Method and program for determining travel route

Abstract

By assigning the shortest possible route to multiple moving objects within the warehouse, the total travel time of objects throughout the warehouse is reduced. [Solution] The method for determining a movement path is a method for determining the movement path of a moving object placed in a warehouse, and involves obtaining a first position and a second position of the moving object, selecting a candidate movement path that reaches the second position from the first position by passing through some of a plurality of nodes installed in the warehouse, obtaining movement time factor information including the degree of congestion of each node constituting the candidate movement path, calculating the predicted movement time of the candidate movement path based on the movement time factor information, determining the candidate movement path as the movement path if there is a candidate movement path whose predicted movement time is less than or equal to a predetermined time, and if there is no candidate movement path whose predicted movement time is less than or equal to a predetermined time, changing at least one of the first position and the second position of the candidate movement path, and selecting one or more candidate movement paths having the changed position.

Description

Technical Field

[0001] The present disclosure relates to a moving route determination method and a program.

Background Art

[0002] Patent Document 1 discloses a transport robot management device. The transport robot management device includes an AGV information database that stores AGV information including the current position of an automated guided vehicle (AGV), a map information database that stores map information including the congestion level estimated based on the current position of the AGV and the transport area in which the AGV can travel, an operation planning unit that determines the AGV to be used for transport based on order information based on an order list acquired from an external system, AGV information, and map information, and determines the destination to which the determined AGV should move, a priority determination unit that determines the priority of the AGV determined based on at least one of AGV information, order information, station information including the working status at the station, and product information including the weight, dimensions, and handling importance of the product, a travel route determination unit that determines the travel route of the determined AGV to the destination based on the priority and the congestion level, and a transmission unit that transmits the determined travel route to the AGV.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] In view of the above-described conventional situation, the present disclosure has been devised, and an object thereof is to assign a route that enables movement in the shortest time to a plurality of moving bodies moving within a warehouse and reduce the moving time of the moving bodies throughout the warehouse.

Means for Solving the Problems

[0005] This disclosure provides a computer-based method for determining the movement path of at least one mobile body located in a warehouse, comprising: obtaining a first position and a second position of the mobile body; selecting one or more candidate movement paths that pass through a portion of a plurality of nodes installed in the warehouse and reach the second position from the first position; obtaining travel time factor information including the degree of congestion of each node constituting the candidate movement path; calculating the predicted travel time of the one or more candidate movement paths based on the travel time factor information; determining the candidate movement path as the movement path if there is a candidate movement path whose calculated predicted travel time is less than or equal to a predetermined time; and changing at least one of the first position and second position of the candidate movement path and selecting one or more candidate movement paths having the changed position.

[0006] This disclosure provides a program that causes a computer to determine a movement path for at least one mobile body to be placed in a warehouse, the program to perform the following actions: obtain a first position and a second position of the mobile body; select one or more candidate movement paths that pass through some of a plurality of nodes installed in the warehouse and reach the second position from the first position; obtain movement time factor information including the degree of congestion of each node constituting the candidate movement path; calculate the predicted movement time of the one or more candidate movement path based on the movement time factor information; if there is a candidate movement path whose calculated predicted movement time is less than or equal to a predetermined time, determine that candidate movement path as the movement path; and if there is no candidate movement path whose calculated predicted movement time is less than or equal to the predetermined time, change at least one of the first position and second position of the candidate movement path and select one or more candidate movement path having the changed position.

[0007] These comprehensive or specific embodiments may be implemented as systems, devices, methods, integrated circuits, computer programs, or recording media, or as any combination of systems, devices, methods, integrated circuits, computer programs, and recording media. [Effects of the Invention]

[0008] According to this disclosure, it is possible to assign the shortest possible route to multiple moving objects within a warehouse, thereby reducing the total travel time of objects throughout the warehouse. [Brief explanation of the drawing]

[0009] [Figure 1] Block diagram showing an example of the computer hardware configuration according to each embodiment. [Figure 2] Block diagram showing an example of the functional configuration of the computer according to Embodiment 1. [Figure 3] Block diagram showing an example of the functional configuration of the computer according to Embodiment 2. [Figure 4] This figure shows examples of calculating travel time predictions and updating congestion levels. [Figure 5] A diagram showing an example of reacquiring the start and end points. [Figure 6] A flowchart showing a time-series example of a computer-based warehouse execution management procedure according to Embodiment 1. [Figure 7] A flowchart showing a time-series example of a computer simulation execution procedure according to Embodiment 2. [Figure 8] Flowcharts showing examples of computer-based movement path determination procedures for each embodiment in chronological order. [Modes for carrying out the invention]

[0010] (Background leading to this disclosure) Patent Document 1 discloses a method for estimating the congestion level of multiple transport areas within a warehouse based on the positions of multiple moving objects during pathfinding, and for determining a route that minimizes the travel time of a particular moving object using the estimated congestion level. However, while a particular moving object is traveling along the determined route, other multiple moving objects are also moving within the warehouse, which can lead to discrepancies between the congestion level when the particular moving object actually passes through the transport area and the congestion level estimated during pathfinding. Thus, it is difficult to accurately predict the congestion level of each transport area within the warehouse, and consequently determine the shortest possible travel route for a moving object, based solely on the positions of multiple moving objects during pathfinding.

[0011] Therefore, the following embodiment describes an example of a movement path determination method and program that can assign the shortest possible path to multiple moving objects moving within a warehouse, thereby reducing the total movement time of the objects throughout the warehouse.

[0012] The following description will detail embodiments specifically illustrating the movement path determination method and program described herein, with appropriate reference to the drawings. However, unnecessarily detailed explanations may be omitted. For example, detailed explanations of already well-known matters and redundant explanations of substantially identical components may be omitted. This is to avoid unnecessarily redundancy in the following explanation and to facilitate understanding by those skilled in the art. The accompanying drawings and the following description are provided to enable those skilled in the art to fully understand this disclosure and are not intended to limit the subject matter of the claims. Furthermore, in the following description, identical elements may be assigned the same reference numerals to simplify or omit explanations.

[0013] 1. Computer hardware configuration First, with reference to Figure 1, examples of the hardware configuration of the computer 100 according to each embodiment will be described. Figure 1 is a block diagram showing examples of the hardware configuration of the computer 100 according to each embodiment. The computer 100 may be, for example, a general-purpose computer device such as a PC (Personal Computer) or a server computer, or it may be a mobile terminal such as a tablet terminal or a smartphone.

