131B of boxes 130A, 130B, articles 40 whose RFID tags 41 have been read can be reliably placed in boxes 130A, 130B, eliminating the need to confirm that the articles have been placed in boxes 130A, 130B, thereby improving work efficiency. Furthermore, by reading RFID tags 41 from above boxes 130A, 130B, it is possible to reliably read the RFID tags 41 of articles 40 to be placed in boxes 130A, 130B even when many other articles 40 are stored inside boxes 130A, 130B.

[0125] Furthermore, since a shielding portion 170 is provided between the box 130A and the antenna 142B, it is possible to prevent the antenna 142A from reading the RFID tags attached to the items stored in the box 130B. In other words, the items 40 placed in the boxes 130A and 130B can be accurately read by the antennas 142A and 142B, thereby reducing reading errors.

[0126] The picking assist system 1 according to this embodiment includes a management server 10 and a picking assist robot 100. The picking assist robot 100 includes boxes 130A and 130B that store items 40 with RFID tags 41 attached thereto, an RFID reader 140 having antennas 142A and 142B positioned so as to be able to read the RFID tags 41 when the items 40 are placed in the boxes 130A and 130B, a tablet computer 150 that receives picking instructions from the management server, and a transport vehicle 110 that is equipped with the boxes 130A and 130B and the RFID reader 140 and moves to a location where the item 40 is to be placed based on information about the location of the item 40 included in the picking instruction. The RFID tag 41 attached to the item 40 to be picked contains written therein "specific information" for identifying the type of the item 40 and "unique information" including information other than the type of the item 40. The management server 10 has a picking instruction management unit 101 that sends picking instructions to the picking assistance robot 100, an information receiving unit 104 that receives the specific information and unique information written on the RFID tag 41 attached to the item 40 read by the RFID reader 140, and an item management unit 107 that manages the item 40 to be picked based on the unique information.

[0127] With this configuration, the worker can walk to the location where the picking assist robot 100 is waiting and place the item 40 in the box 130A or 130B while viewing the picking instructions displayed on the tablet computer 150, thereby completing the picking work at that picking location. Therefore, the picking assist system 1 of this embodiment allows the worker to efficiently pick the item 40. In addition, in this embodiment, the RFID tag 41 attached to the item 40 to be picked contains "specific information" for identifying the type of the item 40, as well as "unique information" including information other than the type of the item 40. This unique information is also provided to the management server 10 during picking. This allows the upper management server 10 to use the unique information of the item 40 to be picked to perform more detailed management, such as issuing instructions to more appropriately re-pick the item, or to identify and discard defective items, thereby making the picking work more efficient. Therefore, the picking assist system 1 of this embodiment can assist the worker in efficiently picking items.

[0128] Furthermore, in the picking assistance system 1 according to this embodiment, it is preferable that the item management unit 107 limits the items to be picked based on the unique information from among the group of items 40 to be picked, which are identified by the identification information. This configuration makes it easier to guide the worker to pick more appropriate items 40, making the picking work more efficient.

[0129] Preferably, an expiration date is set for the item 40 to be picked, and the unique information written in the RFID tag 41 attached to the item includes information regarding the expiration date of the item. In this case, if there is an item with an approaching expiration date in addition to the picked item among the group of items to be picked, the item management unit 107 preferably displays, based on the unique information, on the tablet computer 150 of the picking assist robot 100 a command to replace the item with an item with an approaching expiration date.

[0130] This configuration makes it possible to prioritize picking items with an approaching expiration date from among a group of items to be picked, which not only improves picking efficiency but also contributes to reducing waste of goods such as food waste.

[0131] Furthermore, the unique information written on the RFID tag 41 attached to the item 40 to be picked preferably includes information related to a sales promotion campaign. In this case, if there is an item that is the target of the campaign in addition to the picked item among the group of items to be picked, the item management unit 107 preferably displays, based on the unique information, on the tablet computer 150 of the picking assist robot 100 a command to replace the item with the item that is the target of the campaign.

