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 movement path determination method is a method for determining the movement path of at least one moving object placed in a warehouse, which is performed by a computer, and involves obtaining a first position and a second position of the moving object, selecting one or more movement path candidates that reach 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 congestion level of each node constituting the movement path candidate, calculating the predicted movement time of the one or more movement path candidates based on the movement time factor information, determining the movement path of the moving object from the one or more movement path candidates based on the calculation result of the predicted movement time, and updating the congestion level of each node based on the determined movement path.

Description

Technical Field

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

Background Art

[0002] Patent Document 1 discloses a transfer robot management device. The transfer 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 a congestion degree estimated based on the current position of the AGV and a transfer area in which the AGV can travel; an operation planning unit that determines an AGV to be used for transfer based on order information obtained from an order list acquired from an external system, the AGV information, and the map information, and determines a destination to which the determined AGV should move; a priority degree determination unit that determines a priority degree of the AGV determined based on at least one of the AGV information, the order information, station information including work status at a station, and product information including weight, dimensions, and handling importance of a product; a travel route determination unit that determines a travel route of the determined AGV to the destination based on the priority degree and the congestion degree; and a transmission unit that transmits the travel route to the AGV for which the travel route has been determined.

Prior Art Literature

Patent Literature

[0003]

Patent Document 1

Summary of the Invention

Problem to be Solved by the Invention

[0004] The present disclosure has been devised in view of the above-described conventional situation, and an object of the present disclosure is to allocate routes that allow a plurality of moving bodies moving in a warehouse to move in the shortest time, thereby reducing the total movement time of the moving bodies in the entire warehouse.

Means for Solving the Problem

[0005] This disclosure is a computer-based method for determining a travel path for 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 travel path candidates that pass through a portion of a plurality of nodes installed in the warehouse to reach the second position from the first position; obtaining travel time factor information including the congestion level of each node constituting the travel path candidates; calculating the travel time prediction for the one or more travel path candidates based on the travel time factor information; determining the travel path for the mobile body from the one or more travel path candidates based on the calculation result of the travel time prediction; and updating the congestion level of each node based on the determined travel path. The predicted travel time is calculated based on the total congestion level of at least one of the plurality of nodes included in the candidate travel path. This provides a method for determining a travel path.

[0006] This disclosure provides a program for causing a computer to determine a movement path for at least one mobile body located 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 congestion level 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; and determine the movement path for the mobile body from among the one or more candidate movement path based on the calculation result of the predicted movement time, wherein the congestion level of each node is updated based on the determined movement path. The predicted travel time is calculated based on the total congestion level of at least one of the plurality of nodes included in the candidate travel path. We provide the program.

[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] This figure shows an example of calculating travel time predictions using further travel time information and an example of updating congestion levels. [Figure 6] This diagram shows an example of updating congestion levels when no route determination request is obtained. [Figure 7] A flowchart showing a time-series example of a computer-based warehouse execution management procedure according to Embodiment 1. [Figure 8] A flowchart showing a time-series example of a computer simulation execution procedure according to Embodiment 2. [Figure 9] A flowchart showing an example of the operation procedure of the computer-based route determination process according to each embodiment, in chronological order. [Figure 10] A flowchart showing a time-series example of the operation procedure for updating the congestion level by computer according to each embodiment. [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 for 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, an example of the hardware configuration of a computer 100 according to each embodiment will be described. Figure 1 is a block diagram showing an example 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 may be a mobile terminal such as a tablet terminal or a smartphone.

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

[0015] On the other hand, the computer 100 is used, in Embodiment 2 described later, as a warehouse simulation system that executes, for example, warehouse simulation. Warehouse simulation is a method of virtually reproducing and analyzing processes related to operations, that is, work within a warehouse involved in logistics. The computer 100 executes warehouse simulation in accordance with user operations for the purpose of improving and optimizing the efficiency of warehouse operation. The computer 100 according to Embodiment 2 determines, for example, the movement route of at least one moving body arranged in a warehouse within warehouse simulation.

[0016] As shown in FIG. 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 FIG. 1 is an example; one component may be configured by being divided into a plurality of parts, or a plurality of components may be configured by being integrated into one part.

[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 implements various functions by reading and executing various data and programs stored in the memory 20.

[0018] The memory 20 is a storage unit for storing various data, programs, and the like. The memory 20 includes, for example, a RAM (Random Access Memory) and a ROM (Read Only Memory, hereinafter referred to as "ROM"). The ROM stores programs and data necessary for the operation of the processor 10. The RAM functions as a work memory that temporarily stores signals of data acquired or generated while the processor 10 is operating. The memory 20 may store a map of a warehouse, inter-node connection information regarding connections between a plurality of nodes installed in the warehouse, and travel time factor information regarding various elements that affect predicted travel time.

