Transport control system, transport control method, and program

Abstract

[Problem] To reduce the number of times pallets are transported. [Solution] A transport control system 1 for transporting cargo directs a transport vehicle 6 transporting a pallet loaded with cargo items to preferentially transport, to a robot 8 for removing cargo items from a pallet, a pallet that will be empty after cargo items thereon are removed by the robot 8. The transport control system 1 further directs the transport vehicle 6 to transport to the robot 8, as a would-be empty pallet, a pallet on which the number of cargo items to be removed therefrom by the robot 8 is not less than the number of cargo items loaded thereon. The transport control system 1 further directs the transport vehicle 6 to transport to the robot 8, as a would-be empty pallet, a pallet on which the number of cargo items to be removed therefrom by the robot 8 is equal to the number of cargo items loaded thereon. The transport control system 1 further directs the transport vehicle 6 to transport to the robot 8, as a would-be empty pallet, a pallet on which the number of cargo items to be removed therefrom by the robot 8 is equal to the number of cargo items loaded thereon, among pallets on each of which the number of cargo items to be removed therefrom by the robot 8 is not less than the number of cargo items loaded thereon. The transport control system 1 further directs the transport vehicle 6 to transport to the robot 8 a pallet loaded with the same type of cargo items in preference over a pallet loaded with different types of cargo items.

Description

Technical Field

[0001] The present invention relates to a technology effective for transporting goods in a business warehouse or the like.

Background Art

[0002] Conventionally, for performing logistics operations, in a business warehouse or the like that stores goods for business purposes, at the time of incoming or outgoing of goods, a control device of a robot system that transports the goods stacked on a pallet to the next process (such as a belt conveyor) by a robot arm is known. For example, in Patent Document 1, an efficient storage technology for goods of different sizes is disclosed in a robot that performs palletizing and depalletizing.

Prior Art Documents

Patent Documents

[0003] [[]END]]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] By the way, a robot that performs palletizing or depalletizing is controlled to take out goods from a pallet. This pallet is transported near the robot from the storage location by an AGV (Automatic Guided Vehicle), and when the robot finishes taking out the goods, it is returned to the original location by the AGV again. When such control is repeated, there will be a large number of pallets with a small number of goods stacked in the storage location. And, in order to process the goods stacked on such pallets, it is necessary to transport a plurality of pallets to the robot. Specifically, in a situation where there are 3 pallets with two goods stacked each, and there is an instruction to ship 6 goods, it is necessary to sequentially transport these 3 pallets to the robot. As described above, when replacing a plurality of transport vehicles for one shipping process, there is a problem that a waiting time occurs for the robot and the efficiency deteriorates. Therefore, there is a need for technology that reduces the number of times pallets are transported. However, the technology described in Patent Document 1 was unable to reduce the number of times pallets were transported. Therefore, the inventors focused on a system that prioritizes transporting empty pallets to a transport vehicle after the robot has unloaded the cargo.

[0005] The present invention aims to provide a transport control system, a transport control method, and a program that enable a reduction in the number of pallet transport cycles. [Means for solving the problem]

[0006] The present invention relates to a transport control system for transporting cargo, A transport vehicle for transporting pallets loaded with the aforementioned cargo, A robot for removing the cargo from the pallet, The transport vehicle is equipped with a transport instruction unit that instructs the robot to transport pallets that become empty after the robot has removed the cargo, prioritizing those pallets. Equipped with 、 The transport instruction unit instructs the transport vehicle to transport to the robot any pallets where the number of items to be retrieved by the robot is equal to the number of items loaded on the pallet, from among pallets where the number of items to be retrieved by the robot is equal to the number of items loaded on the pallet, designating these pallets as empty pallets. We provide a transport control system.

[0007] According to the present invention, by prioritizing the transport of pallets to the robot after the loaded cargo has been removed, it is possible to reduce the number of pallets with a small amount of cargo remaining, thereby reducing the number of pallet transports.