[0132] With this configuration, when the group of items to be picked is in the middle of a sales promotion campaign, it is possible to pick campaign-related items first, which not only improves picking efficiency but also makes it possible to carry out sales promotion campaigns more effectively.

[0133] Furthermore, it is preferable that the unique information written on the RFID tag 41 affixed to the item 40 to be picked includes information regarding the place of production or the time of production of the item 40. In this case, when the item management unit 107 acquires information regarding the occurrence of a defective item among the items 40, it determines based on the unique information that there is a defective item among the group of items to be picked if there is an item that has the same place of production or the same time as the defective item, and displays a command to pick the defective item on the tablet computer 150 of the picking assistance robot 100.

[0134] With this configuration, when information on the occurrence of defective items 40 is acquired, it is possible to quickly determine whether or not there are any defective items among the group of items stored on shelves, etc., and if there are any defective items, they can be quickly removed, allowing for efficient disposal of the defective items.

[0135] [Hardware configuration] 11 is a hardware configuration diagram 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.

[0136] 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.

[0137] The CPU 1001 is a computing device that executes various programs installed in the auxiliary storage device 1004 .

[0138] 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).

[0139] 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.

[0140] The auxiliary storage device 1004 is an auxiliary storage device that stores various programs and information used when the various programs are executed.

[0141] The display device 1005 is a display device that displays the internal states of the management server 10 and the tablet computer 150, etc.

[0142] 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 .

[0143] 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.

[0144] Drive device 1008 is a device for loading storage medium 1010. The storage medium 1010 here includes media that record information optically, electrically, or magnetically, such as CD-ROMs, flexible disks, and magneto-optical disks. Storage medium 1010 may also include semiconductor memories that record information electrically, such as EPROMs (Erasable Programmable Read Only Memory) and flash memories.

[0145] 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.

[0146] [Other embodiments] A picking assist system 1A according to another embodiment will be described with reference to Figs. 12 to 15. Fig. 12 is a functional block diagram of the picking assist system 1A according to another embodiment. Fig. 12 shows a transport vehicle 110, an RFID reader 140, a tablet computer 150, and a management server 10 included in the picking assist system 1A. The transport vehicle 110, the RFID reader 140, and the 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 the management server 10 are configured to be able to communicate with each other via wireless communication via a network 50 (see Fig. 2).

[0147] The functions of the management server 10 are similar to those of the picking assist system 1 shown in FIG. 4, and therefore the illustration of each functional block is omitted in FIG.

[0148] <Configuration of the transport vehicle 110> 12, 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.

[0149] 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.

[0150] 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.

[0151] 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.

[0152] The tablet computer 150 detects that picking has been completed, for example, when the tablet computer 150 determines that the worker has performed a completion operation, when the tablet computer 150 determines that the worker ID has been acquired, or when the specific information is associated with the worker ID information and sent to the management server 10.

[0153] 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.

[0154] In addition, the control device 111 outputs a drive signal to the motor 112 and also outputs it to the RFID reader 140. The drive signal indicating driving the motor 112 is a signal in which the voltage value and current value of the drive signal input to the motor 112 are at a predetermined signal level. The motor 112 is driven by the drive signal indicating driving the motor 112. The drive signal indicating stopping the motor 112 is a signal in which the voltage value and current value of the drive signal input to the motor 112 are lower than a predetermined signal level. The motor 112 is not driven by the drive signal indicating stopping the motor 112. The drive signal indicating stopping the motor 112 may be a signal with a signal level of zero. In this case, the output of the drive signal indicating stopping the motor 112 is synonymous with the non - output of the drive signal indicating driving the motor 112.

[0155] <Configuration of RFID Reader 140> The main body 141 of the RFID reader 140 is a control device that controls the operations of the RFID antennas 142A and 142B in response to a control command from the tablet computer 150, reads specific information included in the radio waves received by the RFID antennas 142A and 142B, and identifies each RFID tag 41.

