Transport system, transport method, and transport program

Abstract

To provide a conveyance system, a conveyance method, and a conveyance program capable of suppressing reduction in conveyance efficiency due to traffic congestion when conveyance work is performed by a plurality of automatic conveyance devices.SOLUTION: A conveyance system comprises: an acceptance processing part for accepting a conveying request of a first picking object corresponding to a first automatic conveyance device; and a determination processing part for determining a destination of the first automatic conveyance device based on the number of automatic conveyance devices existing in a first picking area including a first picking position of the first picking object and empty states of one or a plurality of picking positions in the first picking area.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present disclosure relates to a transport system, a transport method, and a transport program. [Background technology]

[0002] BACKGROUND ART Conventionally, in warehouses and the like, a system is known in which an automatic transport device receives an article to be transported at a storage position (for example, a storage shelf) and transports it to a dispensing position (a delivery location).

[0003] For example, Patent Document 1 discloses a system that calculates the congestion level of each of a plurality of pre-divided sections, and moves an automatic transport device located in a section with a high congestion level to a section with a low congestion level. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Japanese Patent Application Publication No. 11-212643 Summary of the Invention [Problem to be solved by the invention]

[0005] In conventional systems, for example, an automatic guided transport device plans in advance which orders to process and in what order, and then performs automatic driving (transportation processing) according to the plan at a predetermined time. Here, if an automatic guided transport device is moved to a less congested section when there is a highly congested section, a loss occurs due to the movement of the automatic guided transport device, resulting in a problem of reduced transport efficiency. Furthermore, no method has been proposed to date for suppressing such a decrease in transport efficiency.

[0006] An object of the present disclosure is to provide a transport system, a transport method, and a transport program that can suppress a decrease in transport efficiency due to congestion when transport work is performed by multiple automatic transport devices. [Means for solving the problem]

[0007] A transport system according to one aspect of the present disclosure is a system in which a plurality of automatic transport devices transport picking targets in a transport area where a plurality of picking areas are arranged, each including a plurality of picking positions where the automatic transport devices pick the picking targets. The transport system includes a reception processing unit and a determination processing unit. The reception processing unit receives a transport request for a first picking target corresponding to a first automatic transport device. The determination processing unit determines a destination of the first automatic transport device based on the number of automatic transport devices present in the first picking area including the first picking position of the first picking target and the availability of one or more picking positions in the first picking area.

[0008] A transportation method according to another aspect of the present disclosure is a method for causing each of a plurality of automatic transport devices to transport a picking target in a transportation area in which a plurality of picking areas are arranged, each including a plurality of picking positions where the automatic transport devices pick up the picking target. In the transportation method, one or more processors execute a receiving step of receiving a transportation request for a first picking target corresponding to a first automatic transport device, and a determining step of determining a destination of the first automatic transport device based on the number of the automatic transport devices present in the first picking area including the first picking position of the first picking target and the availability of one or more picking positions in the first picking area.

[0009] A transport program according to another aspect of the present disclosure is a program for causing each of a plurality of automatic transport devices to transport a picking target in a transport area in which a plurality of picking areas are arranged, each including a plurality of picking positions where the automatic transport devices pick up the picking target. The transport program is a program for causing one or more processors to execute the following steps: a receiving step of receiving a transport request for a first picking target corresponding to a first automatic transport device; and a determining step of determining a destination of the first automatic transport device based on the number of the automatic transport devices present in the first picking area including the first picking position of the first picking target and the availability of one or more picking positions in the first picking area. [Effects of the Invention]

[0010] According to the present disclosure, it is possible to provide a transport system, a transport method, and a transport program that can suppress a decrease in transport efficiency due to congestion when transport work is performed by multiple automatic transport devices. [Brief explanation of the drawings]

[0011] [Figure 1] FIG. 1 is a block diagram showing the configuration of a transport system according to an embodiment of the present disclosure. [Figure 2] FIG. 2 is a diagram schematically illustrating the configuration of a facility to which the transport system according to the embodiment of the present disclosure is applied. [Figure 3] FIG. 3 is a diagram illustrating an example of product information used in the conveyance system according to the embodiment of the present disclosure. [Figure 4] FIG. 4 is a diagram illustrating an example of order information used in the transport system according to the embodiment of the present disclosure. [Figure 5] FIG. 5 is a diagram illustrating an example of transport information used in the transport system according to the embodiment of the present disclosure. [Figure 6] FIG. 6 is a diagram illustrating an example of a travel path of the automatic conveying device according to the embodiment of the present disclosure. [Figure 7]FIG. 7 is a diagram illustrating an example of a picking area and a waiting area set in a facility according to an embodiment of the present disclosure. [Figure 8] FIG. 8 is a diagram illustrating an example of a congestion state of the automatic conveying device according to the embodiment of the present disclosure. [Figure 9] FIG. 9 is a diagram illustrating an example of observation information used in the transport system according to the embodiment of the present disclosure. [Figure 10] FIG. 10 is a flowchart illustrating an example of a procedure of a transport process executed in the transport system according to the embodiment of the present disclosure. DETAILED DESCRIPTION OF THE INVENTION

[0012] Hereinafter, embodiments of the present disclosure will be described with reference to the accompanying drawings to facilitate understanding of the present disclosure. Note that the following embodiments are examples that embody the present disclosure and do not limit the technical scope of the present disclosure.

[0013] [Transport System 10] 1, a conveyance system 10 according to an embodiment of the present disclosure includes a management server 1 and an automatic conveyance device 2 (AGV, also referred to as an unmanned conveyance device). The management server 1 and the automatic conveyance device 2 can communicate with each other via a communication network N1 such as a wireless LAN.