[0014] In Embodiment 1, described later, the computer 100 is used, for example, as a device constituting a Warehouse Execution System (WES). The Warehouse Execution System manages and controls various operations related to logistics within the warehouse in order to facilitate logistics within the warehouse. The Warehouse Execution System grasps real-time data on on-site operations such as inventory management of goods or picking, and controls various mobile devices or equipment such as cameras within the warehouse. Mobile devices include, for example, Autonomous Mobile Robots (AMRs), Automatic Guided Vehicles, forklifts, and workers. In Embodiment 1, the computer 100 determines, for example, the movement path of at least one mobile device placed within the warehouse in order to manage and control various operations related to logistics within the warehouse.

[0015] On the other hand, in Embodiment 2, which will be described later, the computer 100 is used as a warehouse simulation system that performs, for example, a warehouse simulation. Warehouse simulation is a method for virtually reproducing and analyzing the processes related to operations within a warehouse that are involved in logistics. The computer 100 performs the warehouse simulation in response to user operations, for the purpose of improving the efficiency and optimization of warehouse operations. In Embodiment 2, the computer 100 determines, for example, the movement path of at least one moving object placed in the warehouse within the warehouse simulation.

[0016] As shown in Figure 1, the computer 100 is configured to include a processor 10, a memory 20, a communication device 30, an input device 40, an external interface device 50, and a display device 60. Each component is configured to be communicable via an internal bus or the like. Note that the configuration shown in Figure 1 is an example, and one component may be divided into multiple components, or multiple components may be combined into one component.

[0017] The processor 10 may be configured using, for example, a CPU (Central Processing Unit), a GPU (Graphical Processing Unit), an MPU (Micro Processing Unit), a DSP (Digital Signal Processor), or an FPGA (Field Programmable Gate Array). The processor 10 realizes various functions by reading and executing various data and programs held in the memory 20.

[0018] The memory 20 is a storage unit for storing various data, programs, and the like. The memory 20 is, for example, a RAM (Random Access Memory) and a ROM (Read Only Memory, hereinafter referred to as "ROM"). The ROM holds programs and data necessary for the operation of the processor 10. The RAM temporarily holds signals of data acquired or generated during the operation of the processor 10 as a work memory. The memory 20 may hold a map of the warehouse, node connection information regarding connections between a plurality of nodes installed in the warehouse, and movement time factor information regarding various factors affecting the movement prediction time.

[0019] The communication device 30 is an interface for communicating with various mobile bodies and external devices such as cameras in the warehouse via a network (not shown). When the mobile body is an operator, the communication device 30 may communicate with a mobile terminal such as a smartphone held by the operator. The communication device 30 receives a data signal transmitted from an external device or transmits a signal transmitted from the processor 10 to an external device. The communication standards supported by the communication device 30 are not particularly limited, and it may support either wired or wireless communication standards. Also, the communication device 30 may support multiple communication standards. Therefore, the network used by the communication device 30 may be configured by combining networks based on multiple communication standards.

[0020] The input device 40 receives operations and instructions by a user, for example, for inputting simulation execution conditions of a warehouse simulation. Also, the input device 40 receives operations and instructions by a user, for example, for inputting an order from a customer. The input device 40 may be composed of a mouse, a keyboard, a touch panel display, etc. [[ID=X]]

[0021] [[ID=X]] The external interface device 50 is an interface for transmitting and receiving data to and from an external device. [[ID=X]]

[0022] [[ID=X]] The display device 60 displays various user interfaces to the user. The display device 60 may be composed of a liquid crystal display, a touch panel display, etc. [[ID=X]]

[0023] [[ID=X]] 2. Functional Configuration of Computer Next, referring to FIGS. 2 and 3, a functional configuration example of the computer 100 according to each embodiment will be described. FIG. 2 is a block diagram showing a functional configuration example of the computer 100 according to Embodiment 1, and FIG. 3 is a block diagram showing a functional configuration example of the computer 100 according to Embodiment 2. [[ID=X]]

[0024] [[ID=X]] (Computer according to Embodiment 1) Figure 2 shows an example of the functional configuration of the computer 100 according to Embodiment 1, that is, the computer 100 when the movement path determination method according to this disclosure is implemented in WES. As shown in Figure 2, the processor 10 of the computer 100 according to Embodiment 1 functionally includes a UI (User Interface) unit 11, a system linkage unit 12, an order management unit 13, an inventory management unit 14, a picking management unit 15, a movement path determination unit 16, an inbound / outbound management unit 17, and a data analysis unit 18.

[0025] The UI unit 11 is an interface for workers or warehouse managers to interact with the WES. The UI unit 11, for example, acquires information regarding the movement path of a moving object determined by the movement path determination unit 16 and warehouse management report information generated by the data analysis unit 18, and presents it to the worker or warehouse manager via the display device 60. The UI unit 11 may also acquire order information for goods entered by the worker or warehouse manager via the input device 40 and transmit it to the order management unit 13.

[0026] The system integration unit 12 performs data integration with other systems, such as ERP (Enterprise Resource Planning) and TMS (Transportation Management System). The system integration unit 12 transmits data generated by the processor 10 to other systems and transmits data received from other systems to various parts of the processor 10.

[0027] The Order Management Unit 13 manages order information and tracks the priority and processing status of orders indicated by the order information. For example, when the Order Management Unit 13 obtains order information from the UI Unit 11, it requests the Inventory Management Unit 14 to provide inventory status and performs inventory checks such as inventory quantity and inventory location. Based on the inventory check results, the Order Management Unit 13 sends picking instructions to the Picking Management Unit 15 and shipping preparation instructions to the Inbound / Outbound Management Unit 17. The Order Management Unit 13 may also send order information to the Data Analysis Unit 18.

[0028] The Inventory Management Department 14 tracks the inventory status in the warehouse in real time and manages inventory replenishment and inventory counts. The Inventory Management Department 14 provides inventory status in response to requests from the Order Management Department 13. The Inventory Management Department 14 tracks the inventory status in the warehouse by updating inventory data based on inbound and outbound information obtained from the Inbound and Outbound Management Department 17.

[0029] The picking management unit 15 assists in the picking of goods and manages the optimal picking route. The picking management unit 15 manages picking by, for example, generating a picking list that includes the goods to be picked and the picking status of those goods, based on picking instructions obtained from the order management unit 13. The picking management unit 15 may also manage the picking status by updating the picking list based on images taken by a camera connected to the computer 100. The picking management unit 15 also sends a route determination request to the movement route determination unit 16 to determine a movement route for picking goods, based on order information obtained from the order management unit 13. The picking management unit 15 may also send the movement route obtained from the movement route determination unit 16 to a mobile device connected to the computer 100 and send an instruction to the mobile device to move along the calculated movement route. The picking management unit 15 also sends the movement route obtained from the movement route determination unit 16 to the inbound / outbound management unit 17.