[0156] As shown in FIG. 12, the main body 141 of the RFID reader 140 has a switching control unit 141A and a housing determination unit 141B. The main body 141 is a control unit realized by a computer including a CPU, a RAM, a ROM, an input / output interface, an internal bus, etc. The main body 141 may have the same configuration as the computers of the management server 10 and the tablet computer 150 shown in FIG. 11. The switching control unit 141A and the housing determination unit 141B show the functions (functions) of the program executed by the main body 141 as functional blocks.

[0157] <Switching Control Unit 141A> The switching control unit 141A switches the antennas 142A and 142B of the RFID reader 140 to a readable state when a stop condition indicating that the transport vehicle 110 has stopped is met, and switches the antennas 142A and 142B of the RFID reader 140 to an unreadable state when a termination condition indicating that picking has ended is met.

[0158] The switching control unit 141A 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 141A 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 141A is the same as the drive signal input from the control device 111 to the motor 112 inside the transporting vehicle 110.

[0159] 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 141A. 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.

[0160] 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 141A. 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.

[0161] The switching control unit 141A 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 to prevent unnecessary RFID tags 41 from being read while the robot is moving.

[0162] 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 141A switches the antennas 142A and 142B of the RFID reader 140 to the unreadable state upon determining that the termination condition is met.

[0163] 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.

[0164] The switching control unit 141A 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 it is determined that the stop condition is met in a case where the picking assist robot 100 stops for an instant 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.

[0165] 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 141A 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 141A may determine that the stop condition is satisfied when a drive signal instructing the motor 112 to stop is input to the motor 112.

[0166] In addition, the switching control unit 141A 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 141A maintains the antennas 142A and 142B of the RFID reader 140 in an unreadable state.

[0167] 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.

[0168] The switching control unit 141A may be provided outside the main body unit 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.

[0169] <Accommodation determination unit 141B> 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 141B 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 141B 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.

[0170] 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 141B ignores the second and subsequent reads of the RFID tag 41.

[0171] The specific information read from the RFID tag 41 attached to the item 40 determined by the storage determination unit 141B to be stored in the box 130A or 130B is transmitted by the main body 141 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.

[0172] Furthermore, when the counting unit 154 is in the cancel mode, the containment determination unit 141B 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 141B 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.

[0173] Furthermore, if the specific information of the RFID tag 41 read by the RFID reader 140 is already in the storage list, the storage determination unit 141B ignores the re-read. This is to determine whether to ignore the reading when an item 40 with specific information already registered in the storage list is read again. This is to prevent double counting when a worker takes an item 40 out of the box 130A or 130B and returns it to the shelf.

[0174] As described above, the storage determination unit 141B 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 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 141B does not determine that the item 40 to which the RFID tag 41 is attached is stored in the boxes 130A and 130B.

[0175] The storage determination unit 141B may be provided outside the main body 141 of the RFID reader 140, 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.

[0176] <Control Unit 151 of Tablet Computer 150> 12, the tablet computer 150 includes a control unit 151. The control unit 151 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.

[0177] The control unit 151 has a counting unit 154. The counting unit 154 counts the number of each item 40 that the worker is instructed to put in the box 130A or 130B by referring to the picking instruction or inventory instruction received from the management server 10. The counting unit 154 also counts the number of each item 40 stored in the box 130A or 130B based on the identification information received from the RFID reader 140. The function of the counting unit 154 is similar to that of the counting unit 105 shown in FIG. 4.

[0178] Note that the counting unit 154 may be provided outside the tablet computer 150, for example, it may be provided in the main body 141 of the RFID reader 140. The main body 141 may count the article 40 based on the information indicating which of the antennas 142A and 142B reads the specific information.

[0179] In addition, the control unit 151 performs, for example, a process of outputting the position information of the article included in the picking instruction received from the management server 10 to the carrier 110, and a process of notifying the RFID reader 140 of the mode information indicating the mode of the tablet computer 150. The mode of the tablet computer 150 represented by the mode information includes a picking count mode and a cancel mode.