[0014] The conveyance system 10 is a system in which a plurality of paths along which an automatic conveyance device 2 can travel is set, and a path along which the automatic conveyance device 2 should travel is designated as a travel route, causing the automatic conveyance device 2 to convey an object to be conveyed from a storage location to a destination location. The conveyance system 10 is applied to, for example, a facility such as a factory or warehouse that stores goods (objects to be conveyed). For example, when the conveyance system 10 receives a product order from a customer (customer terminal), it outputs a conveyance instruction to the automatic conveyance device 2. Upon receiving the conveyance instruction, the automatic conveyance device 2 moves to the storage location (storage shelf) of the product, picks up the product, and conveys the product to a shipping location. A customer can use an information processing device (customer terminal) such as a personal computer or smartphone to access a website (order page) operated by an order server (not shown) to place an order for a product.

[0015] The order server can accept orders for the products from each of a plurality of customer terminals, and aggregates the received order information and outputs it to the management server 1. The management server 1 manages the operation of each of a plurality of automatic conveying devices 2, and outputs transport instructions (driving instructions) to each automatic conveying device 2 based on the order information. Based on the transport instructions, the automatic conveying device 2 autonomously travels along a predetermined travel route, picks up the products included in the order information from the storage shelf, and transports them to the shipping location. The autonomous travel method of the automatic conveying device 2 is not particularly limited, and a well-known method, such as a method using magnetic tape installed on the floor and markers that specify the travel operation (control information), can be adopted.

[0016] Furthermore, the automatic conveying device 2 is equipped with, for example, multiple containers (storage units), and by storing customer-ordered products in each container, it is possible to transport multiple customer products together in one picking run (running from a waiting area, circulating around each shelf, to a shipping area). For example, if the automatic conveying device 2 is equipped with two containers, the automatic conveying device 2 can transport ordered products for two customers together. The management server 1 outputs the transport instructions corresponding to the order information of one or more customers to each automatic conveying device 2.

[0017] In this embodiment, as an example, an example will be described in which the conveyance system 10 is applied to a facility W1 shown in Fig. 2. The facility W1 shown in Fig. 2 has a plurality of storage shelves (storage positions) for storing products (transportation targets). Fig. 2 shows 16 storage shelves T1 to T16 as an example. Each of the storage shelves T1 to T16 has a position (picking position p1 to p16) set thereon where the automatic conveyance device 2 picks up the product.

[0018] Additionally, waiting locations for the automatic transport devices 2 are set in the facility W1. For example, the facility W1 has set a waiting location P1 where AGV1 waits, a waiting location P2 where AGV2 waits, and a waiting location P3 where AGV3 waits. Each automatic transport device 2 waits at a predetermined waiting location when it has not received a transport instruction from the management server 1.

[0019] Each automated transport device 2 moves from a waiting location to a storage shelf where ordered items are stored when it receives a transport instruction from the management server 1. For example, when the AGV 1 receives a transport instruction from the management server 1 that includes order information for an item on storage shelf T1, it moves to a picking position p1 corresponding to storage shelf T1 according to a preset travel route, and when it picks the ordered item at picking position p1 or receives the ordered item from a worker in charge of picking work, it moves to a shipping location according to the preset travel route.

[0020] In this embodiment, the conveying system 10 corresponds to the conveying system according to the present disclosure, but the conveying system according to the present disclosure may be composed of the management server 1 alone, or may include one or more components of the management server 1 and the automatic conveying device 2.

[0021] [Management Server 1] 1, the management server 1 is a server including a control unit 11, a storage unit 12, an operation display unit 13, and a communication unit 14. The management server 1 is not limited to a single computer, but may be a computer system in which multiple computers operate in cooperation with each other. Furthermore, various processes executed by the management server 1 may be executed in a distributed manner by one or multiple processors.

[0022] The communication unit 14 is a communication interface that connects the management server 1 to the communication network N1 via a wired or wireless connection and performs data communication with one or more automatic conveying devices 2 via the communication network N1 in accordance with a predetermined communication protocol.

[0023] The operation display unit 13 is a user interface that includes a display unit such as a liquid crystal display or an organic EL display that displays various information, and an operation unit such as a mouse, keyboard, or touch panel that accepts operations.

[0024] The storage unit 12 is a non-volatile storage unit such as an HDD (Hard Disk Drive) or SSD (Solid State Drive) that stores various types of information. Specifically, the storage unit 12 stores data such as product information D1, order information D2, and delivery information D3. The product information D1 includes information about products stored in the facility W1. The order information D2 includes information about customer orders. FIG. 3 is a diagram showing an example of the product information D1, FIG. 4 is a diagram showing an example of the order information D2, and FIG. 5 is a diagram showing an example of the delivery information D3.

[0025] As shown in FIG. 3, the product information D1 includes information such as a corresponding "product ID," "product name," and "shelf ID" for each product. The product ID is identification information for the product, and the product name is the name of the product. The shelf ID is identification information for the storage shelf where the product is stored. In this embodiment, for example, "T1" indicating storage shelf T1, "T2" indicating storage shelf T2, "T3" indicating storage shelf T3, etc. are registered as the shelf ID.

[0026] The product information D1 is stored in advance in the storage unit 12 through a registration operation by, for example, the manager of the facility W1. The manager can also update the product information D1 as needed.

[0027] As shown in FIG. 4, the order information D2 includes, for each order, information such as the corresponding "unit order ID," "customer ID," "ordered item," "quantity," and "order date and time." The unit order ID is identification information for one order, and the customer ID is identification information for the customer who ordered the item. The ordered item is the name of the item ordered by the customer, and the quantity is the number of ordered items. The order date and time is information on the date and time when the order was received from the customer.

[0028] The order information D2 is registered by the control unit 11 every time the management server 1 (or the order server) receives an order from a customer.

[0029] As shown in Fig. 5, the transport information D3 includes information such as a corresponding "set order ID," "unit order ID," and "shelf ID" for each set order that combines unit orders. The set order ID is identification information for the set order that combines unit orders. The control unit 11 generates a set order by combining unit orders based on information such as the storage location of the product, the current location of the automatic transport device 2, and operation rules.