[0008] Although this invention falls under the category of a system, similar effects and benefits can be achieved with methods and programs. [Effects of the Invention]

[0009] According to the present invention, the number of times pallets are transported to the robot can be reduced, enabling efficient loading and unloading. [Brief explanation of the drawing]

[0010] [Figure 1] This is a diagram illustrating the overview of the transport control system 1. [Figure 2] This diagram shows the functional configuration of the transport control system 1. [Figure 3] This diagram shows a flowchart of the palletizing plan acquisition process performed by the transport control system 1. [Figure 4] This diagram shows a flowchart of the first allocation process performed by the transport control system 1. [Figure 5] This diagram shows a flowchart of the total pick pallet transport process performed by the transport control system 1. [Figure 6] This diagram shows a flowchart of the second allocation process performed by the transport control system 1. [Figure 7] This diagram schematically shows the types and quantities of packages to be shipped. [Figure 8] This is a schematic diagram showing a pallet loaded with goods. [Modes for carrying out the invention]

[0011] Hereinafter, embodiments for carrying out the present invention will be described in detail with reference to the attached drawings. In the following drawings, the same elements are denoted by the same numbers or reference numerals throughout the description of the embodiments.

[0012] [Overview of Transport Control System 1] Figure 1 is a schematic diagram illustrating the overview of the transport control system 1. Based on Figure 1, the components of the transport control system 1 will be described. The transport control system 1 is a system for transporting cargo, consisting of at least a WMS (Warehouse Management System) 2, an RCS (Resource Control System) 3, a loading calculation device 4, a transport vehicle control device 5, a transport vehicle 6, a robot control device 7, and a robot 8. WMS2 is a system that provides functions such as warehouse receiving and shipping management and inventory management. RCS3 is a system for controlling each resource (such as material handling equipment and IoT devices) in a warehouse. The material handling equipment includes, for example, loading equipment such as forklifts, loading / unloading systems, conveying equipment such as automatic guided vehicles (AGVs), overhead traveling vehicles, AI (Artificial Intelligence)-equipped automatic transport robots, sorting equipment such as conveyors and sorters, storage equipment such as automated warehouses, shipping equipment such as digital picking systems and automatic case-making machines. RCS3 includes a computer 10 having server functions, and this computer 10 may be realized by, for example, one computer or may be realized by a plurality of computers like a cloud computer. This computer 10 executes each process that RCS3 executes. The cloud computer in this specification may be either one that uses any computer in a scalable manner when performing a specific function or one that includes a plurality of functional modules to realize a certain system and freely combines and uses those functions. The palletizing calculator 4 is a device that calculates an efficient plan for loading goods onto pallets. The carrier control device 5 is a device that controls a carrier (such as an AGV) 6 that transports a pallet loaded with goods. The robot control device 7 is a device that controls a robot (such as a robotic arm) 8 that removes goods from a pallet.

[0013] The transport control system 1 will explain the outline of the processing steps when transporting goods.

[0014] The computer 10 acquires a palletizing plan (step S1). The palletizing calculator 4 acquires shipping data from the WMS2 and the computer 10. Based on these shipping data, the palletizing calculator 4 creates a palletizing plan. The palletizing calculator 4 transmits the created palletizing plan to the computer 10. Computer 10 receives this palletizing plan and retrieves the palletizing plan.

[0015] Computer 10 instructs the transport of the total pick pallet (step S2). WMS2 creates total pick data. WMS2 sends the created total pick data to computer 10. Computer 10 receives this total pick data and obtains the total pick data. Based on the acquired total pick data, the computer 10 instructs the transport vehicle control device 5 to transport multiple pallets loaded with goods. The computer 10 transmits these instructions for transporting the pallets to the transport vehicle control device 5. The transport vehicle control device 5 receives this instruction and, based on this instruction, transports these pallets into the ARS (Automated Robotic Sorting) area using the transport vehicle 6.