[0030] The movement path determination unit 16 determines the movement path for a mobile object to pick goods within the warehouse, based on the route determination request transmitted from the picking management unit 15. The movement path determination unit 16 determines the optimal movement path using the congestion levels of multiple nodes installed within the warehouse. Details of the processing of the movement path determination unit 16 will be described later with reference to Figures 4 and 5.

[0031] The Inbound / Outbound Management Unit 17 manages the process of receiving and shipping goods. The Inbound / Outbound Management Unit 17 ships goods based on shipping preparation instructions obtained from the Order Management Unit 13. When the Inbound / Outbound Management Unit 17 receives or ships goods, it transmits the inbound / outbound information to the Inventory Management Unit 14. The Inbound / Outbound Management Unit 17 may also check and manage the inbound / outbound status of goods based on the movement route obtained from the Picking Management Unit 15, or it may check and manage the inbound / outbound status based on images taken by cameras that photograph the shelves of goods. The Inbound / Outbound Management Unit 17 transmits the inbound / outbound information regarding the inbound / outbound status to the Inventory Management Unit 14.

[0032] The data analysis unit 18 analyzes operational data related to warehouse management and provides performance indicators for warehouse operations. For example, the data analysis unit 18 analyzes operational data such as order information obtained from the order management unit 13 and inventory information obtained from the inventory management unit 14, and based on the analysis results, calculates performance indicators that show the efficiency of warehouse operations, for example, and provides them to warehouse managers or management via the UI unit 11. The data analysis unit 18 may also calculate and provide suggestions for improving the performance indicators based on the operational data.

[0033] (Computer according to Embodiment 2) Figure 3 shows an example of the functional configuration of the computer 100 according to Embodiment 2, that is, the computer 100 when the movement path determination method is implemented in a warehouse simulation. As shown in Figure 3, the processor 10 of the computer 100 according to Embodiment 2 functionally includes a simulation condition acquisition unit 1, a simulation execution unit 2, a movement path determination unit 3, and a simulation result output unit 4.

[0034] The simulation condition acquisition unit 1 acquires the execution conditions for the warehouse simulation. The simulation condition acquisition unit 1 may acquire simulation execution conditions entered by a user such as a warehouse manager, or it may acquire simulation execution conditions from another system. The simulation execution conditions include, for example, the number of workers, working hours, work capacity, warehouse layout, work list, moving item list, etc. The simulation condition acquisition unit 1 notifies the simulation execution unit 2 of the acquired simulation execution conditions.

[0035] The simulation execution unit 2 drives the simulation engine to perform a warehouse simulation. Based on the simulation execution conditions obtained from the simulation condition acquisition unit 1, the simulation execution unit 2 performs a warehouse simulation related to warehouse operations, including picking processes. If, during the warehouse simulation, the simulation execution unit 2 determines that a movement path is required for a moving object within the warehouse to pick goods, it sends a route determination request to the movement path determination unit 3 along with the simulation execution conditions. The simulation execution unit 2 may also obtain the movement path determined by the movement path determination unit 3 and perform the simulation using that movement path. Furthermore, the simulation execution unit 2 sends the simulation execution results calculated by the warehouse simulation, such as total work time, work efficiency, waiting time, and congestion status, to the simulation result output unit 4.

[0036] The movement path determination unit 3 determines the movement path for the moving object to pick goods within the warehouse based on the path determination request transmitted from the simulation execution unit 2. The movement path determination unit 3 determines the optimal movement path using the congestion levels of each of the multiple nodes installed in the warehouse. Details of the processing of the movement path determination unit 3 will be described later with reference to Figures 4 and 5.

[0037] The simulation result output unit 4 displays the results of the warehouse simulation to the user via the display device 60. The simulation result output unit 4 may aggregate the simulation execution results obtained from the simulation execution unit 2 to generate a simulation report and display it on the display device 60.

[0038] Thus, the computer 100 according to Embodiment 1 uses the movement path determined by the movement path determination unit 16 as the movement path of the moving object placed in the actual warehouse. On the other hand, the computer 100 according to Embodiment 2 uses the movement path determined by the movement path determination unit 3 as the movement path of the moving object in the simulated warehouse.

[0039] 3. Determining the travel route Next, with reference to Figure 4, a method for determining the movement path of moving objects within a warehouse will be explained. Figure 4 shows an example of calculating the predicted movement time and an example of updating the congestion level. In the following explanation, the method by which the movement path determination unit 3 according to Embodiment 2 determines the movement path will be described, but the movement path determination unit 16 according to Embodiment 1 may determine the movement path using a similar method.

[0040] When the movement path determination unit 3 receives a path determination request from the simulation execution unit 2, it starts the path determination process. First, the movement path determination unit 3 obtains the starting point S and ending point G of the moving object to be placed inside the warehouse. The starting point S is an example of a first position, and the ending point G is an example of a second position. If a moving object is specified in the path determination request, the movement path determination unit 3 may obtain the current position of the specified moving object as the starting point S. If a moving object is not specified in the path determination request, the movement path determination unit 16 may select a moving object based on the position and size of the goods to be picked, and obtain the current position of the selected moving object as the starting point S. Alternatively, the movement path determination unit 3 may obtain the position of the goods to be picked from the simulation execution unit 2 and obtain that position as the ending point G. Note that the position information inside the warehouse when viewed from directly above may be shown as 2D coordinate information based on a single point inside the warehouse. Therefore, the movement path determination unit 3 may obtain the starting point S and ending point G shown in 2D coordinates.

[0041] In the first embodiment, the movement route determination unit 16 acquires a starting point S and an ending point G based on a route determination request transmitted from the picking management unit 15. In this case, the movement route determination unit 16 may acquire the location information of the items to be picked included in the route determination request as the ending point G. If a moving object is specified in the route determination request, the movement route determination unit 16 may acquire the current position of the specified moving object as the starting point S. The movement route determination unit 3 may acquire the current position of the moving object using, for example, RFID (Radio Frequency Identification), an indoor positioning system, an image of the moving object captured by a camera, or a sensor, and use that as the starting point S. If a moving object is not specified in the route determination request, the movement route determination unit 16 may select an appropriate moving object based on the location and size of the items to be picked, and acquire the current position of the selected moving object as the starting point S.

[0042] When the travel path determination unit 3 obtains the starting point S and the ending point G, it obtains node connection information and travel time factor information from the memory 20, and based on the node connection information, it selects one or more travel path candidates that pass through some of the multiple nodes installed in the warehouse and reach the ending point G from the starting point S. The node connection information may include the location information of the multiple nodes installed in the warehouse and the distance information between the multiple nodes, and the selection of travel path candidates may be based on the node location information. The travel path determination unit 3 may also select a predetermined number of routes (2 in the example in Figure 4) as travel path candidates in order of increasing distance from the starting point S to the ending point G based on the distance information between the multiple nodes.

