Program, information processing method, and information processing apparatus.

Abstract

To provide a program, an information processing method, and an information processing device capable of improving through-put of a picking system.SOLUTION: A program which is executed by a processor allows the processor to achieve functions of: acquiring an unprocessed order for picking an article from a shelf conveyed by an automatic conveyance vehicle; acquiring a return position list indicating a plurality of shelf arrangement positions in which the shelves are arranged; acquiring an object shelf ID indicating the shelf to which the return position is changed; calculating a first conveyance distance in which the automatic conveyance vehicle conveys the shelf for processing the unprocessed order, in the case where the shelf indicated by the object ID is returned to each shelf arrangement position indicated by the return position list; and selecting the return position of the shelf indicated by the object ID from the return position list, based on the first conveyance distance.SELECTED DRAWING: Figure 1

Description

Technical Field

[0001] Embodiments of the present invention relate to a program, an information processing method, and an information processing apparatus.

Background Art

[0002] In recent years, a picking system has been provided that uses an automatic guided vehicle to transport a shelf storing articles indicated in an order list to a picking station. At the picking station, an operator or a robot picks articles from the shelf transported by the automatic guided vehicle. When the picking is completed, the picking system returns the shelf from the picking station to its original position using the automatic guided vehicle.

[0003] In the picking system, since the shelf to be transported to the picking station is determined by the order list, the time required for transporting the shelf varies. As a result, the throughput of the picking system may deteriorate.

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0005] In order to solve the above problems, a program, an information processing method, and an information processing apparatus capable of improving the throughput of a picking system are provided.

Means for Solving the Problems

[0006] According to the embodiment, the program executed by the processor enables the processor to perform the following functions: acquire an unprocessed order for picking items from shelves transported by an automated guided vehicle; acquire a return location list indicating a plurality of shelf placement locations where the shelves are located; acquire a target shelf ID indicating a shelf whose return location is to be changed; calculate a first transport distance for the automated guided vehicle to transport the shelf in order to process the unprocessed order when the shelf indicated by the target shelf ID is returned to each shelf placement location indicated by the return location list; and select the return location of the shelf indicated by the target shelf ID from the return location list based on the first transport distance. [Brief explanation of the drawing]

[0007] [Figure 1] Figure 1 is a schematic diagram showing an example of the configuration of a picking system according to the first embodiment. [Figure 2] Figure 2 is a block diagram showing an example configuration of a picking system according to the first embodiment. [Figure 3] Figure 3 is a block diagram showing an example configuration of a planning device according to the first embodiment. [Figure 4] Figure 4 is a block diagram showing an example configuration of an AGV according to the first embodiment. [Figure 5] Figure 5 is a flowchart showing an example of the operation of the planning device according to the first embodiment. [Figure 6] Figure 6 is a flowchart showing an example of the operation of the planning device according to the second embodiment. [Modes for carrying out the invention]

[0008] The embodiments will be described below with reference to the drawings. (First Embodiment) First, let me describe the first embodiment. The picking system according to this embodiment picks items from shelves in a logistics system or the like. The picking system transports shelves to a picking station using an automated guided vehicle (AGV). The picking system picks items from shelves at the picking station. The picking system has an operator or robot pick items from shelves.

[0009] Furthermore, the picking system changes the return location where the shelves are returned from the picking station. In other words, the picking system transports the shelves to a different location than where they were originally placed. For example, picking systems are used in logistics centers or warehouses.

[0010] Figure 1 shows an example of the configuration of a picking system 100 according to an embodiment. As shown in Figure 1, the picking system 100 includes picking stations P (P1 to P4), AGV 7, AGV shelves 8, a picking robot 111, and a display device 112, among other things.

[0011] Picking stations P1 to P4 are each equipped with a picking robot 111 and a display device 112. The picking system can operate the picking robot 111 at each picking station P1 to P4 and pick items using the picking robot 111. The picking system can also stop the operation of the picking robot 111 and assign an employee 113 to pick the items. The employee 113 can process the items by visually confirming the item processing schedule, etc., displayed on the display device 112. The display device 112 may also be a wireless communication terminal assigned to the employee 113.

[0012] Alternatively, display devices 112 may be installed at picking stations P1 to P4, and picking robots 111 may be installed at some of the picking stations. In this case, picking stations without picking robots 111 will be used as picking stations for staff 113. Note that picking stations with picking robots 111 can be used as picking stations for either the picking robots 111 or the staff 113.