[0016] The computer 10 instructs the transport vehicle 6 to transport pallets that will become empty after the robot 8 has unloaded the cargo to the robot 8, prioritizing those pallets (step S3). Computer 10 instructs the transport vehicle control device 5 to transport the transport vehicle 6 to the robot 8, prioritizing pallets loaded with the same number of items as the number of items to be retrieved by the robot. Computer 10 transmits an instruction to the transport vehicle control device 5 to transport these pallets to the robot 8, prioritizing them. The transport vehicle control device 5 receives this instruction and, based on this instruction, transports pallets that will become empty after the robot 8 has retrieved its items, prioritizing them, to the robot 8. Computer 10 instructs the robot control device 7 to palletize or depalletize a predetermined number of items from the transported pallet. Computer 10 transmits the instruction to the robot control device 7 to palletize or depalletize a predetermined number of items from the transported pallet. The robot control device 7 receives this instruction and, based on this instruction, palletizes or depallets a predetermined number of items from the transported pallet.

[0017] The above is an overview of the transport control system 1. This transport control system 1 makes it possible to reduce the number of times pallets are transported.

[0018] [Device configuration] Figure 2 is a block diagram showing the configuration of the transport control system 1. The transport control system 1 is a system for transporting cargo and consists of at least WMS2, RCS3, stacking calculation device4, transport vehicle control device5, transport vehicle6, robot control device7, and robot8. The transport control system 1 is configured such that the RCS 3 is connected to the WMS 2, the stacking calculation device 4, the transport vehicle control device 5, and the robot control device 7 via a network 9 such as a public telephone network or an intranet, enabling data communication. The transport vehicle control device 5 is also connected to the transport vehicle 6 for data communication, and the robot control device 7 is connected to the robot 8 for data communication. It should be noted that the components of the transport control system 1 are merely an example, and the number, type, and function of terminals, devices, etc. not shown in the diagram can be changed as appropriate.

[0019] As mentioned above, WMS2 is a system that provides general warehouse functions such as inventory management and stock management.

[0020] As described above, RCS3 is a system for controlling various resources in a warehouse (material handling equipment, IoT devices, etc.). As described above, RCS3 is a system in which a computer 10 with server functionality is included and performs various processes. The computer 10 includes a control unit consisting of a CPU (Central Processing Unit), a GPU (Graphics Processing Unit), RAM (Random Access Memory), ROM (Read Only Memory), etc., and a communication unit consisting of a device for communicating with other terminals and devices, and a transport instruction unit 11 that instructs the transport vehicle 6 to transport pallets that become empty after the robot 8 has unloaded the cargo to the robot 8. Computer 10 includes a recording unit, which includes a data storage unit using a hard disk, semiconductor memory, recording media, memory card, etc. Computer 10 includes various devices and other components for performing various processes as its processing unit.

[0021] In computer 10, the control unit loads a predetermined program and, in cooperation with the communication unit, realizes a shipping data transmission module, a palletizing plan acquisition module, a transport instruction module, a palletizing instruction module, and a total pick data acquisition module. Furthermore, in the computer 10, the control unit loads a predetermined program and, in cooperation with the recording unit, realizes a palletizing plan recording module. Furthermore, in the computer 10, the control unit loads a predetermined program and, in cooperation with the processing unit, realizes the allocation module and the setting module.

[0022] As described above, the loading calculation device 4 is a device that calculates an efficient plan for loading cargo onto pallets.

[0023] As described above, the transport vehicle control device 5 is a device that controls the transport vehicle 6 that transports pallets loaded with goods.

[0024] The robot control device 7 is a device that controls the robot 8 that takes packages from the pallet.

[0025] The following describes each process performed by the transport control system 1, along with the processes performed by each module described above. In this specification, each module may perform its processing as a function of its own, or it may perform it through a predetermined application.