[0043] Here, a node is a predetermined point within the warehouse, and may be, for example, an intersection or branching point of a passageway within the warehouse, a point where the moving object loads, unloads, or picks items, or a position in front of a shelf. Each node may be linked to 2D coordinate information within the warehouse. Figure 4 shows an example in which Route 1, shown as a thick dotted line, and Route 2, shown as a dotted line, are selected as candidate movement routes. Route 1 reaches the endpoint G from the starting point S, passing through nodes ND1, ND4, and ND5, and Route 2 reaches the endpoint G from the starting point S, passing through nodes ND1, ND2, and ND3. For convenience, Route 1 and Route 2 are shown as candidate movement routes in Figure 4, but the candidate movement routes are not limited to Route 1 and Route 2, and may include other routes that reach the endpoint G from the starting point S. In the example in Figure 4, the distance information between multiple nodes acquired by the movement route determination unit 3 indicates that the distance between each node is the same, 1m.

[0044] The travel path determination unit 3 calculates the predicted travel time for each selected travel path candidate. The predicted travel time is the time it is predicted that a moving object will need to travel from the starting point S to the ending point G via the travel path candidate, and is calculated based on travel time factor information. The travel time factor information is information about various factors that affect the predicted travel time. The travel time factor information includes congestion information regarding the congestion level of each node that constitutes the travel path candidate. The congestion level is set in conjunction with each node and is the time it is predicted that will need to pass through the node due to the congestion situation at or near that node. A higher congestion level indicates that congestion is expected at the node, and a lower congestion level indicates that congestion is not expected at the node. For example, the congestion level information TB#1 shown in Figure 4 shows a congestion level of 1s (seconds) for nodes ND1 and ND2, a congestion level of 0s for nodes ND3 and ND4, and a congestion level of 5s for node ND5. Therefore, nodes ND1 and ND2 are expected to be the least congested, while node ND5 is expected to be the most congested.

[0045] The travel time factor information may include information about the moving object in addition to the congestion level. Information about the moving object may include, for example, the direction the front of the moving object faces at the starting point S, the speed of the moving object during movement, the rotation speed of the moving object, and the time required for processing before and after the rotation of the moving object. Note that the rotation speed is the speed at which the moving object rotates in the direction of movement on the node. In the example in Figure 4, we assume that the travel path determination unit 3 has acquired congestion level #1 and the following information about the moving object as travel time factor information. • Direction the front of the moving object faces at the starting point S: Direction from the starting point S to node ND1 • Speed ​​during movement: 1 m / s • Rotation speed: 90° / s • Time required for pre-rotation processing: 0s • Time required for post-rotation processing: 0s

[0046] The travel path determination unit 3 calculates the predicted travel time for a travel path candidate based on the acquired travel time factor information. The predicted travel time is calculated based on the travel time between nodes, the rotation time of the moving object in the direction of movement, and the degree of congestion. The travel time between nodes and the rotation time of the moving object in the direction of movement may be calculated based on information about the moving object and information about the connections between nodes. Specifically, the predicted travel time is calculated as {(sum of distances between each node constituting the travel path candidate) / (velocity of the moving object)} + {(rotation angle) / (rotation speed)} + (sum of congestion values ​​of each node included in the travel path candidate). In route 1, the sum of distances between each node is 4m, the rotation angle is 90° at node ND4, and the sum of congestion values ​​is the sum of the congestion values ​​of nodes ND1, ND4, and ND5, which is 6s. Therefore, the predicted travel time for route 1 is calculated as {4m / (1m / s)} + {90° / (90° / s)} + 6s = 11s. On the other hand, in route 2, the total distance between each node is 4m, the total rotation angle between nodes ND1 and ND3 is 180°, and the total congestion value is the sum of the congestion values ​​of nodes ND1, ND2, and ND3, which is 2s. Therefore, the predicted travel time for route 2 is calculated as {4m / (1m / s)} + {180° / (90° / s)} + 2s = 8s.

[0047] The travel path determination unit 3 compares the calculated travel prediction time with a predetermined time and determines a travel path candidate with a travel prediction time that is less than or equal to the predetermined time as the travel path. The predetermined time to be compared with the travel prediction time is the time used to determine whether the travel path assigned to the moving object can be traversed in a reasonable travel time appropriate to its distance, and may be calculated, for example, by (standard travel time for travel path candidate) * (1 + delay tolerance). The standard travel time for travel path candidate is the standard time required to travel along the travel path candidate, and may be calculated, for example, based on the distance from the starting point S to the ending point G of the travel path candidate and the standard travel speed of the moving object. The delay tolerance is the percentage of delay from the standard travel time that is allowed, and is set in advance by the user. For example, if the delay tolerance is 0.1 (10%), it indicates that a 10% increase in travel time compared to the standard travel time is allowed.

[0048] In the example in Figure 4, based on the node connection information and information about the moving object, the distance between Route 1 and Route 2 is 4m each, and the speed of the moving object is 1m / s. Therefore, the standard travel time for Route 1 and Route 2 is calculated to be 4s. In Figure 4, for example, if the delay tolerance is 200%, then 4s*(1+2)=12s, so the predetermined time to compare with the predicted travel time is calculated to be 12s. The predicted travel times for Route 1 and Route 2 calculated based on the travel time factor information are 11s and 8s, respectively, so the predicted travel times for both candidate travel routes are less than or equal to the predetermined time. In this case, if there are multiple candidate travel routes with predicted travel times less than or equal to the predetermined time, the travel route determination unit 3 will, for example, determine the travel route candidate with the shortest predicted travel time as the travel route. Therefore, if the delay tolerance is 200%, the travel route determination unit 3 will determine Route 2 as the travel route.

[0049] Furthermore, in Figure 4, for example, if the delay tolerance is 150%, the predetermined time to compare with the predicted travel time is calculated as 4s*(1+1.5)=10s. Therefore, when the delay tolerance is 150%, only route 2 is a candidate travel route with a predicted travel time that is less than or equal to the predetermined time, so the travel route determination unit 3 determines route 2 as the travel route. The travel route determination unit 3 transmits the determined travel route to the simulation execution unit 2.

[0050] On the other hand, in Figure 4, for example, if the delay tolerance is 50%, the predetermined time to compare with the predicted travel time is calculated as 4s*(1+0.5)=6s. Therefore, when the delay tolerance is 50%, there are no travel route candidates with a predicted travel time less than or equal to the predetermined time, and the travel route determination unit 3 does not determine routes 1 and 2 as travel routes. In this case, the travel route determination unit 3 changes (in other words, reacquires) at least one of the starting point S and ending point G, selects a travel route candidate with the changed point, and determines the travel route. The subsequent processing of the travel route determination unit 3 in this case will be described later with reference to Figure 5.