[0013] The picking system may be equipped with multiple cameras. Furthermore, one or more of the cameras may be fixed cameras, with the rest being mobile cameras. Fixed cameras are, for example, cameras fixed to the ceiling, walls, and the top and sides of picking stations P1 to P4, and they photograph the entire warehouse and the items processed within the warehouse, outputting the captured data in real time. The captured data includes shooting date and time data (including the time of shooting) and captured image data. The captured image data includes still image data and video data. The fixed cameras may also rotate up, down, left, and right based on shooting control signals from the higher-level management device 1, which will be described later. By rotating the fixed cameras up, down, left, and right, a wide area of ​​the warehouse can be monitored.

[0014] The AGV7 operates based on control signals from the AGV control device 4, which will be described later. For example, the AGV7 travels toward a designated loading position and lifts the AGV rack 8 at the designated loading position. The AGV7 then travels toward a designated unloading position and lowers the AGV rack 8 at the designated unloading position.

[0015] The AGV shelf 8 is a shelf for storing goods. For example, the AGV shelf 8 consists of multiple shelf levels. Goods are stacked on each shelf level of the AGV shelf 8.

[0016] Also, the AGV shelf 8 stands upright on four columns. The height under the shelf of the AGV shelf 8 (the height from the floor surface to the bottom of the shelf) is higher than the height of the AGV 7. Thus, the AGV 7 can dive under the shelf of the AGV shelf 8. The AGV 7 that has dived under the shelf lifts the AGV shelf 8 by a pusher so that the tip of the column is several centimeters away from the floor surface, and runs in the state of lifting the AGV shelf 8. In this way, the AGV 7 transports the AGV shelf 8.

[0017] Also, shelf identification information readable by a fixed camera, a mobile camera, etc. may be attached to the AGV shelf 8. Article identification information readable by a fixed camera, a mobile camera, etc. may also be attached to an article. For example, the shelf identification information and the article identification information are barcodes or two-dimensional codes. Note that the picking system may include a plurality of readers that read these shelf identification information and article identification information separately from the fixed camera or the mobile camera.

[0018] Also, an ID (shelf ID) for identifying the AGV shelf 8 is assigned to the AGV shelf 8. For example, the shelf ID is a numerical value, a character string, a symbol, or a combination thereof.

[0019] Also, an ID (position ID) for identifying the shelf arrangement position is assigned to the position (shelf arrangement position) where the AGV shelf 8 can be arranged. For example, the position ID is a numerical value, a character string, a symbol, or a combination thereof.

[0020] In the example shown in FIG. 1, the picking system 100 includes a shelf arrangement position 3 where the AGV shelf 8 is not arranged. That is, the shelf arrangement position 3 is vacant. The shelf arrangement position 3 is the shelf arrangement position where the AGV shelf 8 taken out by the AGV 7 was arranged.

[0021] Picking stations P1 to P4 receive AGV shelves 8 transported by AGV 7. Items are stored in the AGV shelves 8 received by picking stations P1 to P4. If item processing by a picking robot 111 is specified, the picking robot 111 grasps (grips) the items stored in the AGV shelves 8 and picks them. If item processing by an employee 113 is specified, the assigned employee 113 manually grasps the items stored in the AGV shelves 8 and picks them. In addition, a display device 112 provided in conjunction with picking stations P1 to P4 displays the item processing schedule as well as information to support the employee 113's picking work, such as an image of the item to be processed and item identification information. The employee 113 visually confirms the contents of the display device 112 and picks the items.

[0022] Furthermore, picking stations P1 to P4 may use a picking robot 111 or an employee 113 to store items on the AGV shelves 8.

[0023] Next, we will explain the control system of the picking system 100. Figure 2 is a block diagram showing an example of the configuration of the control system of the picking system 100 according to the embodiment.

[0024] As shown in Figure 2, the picking system 100 comprises a higher-level management device 1, a planning device 2, an AGV control device 4, a switch 5, a wireless LAN access point 6, an AGV 7, a charging station 9, a picking robot 111, a display device 112, and picking stations P1 to P4.

[0025] The higher-level management device 1 is called a Warehouse Management System (WMS) and can be implemented with one or more computers. The higher-level management device 1 stores item management information related to the items stored in the warehouse. The item management information indicates the items stored in each AGV shelf 8.

[0026] The higher-level management device 1 acquires information indicating items to be dispatched from an external device. Based on this information, the higher-level management device 1 generates an order indicating the items to be picked and the AGV rack 8 in which those items will be stored. The higher-level management device 1 generates an order list containing multiple orders. The higher-level management device 1 outputs the order list to the planning device 2.

[0027] The planning device 2 (information processing device) is called a Warehouse Execution System (WES) and can be implemented with one or more computers. The planning device 2 is connected to the higher-level management device 1. The planning device 2 sets the return position of the AGV rack 8 based on the order list, etc. The planning device 2 will be described in detail later.