[0026] [Palletizing plan acquisition process executed by transport control system 1] Based on Figure 3, the palletizing plan acquisition process performed by the transport control system 1 will be explained. This figure is a flowchart of the palletizing plan acquisition process performed by the WMS2, stacking calculation device 4, and computer 10. This palletizing plan acquisition process is a detailed description of the acquisition process (step S1) for acquiring the palletizing plan described above.

[0027] WMS2 transmits the shipping data to the stacking calculation device 4 (step S10). Shipping data includes, for example, data related to the delivery destination, such as delivery destination code, store code, name, address, category, and quantity. WMS2 transmits shipping data to the stacking calculation device 4 at predetermined times (for example, before the start of picking operations and upon completion of picking operations).

[0028] The shipping data transmission module transmits the shipping data to the stacking calculation device 4 (step S11). The shipping data is the same as the shipping data sent by WMS2 as described above. The shipping data transmission module transmits shipping data to the stacking calculation device 4 at predetermined times (for example, before the start of picking work and upon completion of picking work).

[0029] The processes in steps S10 and S11 described above may be performed simultaneously or in reverse order.

[0030] The stacking calculation device 4 receives the shipping data transmitted by the WMS2 and computer 10 as described above (step S12).

[0031] The stacking calculation device 4 creates a palletizing plan based on the shipping data (step S13). The stacking calculation device 4 creates a palletizing plan based on the shipping data received from the WMS2 and computer 10, the pallets currently being palletized and the pallets being depalletized, and the pallets present in the pool area.

[0032] The stacking calculation device 4 transmits the created palletizing plan to the computer 10 (step S14).

[0033] The palletizing plan acquisition module acquires the palletizing plan created by the stacking calculation device 4 (step S15). The palletizing plan acquisition module acquires the palletizing plan by receiving the palletizing plan transmitted by the stacking calculation device 4.

[0034] The palletizing plan recording module records the acquired palletizing plan (step S16). The palletizing plan recording module records the shipping data in association with the acquired palletizing plan.

[0035] The above describes the process for obtaining the palletized plan. The transport control system 1 uses the palletizing plan created by the palletizing plan creation process described above for the process described later.

[0036] [First allocation process executed by transport control system 1] Based on Figure 4, the first allocation process performed by the transport control system 1 will be described. This figure is a flowchart of the first allocation process performed by the transport vehicle control device 5, the robot control device 7, and the computer 10. This first allocation process uses the palletize plan obtained through the palletize plan acquisition process described above.

[0037] The allocation module allocates the pallet that minimizes the number of transports based on the palletizing plan (step S20). The allocation module allocates the pallet that minimizes the number of transports required for the transport vehicle 6 to carry the pallet, based on the acquired palletizing plan.

[0038] The transport instruction module instructs the transport vehicle control device 5 to transport the assigned pallet (step S21). The transport instruction module transmits an instruction to the transport vehicle control device 5 to transport the selected pallet. The transport instruction module transmits this instruction to the transport vehicle control device 5, thereby instructing the transport vehicle control device 5 to transport the assigned pallet.

[0039] The transport vehicle control device 5 transports the instructed pallet (step S22). The transport vehicle control device 5 receives an instruction from the computer 10 to transport the assigned pallet. Based on this instruction, the transport vehicle control device 5 transports the assigned pallet using the transport vehicle 6.

[0040] The palletizing instruction module instructs the robot control device 7 to palletize or depalletize a predetermined number of items from the transported pallet (step S23). The palletizing instruction module, triggered by the transport vehicle control device 5 completing the transport of the pallet by the transport vehicle 6, transmits an instruction to the robot control device 7 to palletize or depalletize a predetermined number of items from the transported pallet. The palletizing instruction module transmits this instruction to the robot control device 7, thereby instructing the robot control device 7 to palletize or depalletize a predetermined number of items from the transported pallet.