[0030] The transport information D3 is included in the transport instruction sent to the automatic transport device 2. For example, when the AGV1 receives a transport instruction including the transport information D3 for "SET1," the AGV1 moves to the location of the shelf ID "T3" included in the transport information D3. The AGV1 then picks up the products with the unit order IDs "O1," "O2," "O3," and "O4" from the storage shelf T3.

[0031] The control unit 11 generates the delivery information D3 (see FIG. 5) by referring to the product information D1 (see FIG. 3).

[0032] In another embodiment, some or all of the product information D1, order information D2, and delivery information D3 may be stored in another server accessible from the management server 1 via the communication network N1. In this case, the control unit 11 of the management server 1 may acquire the information from the other server and execute various processes such as the delivery process (see FIG. 10) described below.

[0033] The storage unit 12 also stores control programs such as a transport program for causing the control unit 11 to execute a transport process (see FIG. 10) described below. For example, the transport program is non-temporarily recorded on a computer-readable recording medium such as a CD or DVD, and is read by a reading device (not shown) such as a CD drive or DVD drive provided in the management server 1 and stored in the storage unit 12.

[0034] The control unit 11 has control devices such as a CPU, a ROM, and a RAM. The CPU is a processor that executes various types of arithmetic processing. The ROM is a non-volatile storage unit that pre-stores control programs such as a BIOS and an OS that cause the CPU to execute various types of arithmetic processing. The RAM is a volatile or non-volatile storage unit that stores various types of information and is used as a temporary storage memory (work area) for the various types of processing executed by the CPU. The control unit 11 controls the management server 1 by having the CPU execute various control programs pre-stored in the ROM or the storage unit 12.

[0035] Specifically, as shown in Fig. 1, the control unit 11 includes various processing units such as a reception processing unit 111, a travel processing unit 112, an observation processing unit 113, and a decision processing unit 114. The control unit 11 functions as the various processing units by executing various processes in accordance with the transportation program using the CPU. Some or all of the processing units may be configured with electronic circuits. The transportation program may be a program for causing multiple processors to function as the processing units.

[0036] The reception processing unit 111 receives a transport request (picking order) for a product (transport target) corresponding to the automatic transport device 2. Specifically, the reception processing unit 111 receives order information D2 (see FIG. 4) corresponding to orders from multiple customers. For example, the reception processing unit 111 receives order information D2 (see FIG. 4) including customer orders for CUSTOM1 and CUSTOM2.

[0037] Furthermore, when the reception processing unit 111 receives the order information D2, it generates transport information D3. For example, when the reception processing unit 111 receives the order information D2 (see FIG. 4) including four orders (unit orders) of CUSTOM1 and CUSTOM2 from a customer, it references the product information D1 (see FIG. 3) and generates transport information D3 (see FIG. 5) for "SET1." For example, the reception processing unit 111 aggregates, among the multiple products included in the order information D2, multiple products stored in the same area into a single order (set order) to generate the transport information D3. Furthermore, the reception processing unit 111 generates transport information D3 assigned to each of the multiple containers loaded on the automatic transport device 2.

[0038] The travel processing unit 112 controls the automatic travel of the automatic conveying device 2. Specifically, based on the transport request received by the reception processing unit 111, the travel processing unit 112 sets a travel route from the current position of the automatic conveying device 2 to the storage position (storage shelf).

[0039] Here, the travel processing unit 112 acquires the current positions of all automatic guided vehicles 2. Each automatic guided vehicle 2 transmits information such as its current position, travel speed, direction of travel, and travel status (traveling or waiting) in real time to the management server 1. Based on the information transmitted from each automatic guided vehicle 2, the travel processing unit 112 designates one automatic guided vehicle 2 and assigns it transportation information D3.

[0040] The travel processing unit 112 sets a travel start position and a destination position for the assigned automatic conveying device 2. FIG. 6 shows a schematic diagram of a portion of the facility W1. Symbols A to R indicate points within the facility W1, and the straight lines connecting each point indicate paths along which the automatic conveying device 2 can travel. For example, if the reception processing unit 111 assigns the transport information D3 of "SET1" to the AGV1, as shown in FIG. 6, the travel processing unit 112 sets the point P as the travel start position of the AGV1, and the point I (picking position p3) as the destination position.

[0041] The travel processing unit 112 sets a travel route from the travel start position to the destination position after setting the travel start position and destination position for the AGV 1. Specifically, the travel processing unit 112 performs an operation simulation for all automatic guided vehicles 2, and sets a travel route and control information that will minimize the total transport time of all automatic guided vehicles 2.

[0042] For example, the driving processing unit 112 first observes the driving conditions (current position, driving speed, reserved driving route, predicted arrival time on the reserved driving route) of other automatic guided vehicles 2 (here, AGV2 and AGV3). Next, the driving processing unit 112 performs operation simulations in parallel for all automatic guided vehicles 2, and sets a driving route for AGV1 to move from point P to point I so that the total transport time of all AGVs is the shortest.

[0043] Furthermore, the travel processing unit 112 sets control information that defines the operation of the automatic guided vehicle 2 in association with markers on the travel route. Specifically, the travel processing unit 112 sets the control information including information specifying the direction of travel (straight ahead, left turn, right turn, etc.) at each marker position toward the next marker position, and information such as travel speed, acceleration, stopping, turning, etc. at each marker position. The markers are provided at each of points A to R.

[0044] The travel processing unit 112 outputs travel route information including the travel route and the control information to the automatic guided vehicle 2. Here, the travel processing unit 112 outputs the travel route information and the control information to the AGV 1. Upon acquiring the travel route information and the control information, the AGV 1 starts traveling along the set travel route. In this way, the travel processing unit 112 controls the automatic travel of each automatic guided vehicle 2.