[0028] The AGV control device 4 is called a Warehouse Control System (WCS) and can be implemented with one or more computers. The AGV control device 4 is connected to the planning device 2. The AGV control device 4 is also connected to picking stations P1 to P4 via switch 5. The AGV control device 4 is also connected to a wireless LAN access point 6 via switch 5.

[0029] The AGV control device 4 uses the AGV 7 to transport the AGV rack 8, which stores the items to be picked, to the picking stations P1 to P4. Once picking is complete, the AGV control device 4 uses the AGV 7 to transport the AGV rack 8 to a predetermined return location.

[0030] The charging station 9 is equipped with a power output unit. The AGV 7 is equipped with a power input unit and a battery. The charging station 9 supplies power output from the power output unit to the AGV 7. The AGV 7 supplies power received via the power input unit to its battery. For example, the height of the power output unit from the floor is the same as the height of the power input unit of the AGV 7 from the floor. Based on control from the AGV control device 4, the AGV 7 travels to a position corresponding to the power output unit of the charging station 9, connects its power input unit to the power output unit, and receives power. The connection between the power input unit and the power output unit may be either contact or non-contact.

[0031] The wireless LAN access point 6 transmits and receives data with communication devices such as the AGV 7 and the charging station 9. Furthermore, if the picking system includes fixed and mobile cameras, the wireless LAN access point 6 transmits and receives data with both the fixed and mobile cameras. The switch 5 selects the destination for the received data and transmits the data to the selected destination.

[0032] Next, we will describe the planning device 2. Figure 3 shows an example configuration of the planning device 2 according to the embodiment. Figure 3 is a block diagram showing an example configuration of the planning device 2. As shown in Figure 3, the planning device 2 includes a processor 21, ROM 22, RAM 23, NVM 24, communication unit 25, operation unit 26, and display unit 27, etc.

[0033] The processor 21, ROM 22, RAM 23, NVM 24, communication unit 25, operation unit 26, and display unit 27 are connected to each other via a data bus or the like. In addition to the configuration shown in Figure 3, the planning device 2 may have other configurations as needed, or certain configurations may be excluded from the planning device 2.

[0034] The processor 21 has the function of controlling the operation of the entire planning device 2. The processor 21 may also be equipped with an internal cache and various interfaces. The processor 21 performs various processes by executing programs that are pre-stored in the internal memory, ROM 22, or NVM 24.

[0035] Furthermore, some of the various functions realized by the execution of a program by the processor 21 may be realized by hardware circuits. In this case, the processor 21 controls the functions executed by the hardware circuits.

[0036] ROM22 is a non-volatile memory in which control programs and control data are pre-stored. The control programs and control data stored in ROM22 are pre-programmed according to the specifications of the planning device 2.

[0037] RAM23 is volatile memory. RAM23 temporarily stores data being processed by the processor 21. RAM23 stores various application programs based on instructions from the processor 21. RAM23 may also store data necessary for the execution of application programs and the execution results of application programs.

[0038] NVM24 is a non-volatile memory that allows data to be written to and rewritten. For example, NVM24 can be composed of an HDD, SSD, or flash memory. NVM24 stores control programs, applications, and various data according to the operational use of the planning device 2.

[0039] The communication unit 25 is an interface for sending and receiving data with the higher-level management device 1 and the AGV control device 4, etc. The communication unit 25 connects to the higher-level management device 1 and the AGV control device 4, etc. For example, the communication unit 25 is an interface that supports wired or wireless LAN connections.

[0040] The communication unit 25 may consist of an interface connected to the higher-level management device 1 and an interface connected to the AGV control device 4.

[0041] The control unit 26 receives various operation inputs from the operator. The control unit 26 transmits signals indicating the input operation to the processor 21. For example, the control unit 26 is composed of a mouse, keyboard, or touch panel.

[0042] The display unit 27 displays image data from the processor 21. For example, the display unit 27 is composed of a liquid crystal monitor. If the operation unit 26 is composed of a touch panel, the display unit 27 may be formed integrally with the touch panel of the operation unit 26.

[0043] Next, I will explain AGV7. Figure 4 is a block diagram showing an example configuration of AGV7 according to the embodiment. The AGV7 includes a processor 71, ROM 72, RAM 73, auxiliary storage device 74, communication interface 75, drive unit 76, sensor 77, battery 78, charging mechanism 79, and tires 70.

[0044] The processor 71 has the function of controlling the operation of the entire AGV7. The processor 71 may also be equipped with an internal cache and various interfaces. The processor 71 performs various processes by executing programs that are pre-stored in the internal memory, ROM 72, or auxiliary storage device 74.