[0051] The following explanation describes the subsequent processing when the movement path determination unit 3 determines path 2 as the movement path.

[0052] The travel path determination unit 3 updates the congestion level information TB#1 based on the determined travel path. The travel path determination unit 3 updates the congestion level information TB#1 by adding a predetermined value (1s in the example in Figure 4) to the congestion level of the nodes included in the determined travel path. The travel path determination unit 3 also updates the congestion level information TB#1 by subtracting a predetermined value (2s in the example in Figure 4) from the congestion level of the nodes not included in the determined travel path. As a result, the congestion level of each node is updated and congestion level information TB#2 is generated.

[0053] In the example in Figure 4, when updating congestion information TB#1 and obtaining congestion information TB#2, the travel path determination unit 3 adds 1s to the congestion levels of nodes included in the determined travel path and subtracts 2s from the congestion levels of nodes not included in the determined travel path. Since the determined travel path 2 includes nodes ND1, ND2, and ND3, as shown in congestion information TB#2, the congestion levels of nodes ND1, ND2, and ND3 are the values ​​shown in congestion information TB#1 plus 1s. On the other hand, since route 2 does not include nodes ND4 and ND5, the congestion level of node ND5 is the value shown in congestion information TB#1 minus 2s. Note that the congestion level of node ND4 shown in congestion information TB#1 is 0s, so the updated congestion level of node ND4 remains 0s, but it could also be -1s. Once the congestion level update process based on the travel path is complete, the route determination process by the travel path determination unit 3 is completed.

[0054] Next, we will explain the case where the travel path determination unit 3 updates the congestion level and generates congestion level information TB#2, and then receives a further route determination request from the simulation execution unit 2. For convenience, we will assume that the travel path determination unit 3 acquires the same points as the starting point S and ending point G. The travel path determination unit 3 acquires new travel time factor information and inter-node connection information, and selects travel path candidates based on the inter-node connection information. The selected travel path candidates are assumed to be the same as the travel path candidates selected in the previous route determination process, namely Route 1 and Route 2. The congestion level information among the travel time factor information newly acquired by the travel path determination unit 3 is congestion level information TB#2. The information regarding the moving object and the inter-node connection information among the travel time factor information newly acquired by the travel path determination unit 3 are assumed to be the same as the information acquired in the previous route determination process.

[0055] The movement path determination unit 3 calculates the predicted movement time for the candidate movement paths, path 1 and path 2, based on the acquired movement time factor information. As described above, the predicted movement time is calculated as {(total distance between each node constituting the candidate movement path) / (velocity of the moving object)} + {(rotation angle) / (rotation speed)} + (total congestion value of each node included in the candidate movement path). For path 1, the total distance between each node is 4m, the rotation angle is 90° at node ND4, and the total congestion value is the sum of the congestion values ​​of nodes ND1, ND4, and ND5, which is 5s. Therefore, the predicted movement time for path 1 is calculated as {4m / (1m / s)} + {90° / (90° / s)} + 5s = 10s. On the other hand, for path 2, the total distance between each node is 4m, the rotation angle is 180° at nodes ND1 and ND3, and the total congestion value is the sum of the congestion values ​​of nodes ND1, ND2, and ND3, which is 5s. Therefore, the estimated travel time for route 2 is calculated as {4m / (1m / s)} + {180° / (90° / s)} + 5s = 11s.

[0056] The travel path determination unit 3 compares the calculated travel time with a predetermined time and determines the travel path candidate with a travel time that is less than or equal to the predetermined time as the travel path. In Figure 4, it is assumed that the travel times of routes 1 and 2 are less than or equal to the predetermined time. In this case, the travel path determination unit 3 determines route 1, which has the shortest travel time among the travel path candidates, as the travel path.

[0057] When the travel path determination unit 3 determines a travel path, it updates the congestion level information TB#2 and obtains congestion level information TB#3, as shown in Figure 4. Since the determined travel path 1 includes nodes ND1, ND4, and ND5, the congestion level of nodes ND1, ND4, and ND5 is the value shown in congestion level information TB#2 plus 1s, as shown in congestion level information TB#3. On the other hand, since route 1 does not include nodes ND2 and ND3, the congestion level of nodes ND2 and ND3 is the value shown in congestion level information TB#2 minus 2s.

[0058] In this way, the congestion level, which indicates the expected congestion at each node, is updated based on the determined travel route, and the travel route is repeatedly determined based on this congestion level. This allows for the assignment of the shortest possible travel route for multiple moving objects within the warehouse, thereby reducing the overall travel time of objects within the warehouse.

[0059] 4. Reacquisition of the start and end points Next, with reference to Figure 5, a method for reacquiring the start and end points of a moving object within a warehouse will be explained. Figure 5 is a diagram showing an example of reacquiring the start and end points. In the following explanation, the method by which the movement path determination unit 3 according to Embodiment 2 determines the movement path will be described, but the movement path determination unit 16 according to Embodiment 1 may determine the movement path using a similar method.

[0060] Figure 4 describes a route determination method assuming that the predicted travel time for at least one of the route candidates selected by the route determination unit 3, route 1 and route 2, is less than or equal to a predetermined time. However, it is also possible that the predicted travel times for all route candidates are not less than or equal to the predetermined time. In such cases, regardless of which of the selected route candidates the moving object takes, it may be affected by congestion and experience delays, potentially reducing the overall efficiency of the movement of objects in the warehouse.

[0061] In Figure 5, the mobile object M1 is assigned a first task to be performed by moving from the starting point S1 to the ending point G1. The first task is, for example, the content of the work to be performed at or near the ending point G1 after the mobile object M1 has moved from the starting point S1 to the ending point G1. The process to be handled when the predicted travel time of all selected travel path candidates from the starting point S1 to the ending point G1 for the mobile object M1 is not less than or equal to a predetermined time, in other words, when there are no travel path candidates with a predicted travel time of less than or equal to the predetermined time, will be explained. In this case, the travel path determination unit 3 does not determine the selected travel path candidates as travel paths. Instead, the travel path determination unit 3 changes at least one of the starting point S1 and the ending point G1 and selects a travel path candidate with the changed point. Note that the starting point S1 is an example of a first position, and the ending point G1 is an example of a second position.

[0062] Figure 5 shows three examples, Situations A1 to A3, in which the movement path determination unit 3 changes at least one of the starting point S1 and the ending point G1. In Situation A1, the movement path determination unit 3 changes the starting point S1 to obtain the starting point S2. Starting point S2 is an example of a third position. In Situation A1, the movement path determination unit 3 changes the target of the movement path assignment from mobile body M1 to mobile body M2 located at starting point S2. In other words, the movement path determination unit 3 temporarily suspends assigning a movement path to mobile body M1 and assigns the first task that was assigned to mobile body M1 to mobile body M2, which is located at starting point S2, a different location from starting point S1. Furthermore, the movement path determination unit 3 selects candidate movement paths that reach the ending point G1 from starting point S2 to mobile body M2, to which the first task has been assigned. The movement path determination unit 3 determines the movement path of the moving object M2 by calculating the predicted movement time for each movement path candidate using the congestion level of each node on the movement path candidate from the starting point S2 to the ending point G1, using a method similar to the method described in Figure 4. Note that the moving object M2 is an example of a second moving object.