[0045] Here, congestion may occur within the transport area (facility W1) where the automatic transport devices 2 are concentrated in a specific area. In conventional systems, when congestion occurs among the automatic transport devices 2, the automatic transport devices 2 are moved to an area with a lower degree of congestion, resulting in loss of time due to the movement of the automatic transport devices 2 and a decrease in transport efficiency. In contrast, the transport system 10 according to this embodiment has a configuration that can suppress a decrease in transport efficiency due to congestion when transport work is performed by multiple automatic transport devices 2, as will be described below.

[0046] Specifically, the observation processing unit 113 observes the status of all automatic transport devices 2 within the transport area (facility W1), the status of multiple picking areas included in the transport area, the status of multiple picking positions included in each picking area, etc.

[0047] 7, facility W1 has set therein a picking area AR1 where the automatic conveying device 2 picks products at picking positions p1 to p4 corresponding to storage shelves T1 to T4, a picking area AR2 where the automatic conveying device 2 picks products at picking positions p5 to p12 corresponding to storage shelves T5 to T12, and a picking area AR3 where the automatic conveying device 2 picks products at picking positions p13 to p16 corresponding to storage shelves T13 to T16. Also set in facility W1 is a transfer area AR4 where the automatic conveying device 2 moves between picking areas AR1 to AR3. Note that products with the same characteristics are stored on the storage shelves in each picking area.

[0048] Furthermore, in facility W1, a waiting area (waiting position) is set in each area where the automatic conveying device 2 waits. For example, a waiting area At1 is set in picking area AR1, a waiting area At2 is set in picking area AR2, a waiting area At3 is set in picking area AR3, and waiting areas At4 and At5 are set in moving area AR4.

[0049] Furthermore, each area (picking areas AR1 to AR3, moving area AR4, waiting areas At1 to At5) has a set upper limit on the number of automatic conveying devices 2 that can be accommodated. Note that an upper limit on density (an upper limit on the ratio of the number of automatic conveying devices 2 to the area of ​​the area) may be set instead of the upper limit on the number.

[0050] The observational processing unit 113 identifies the number of automatic transport devices 2 in each area (picking areas AR1 to AR3, moving area AR4, waiting areas At1 to At5) and the availability of each area (full or empty) based on the position information of each automatic transport device 2. The observational processing unit 113 registers the identified information in observation information D4. Fig. 8 shows an example of the observation information D4.

[0051] As shown in FIG. 8, the observation information D4 includes information such as "area name," "number of vehicles in the area," "picking position," and "vacancy status" for each area. The area names are the names of picking areas AR1 to AR3, transfer area AR4, and waiting areas At1 to At5. The number of vehicles in the area is the number of automatic guided vehicles 2 currently present in the area. The picking positions are picking positions p1 to p16 (see FIG. 7) corresponding to storage shelves T1 to T16. The vacancy status indicates the vacancy status of the area. For example, if the number of vehicles in the area is less than the upper limit number set for the area, "empty" is registered, and if the number of vehicles in the area is equal to or greater than the upper limit number set for the area, "full" is registered. The observation processing unit 113 updates the observation information D4 in real time. The observation information D4 is stored in the storage unit 12.

[0052] The determination processing unit 114 determines the destination of the automatic conveying device 2 corresponding to the transport request based on the congestion status of the automatic conveying devices 2 in the transport area. Specifically, the determination processing unit 114 determines the destination of the automatic conveying device 2 based on the number of automatic conveying devices 2 present in the picking area including the picking position of the product (to be picked) included in the transport request and the availability status of one or more picking positions in the picking area.

[0053] Specific examples (first to seventh configuration examples) of the method for determining the destination of the automatic transport device 2 will be described below.

[0054] [First configuration example] For example, in the example shown in FIG. 9 , if the next picking target in the transport instruction for AGV1 is a product on storage shelf T1, the travel processing unit 112 sets the destination position of AGV1 to picking position p1. Here, the observation processing unit 113 calculates the number of automated guided vehicles 2 present in picking area AR1, which includes picking position p1. If the number of automated guided vehicles 2 in picking area AR1 is equal to or greater than the upper limit, the determination processing unit 114 prohibits entry into picking area AR1 because of the possibility of congestion within picking area AR1. Therefore, for example, the determination processing unit 114 determines waiting area At4, which is close to picking area AR1, as the destination of AGV1. The travel processing unit 112 outputs a travel instruction to AGV1 specifying waiting area At4 as the destination position. When AGV1 receives the travel instruction, it moves to waiting area At4, and when it arrives at waiting area At4, it temporarily stops and waits until it receives the next travel instruction.

[0055] [Second configuration example] If the number of automatic guided vehicles 2 in the picking area AR1 is equal to or greater than the upper limit, the decision processing unit 114 determines whether the transport request corresponding to the AGV 1 includes other products (to be picked) in a picking area different from the picking area AR1. If the transport request includes products in other picking areas, the decision processing unit 114 identifies the picking positions corresponding to the products.

[0056] If the identified picking position has space, the determination processing unit 114 determines that picking position as the destination of the AGV 1. For example, in Fig. 9, the determination processing unit 114 identifies picking position p6 corresponding to another product in the picking area AR2, and if the identified picking position p6 has space, determines picking position p6 as the destination of the AGV 1. In this case, the AGV 1 moves from its current position to picking position p6 in the picking area AR2, skipping the picking area AR1.

[0057] In addition, if the number of automatic conveying devices 2 in picking area AR1 is less than the upper limit when AGV1 has completed picking all products in picking area AR2, the decision processing unit 114 may determine the destination of AGV1 using the method shown in the following configuration example.

[0058] [Third configuration example] If there is a vacant picking position p1, which is the destination position of the AGV1 (if the picking position p1 is empty), the determination processing unit 114 determines the picking position p1 as the destination of the AGV1. Note that the picking position p1 may be capable of accepting only one automatic guided vehicle 2, or may be capable of accepting multiple automatic guided vehicles 2 simultaneously. In this case, the travel processing unit 112 outputs a travel instruction to the AGV1, specifying the picking position p1 as the destination position. Upon receiving the travel instruction, the AGV1 moves to the picking position p1, and upon arriving at the picking position p1, picks up the product to be picked.