[0019] The communication device 30 is an interface for communicating with various mobile objects within the warehouse and external devices such as cameras via a network (not shown). If the mobile object is a worker, the communication device 30 may communicate with a mobile terminal such as a smartphone carried by the worker. The communication device 30 receives data signals transmitted from external devices and transmits signals transmitted from the processor 10 to external devices. The communication standards supported by the communication device 30 are not particularly limited and may support either wired or wireless communication standards. Furthermore, the communication device 30 may support multiple communication standards. Therefore, the network used by the communication device 30 may be composed of a combination of networks using multiple communication standards.

[0020] The input device 40 accepts operations and instructions from a user, for example, to input simulation execution conditions for a warehouse simulation. The input device 40 also accepts operations and instructions from a user, for example, to input orders from customers. The input device 40 may consist of a mouse, keyboard, touch panel display, etc.

[0021] The external interface device 50 is an interface for sending and receiving data with an external device.

[0022] The display device 60 displays various user interfaces to the user. The display device 60 may consist of a liquid crystal display, a touch panel display, or the like.

[0023] 2. Computer Functional Configuration Next, with reference to Figures 2 and 3, examples of the functional configuration of the computer 100 according to each embodiment will be described. Figure 2 is a block diagram showing an example of the functional configuration of the computer 100 according to Embodiment 1, and Figure 3 is a block diagram showing an example of the functional configuration of the computer 100 according to Embodiment 2.

[0024] (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 to 6.

[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 within the warehouse. Details of the processing of the movement path determination unit 3 will be described later with reference to Figures 4 to 6.

[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 Figures 4 to 6, 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 updating the congestion level, Figure 5 shows an example of calculating the predicted movement time and updating the congestion level using further movement time information, and Figure 6 shows an example of updating the congestion level when no route determination request is obtained. 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 ​​of 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 movement path determination unit 3 determines the movement path of the moving object from among the movement path candidates based on the calculation result of the predicted movement time. For example, the movement path determination unit 3 determines the movement path candidate with the shortest predicted movement time as the movement path. In the example in Figure 4, the predicted movement time for path 1 is 11s and the predicted movement time for path 2 is 8s, so the movement path determination unit 3 determines path 2 as the movement path. The movement path determination unit 3 transmits the determined movement path to the simulation execution unit 2.

[0048] Furthermore, the travel path determination unit 3 updates the congestion information TB#1 based on the determined travel path. The travel path determination unit 3 updates the congestion information TB#1 by adding a predetermined value (1s in the example in Figure 4) to the congestion of the nodes included in the determined travel path. The travel path determination unit 3 also updates the congestion information TB#1 by subtracting a predetermined value (2s in the example in Figure 4) from the congestion of the nodes not included in the determined travel path. As a result, the congestion of each node is updated and congestion information TB#2 is generated.

[0049] 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.

[0050] 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.

[0051] 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.

[0052] Therefore, since the predicted travel time for route 1 is 10s and the predicted travel time for route 2 is 11s, the travel path determination unit 3 determines route 1 as the travel path. The travel path determination unit 3 transmits the determined travel path to the simulation execution unit 2.

[0053] 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.

[0054] 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.

[0055] In the explanation of Figure 4, an example was given in which travel time prediction time is calculated using congestion level and information about the moving object as travel time factor information. However, travel time factor information may also include information about the pathways between nodes. Figure 5 shows an example in which a travel route is determined by calculating the travel time prediction time using information about the pathways.

[0056] The travel path determination unit 3 acquires the starting point S and ending point G, similar to the method described in Figure 4, and selects routes 1 and 2 as candidate travel paths. As shown in Figure 5, the travel path determination unit 3 acquires congestion information TB#1, information about pathways between nodes PI, and information about the moving object as travel time factor information. The information about the moving object acquired by the travel path determination unit 3 is assumed to be the same as the information about the moving object acquired by the travel path determination unit 3 in the explanation of Figure 4.