[0063] In situation A2, the movement path determination unit 3 changes the endpoint G1 and obtains the endpoint G2. Endpoint G2 is an example of a fourth position. In situation A2, the movement path determination unit 3 changes the first task assigned to the mobile body M1 to a second task that involves moving to endpoint G2, which is a different location from endpoint G1, and performing the work there. The second task is, for example, the content of the work that the mobile body M1 will perform at or near endpoint G2 after moving from the starting point S1 to endpoint G2. In other words, the movement path determination unit 3 temporarily suspends the first task assigned to the mobile body M1 and assigns the second task to the mobile body M1, thereby obtaining a new starting point S1 and endpoint G2 for the movement path to be assigned to the mobile body M1. Furthermore, the movement path determination unit 3 selects candidate movement paths that reach from starting point S1 to endpoint G2 for the mobile body M1 to which the second task has been assigned. The movement path determination unit 3 determines the movement path of the moving object M1 by calculating the predicted movement time for each movement path candidate using the congestion level of each node on the movement path candidate from the starting point S1 to the ending point G2, using a method similar to the method described in Figure 4.

[0064] In situation A3, the movement path determination unit 3 changes the starting point S1 to obtain the starting point S2, and changes the ending point G1 to obtain the ending point G2. In situation A3, the movement path determination unit 3 changes the target of the movement path assignment from mobile body M1 to mobile body M2 located at the starting point S2. Furthermore, the movement path determination unit 3 changes the first task that was assigned to mobile body M1 to a third task that involves moving to the ending point G2 and performing the work there. The third task is, for example, the content of the work that mobile body M2 will perform at or near the ending point G2 after moving from the starting point S2 to the ending point G2. In other words, the movement path determination unit 3 temporarily suspends assigning a movement path to mobile body M1 and assigning the first task to the mobile body, and assigns the second task to mobile body M2, which is located at a different position from the starting point S1, starting point S2. Furthermore, the movement path determination unit 3 selects candidate movement paths that reach the ending point G2 from the starting point S2 for mobile body M2, to which the second task has been assigned. The movement path determination unit 3 determines the movement path of the moving object M2 by calculating the predicted movement time using the congestion level of each node on the candidate movement path from the starting point S2 to the ending point G2, using a method similar to the method described in Figure 4.

[0065] In all of situations A1 to A3, the travel route determination unit 3 calculates a new estimated travel time for the selected travel route candidate based on the newly acquired start and end points, and compares this estimated travel time with a predetermined time. If the newly calculated estimated travel time is less than or equal to the predetermined time, the travel route determination unit 3 determines that travel route candidate as the travel route. On the other hand, if there are no travel route candidates with an estimated travel time less than or equal to the predetermined time, the travel route determination unit 3 acquires at least one of the start and end points again and executes the route determination process, repeating the route determination process until a travel route candidate with an estimated travel time less than or equal to the predetermined time is selected.

[0066] In this way, if the predicted travel time of a previously selected travel route candidate is less than or equal to a predetermined time, the start and end points are reacquired, and the selection of travel route candidates is performed again. As a result, travel routes with shorter travel times are given priority, and the computer 100 can reduce the travel time of all moving objects in the warehouse.

[0067] 5. Example of operation (Warehouse execution management flow) Next, with reference to Figure 6, the process by which the computer 100 according to Embodiment 1 performs warehouse execution management will be described. Figure 6 is a flowchart showing a time-series example of the warehouse execution management procedure by the computer 100 according to Embodiment 1. The series of processes shown in Figure 6 are executed by the processor 10 of the computer 100.

[0068] In Figure 6, when a user enters a new order from the UI unit 11, the processor 10 acquires the order (St1). The processor 10 acquires customer information from the ERP and sends it to the order management unit 13.

[0069] Processor 10 checks the inventory and picking status of goods based on the order information of the acquired order (St2). When checking the picking status, Processor 10 checks whether the picking operation to be performed in the next step St3 is the first picking operation to be performed in the warehouse execution management flow, and if it is the first, it initializes the congestion level to its initial value. The initial value of the congestion level may be all 0s if there is no particular information, or it may be set to a non-zero value based on past congestion figures for each time period or theoretical congestion figures in a simulation. On the other hand, if the picking operation to be performed in the next step St3 is not the first picking operation to be performed in the warehouse execution management flow, Processor 10 may update the congestion level as necessary.

[0070] Processor 10 checks the inventory of goods and, once it has completed checking the picking status, begins the picking operation (St3). Processor 10 generates a picking list and, based on the level of congestion, performs route determination processing during the picking operation in step St3. Processor 10 displays the calculated travel route to the worker performing the picking via the display device 60.

[0071] Processor 10 performs the receiving and issuing processes for goods that have been picked in step St3 (St4). For example, processor 10 updates inventory or collects outgoing data.

[0072] Processor 10 performs data analysis (St5) based on the data collected in step St4. Processor 10 analyzes the performance of warehouse execution management, such as the efficiency of order processing or inventory turnover rate, and displays improvement suggestions to management or warehouse managers. Once Processor 10 has completed the data analysis, the warehouse execution management processing by Processor 10 is terminated.

[0073] (Warehouse simulation flow) Next, with reference to Figure 7, the process by which the computer 100 according to Embodiment 2 executes the warehouse simulation will be described. Figure 8 is a flowchart showing a time-series example of the simulation execution procedure by the computer 100 according to Embodiment 2. The series of processes shown in Figure 7 are executed by the processor 10 of the computer 100.

[0074] In Figure 7, the processor 10 obtains simulation execution conditions from the user or another system (St11) and starts preparing for simulation execution (St12). During simulation preparation, the processor 10 may initialize the congestion level to an initial value. The initial value of the congestion level may be set to 0s if there is no particular information, similar to the initial value of the congestion level in the warehouse execution management flow, or a non-zero value may be set based on actual values ​​related to past congestion or theoretical values ​​of congestion in the simulation.

[0075] Once the processor 10 is ready to run the simulation, it executes the simulation (St13). During the simulation, the processor 10 performs route determination processing based on congestion levels. The processor 10 outputs the simulation results calculated in step St13 via the display device 60 (St14). Once the processor 10 outputs the simulation results, the warehouse simulation execution process by the processor 10 is completed.