[0045] For example, processor 71 is a CPU. Processor 71 may be implemented using hardware such as an LSI (Large Scale Integration), ASIC (Application Specific Integrated Circuit), or FPGA (Field Programmable Gate Array).

[0046] The processor 71 performs calculations and control processes necessary for operations such as acceleration, deceleration, stopping, changing direction, and loading and unloading of the AGV rack 8. Based on control signals from the AGV control device 4 and the like, the processor 71 executes a program stored in the ROM 72 and the like to generate drive signals and output them to each part.

[0047] For example, the AGV control device 4 transmits a control signal to move the AGV 7 from its current position to a first position (the shelf placement position of the target AGV shelf 8) and then from the first position to a second position (the position of the target picking station P). The AGV control device 4 also transmits a control signal to move the AGV 7 from the second position back to the first position. The processor 71 of the AGV 7 outputs a drive signal corresponding to the control signals transmitted from the AGV control device 4. As a result, the AGV 7 moves from its current position to the first position, from the first position to the second position, and back to the first position. The processor 71 also outputs a drive signal corresponding to the loading and unloading instruction for the AGV shelf 8 included in the control signals transmitted from the AGV control device 4. As a result, the AGV 7 lifts the AGV shelf 8 using its pusher and then lowers the lifted AGV shelf 8.

[0048] ROM 72 is a non-temporary computer-readable storage medium that stores the above-mentioned program. ROM 72 also stores data or settings used by the processor 71 in performing various operations. RAM 73 is memory used for reading and writing data. RAM 73 is used as a so-called work area, storing data temporarily used by the processor 71 in performing various operations.

[0049] The auxiliary storage device 74 is a non-temporary computer-readable storage medium and may store the above-mentioned program. The auxiliary storage device 74 also stores data used by the processor 71 in performing various processes, data generated by processing by the processor 71, or various setting values.

[0050] The communication interface 75 is an interface that sends and receives data with the AGV control device 4 and other devices via a wireless LAN access point 6 or the like. For example, the communication interface 75 supports wireless LAN connectivity.

[0051] The drive unit 76 is a motor or the like, and rotates or stops the motor based on a drive signal output from the processor 71. The motor's power is transmitted to the tires 70 and then to the steering mechanism. With this power from the motor, the AGV 7 moves to the target position. The drive unit 76 functions as a transport mechanism that transports the AGV 7 and the AGV shelf 8.

[0052] Furthermore, with AGV7 positioned beneath AGV shelf 8, the drive unit 76 rotates the motor (forward rotation) based on the drive signal output from processor 71. This power from the motor causes the pusher to rise, lifting AGV shelf 8. After AGV7 reaches the target position, the drive unit 76 rotates the motor (reverse rotation) based on the drive signal output from processor 71. This power from the motor causes the pusher to descend, lowering AGV shelf 8 to the floor.

[0053] Sensor 77 consists of multiple reflection sensors. Each reflection sensor is mounted around the AGV 7. Each reflection sensor emits a laser beam, detects the time it takes for the laser beam to reflect off an object and return, detects the distance to the object based on the detected time, and notifies the processor 71 of the detection signal. Based on the detection signals from Sensor 77, the processor 71 outputs control signals to control the movement of the AGV 7. For example, based on the detection signals from Sensor 77, the processor 71 outputs control signals such as deceleration or stopping to avoid collisions with objects. In addition to Sensor 77, a camera may also be provided, which captures images of the surroundings and outputs the captured images to the processor 71. In this case, the processor 71 analyzes the captured images and outputs control signals such as deceleration or stopping to avoid collisions with objects.

[0054] The battery 78 supplies the necessary power to the drive unit 76 and other components. The charging mechanism 79 connects the charging station and the battery 78, and the battery 78 is charged by power supplied from the charging station or the like via the charging mechanism 79.

[0055] Next, the functions implemented by the planning device 2 will be described. The functions implemented by the planning device 2 are achieved by the processor 21 executing a program stored in the ROM 22 or NVM 24, etc.

[0056] First, the processor 21 has the function of obtaining the location ID (available location ID) of a shelf placement location where an AGV shelf 8 is not placed (i.e., shelf placement location 3).

[0057] Here, we assume that AGV7 is carrying several AGV shelves 8.

[0058] Furthermore, the processor 21 acquires an available position ID when a change occurs in the AGV shelf 8 that has been taken out. For example, the processor 21 acquires an available position ID when the AGV 7 carrying the AGV shelf 8 leaves the picking station P, or when the AGV 7 transports the AGV shelf 8 from its shelf placement location.