[0059] [Fourth configuration example] If there is no vacancy at picking position p1, which is the destination position of AGV 1 (if it is full), the decision processing unit 114 determines whether the transport request corresponding to AGV 1 includes other products (to be picked) in the same picking area AR1 as picking position p1. If the transport request includes other products in the picking area AR1, the decision processing unit 114 identifies the picking positions corresponding to the other products.

[0060] If the identified picking position has space, the determination processing unit 114 determines that picking position as the destination of the AGV 1. For example, in Fig. 9, the determination processing unit 114 identifies picking position p2 corresponding to another product in the picking area AR1, and if the identified picking position p2 has space, determines picking position p2 as the destination of the AGV 1. In this case, the AGV 1 skips picking position p1 from its current position and moves to the next picking position p2.

[0061] Furthermore, when the AGV 1 picks up the product at the picking position p2, if there is a vacant picking position p1, the determination processing unit 114 determines the next destination to be the picking position p1.

[0062] Furthermore, when AGV1 picks up an item at picking position p2, if there is still no space available at picking position p1 and the transport request includes another item in picking area AR1, the picking position corresponding to that other item will be determined as the next destination.

[0063] In this way, the determination processor 114 determines the destination of AGV1 in the order according to the availability of picking positions for multiple picking targets in the same area among the transport requests assigned to AGV1. Furthermore, when the transport request of AGV1 includes products in picking areas AR1 and AR2, the determination processor 114 determines the destination of AGV1 to be picking area AR2 after the picking work in picking area AR1 is completed.

[0064] [5th ​​configuration example] If there is no vacant space at picking position p1, which is the destination position of AGV1 (if the picking position is full), and the transport request corresponding to AGV1 does not include other products (to be picked) in the same picking area AR1 as picking position p1, the decision processing unit 114 determines whether there is vacant space in waiting area At1 (see FIG. 7) within picking area AR1. If there is vacant space in waiting area At1, the decision processing unit 114 determines the destination of AGV1 to be waiting area At1. Note that waiting area At1 may be capable of accepting only one automatic guided vehicle 2, or may be capable of accepting multiple automatic guided vehicles 2 simultaneously. In this case, AGV1 moves to waiting area At1, and upon arriving at waiting area At1, it pauses and waits until it receives the next travel instruction.

[0065] The waiting area At1 may be divided into multiple areas corresponding to multiple picking positions. In this case, the determination processor 114 determines the area in the waiting area At1 corresponding to the picking position p1 as the destination of the AGV 1. If there is no vacant space in the area in the waiting area At1 corresponding to the picking position p1, the determination processor 114 determines an area that is close to the picking position p1 and has vacant space as the destination of the AGV 1.

[0066] [6th configuration example] If there is no vacant space at picking position p1, which is the destination position of AGV1 (if it is full), if the transport request corresponding to AGV1 does not include other products (to be picked) in the same picking area AR1 as picking position p1, and if there is no vacant space in waiting area At1 (see FIG. 7) in picking area AR1, the determination processing unit 114 determines the destination of AGV1 to be waiting area At4. Note that waiting area At4 may be capable of accepting only one automatic guided vehicle 2, or may be capable of accepting multiple automatic guided vehicles 2 simultaneously. In this case, AGV1 moves to waiting area At4, and upon arriving at waiting area At4, it pauses and waits until it receives the next travel instruction.

[0067] In this way, when the determination processing unit 114 determines that the AGV 1 cannot wait in the picking area, it determines the waiting area outside the picking area (movement area) as the destination of the AGV 1.

[0068] Furthermore, the determination processor 114 determines the waiting area At4, which is closest to the destination position (picking position p1) in the movement area AR4, as the destination of the AGV 1. If there is no vacant waiting area At4, the determination processor 114 determines another waiting area (waiting area At5), which is closer to the destination position (picking position p1) in the movement area AR4, as the destination of the AGV 1.

[0069] [7th configuration example] If there is no vacant lot at picking position p1, which is the destination position of AGV1 (if the vehicle is full), if the transport request corresponding to AGV1 does not include other products (to be picked) in the same picking area AR1 as picking position p1, and if there is no vacant lot in waiting area At1 (see FIG. 7) in picking area AR1, the decision processing unit 114 determines whether the transport request corresponding to AGV1 includes other products (to be picked) in a picking area different from picking position p1. If the transport request includes products in other picking areas, the decision processing unit 114 identifies the picking position corresponding to the products.

[0070] If the identified picking position has space, the determination processing unit 114 determines that picking position as the destination of the AGV 1. For example, in Fig. 9, the determination processing unit 114 identifies picking position p6 corresponding to another product in the picking area AR2, and if the identified picking position p6 has space, determines picking position p6 as the destination of the AGV 1. In this case, the AGV 1 moves from its current position to picking position p6 in the picking area AR2, skipping over the picking area AR1 (picking position p1).

[0071] Furthermore, when the AGV1 has completed picking all of the products in the picking area AR2, if there is a vacant picking position p1, the determination processing unit 114 determines the next destination to be the picking position p1.

[0072] In this way, the decision processing unit 114 may change the movement order of the picking areas set for the AGV 1 depending on the congestion status of each picking area.

[0073] As described above, when the number of automatic conveying devices 2 in the picking area is equal to or greater than the upper limit, the determination processing unit 114 determines the destination of the automatic conveying device 2 according to the first or second configuration example, and when the number of automatic conveying devices 2 in the picking area is less than the upper limit, the determination processing unit 114 determines the destination of the automatic conveying device 2 according to any of the third to seventh configuration examples.

[0074] Furthermore, the determination processing unit 114 determines the destination of the automatic transport device 2 based on the availability of picking positions within the picking area.