[0180] The picking count mode is a mode for performing the picking count process. In response to the picking instruction received from the management server 10, the control unit 151 selects the picking count mode. The cancel mode is a mode available to the operator when taking out the article 40 stored in the box 130A or 130B. In the cancel mode, the operator can operate the tablet computer 150 to reduce the counted number of the articles 40. The cancel mode is selected, for example, when the operator operates a cancel button displayed on the operation screen of the tablet computer 150.

[0181] <Switching process executed by the main body 141 of the RFID reader 140> FIG. 13 is a diagram showing an example of a flowchart representing the switching process executed by the main body 141 of the RFID reader 140.

[0182] When the process starts, the switching control unit 141A sets the antennas 142A and 142B to a read-disabled state in a standby state (step S401). The standby state is a state in which the transport vehicle 110 waits to receive a movement instruction to the location of the item 40, which is included in the picking instruction. The state before the process starts and the transport vehicle 110 moves is the standby state, and it is not necessary to read the RFID tag 41. Therefore, in order to reduce power consumption, the switching control unit 141A sets the antennas 142A and 142B to a read-disabled state.

[0183] The switching control unit 141A determines whether or not a drive signal instructing to drive the motor 112 has been received (step S402). This is to determine whether or not the guided vehicle 110 is moving. If the switching control unit 141A determines that a drive signal instructing to drive the motor 112 has not been received (S402: NO), the switching control unit 141A repeatedly executes the processing of step S402 until a drive signal instructing to drive the motor 112 is received.

[0184] When determining that the switching control unit 141A has received a drive signal instructing to drive the motor 112 (S402: YES), the switching control unit 141A determines whether a predetermined time has elapsed since the drive signal instructing to stop the motor 112 was received (step S403). 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.

[0185] If the switching control unit 141A determines that the predetermined time has not elapsed since receiving the drive signal indicating that the motor 112 should be stopped (S403: NO), the switching control unit 141A repeatedly executes the process of step S403 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.

[0186] When the switching control unit 141A determines that a predetermined time has elapsed after receiving a drive signal indicating that the motor 112 is to be stopped (S403: YES), it switches the antennas 142A and 142B to a readable state (step S404). This is for performing picking and inventory counting.

[0187] The switching control unit 141A determines whether it has received a drive signal indicating that the motor 112 is to be driven (step S405). When the switching control unit 141A determines that it has not received a drive signal indicating that the motor 112 is to be driven (S405: NO), it repeatedly executes the process of step S405 until it receives a drive signal indicating that the motor 112 is to be driven.

[0188] When the switching control unit 141A determines that it has received a drive signal indicating that it is to drive (S405: YES), it switches the antennas 142A and 142B to a non-readable state (step S406). This is to prevent unnecessary RFID tags 41 from being read while the carrier 110 is moving.

[0189] The switching control unit 141A determines whether to end (step S407). Ending occurs, for example, when all picking and inventory counting are completed and the power of the picking assistance robot 100 is turned off.

[0190] When the switching control unit 141A determines that it does not end (S407: NO), it returns the flow to step S403. Also, when the switching control unit 141A determines that it ends (S407: YES), it ends a series of switching processes (end).

[0191] <The reading process executed by the main body part 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 main body part 141 of the RFID reader 140. The accommodation determination unit 141B of the main body part 141 executes the processes shown in FIG. 14 and the processes shown in FIG. 15 in parallel.

[0192] <The process shown in FIG. 14> The accommodation determination unit 141B sets a reading time T and a threshold for the number of times N to read (step S501). As an example, the main body unit 141 emits reading radio waves from the antennas 142A and 142B every 1 / 200 seconds to read the RFID tag 41. As an example, the reading time T is 5 seconds, and the threshold for the number of times N to read is 40. In other words, when the same RFID tag 41 is read 40 or more times within 5 seconds, the accommodation determination unit 141B determines that the item 40 to which the RFID tag 41 is attached is accommodated in the box 130A or 130B.

[0193] 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.

[0194] The accommodation determination unit 141B determines whether the antennas 142A and 142B are in a readable state (step S502). This is because in a readable state, the RFID tag 41 can be read. If the accommodation determination unit 141B determines that the antennas 142A and 142B are not in a readable state (S502: NO), it repeatedly executes the process of step S502 until it determines that the antennas are in a readable state (S502: YES).