[0059] For example, the processor 21 sends a request to the AGV control device 4 via the communication unit 25 to request an available position ID. The processor 21 receives a response from the AGV control device 4 via the communication unit 25 indicating the available position ID.

[0060] Upon receiving a response indicating an available location ID, the processor 21 generates a list of available location IDs (return location list). The processor 21 may also include in the return location list the IDs of empty shelf placement locations where the AGV shelf 8 was not originally placed. Alternatively, the processor 21 may obtain the free space ID from the NVM 24.

[0061] Furthermore, the processor 21 has the function of obtaining the shelf ID of the AGV shelf 8 that has been taken out.

[0062] For example, the processor 21 sends a request to the AGV control device 4 via the communication unit 25 to request the shelf ID of the AGV shelf 8 being carried out by the AGV 7. The processor 21 receives a response from the AGV control device 4 via the communication unit 25 indicating the shelf ID of the AGV shelf 8 being carried out by the AGV 7.

[0063] Upon receiving the response, the processor 21 acquires the shelf ID as the shelf ID (target shelf ID) of the AGV shelf 8 (target shelf) whose return position is to be changed. The processor 21 may also obtain the target shelf ID from the NVM24.

[0064] Furthermore, the processor 21 has the function of estimating the transport distance that the AGV 7 will travel to each target shelf in order to process unprocessed orders.

[0065] The processor 21 obtains the order list in advance from the higher-level management device 1 via the communication unit 25. The processor 21 stores the order list in the NVM 24 or the like. For example, the order list shows the orders scheduled to be processed within a predetermined period (for example, the next day).

[0066] The processor 21 sets a predetermined target shelf ID. Once the target shelf ID is set, the processor 21 assumes that the target shelf indicated by that target shelf ID will be returned to its original shelf placement location (the shelf placement location where the target shelf was located). Assuming that the target shelf will be returned to its original shelf placement location, the processor 21 retrieves the unprocessed orders indicated by the order list.

[0067] When an unprocessed order is retrieved, the processor 21 extracts the order that calls the target shelf from the unprocessed order. After extracting the order, the processor 21 estimates the transport distance (second transport distance) that the AGV 7 will have to transport the target shelf to process the extracted order. For example, for each extracted order, the processor 21 calculates the round trip distance that the AGV 7 will have to travel from the original shelf placement location of the target shelf to the picking station P, and then sums up the calculated distances to calculate the transport distance.

[0068] If there are no pending orders calling the target shelf, the processor 21 sets the transport distance of the target shelf to 0.

[0069] The processor 21 similarly calculates the transport distance for each target shelf ID.

[0070] Furthermore, if the order list contains processed orders, the processor 21 may remove processed orders from the order list.

[0071] Furthermore, the processor 21 has a function to sort the target shelf IDs in descending order of transport distance.

[0072] After calculating the transport distance for each target shelf ID, the processor 21 sorts the target shelf IDs in descending order of transport distance. Here, the processor 21 generates a sequence of numbers (n(i): i is a natural number) representing the target shelf IDs sorted in descending order of transport distance.

[0073] n(1) represents the target shelf ID with the longest transport distance. n(2) represents the target shelf ID with the next longest transport distance.

[0074] Furthermore, the processor 21 has a function to set the return position of the target shelf based on the unprocessed orders.

[0075] When the sequence n(i) is generated, processor 21 assigns 1 to i. After assigning 1 to i, processor 21 obtains n(i). In other words, in this case, processor 21 obtains n(1).

[0076] Upon obtaining n(i), the processor 21 assumes that the target shelf indicated by n(i) has been returned to the shelf location indicated by one of the available location IDs in the return location list. Assuming that the target shelf has been returned to the shelf location, the processor 21 obtains the unprocessed order indicated by the order list.

[0077] When an unprocessed order is retrieved, the processor 21 extracts the order that calls the target shelf from the unprocessed order. After extracting the order, the processor 21 predicts the transport distance (first transport distance) that the AGV 7 will travel to the target shelf in order to process the extracted order. For example, for each extracted order, the processor 21 calculates the round trip distance that the AGV 7 will travel from the shelf location to the picking station P, and then calculates the transport distance by summing up the calculated distances. The processor 21 similarly calculates the transport distance for each available position ID in the return position list.

[0078] After calculating the transport distance for each available location ID in the return location list, the processor 21 selects the available location ID with the shortest transport distance. Once the available location ID with the shortest transport distance is selected, the processor 21 sets the selected available location ID as the location ID (r(n(i))) indicating the return location of the target shelf.

[0079] When r(n(i)) is set, processor 21 removes r(n(i)) from the return position list. Processor 21 increments i and similarly sets r(n(i)).