[0041] Based on the instructions, the robot control device 7 performs palletizing or depalletizing a predetermined number of items from the transported pallet (step S24). The robot control device 7 receives instructions from the computer 10 to palletize or depalletize a predetermined number of items from the transported pallet. Based on these instructions, the robot control device 7 has the robot 8 perform the palletizing or depalletizing of the predetermined number of items from the transported pallet.

[0042] The above is the first provisioning procedure.

[0043] [Total pick pallet transport process executed by transport control system 1] Based on Figure 5, the total pick pallet transport process performed by the transport control system 1 will be explained. This figure is a flowchart of the total pick pallet transport process performed by the WMS2, transport vehicle control device 5, and computer 10. This total pick pallet transport process is a detail of the total pick pallet transport instruction process (step S2) that instructs the transport of the total pick pallets described above.

[0044] WMS2 creates the total pick data (step S30). Total pick data is, for example, data used to perform picking by combining multiple shipment data. WMS2 creates total pick data based on multiple shipment data.

[0045] WMS2 sends the created total pick data to computer 10 (step S31).

[0046] The total pick data acquisition module acquires the created total pick data (step S32). The total pick data acquisition module acquires the total pick data created by receiving the total pick data transmitted by WMS2.

[0047] The transport instruction module instructs the transport vehicle control device 5 to transport the total pick pallet (step S33). A total pick pallet is a set of pallets on which goods are loaded, based on the total pick data that has been created. The transport instruction module transmits an instruction to the transport vehicle control device 5 to transport the total pick pallet into the ARS area. The transport instruction module transmits this instruction to the transport vehicle control device 5, thereby instructing the transport vehicle control device 5 to transport the total pick pallet.

[0048] The transport vehicle control device 5 transports the instructed total pick pallet (step S34). The transport vehicle control device 5 receives an instruction from the computer 10 to transport the total pick pallet into the ARS area. Based on this instruction, the transport vehicle control device 5 transports the total pick pallet into the ARS area using the transport vehicle 6.

[0049] The above describes the total pick-up pallet transport process. The transport control system 1 uses the total pick pallet described above for the processing described later.

[0050] [Second allocation process executed by transport control system 1] Based on Figure 6, the second allocation process performed by the transport control system 1 will be explained. This figure is a flowchart of the second allocation process performed by the transport vehicle control device 5, the robot control device 7, and the computer 10. This second allocation process is a detail of the transport instruction process (step S3) in which the transport vehicle 6 instructs the transport vehicle 6 to transport pallets that become available after the robot 8 has taken out the cargo, prioritizing those pallets.