[0075] In addition, when there are multiple vacant picking positions within the picking area where the automatic conveying device 2 plans to pick, the decision processing unit 114 decides the destination of the automatic conveying device 2 to be one of the multiple picking positions within the picking area.

[0076] In addition, when there are no vacant picking positions within the picking area where the automatic conveying device 2 plans to pick, the decision processing unit 114 decides the destination of the automatic conveying device 2 to be a waiting area within the picking area or a waiting area outside the picking area.

[0077] If there is no vacant picking position, the determination processing unit 114 may determine the destination of the automatic transporting device 2 to be a waiting area within the picking area. If the automatic transporting device 2 is moved to a waiting area outside the picking area, the moving distance will be long and loss will be large, so if there is a vacant waiting area within the picking area, the determination processing unit 114 will prioritize the waiting area within the picking area as the destination of the automatic transporting device 2.

[0078] Furthermore, when a picking position within the picking area is included in the picking schedule of the automatic transporting device 2, the determination processing unit 114 may determine the destination of the automatic transporting device 2 to be a waiting area within the picking area. If there is a plan to perform picking work at a picking position within the same picking area in the future, moving the item to a waiting area outside the picking area will result in a large loss, so the determination processing unit 114 prioritizes the waiting area within the picking area as the destination of the automatic transporting device 2.

[0079] Furthermore, if a picking position within the picking area is not included in the picking schedule of the automatic transporting device 2, the decision processing unit 114 decides that the destination of the automatic transporting device 2 is a waiting area outside the picking area. If there are no plans to perform picking work at a picking position within the same picking area in the future, the decision processing unit 114 will prioritize the waiting area outside the picking area as the destination of the automatic transporting device 2, since there is no need for the automatic transporting device 2 to stay within the same area.

[0080] Furthermore, within a picking area, waiting areas corresponding to each of a plurality of picking positions included in the picking area may be set, and an upper limit on the number of automatic conveying devices 2 that can enter the picking positions and the waiting areas corresponding to the picking positions may be set.

[0081] Furthermore, the control unit 11 may set priorities for the destination determination methods of each of the first to seventh configuration examples. For example, the control unit 11 sets a high priority for the method that does not interrupt the picking operation of the automatic conveying device 2, i.e., the method that determines the picking position as the destination (second, third, fourth, and seventh configuration examples), and sets a low priority for the method that interrupts the picking operation, i.e., the method that determines the waiting area as the destination (first, fifth, and sixth configuration examples).

[0082] [Transportation processing] The transport process executed in the transport system 10 will be described below with reference to Fig. 10. Specifically, in this embodiment, the transport process is executed by the control unit 11 of the management server 1. The control unit 11 can also execute multiple transport processes in parallel in response to multiple transport requests to multiple automatic transport devices 2. When the control unit 11 causes the automatic transport device 2 to start transport work in response to a transport request, it starts executing the transport process shown in Fig. 10.

[0083] The present disclosure can be understood as a disclosure of a transport method that executes one or more steps included in the transport process. Furthermore, one or more steps included in the transport process described herein may be omitted as appropriate. The steps in the transport process may be executed in a different order as long as the same effect is achieved. Furthermore, while the description here uses an example in which the control unit 11 executes each step in the transport process, another embodiment of the transport method may also be considered in which one or more processors execute each step in the transport process in a distributed manner.

[0084] First, in step S1, the control unit 11 starts the transport operation of the automatic transport device 2. Specifically, the control unit 11 generates transport information D3 (see FIG. 5) based on the transport request corresponding to the order information D2 (see FIG. 4), and outputs the travel route information and the control information corresponding to the transport information D3 to the automatic transport device 2 to start the transport operation (automatic travel).

[0085] Next, in step S2, the control unit 11 acquires the congestion status of the picking area and picking position of the picking target included in the transportation request. Specifically, the control unit 11 acquires the congestion status by identifying the number of automatic transport devices 2 in each area (picking areas AR1 to AR3, movement area AR4, waiting areas At1 to At5) and the availability status of each area (full or empty) based on the position information of each automatic transport device 2.

[0086] Next, in step S3, the control unit 11 determines the destination of the automatic conveying device 2 corresponding to the conveyance request based on the congestion status. Specifically, the control unit 11 determines the destination of the automatic conveying device 2 based on the number of automatic conveying devices 2 present in a picking area including the picking position of the product (to be picked) included in the conveyance request and the availability of each picking position in the picking area. For example, the control unit 11 determines the destination (picking position or waiting area) of the automatic conveying device 2 by the methods shown in the first to seventh configuration examples above.

[0087] Next, in step S4, the control unit 11 determines whether the determined destination is a picking location. If the determined destination is a picking location (S4: Yes), the control unit 11 shifts the process to step S5. On the other hand, if the determined destination is not a picking location (S4: No), that is, if the determined destination is a waiting area, the control unit 11 shifts the process to step S41.

[0088] In step S5, the control unit 11 outputs a movement instruction to the automatic transport device 2 to move from the current position to the determined picking position. Upon receiving the movement instruction, the automatic transport device 2 moves to the picking position and performs the picking work. After step S5, the control unit 11 causes the process to proceed to step S6.

[0089] On the other hand, in step S41, the control unit 11 outputs a standby instruction to the automatic transport device 2 to move from the current position to the determined standby area. Upon receiving the standby instruction, the automatic transport device 2 moves to the standby area and waits. After step S41, the control unit 11 returns the process to step S2.

[0090] In step S6, the control unit 11 determines whether picking of the picking target at the determined picking position has been completed. If the control unit 11 determines that picking of the picking target has been completed (S6: Yes), the control unit 11 shifts the process to step S7. The control unit 11 waits until picking of the picking target has been completed (S6: No).