[0080] If there are no unprocessed orders that call the target shelf indicated by n(i), the processor 21 may set r(n(i)) sequentially from the return position list.

[0081] Next, we will explain an example of the operation of the planning device 2. Figure 5 is a flowchart illustrating an example of the operation of the planning device 2.

[0082] The processor 21 of the planning device 2 determines whether AGV shelf 8 has been taken out by AGV 7 (S11). If it determines that AGV shelf 8 has been taken out by AGV 7 (S11, YES), the processor 21 obtains the available position ID and generates a list of return positions (S12).

[0083] After obtaining the available position ID and generating the return position list, the processor 21 obtains the target shelf ID (S13). Once the target shelf ID is obtained, the processor 21 calculates the transport distance that the AGV 7 will transport to each target shelf in order to process the pending orders (S14).

[0084] After calculating the transport distance for each target shelf, the processor 21 generates n(i) representing the target shelf IDs in descending order of transport distance (S15). Once n(i) is generated, the processor 21 assigns 1 to i (S16).

[0085] When i is assigned the value 1, processor 21 determines whether i is less than or equal to N (S17). Here, N is the total number of n(i).

[0086] If it is determined that i is less than or equal to N (S17, YES), the processor 21 calculates the transport distance when the target shelf indicated by n(i) is returned to the shelf placement location indicated by each available position ID (S18). After calculating the transport distance, the processor 21 sets the available position ID with the shortest transport distance as r(n(i)) (S19).

[0087] When the available position ID with the shortest transport distance is set as r(n(i)), the processor 21 removes r(n(i)) from the return position list (S20). After removing r(n(i)) from the return position list, the processor 21 increments i (S21).

[0088] When i is incremented, processor 21 returns to S17.

[0089] If it is determined that i is not less than or equal to N (S17, NO), the processor 21 determines whether a change has occurred in the removed AGV shelf 8 (S22). If it is determined that no change has occurred in the removed AGV shelf 8 (S22, NO), the processor 21 returns to S22.

[0090] If it is determined that a change has occurred in the removed AGV shelf 8 (S22, YES), the processor 21 returns to S11.

[0091] If it is determined that AGV shelf 8 has not been removed by AGV 7 (S11, NO), the processor 21 terminates its operation.

[0092] The processor 21 controls the AGV 7 to transport each target shelf to the return position indicated by the position ID set for that shelf. For example, the processor 21 instructs the AGV control device 4 to transport each target shelf to the return position.

[0093] Alternatively, the processor 21 may configure the AGV shelf 8 so that its return position is not changed. Furthermore, some of the functions implemented by the planning device 2 may also be implemented by the higher-level management device 1. Also, some of the functions implemented by the planning device 2 may also be implemented by the AGV control device 4.

[0094] The picking system configured as described above calculates the transport distance that AGV7 must travel to process the AGV shelf to handle unprocessed orders. The picking system then changes the return position of the AGV shelf to minimize the transport distance. As a result, the picking system can reduce the distance that the AGV must travel to the AGV shelf 8, thereby reducing transport time. Consequently, the picking system can improve throughput.

[0095] Furthermore, the picking system, through the above operation, places AGV racks with high call frequency closer to the picking station. As a result, the picking system can place AGV racks containing items with high priority for retrieval closer to the picking station. For example, if the picking system prioritizes retrieving items with older manufacturing dates even for similar items, it can place AGV racks containing items with older manufacturing dates closer to the picking station. (Second embodiment) Next, a second embodiment will be described. The picking system according to the second embodiment differs from that according to the first embodiment in that it also includes a shelf ID indicating the shelf location where the AGV shelf 8 is placed in the return location list. Therefore, other parts are denoted by the same reference numerals and detailed descriptions are omitted.

[0096] The configuration of the picking system 100 according to the second embodiment is the same as that according to the first embodiment, so a description will be omitted.

[0097] Next, the functions implemented by the planning device 2 will be described. The functions implemented by the planning device 2 are achieved by the processor 21 executing a program stored in the ROM 22 or NVM 24, etc. In addition to the functions it performs according to the first embodiment, the planning device 2 implements the following functions.

[0098] First, the processor 21 has the function of acquiring multiple location IDs, including the location ID of the shelf placement location where the AGV shelf 8 is located.

[0099] For example, the processor 21 obtains the location ID of the shelf placement location where the AGV shelf 8 is located and the location ID of shelf placement location 3 from the AGV control device 4 or the higher-level management device 1. For example, the processor 21 may obtain the location IDs of all shelf placement locations included in the picking system 100, or it may obtain the location IDs of some of the shelf placement locations.

[0100] Upon obtaining a location ID, the processor 21 generates a return location list indicating the obtained location ID. The processor 21 may also obtain the position ID from the NVM 24.