[0076] (Route determination flow) Next, with reference to Figure 8, the process by which the computer 100 performs route determination according to each embodiment will be described. Figure 8 is a flowchart showing an example of the operation procedure of the route determination process by the computer 100 according to each embodiment in chronological order. The series of processes shown in Figure 8 are executed by the movement route determination unit 3 or movement route determination unit 16 functionally present in the processor 10 of the computer 100, and as described above, are executed within step St3 of the warehouse execution management flow or step St13 of the warehouse simulation flow. For convenience, in the following description, the movement route determination unit 3 will be assumed to be the entity that executes the process.

[0077] In Figure 8, when the travel path determination unit 3 receives a route determination request, it obtains the start and end points of the moving object (St21). The travel path determination unit 3 further obtains inter-node connection information (St22) and travel time factor information, including the congestion level of each node (St23). The processes in steps St22 and St23 may be executed simultaneously or in the reverse order of the order shown in Figure 8. In addition to the congestion level, the travel time factor information may include information about the moving object or information PI about the pathways between each node.

[0078] The travel path determination unit 3 selects travel path candidates (St24) based on the start and end points obtained in step St21 and the inter-node connection information obtained in step St22. The number of travel path candidates selected by the travel path determination unit 3 may be predetermined, or a predetermined number of travel path candidates may be selected in order of increasing distance from the start point to the end point.

[0079] The travel path determination unit 3 calculates the predicted travel time for each travel path candidate selected in step St24 based on the travel time factor information obtained in step St23 (St25). The travel path determination unit 3 calculates the predicted travel time based on the total congestion level of the nodes that the travel path candidate passes through. In addition to congestion levels, the predicted travel time may also be calculated based on the travel time between nodes included in the travel path candidate and the rotation time of the moving body in the direction of movement on the nodes included in the travel path candidate. The travel path determination unit 3 calculates the travel time between nodes based on information about the passages between nodes and calculates the rotation time of the moving body in the direction of movement based on information about the moving body.

[0080] The travel path determination unit 3 compares the predicted travel time calculated in step St25 with a predetermined time and determines whether there is a travel path candidate with a predicted travel time that is less than or equal to the predetermined time (St26). If there is no travel path candidate with a predicted travel time that is less than or equal to the predetermined time (St26, NO), the travel path determination unit 3 changes at least one of the starting point S and the ending point G (St27), and the processing of the travel path determination unit 3 returns to step St22. On the other hand, if there is a travel path candidate with a predicted travel time that is less than or equal to the predetermined time (St26, YES), the travel path determination unit 3 selects that travel path candidate as the travel path (St28). If there are multiple travel path candidates with predicted travel times that are less than or equal to the predetermined time, the travel path determination unit 3 may select the travel path candidate with the shortest predicted travel time as the travel path.

[0081] Furthermore, once the route determination unit 3 selects a route, it updates the current congestion level for each node based on the selected route (St29). The route determination unit 3 updates the congestion level by adding a predetermined value to the congestion level of the nodes included in the route determined in step St28 and subtracting a predetermined value from the congestion level of the nodes not included in the determined route. Once the route determination unit 3 has updated the congestion level, the route determination process by the route determination unit 3 is completed.

[0082] 6. Others In the embodiments described above, the method used by the movement path determination unit 3 to calculate the predicted movement time for candidate movement paths was described in which the congestion level of each node was used. However, the movement path determination unit 3 may also calculate the predicted movement time using multi-agent simulation. Multi-agent simulation is a method that virtually models a system in which multiple agents interact with each other and simulates its behavior. By using multi-agent simulation, it is possible to analyze the behavior of all moving objects in the warehouse when each moving object is operated individually as an agent, thereby enabling more accurate calculation of the predicted movement time.

[0083] In the embodiments described above, a method for calculating the predicted travel time was explained using congestion level and information about the moving object as travel time factor information. However, the travel time factor information may also include information about the pathways between nodes. Information about the pathways between nodes may include, for example, information about the width of the pathway, information about the gradient of the pathway, the maximum speed of the pathway, and information about the acceleration of the moving object immediately before and after rotation on a node. By using information about the pathways between nodes in addition to the congestion level on a node, the predicted travel time can be calculated with high accuracy by taking into account the time required to pass through the pathways between nodes.

[0084] The above description of embodiments discloses the technical concepts described in the following items.

[0085] (Item 1) The method for determining the travel route related to this disclosure is: A method for determining the movement path of at least one mobile body (M1) located in a warehouse, which is performed by a computer (100), The first position (S1) and the second position (G1) of the moving body are obtained. One or more candidate travel paths (path 1, path 2) are selected that pass through some of the multiple nodes (ND1 to ND5) installed within the warehouse to reach the second position from the first position. The travel time factor information (PI, TB#1) including the congestion level (TB#1) of each node constituting the candidate travel path is obtained. Based on the aforementioned travel time factor information, the predicted travel time for the one or more travel route candidates is calculated. If there are candidate travel routes for which the calculated travel time prediction is less than or equal to a predetermined time, those candidate travel routes are determined to be the travel routes. If there are no candidate travel routes in which the calculated travel prediction time is less than or equal to the predetermined time, at least one of the first position and second position of the candidate travel route is changed, and one or more candidate travel routes having the changed position are selected. This allows for prioritizing the allocation of movement routes with shorter travel times to mobile units, thereby assigning the shortest possible route to multiple mobile units moving within the warehouse and reducing the overall travel time of mobile units within the warehouse.

[0086] (Item 2) In the method for determining the travel path described in item 1, If there are candidate travel routes in which the calculated travel time is less than or equal to a predetermined time, the congestion level of each node is updated based on the determined travel route. This allows the congestion level, which indicates the expected congestion at each node, to be updated based on the determined travel route, and the travel route is repeatedly determined based on this congestion level. Therefore, it is possible to assign the shortest possible travel route to multiple moving objects within the warehouse, thereby reducing the overall travel time of objects within the warehouse.

[0087] (Item 3) In the method for determining the travel path described in item 1, When the first position is changed, the target of the movement path assignment is changed from the moving body to a second moving body (M2) located at a third position (S2) different from the first position, and one or more movement path candidates are selected for the second moving body to reach the second position from the third position. This allows for priority allocation of routes with shorter travel times to mobile objects, thereby assigning the shortest possible travel route to multiple mobile objects moving within the warehouse and reducing the overall travel time of mobile objects within the warehouse.

[0088] (Item 4) In the method for determining the travel path described in item 1, When the second position is changed, the first task, which indicates the work to be performed at the second position and was assigned to the mobile body, is changed to a second task, which indicates the work to be performed at a fourth position (G2) different from the second position, and one or more candidate movement paths are selected for the mobile body to reach the fourth position from the first position. This allows tasks involving short travel times to be preferentially assigned to mobile units, enabling the assignment of the shortest possible travel route to multiple mobile units moving within a warehouse, thereby reducing the overall travel time of mobile units throughout the warehouse.