[0051] The configuration module sets the priority for the palette (step S40). The configuration module sets a priority for each transported pallet based on predetermined conditions (for example, the number of items remaining on the pallet after unloading (depalletized remaining items), the number of transports, and the type of items). This priority is, for example, a score, with higher scores indicating a higher priority. The configuration module sets priorities based on whether the remaining quantity after depalletizing is "0", "negative", or "positive". A remaining quantity of "0" after depalletizing means that there are no more items on the pallet after depalletizing. In this case, the configuration module will set a priority for pallets that will be empty after the robot 8 removes the items in the processes described later (steps S44 and S45). A remaining quantity of "negative" after depalletizing means that the items on the pallet are insufficient after depalletizing, and items on other pallets are needed. In this case, the configuration module will set a priority for pallets where the number of items to be removed by the robot 8 exceeds the number of items on the pallet in the processes described later (steps S44 and S45). A remaining quantity of "positive" after depalletizing means that there are still items remaining on the pallet after depalletizing. This means that the configuration module will set a priority in the process described later (steps S44 and S45) for pallets where the number of items to be picked up by the robot 8 is less than the number of items loaded on the pallet. The configuration module sets priority for pallets based on the remaining quantity after depalletizing, in the order of "0", "minus", and "plus". In addition, the configuration module sets priority for pallets based on the number of transports, from fewest to most frequent. Furthermore, the configuration module sets priorities based on whether the type of goods loaded on the pallet is a single type or a combination of types, in addition to the priorities set based on the remaining quantity after depalletizing and the number of transports. "Single type" means that the pallet contains only one type of goods. "Multiple type" means that the pallet contains two or more types of goods. The configuration module sets the highest priority (e.g., 10,000 points) for palettes with a remaining count of "0" after depalletization and a single type of palette. Next, the configuration module sets the next highest priority (e.g., 7,500 points) for palettes with a "negative" remaining count after depalletization and a single type of palette. Next, the configuration module sets the next highest priority (e.g., 2,500 points) for palettes with a remaining count of "0" after depalletization and a multi-type palette. Finally, the configuration module sets the next highest priority (e.g., 250 points) for palettes with a "positive" remaining count after depalletization and a single type of palette. Furthermore, for pallets loaded with multiple types of goods, all of the loaded SKUs (Stock Keeping Units) are evaluated. For example, if 4 SKUs are loaded and the remaining quantity after depalletizing is 0 for all 4 SKUs, a priority is set that takes into account the SKU values ​​(for example, 4 x 2,500 points = 10,000 points). In this case, since the remaining quantity after depalletizing is negative and the number of transports by the transport vehicle 6 is reduced compared to a single-type pallet, the priority of the pallet loaded with multiple types of goods is set higher. As a result, the configuration module sets the highest priority to pallets that will be empty after robot 8 has removed its loads, the next highest priority to pallets where the number of loads robot 8 will remove is greater than the number of loads loaded on the pallet, the next highest priority to pallets that are loaded with the same number of different types of loads as the number of loads robot 8 will remove, and the next highest priority to pallets where the number of loads loaded is less than the number of loads robot 8 will remove.

[0052] The priority order set by the configuration module will be explained based on Figures 7 and 8. Figure 7 is a schematic diagram illustrating the types and quantities of packages to be shipped. Using this figure, we will explain an example where there are four types of packages to be shipped, A through D, with four packages of type A, two packages of type B, two packages of type C, and one package of type D. In the figure, four packages 20 representing package A, two packages 21 representing package B, two packages 22 representing package C, and one package 23 representing package D are shown. Figure 8 is a schematic diagram showing pallets loaded with goods. The priority order for each pallet will be explained using this figure. In the figure, the first pallet 30 is shown with four items of goods 20, the second pallet 31 is shown with six items of goods 20, the third pallet 32 ​​is shown with two items of goods 20 and two items of goods 21, and the fourth pallet 33 is shown with two items of goods 20. The configuration module sets priorities for each of the pallets 30-33, from the 1st to the 4th, based on the fact that the shipment consists of 4 units of unit A, 2 units of unit B, 2 units of unit C, and 1 unit of unit D. The configuration module sets the highest priority for pallet 30, since it contains 4 units of unit 20, the remaining quantity after depalletizing is 0, and it is a single type (10,000 points). Next, the configuration module sets the next highest priority for pallet 31, since it contains 6 units of unit 20, the remaining quantity after depalletizing is negative, and it is a single type (7,500 points). Next, the setting module determines that since the third pallet 32 ​​has 4 units of package 20 and 2 units of package 21, it has 2 SKUs, and since both SKUs have a remaining quantity of 0 after depalletizing and are of a combined type, it sets this priority to the next highest (2 x 2,500 points = 5,000 points). Next, the setting module determines that since the fourth pallet 33 has 2 units of package 20, the remaining quantity after depalletizing is positive and it is of a single type, it sets this priority to the next highest (250 points).

[0053] Returning to Figure 6, let's continue explaining the second allocation process. The allocation module allocates the pallets to be transported based on the set priority (step S41). The allocation module allocates pallets to be transported in order of the set priority (higher number first). In the example shown in Figure 8 above, the allocation module allocates the first pallet 30, which has the highest priority (10,000 points). In the example shown in Figure 8 above, if the first pallet 30 does not exist, the allocation module will allocate the second pallet 31, which has the next highest priority (7,500 points). In the example shown in Figure 8 above, if neither the first pallet 30 nor the second pallet 31 exists, the allocation module will allocate the third pallet 32, which has the next highest priority (5,000 points). In the example shown in Figure 8 above, if the first pallet 30, the second pallet 31, and the third pallet 32 ​​are not available, the allocation module will allocate the fourth pallet 33, which has the next highest priority (250 points).