[0101] Furthermore, the processor 21 has a function to set the return position of the target shelf based on the unprocessed orders.

[0102] Similar to the first embodiment, the processor 21 generates a sequence n(i). After generating the sequence n(i), the processor 21 assigns 1 to i. After assigning 1 to i, the processor 21 obtains n(i). That is, in this case, the processor 21 obtains n(1).

[0103] Upon obtaining n(i), the processor 21 assumes that the target shelf indicated by n(i) has been returned to the shelf location indicated by one of the location IDs included in the return location list. Assuming that the target shelf has been returned to the shelf location, the processor 21 calculates the transport distance (first transport distance) for processing the pending order, similar to the first embodiment.

[0104] The processor 21 similarly calculates the transport distance for each position ID in the return position list.

[0105] After calculating the transport distance for each location ID in the return location list, the processor 21 selects the location ID with the shortest transport distance. Once the location ID with the shortest transport distance is selected, the processor 21 sets the acquired location ID as the location ID (r(n(i))) indicating the return location of the target shelf.

[0106] When r(n(i)) is set, processor 21 removes r(n(i)) from the return position list. Processor 21 increments i and similarly sets r(n(i)).

[0107] Furthermore, the processor 21 has a function to move the AGV shelf 8 if it is located at the return position (shelf placement position) indicated by the set position ID.

[0108] When r(n(i)) is removed from the return location list, the processor 21 determines whether an AGV rack 8 exists at the return location indicated by r(n(i)). For example, the processor 21 queries the higher-level management device 1 or the AGV control device 4 via the communication unit 25 to determine whether an AGV rack 8 exists at that return location. Alternatively, the processor 21 may determine whether an AGV rack 8 exists at that return location based on the data stored in the NVM 24.

[0109] If the processor 21 determines that AGV shelf 8 is located at the return position indicated by r(n(i)), it instructs AGV 7 to move AGV shelf 8 from that return position to another shelf location. That is, the processor 21 controls the AGV control device 4 to move AGV shelf 8 to AGV 7. For example, the processor 21 moves AGV shelf 8 to the shelf location indicated by any available position ID. Alternatively, the processor 21 may move AGV shelf 8 to a shelf location where it was not originally located.

[0110] Next, we will explain an example of the operation of the planning device 2. Figure 6 is a flowchart illustrating an example of the operation of the planning device 2.

[0111] The processor 21 of the planning device 2 determines whether AGV shelf 8 has been taken out by AGV 7 (S31). If it is determined that AGV shelf 8 has been taken out by AGV 7 (S31, YES), the processor 21 obtains the location ID and generates a return location list (S32).

[0112] After obtaining the location ID and generating the return location list, the processor 21 obtains the target shelf ID (S33). Once the target shelf ID is obtained, the processor 21 calculates the transport distance that the AGV 7 will transport to each target shelf in order to process the pending orders (S34).

[0113] After calculating the transport distance for each target shelf, the processor 21 generates n(i) representing the target shelf IDs in descending order of transport distance (S35). Once n(i) is generated, the processor 21 assigns 1 to i (S36).

[0114] When 1 is substituted for i, processor 21 determines whether i is less than or equal to N (S37). Here, N is the total number of n(i).

[0115] If it is determined that i is less than or equal to N (S37, YES), the processor 21 calculates the transport distance when the target shelf indicated by n(i) is returned to the shelf placement location indicated by each location ID in the return location list (S38). After calculating the transport distance, the processor 21 sets the location ID with the shortest transport distance as r(n(i)) (S39).

[0116] When the position ID with the shortest transport distance is set as r(n(i)), the processor 21 removes r(n(i)) from the return position list (S40). After removing r(n(i)) from the return position list, the processor 21 determines whether an AGV shelf 8 exists at the shelf placement position indicated by r(n(i)) (S41).

[0117] If the processor determines that AGV shelf 8 is located at the shelf placement position indicated by r(n(i)) (S41, YES), the processor 21 instructs AGV 7 to move AGV shelf 8 to another shelf placement position (S42).

[0118] If it is determined that AGV shelf 8 does not exist at the shelf placement location indicated by r(n(i)) (S41, NO), or if AGV shelf 8 is moved to another shelf placement location (S42), the processor 21 increments i (S43).

[0119] When i is incremented, processor 21 returns to S37.

[0120] If it is determined that i is not less than or equal to N (S37, NO), the processor 21 determines whether a change has occurred in the removed AGV shelf 8 (S44). If it is determined that no change has occurred in the removed AGV shelf 8 (S44, NO), the processor 21 returns to S44.