[0089] (Item 5) In the method for determining the travel path described in item 1, When changing the first and second positions, the target of the movement path assignment is changed from the moving body to a second moving body (M2) located at a third position (S2) different from the first position, the first task indicating the work to be performed at the second position which was assigned to the moving body is changed to a third task indicating the work to be performed at a fourth position (G2) different from the second position, and one or more movement path candidates are selected for the second moving body to reach the fourth position from the third position. This allows tasks involving travel along routes with short travel times to be preferentially assigned to mobile units that can utilize those routes. Consequently, multiple mobile units moving within a warehouse can be assigned the shortest possible travel route, reducing the overall travel time of mobile units within the warehouse.

[0090] (Item 6) In the method for determining the travel route described in any one of items 1 to 5, The aforementioned predetermined time is It is determined based on a standard travel time calculated from the distance from the first position to the second position and the speed of the moving body, and a delay tolerance rate that indicates the percentage of delay from the standard travel time that is allowed. As a result, only travel routes with a predetermined short travel time are assigned to the mobile units, allowing for the assignment of the shortest possible travel route to multiple mobile units moving within the warehouse, thereby reducing the overall travel time of mobile units within the warehouse.

[0091] (Item 7) The program related to this disclosure is A program that causes a computer (100) to determine the movement path of at least one mobile body (M1) to be placed in a warehouse, The first position (S1) and the second position (G1) of the moving body are obtained, Select one or more candidate travel paths (path 1, path 2) that pass through some of the multiple nodes (ND1 to ND5) installed within the warehouse and reach the second position from the first position, To obtain travel time factor information (PI, TB#1) including the congestion level (TB#1) of each node constituting the aforementioned travel path candidate, Based on the aforementioned travel time factor information, calculate the predicted travel time for the one or more travel route candidates. If there are candidate travel routes for which the calculated travel time prediction is less than or equal to a predetermined time, those candidate travel routes are determined to be the travel routes. If there are no candidate travel routes in which the calculated travel prediction time is less than or equal to the predetermined time, the system will change at least one of the first and second positions of the candidate travel route and select one or more candidate travel routes that have the changed position. This allows for prioritizing the allocation of movement routes with shorter travel times to mobile units, thereby assigning the shortest possible route to multiple mobile units moving within the warehouse and reducing the overall travel time of mobile units within the warehouse.

[0092] While embodiments have been described above with reference to the attached drawings, this disclosure is not limited to such examples. It is clear to those skilled in the art that various modifications, alterations, substitutions, additions, deletions, and equivalents can be conceived within the scope of the claims, and these are also understood to fall within the technical scope of this disclosure. Furthermore, the components of the embodiments described above can be combined in any way without departing from the spirit of the invention. [Industrial applicability]

[0093] The technology disclosed herein is useful as a method and program for determining movement paths that assign the shortest possible path to multiple moving objects moving within a warehouse, thereby reducing the overall movement time of the objects within the warehouse. [Explanation of symbols]

[0094] 1. Simulation Condition Acquisition Unit 2. Simulation Execution Unit 3. Movement path determination unit 4. Simulation Result Output Section 10 processors 11 UI section 12 System Integration Department 13 Order Management Department 14. Inventory Management Department 15. Picking Management Department 16. Movement path determination unit 17 Warehousing Management Department 18 Data Analysis Department 20 memory 30 Communication equipment 40 Input devices 50 External Interface Device 60 Display device 100 Computers A1, A2, A3 Situation M1, M2 mobile object ND1, ND2, ND3, ND4, ND5 nodes S, S1, S2 starting point G, G1, G2 Terminus TB#1, TB#2, TB#3 Congestion Information

Claims

1. A method for determining the movement path of at least one mobile object located within a warehouse, which is performed by a computer, The first position and second position of the moving body are obtained, One or more candidate travel paths are selected that pass through some of the multiple nodes installed within the warehouse to reach the second position from the first position. The travel time factor information, including the congestion level of each node constituting the candidate travel route, is obtained. Based on the aforementioned travel time factor information, the predicted travel time for the one or more travel route candidates is calculated. If there are candidate travel routes for which the calculated travel time prediction is less than or equal to a predetermined time, those candidate travel routes are determined to be the travel routes. If there are no candidate travel routes in which the calculated travel time prediction is less than or equal to the predetermined time, at least one of the first position and the second position of the candidate travel route is changed, and one or more candidate travel routes having the changed position are selected. Method for determining travel routes.

2. If there are candidate travel routes where the calculated travel time is less than or equal to a predetermined time, the congestion level of each node is updated based on the determined travel route. The method for determining a travel path according to claim 1.

3. When the first position is changed, the target of the movement path assignment is changed from the moving body to a second moving body located at a third position different from the first position, and one or more movement path candidates are selected for the second moving body to reach the second position from the third position. The method for determining a travel path according to claim 1.

4. When changing the second position, the first task indicating the work to be performed at the second position, which was assigned to the mobile body, is changed to a second task indicating the work to be performed at a fourth position different from the second position, and one or more candidate movement paths are selected for the mobile body to reach the fourth position from the first position. The method for determining a travel path according to claim 1.

5. When changing the first and second positions, the target of the movement path assignment is changed from the moving body to a second moving body located at a third position different from the first position, the first task indicating the work to be performed at the second position which was assigned to the moving body is changed to a third task indicating the work to be performed at a fourth position different from the second position, and one or more movement path candidates are selected for the second moving body to reach the fourth position from the third position. The method for determining a travel path according to claim 1.

6. The aforementioned predetermined time is The standard travel time is determined based on the distance from the first position to the second position and the speed of the moving body, and the delay tolerance is determined based on the percentage of delay allowed from the standard travel time. A method for determining a travel path according to any one of claims 1 to 5.

7. A program that causes a computer to determine the movement path of at least one mobile object placed within a warehouse, To acquire the first position and the second position of the moving body, Selecting one or more candidate travel paths that pass through some of the multiple nodes installed within the warehouse and reach the second position from the first position, To obtain travel time factor information, including the congestion level of each node constituting the candidate travel route, Based on the aforementioned travel time factor information, calculate the predicted travel time for the one or more travel route candidates. If there are candidate travel routes for which the calculated travel time prediction is less than or equal to a predetermined time, those candidate travel routes are determined to be the travel routes. If there are no candidate travel routes in which the calculated travel prediction time is less than or equal to the predetermined time, the system will change at least one of the first and second positions of the candidate travel route and select one or more candidate travel routes having the changed position. program.

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