[0054] The transport instruction module instructs the transport vehicle control device 5 to transport the assigned pallet (step S42). The transport instruction module transmits an instruction to the transport vehicle control device 5 to transport the selected pallet. The transport instruction module transmits this instruction to the transport vehicle control device 5, thereby instructing the transport vehicle control device 5 to transport the assigned pallet. The transport instruction module instructs the transport vehicle 6 to transport the assigned pallet, prioritizing pallets that will become empty after the robot 8 has unloaded its cargo, based on the set priority order. The transport instruction module also instructs the transport vehicle 6 to transport pallets, prioritizing pallets where the number of items to be unloaded by the robot 8 exceeds the number of items loaded on the pallet, based on the set priority order. Furthermore, the transport instruction module instructs the transport vehicle 6 to transport pallets, prioritizing pallets where the number of items loaded on the pallet is equal to the number of items to be unloaded by the robot, over pallets where the number of items loaded on the pallet is less than the number of items to be unloaded by the robot, based on the set priority order. Furthermore, the transport instruction module, based on the set priority order, instructs the transport vehicle 6 to transport the assigned pallet, prioritizing pallets loaded with the same number of different types of goods as the number of goods the robot will pick up over pallets loaded with more of the same type of goods than the number of goods the robot will pick up, and instructs the transport vehicle 6 to transport them to the robot 8.

[0055] The transport vehicle control device 5 transports the instructed pallet (step S43). The transport vehicle control device 5 receives an instruction from the computer 10 to transport the assigned pallet. Based on this instruction, the transport vehicle control device 5 transports the assigned pallet using the transport vehicle 6.

[0056] The palletizing instruction module instructs the robot control device 7 to palletize or depalletize a predetermined number of items from the transported pallet (step S44). The palletizing instruction module, triggered by the transport vehicle control device 5 completing the transport of the pallet by the transport vehicle 6, transmits an instruction to the robot control device 7 to palletize or depalletize a predetermined number of items from the transported pallet. The palletizing instruction module transmits this instruction to the robot control device 7, thereby instructing the robot control device 7 to palletize or depalletize a predetermined number of items from the transported pallet.

[0057] Based on the instructions, the robot control device 7 performs palletizing or depalletizing a predetermined number of items from the transported pallet (step S45). The robot control device 7 receives instructions from the computer 10 to palletize or depalletize a predetermined number of items from the transported pallet. Based on these instructions, the robot control device 7 has the robot 8 perform the palletizing or depalletizing of the predetermined number of items from the transported pallet.

[0058] The above is the second provisioning procedure.

[0059] Although the processes described above are listed as separate processes, computer 10 can also be configured to execute some or all of the processes described above in combination. Furthermore, computer 10 can be configured to execute each process at times other than those described.

[0060] The means and functions described above are realized by a computer (including the CPU, information processing unit, and various terminals) reading and executing a predetermined program. The program may be provided, for example, via a network from the computer (SaaS: Software as a Service) or as a cloud service. Alternatively, the program may be provided in a form recorded on a computer-readable recording medium. In this case, the computer reads the program from the recording medium, transfers it to an internal or external recording device, records it, and executes it. Alternatively, the program may be pre-recorded on a recording device (recording medium) and provided to the computer from that recording device via a communication line.

[0061] Although embodiments of the present invention have been described above, the present invention is not limited to the embodiments described above. Furthermore, the effects described in the embodiments of the present invention are merely a list of the most preferred effects arising from the present invention, and the effects of the present invention are not limited to those described in the embodiments of the present invention.