[0121] If it is determined that a change has occurred in the removed AGV shelf 8 (S44, YES), the processor 21 returns to S31.

[0122] If it is determined that AGV shelf 8 has not been removed by AGV 7 (S31, NO), the processor 21 terminates its operation.

[0123] In the picking system configured as described above, the shelf placement location where the AGV shelves are located can also be the return location for the target shelf. As a result, the picking system can set the return location for the target shelf more flexibly.

[0124] While several embodiments of the present invention have been described, these embodiments are presented as examples only and are not intended to limit the scope of the invention. These novel embodiments can be carried out in a variety of other forms, and various omissions, substitutions, and modifications can be made without departing from the spirit of the invention. These embodiments and their variations are included in the scope and spirit of the invention, as well as in the claims of the invention and its equivalents. [Explanation of symbols]

[0125] 1...Higher-level management device, 2...Planning device, 3...Shelf placement position, 4...AGV control device, 5...Switch, 6...Wireless LAN access point, 7...AGV, 8...AGV shelf, 9...Charging station, 21...Processor, 22...ROM, 23...RAM, 24...NVM, 25...Communication unit, 26...Operation unit, 27...Display unit, 70...Tire, 71...Processor, 72...ROM, 73...RAM, 74...Auxiliary storage device, 75...Communication interface, 76...Drive unit, 77...Sensor, 78...Battery, 79...Charging mechanism, 100...Picking system, 111...Picking robot, 112...Display device, 113...Staff.

Claims

1. A program executed by a processor, The aforementioned processor, The system includes functions for picking items from shelves transported by automated guided vehicles at one of multiple picking stations, and for retrieving unprocessed orders indicated on an order list scheduled to be processed within a predetermined period. A function to obtain a return location list indicating multiple shelf placement locations where the aforementioned shelf is not placed or where the aforementioned shelf was not originally placed, A function to obtain the target shelf ID that indicates the shelf to be returned, When the shelf indicated by the target shelf ID is returned to each shelf location indicated by the return location list, the function calculates the distance the automated guided vehicle travels back and forth from the shelf location to the picking station that processes the unprocessed orders, and calculates a first transport distance by summing the calculated distances, Based on the first transport distance, a function is provided to select the return location of the shelf indicated by the target shelf ID from the return location list, A program that makes this possible.

2. Selecting the return position means selecting the shelf placement position with the shortest first transport distance from the list of return positions. The program according to claim 1.

3. The shelf whose return position is to be changed is the shelf that the automated guided vehicle is carrying. The program according to claim 1 or 2.

4. The processor is provided with a function to delete the shelf placement location selected from the return location list. Calculating the first transport distance further involves calculating the first transport distance of the longest shelf among the remaining shelves. The program according to claim 1.

5. The aforementioned return location list indicates the shelf location where the shelf being carried out by the automated guided vehicle was located. The program according to any one of claims 1 to 4.

6. The return location list includes the shelf location where the shelf is placed. The program according to any one of claims 1 to 5.

7. The aforementioned processor, If the shelf is present at the selected return location, the automated guided vehicle will be instructed to transport the shelf to another shelf location. The program according to claim 6.

8. An information processing method performed by a processor, The system involves picking items from shelves transported by an automated guided vehicle at one of several picking stations, obtaining unprocessed orders indicated on an order list scheduled to be processed within a predetermined period, and Obtain a return location list indicating multiple shelf placement locations where the aforementioned shelf is not placed or where the aforementioned shelf was not originally placed. Obtain the target shelf ID that indicates the shelf to be returned, When the shelf indicated by the target shelf ID is returned to each shelf location indicated by the return location list, the distance the automated guided vehicle travels back and forth from the shelf location to the picking station that processes the unprocessed orders is calculated, and a first transport distance is calculated by summing the calculated distances. Based on the first transport distance, the return location of the shelf indicated by the target shelf ID is selected from the return location list. Information processing methods.

9. An interface for retrieving unprocessed orders indicated on an order list scheduled to be processed within a predetermined period, where items are picked from shelves transported by an automated guided vehicle at one of several picking stations, and Obtain a return location list indicating multiple shelf placement locations where the aforementioned shelf is not placed or where the aforementioned shelf was not originally placed. Obtain the target shelf ID that indicates the shelf to be returned, When the shelf indicated by the target shelf ID is returned to each shelf location indicated by the return location list, the distance the automated guided vehicle travels back and forth from the shelf location to the picking station that processes the unprocessed orders is calculated, and a first transport distance is calculated by summing the calculated distances. Based on the first transport distance, the return location of the shelf indicated by the target shelf ID is selected from the return location list. Processor and An information processing device equipped with the following features.

Images