[0091] Next, in step S7, the control unit 11 determines whether the transport operation has been completed. For example, the control unit 11 determines that the transport operation has been completed when the automatic transport device 2 has arrived at the travel end position. When the control unit 11 determines that the transport operation has been completed (S7: Yes), it terminates the transport process. On the other hand, when the control unit 11 determines that the transport operation has not been completed (S7: No), it shifts the process to step S2. For example, when the automatic transport device 2 has picked up all picking targets included in the transport request and arrived at the destination position, the control unit 11 determines that the transport operation has been completed and terminates the transport process. The control unit 11 repeats the processes of steps S2 to S6 until the automatic transport device 2 arrives at the destination position (S7: No).

[0092] Furthermore, the control unit 11 executes the transport process for each automatic transport device 2 present within the transport area.

[0093] As described above, the conveyance system 10 according to this embodiment is a system in which a plurality of picking areas are arranged, each including a plurality of picking positions where the automatic conveyance device 2 picks up the picking target, and the system causes each of the plurality of automatic conveyance devices 2 to convey the picking target. The conveyance system 10 also receives a request to convey a first picking target corresponding to a first automatic conveyance device 2, and determines the destination of the first automatic conveyance device 2 based on the number of automatic conveyance devices 2 present in the first picking area including the first picking position of the first picking target and the availability of one or more picking positions in the first picking area.

[0094] Specifically, the conveyance system 10 has the following configuration to mainly control the travel of a plurality of automatic conveyance devices 2 in a conveyance area (picking site) and reduce congestion in the entire conveyance area.

[0095] (Configuration A) In the conveyance system 10, an upper limit is set on the number of automatic conveyance devices 2 that can stop in front of each picking position. For example, if the upper limit on the number of devices in the waiting area in front of the picking position p1 is set to three, the total number of devices that have reserved route instructions for or are stopped at the picking position p1 will be three or less.

[0096] (Configuration B) In the conveyance system 10, a density is set corresponding to the automatic conveyance device 2 that waits and travels in front of each picking position. For example, the density in the waiting area and around the picking position is set to a predetermined density or less.

[0097] (Configuration C) In the conveyance system 10, an upper limit is set on the number of automatic conveyance devices 2 that can enter each picking area (a collection of multiple picking positions). For example, if the automatic conveyance devices 2 move to all picking positions within a picking area, the density of the automatic conveyance devices 2 increases, and the efficiency of the travel control between the automatic conveyance devices 2 decreases. For this reason, the conveyance system 10 sets an upper limit on the number of automatic conveyance devices 2 that can be entered in each picking area.

[0098] (Configuration D) If the upper limit number is exceeded in the configurations A to C, waiting areas between picking areas and within each picking area are searched for, and the automatic conveying device 2 is made to wait until the density and number of automatic conveying devices 2 fall within the allowable range.

[0099] (Configuration E) When a picking wait occurs at a specific picking position within the picking area and it is determined that it would be better to move to the next picking position within the picking area first, the conveyance system 10 skips the waiting picking position. Furthermore, the conveyance system 10 returns the automatic conveyance device 2 to the skipped picking position after the automatic conveyance device 2 completes picking at another picking position within the picking area. Here, when returning to the skipped picking position, if the number of automatic conveyance devices 2 at the picking position or waiting area exceeds the upper limit number, the conveyance system 10 executes the processing of configuration D described above. Note that the conveyance system 10 may be able to switch the skip function ON / OFF.

[0100] Furthermore, the transfer system 10 determines the destination of the automatic transfer device 2 in the following procedure (steps 1 to 3).

[0101] (Step 1) The conveyance system 10 observes the surrounding conditions of each picking position. Specifically, the conveyance system 10 observes the number of reserved automatic conveyance devices 2 at all picking positions, or the number of automatic conveyance devices 2 waiting to pick. The conveyance system 10 also observes the number of automatic conveyance devices 2 waiting to stop in a waiting area. The conveyance system 10 also observes the total number of automatic conveyance devices 2 in each picking area.

[0102] (Step 2) After each automatic conveying device 2 completes its current picking operation, the conveying system 10 determines the next destination according to the information observed in step 1 and the following priorities before generating a route to the next picking location.

[0103] (Priority 1) The conveying system 10 determines the picking position as the destination if the number of automatic conveying devices 2 reserved / stopped at the planned picking position, the density of automatic conveying devices 2 in front of the picking position, and the number of automatic conveying devices 2 in the picking area are all within the upper limit set values.

[0104] (Priority 2) If the priority 1 is not satisfied, and if there is a next picking position in the picking area, the transport system 10 skips the planned picking position and determines the next picking position as the destination. The transport system 10 repeats this process until there are no more picking positions in the picking area that satisfy the priority 1, and then returns to all the skipped picking positions to perform the picking work.

[0105] (Priority 3) When the number of automatic conveying devices 2 reserved / stopped at the planned picking position, the density of automatic conveying devices 2 in front of the picking position, and the number of automatic conveying devices 2 in the picking area all exceed the upper limit set value, and the skip function for priority 2 is set to OFF and picking work is performed in the planned order, the conveying system 10 determines the destination of the automatic conveying device 2 based on the following two cases.

[0106] (Case 1: When the next destination is the same picking area) If there is an empty waiting area within the picking area, the transport system 10 instructs the automatic transport device 2 to move to that waiting area and wait in that waiting area until the priority level 1 is met. Here, if there is no empty waiting area within the picking area, the transport system 10 searches for an empty waiting area outside the picking area and determines that waiting area as the destination of the automatic transport device 2.

[0107] (Case 2: When the next destination is another picking area) The transport system 10 moves the automatic transport device 2 to a waiting area in front of another picking area and makes it wait until the priority 1 is met. If the waiting area in front of the other picking area is already reserved or in standby, the transport system 10 searches for an empty waiting area in the surrounding picking areas and determines it as the destination of the automatic transport device 2.

[0108] (Step 3) When the automatic transfer device 2 waiting with the priorities 1 to 3 in step 2 satisfies the priority 1, the transfer system 10 gives a travel instruction preferentially to the automatic transfer device 2 that satisfies the priority 1.