[0195] If the accommodation determination unit 141B determines that the card is in a readable state (S502: YES), it starts reading (step S503).

[0196] The accommodation determination unit 141B determines whether the counting unit 154 is in the cancel mode (step S504), because if it is in the cancel mode, the RFID tag 41 is ignored even if it is read.

[0197] If the storage determination unit 141B determines that the storage mode is not the cancel mode (S504: NO), it determines whether the specific information of the read RFID tag 41 is in the storage list (step S505). The storage list is a list (table-format data) that registers specific information about the item 40 that the storage determination unit 141B determines to be stored in the box 130A or 130B.

[0198] When the accommodation determination unit 141B determines that the identification information of the read RFID tag 41 is not in the accommodation list (S505: 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 S506). The temporary memory is a part of the memory 141D, such as the RAM 1003 shown in FIG. 11. Note that when the accommodation determination unit 141B reads an RFID tag 41 whose identification information is not in the accommodation list for the first time, it starts counting the read time T for that RFID tag 41. The accommodation determination unit 141B uses the timestamp of the time when the RFID tag 41 whose identification information is not in the accommodation list is read only when it starts counting the read time T for the first time when it reads an RFID tag 41 whose identification information is not in the accommodation list, and does not particularly use the timestamp obtained from the second or subsequent reads.

[0199] If the accommodation determination unit 141B determines that the specific information of the read RFID tag 41 is in the accommodation list (S505: YES), it ignores the specific information of the read RFID tag 41 (step S507).

[0200] Furthermore, if the storage determination unit 141B determines in step S504 that the mode is the cancel mode (S504: YES), even if it acquires the specific information specified in the cancel mode, it ignores reading the RFID tag 41 including the specific information (step S508) because the item 40 with the specific information specified in the cancel mode is the item that the worker has decided to return to the shelf.

[0201] 14 is now completed (END). The accommodation determination unit 141B stores the identification information etc. in the temporary memory in step S506 when the identification information of the read RFID tag 41 is not in the accommodation list and when the RFID tag 41 is read for the first time.

[0202] When reading the RFID tag 41 for the second time or later, in step S507 the accommodation determination unit 141B ignores the identification information of the RFID tag 41. Ignoring the identification information means that although the RFID tag 41 is read and the identification information is acquired, the information is not stored in a temporary memory, is not added to the accommodation list, and the number of times the RFID tag 41 is read is simply counted.

[0203] <Process shown in Figure 15> The accommodation determination unit 141B 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 S601). The accommodation determination unit 141B can calculate the read time T and the read count N using, for example, the "timestamp" and the "timestamp update count" stored in the temporary memory in step S506 of FIG. 14. Specifically, whether the read time T has elapsed can be determined by whether the elapsed time since counting began in step S506 described above has reached the read time T. Furthermore, the timestamp is not updated in the first read, and counting the timestamp update count begins from the second read onwards. Therefore, the read count N is one more than the timestamp update count. 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 timestamp update count stored in the temporary memory in step S506 described above, is equal to or greater than a threshold value.

[0204] 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 (S601: NO), the accommodation determination unit 141B deletes the specific information of that RFID tag 41 from the temporary memory (step S602).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.

[0205] When the reading time T has elapsed and it is determined that there is an RFID tag 41 whose number of reads N is equal to or greater than the threshold value (S601: YES), the accommodation determination unit 141B determines whether the specific information is in the accommodation list (step S603). This determination process is provided to prevent double counting when a worker takes an item 40 out of the box 130A or 130B and returns it to the shelf.

[0206] If the accommodation determination unit 141B determines that the condition that the specific information is in the accommodation list is not met (S603: NO), it deletes from the temporary memory the specific information of the RFID tag 41 for which it was determined in step S601 that the reading time T has elapsed and the number of reads N is equal to or greater than the threshold, and adds it to the accommodation list (step S604). Because the reading condition is met, it is decided to add it to the accommodation list and register it.