[0062] A first aspect disclosed in this embodiment is a transport control system for transporting cargo, comprising: a transport vehicle 6 for transporting pallets loaded with cargo; a robot 8 for removing the cargo from the pallets; and a transport instruction unit 11 for instructing the transport vehicle 6 to transport pallets to the robot 8, prioritizing pallets that become empty after the robot 8 has removed the cargo.

[0063] A second aspect disclosed in this embodiment is the transport control system according to the first aspect, wherein the transport instruction unit 11 instructs the transport vehicle 6 to transport to the robot 8 any pallet in which the number of items to be retrieved by the robot 8 is equal to or greater than the number of items loaded on the pallet, designating it as an empty pallet.

[0064] A third aspect disclosed in this embodiment is the transport control system according to the first embodiment, wherein the transport instruction unit 11 instructs the transport vehicle 6 to transport to the robot 8 pallets that are empty, with the number of pallets equal to the number of pallets loaded on the pallets being retrieved by the robot 8.

[0065] A fourth aspect disclosed in this embodiment is a transport control system according to the first embodiment, wherein the transport instruction unit 11 instructs the transport vehicle 6 to transport to the robot 8 pallets in which the number of items to be taken out by the robot 8 is equal to the number of items loaded on the pallets, from among pallets in which the number of items to be taken out by the robot 8 is equal to the number of items loaded on the pallets, as the empty pallets.

[0066] A fifth aspect disclosed in this embodiment is the transport control system according to the first embodiment, wherein the transport instruction unit 11 instructs the transport vehicle 6 to transport pallets loaded with the same type of cargo to the robot 8, prioritizing this over pallets loaded with different types of cargo. [Explanation of symbols]

[0067] 1. Transport control system 2 WMS 3 RCS 4 Loading calculation device 5. Transport vehicle control device 6. Transport vehicle 7. Robot control device 8 Robots 9 Network 10 Computers 11. Transport Instruction Unit 20 Luggage A 21 Luggage B 22 Luggage C 23 Luggage D 30 Palette 1 31 Palette 2 32 Third Palette 33. Palette No. 4

Claims

1. A transport control system for transporting cargo, A transport vehicle for transporting pallets loaded with the aforementioned cargo, A robot for removing the cargo from the pallet, The system includes a transport instruction unit that instructs the transport vehicle to transport pallets that become empty after the robot has removed the cargo, prioritizing those pallets. The transport instruction unit is a transport control system that instructs the transport vehicle to transport to the robot any pallets where the number of items to be retrieved by the robot is equal to the number of items loaded on the pallet, from among pallets where the number of items to be retrieved by the robot is equal to the number of items loaded on the pallet, designating these pallets as empty pallets.

2. The transport instruction unit instructs the transport vehicle to transport pallets loaded with the same type of cargo to the robot, prioritizing them over pallets loaded with different types of cargo. The transport control system according to claim 1.

3. A transport control method executed by a computer that transports cargo, The robot that removes the goods from the pallet instructs the transport vehicle that transports pallets loaded with goods to prioritize transporting the pallets that become empty after the robot has removed the goods to the robot. In the aforementioned instruction step, the transport vehicle is instructed to transport to the robot any pallets in which the number of items to be retrieved by the robot is equal to the number of items loaded on the pallet, from among the pallets in which the number of items to be retrieved by the robot is equal to the number of items loaded on the pallet, as the empty pallets.

4. A computer for transporting cargo, When a robot that removes the goods from a pallet instructs a transport vehicle that transports pallets loaded with goods to transport pallets to the robot, prioritizing pallets that become empty after the robot has removed the goods, the transport vehicle is instructed to transport pallets to the robot that have the same number of goods to be removed as the number of goods to be removed from the pallets, among pallets where the number of goods to be removed by the robot is equal to the number of goods to be loaded from the pallets, as the empty pallets. A computer-readable program for executing a command.

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