[0109] According to the conveyance system 10 of this embodiment, the destination of the automatic transport device 2 can be updated in real time according to the congestion situation at each point, such as the scheduled picking position, picking area, and waiting area, and appropriate driving instructions can be given. Therefore, when conveyance work is performed by multiple automatic transport devices 2, it is possible to suppress a decrease in conveyance efficiency due to congestion.

[0110] [Disclosure Note] The following is a summary of the disclosure extracted from the above-described embodiment. Note that the configurations and processing functions described in the following supplementary notes can be selected and combined as desired.

[0111] <Appendix 1> A transport system in which a plurality of picking areas are arranged, each including a plurality of picking positions where an automatic transport device picks up a picking target, and in which a plurality of automatic transport devices transports the picking target, a reception processing unit that receives a transportation request for a first picking target corresponding to the first automatic transportation device; a determination processing unit that determines a destination of the first automatic transport device based on the number of the automatic transport devices present in a first picking area including the first picking position of the first picking target and the availability of one or more picking positions in the first picking area; A transport system comprising:

[0112] <Appendix 2> the determination processing unit determines a destination of the first automatic transport device based on an availability of the first picking position in the first picking area. 10. The transport system of claim 1.

[0113] <Appendix 3> the determination processing unit, when there are vacant picking positions in the first picking area where the first automatic transporting device is scheduled to perform picking, determines the destination of the first automatic transporting device to be one of the picking positions in the first picking area; 3. The transport system of claim 1 or 2.

[0114] <Appendix 4> the determination processing unit, when there are no vacant picking positions in the first picking area where the first automatic transporting device is scheduled to perform picking, determines the destination of the first automatic transporting device to be a first waiting position in the first picking area or a second waiting position outside the first picking area; 4. A transport system according to any one of Supplementary Notes 1 to 3.

[0115] <Appendix 5> the determination processing unit determines the destination of the first automatic transport device to be the first standby position when there is no vacancy at the first picking position; 5. The transport system of claim 4.

[0116] <Appendix 6> the determination processing unit determines the destination of the first automatic transporting device to be the first standby position when the picking position within the first picking area is included in the picking schedule of the first automatic transporting device; 6. The transport system of claim 4 or 5.

[0117] <Appendix 7> the determination processing unit determines the second standby position as the destination of the first automatic transporting device when the picking position within the first picking area is not included in the picking schedule of the first automatic transporting device; 7. A transport system according to any one of Supplementary Notes 4 to 6.

[0118] <Appendix 8> Within the picking area, waiting positions corresponding to the plurality of picking positions included in the picking area are set, an upper limit number of the automatic conveying devices that can enter the picking position and the waiting position corresponding to the picking position is set; A transport system according to any one of Supplementary Notes 1 to 7. [Explanation of symbols]

[0119] 1: Management Server 2: Automatic transport device 10:Transportation system 11: Control section 12: Storage section 13:Operation display section 14: Communications Department 111: Reception processing unit 112: Driving processing unit 113: Observation processing unit 114: Decision processing unit D1: Product Information D2: Order Information D3: Delivery information D4: Observation information

Claims

1. A transport system in which a plurality of picking areas are arranged, each including a plurality of picking positions where an automatic transport device picks up a picking target, and in which a plurality of automatic transport devices transports the picking target, a reception processing unit that receives a transportation request for a first picking target corresponding to the first automatic transportation device; a determination processing unit that determines a destination of the first automatic transport device based on the number of the automatic transport devices present in a first picking area that includes the first picking position of the first picking target and the availability of one or more picking positions in the first picking area; A transport system comprising:

2. the determination processing unit determines a destination of the first automatic transport device based on an availability of the first picking position in the first picking area. The transport system according to claim 1 .

3. the determination processing unit, when there are vacant picking positions in the first picking area where the first automatic transporting device is scheduled to perform picking, determines the destination of the first automatic transporting device to be one of the picking positions in the first picking area; The transport system according to claim 1 .

4. the determination processing unit, when there are no vacant picking positions in the first picking area where the first automatic transporting device is scheduled to perform picking, determines the destination of the first automatic transporting device to be a first waiting position in the first picking area or a second waiting position outside the first picking area; The transport system according to claim 1 .

5. the determination processing unit determines the destination of the first automatic transport device to be the first standby position when there is no vacancy at the first picking position; The transport system according to claim 4 .

6. the determination processing unit determines the destination of the first automatic transporting device to be the first standby position when the picking position within the first picking area is included in the picking schedule of the first automatic transporting device; The transport system according to claim 4 .

7. the determination processing unit determines the second waiting position as the destination of the first automatic transporting device when the picking position within the first picking area is not included in the picking schedule of the first automatic transporting device. The transport system according to claim 4 .

8. Within the picking area, waiting positions corresponding to the plurality of picking positions included in the picking area are set, an upper limit number of the automatic conveying devices that can enter the picking position and the waiting position corresponding to the picking position is set; The transport system according to any one of claims 1 to 7.

9. A transport method in which a plurality of picking areas are arranged, each including a plurality of picking positions where an automatic transport device picks up a picking target, and each of the plurality of automatic transport devices transports the picking target, one or more processors, a receiving step of receiving a transport request for a first picking target corresponding to the first automatic transport device; a determining step of determining a destination of the first automatic transport device based on the number of the automatic transport devices present in a first picking area including the first picking position of the first picking target and the availability of one or more picking positions in the first picking area; A transportation method that performs the above.

10. A transport program that causes each of a plurality of automatic transport devices to transport a picking target in a transport area in which a plurality of picking areas are arranged, each including a plurality of picking positions where the automatic transport device picks up the picking target, a receiving step of receiving a transport request for a first picking target corresponding to the first automatic transport device; a determining step of determining a destination of the first automatic transport device based on the number of the automatic transport devices present in a first picking area including the first picking position of the first picking target and the availability of one or more picking positions in the first picking area; A transport program for causing one or more processors to execute the above.

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