[0207] Furthermore, if the accommodation determination unit 141B determines in step S603 that the condition that the specific information is in the accommodation list is met (S603: YES), it ignores the specific information of the RFID tag 41 for which it was determined in step S601 that the reading time T has elapsed and the number of readings N is equal to or greater than the threshold (step S605). This is to prevent double counting when a worker takes an item 40 out of the box 130A or 130B and returns it to the shelf.

[0208] When the accommodation determination unit 141B completes the process of step S602, S604, or S605, it ends the series of processes (END).

[0209] In a building such as a store, logistics center, or warehouse where many items 40 are lined up on multiple shelves, etc., 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.

[0210] The present embodiment has been described above with reference to specific examples. However, the present disclosure is not limited to these specific examples. Design modifications to these specific examples made by a person skilled in the art as appropriate are also included within the scope of the present disclosure as long as they comprise the features of the present disclosure. The elements of the above-described specific examples, as well as their arrangement, conditions, shape, etc., are not limited to those exemplified and can be modified as appropriate. The elements of the above-described specific examples can be combined in various ways as appropriate, as long as no technical contradictions arise. [Explanation of symbols]

[0211] 1. 1A Picking Assistance System 10 Management Server 40 Goods 41 RFID tags 100 Picking Assist Robot 101 Picking Instruction Management Department 104 Information Receiving Unit 107 Materials Management Department 110 Transport vehicle (mobile) 130A, 130B Box (container) 140 RFID Reader 141A Switching control section 141B Detention Determination Department 142A, 142B antennas 150 Tablet Computers (Terminals)

Claims

1. A management server; Picking assistance robots and Equipped with The picking assist robot is 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 from the management server; 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; and The RFID tag attached to the item has written therein specific information for identifying the type of the item and unique information including information related to the item other than the type, The management server a picking instruction management unit that transmits the picking instruction to the picking assist robot; an information receiving unit that receives the specific information and the unique information written in the RFID tag attached to the article read by the RFID reader; an item management unit that manages the items to be picked based on the unique information; and The item management unit limits items to be picked based on the unique information from the group of items to be picked identified by the identification information, The product has a set expiration date, the unique information includes information regarding the expiration date of the product, When there is an item with an expiration date approaching other than the picked item among the group of items to be picked based on the unique information, the item management unit displays a command on the terminal device to replace the item with an item with an expiration date approaching, the unique information includes information regarding a sales promotion campaign; the item management unit, when there is an item that is a target of the campaign in addition to the picked item among the group of items that are the target of the picking based on the unique information, causes the terminal device to display a command to replace the item with the target of the campaign; Picking assistance system.

2. The unique information includes information regarding the place or time of production of the product, When the item management unit acquires information on the occurrence of defective items, if there is an item in the group of items to be picked that has the same production place or production period as the defective item based on the unique information, it determines that the defective item is present in the group of items, and displays a command to pick the defective item on the terminal device. The picking assistance system according to claim 1 .

3. The picking assist robot is 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 ended is satisfied; The picking assistance system according to claim 1 or 2.

4. The picking assist robot is 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 reader reads the RFID tag with a radio wave intensity equal to or greater than a predetermined strength within a predetermined time period, The picking assistance system according to any one of claims 1 to 3.

5. 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 from the management server; 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; and The RFID tag attached to the item has written therein specific information for identifying the type of the item and unique information including information related to the item other than the type, The terminal device transmits the identification information and the unique information written in the RFID tag attached to the item read by the RFID reader to the management server, and receives from the management server a command to limit the items to be picked based on the unique information from the group of items to be picked that are identified by the identification information; The product has a set expiration date, the unique information includes information regarding the expiration date of the product, the terminal device receives from the management server, based on the unique information, an instruction to replace the picked item with an item with a nearer expiration date in the group of items to be picked with the picked item, and displays the instruction; the unique information includes information regarding a sales promotion campaign; and when there is an item that is a target of the campaign in addition to the picked item among the group of items that are the target of the picking, the terminal displays a command to replace the item with the target of the campaign based on the unique information. Picking assistance robot.

Images