[0057] As illustrated in Figure 5, the information PI regarding the passage between nodes may include, for example, the physical distance between nodes, width coefficient, gradient coefficient, converted distance, speed limit, travel time, and acceleration information. The width coefficient is an index that indicates the difficulty of moving between nodes due to the width of the passage; a larger value indicates a narrower passage between nodes, and a smaller value indicates a wider passage. In the example in Figure 5, the passage between node ND1 and node ND4 is relatively narrow, so the width coefficient is relatively large at 2, while the passages between node ND4 and node ND5, and between node ND5 and endpoint G, are relatively wide, so the width coefficient is relatively small at 0.5. The gradient coefficient is an index that indicates the difficulty of moving between nodes due to the gradient of the passage; a larger value indicates a steeper gradient between nodes, and a smaller value indicates a shallower gradient. In the example in Figure 5, the passage between node ND1 and node ND2 is on an uphill slope, so the gradient coefficient is relatively large at 1.1, while the passage between node ND2 and node ND3 is on a downhill slope, so the gradient coefficient is relatively small at 0.9. The converted distance is the distance considering the width and gradient between nodes, and may be calculated by multiplying the physical distance by the width coefficient and the gradient coefficient. The speed limit is the speed limit in the passage between nodes. The travel time is calculated by the converted distance and the speed of the moving object. If the speed of the moving object included in the information about the moving object is greater than the speed limit included in the information about the passage between nodes PI, the travel time may be calculated using the speed limit in order to comply with the speed limit. In the example in Figure 5, between node ND3 and endpoint G, the speed of the moving object (1 m / s) is greater than the speed limit, so the travel time is calculated as 2 s using the converted distance of 1 m / (speed limit 0.5 m / s). The acceleration information indicates the time required due to deceleration before and after rotation at each node.

[0058] The movement path determination unit 3 calculates the predicted travel time for routes 1 and 2 using congestion information TB#1, information PI regarding pathways between nodes, and information regarding the moving object. The predicted travel time is calculated based on the congestion level, the travel time between nodes included in the candidate travel path, and the rotation time of the moving object in the direction of movement. The travel time between nodes is calculated based on information PI regarding pathways between nodes, and the rotation time is calculated based on information regarding the moving object. Specifically, the predicted travel time for route 1 is calculated as follows: (travel time from starting point S to node ND1) + (congestion level of node ND1) + (travel time from node ND1 to node ND4) + (congestion level of node ND4) + (rotation time at node ND4) + (time required before and after rotation at node ND4) + (travel time from node ND4 to node ND5) + (congestion level of node ND5) + (travel time from node ND5 to destination G). Therefore, the estimated travel time for route 1 is calculated as 1s + 1s + 2s + 0s + 1s + 1s + 0.5s + 5s + 0.5s = 12s. On the other hand, the estimated travel time for route 2 is calculated as (travel time from starting point S to node ND1) + (congestion level at node ND1) + (rotation time at node ND1) + (time required before and after rotation at node ND1) + (travel time from node ND1 to node ND2) + (congestion level at node ND2) + (travel time from node ND2 to node ND3) + (congestion level at node ND3) + (rotation time at node ND3) + (time required before and after rotation at node ND3) + (travel time from node ND3 to destination G). Therefore, the estimated travel time for route 2 is calculated as 1s + 1s + 1s + 1s + 1.1s + 1s + 0.9s + 0s + 1s + 1s + 2s = 11s.

[0059] Since the predicted travel time for route 1 is 12s and the predicted travel time for route 2 is 11s, the travel path determination unit 3 determines route 2 as the travel path. The travel path determination unit 3 transmits the determined travel path to the simulation execution unit 2.

[0060] Furthermore, the travel path determination unit 3 updates the congestion level information TB#1 and obtains congestion level information TB#2' based on the determined travel path. The method for updating the congestion level may be the same as the method explained using Figure 4.

[0061] In this way, the congestion level, which indicates the expected congestion at each node, is updated based on the determined travel path, and the travel path is repeatedly determined based on the congestion level and the information PI regarding the pathways between nodes. As a result, the computer 100 can calculate the predicted travel time with high accuracy, assigning the shortest possible travel path to multiple moving objects within the warehouse, thereby reducing the total travel time of objects throughout the warehouse.

[0062] 4. Updating congestion levels after route determination processing. Next, we will explain a method for updating congestion levels after route determination. This method is executed, for example, after updating congestion level information TB#3 in Figure 4, or after updating congestion level information TB#2' in Figure 5.

[0063] For example, consider a scenario where, after updating the congestion level, no new route determination requests are received even after a certain period of time has elapsed. In such a case, since no moving objects pass through each node in the warehouse, it is expected that congestion at each node will gradually ease.

[0064] As shown in Figure 6, we assume that the congestion information immediately after the route determination process is congestion information TB#3. When the route determination unit 3 completes the execution of the route determination process, it starts a timer for a predetermined time (e.g., 20s). If the route determination unit 3 receives a new route determination request from the simulation execution unit 2 before the timer ends, it starts the route determination process and executes the same process as described in Figures 4 and 5.

[0065] On the other hand, if the travel route determination unit 3 does not receive a new route determination request at the end of the timer, it updates the congestion level by simultaneously subtracting a predetermined value from the current congestion level of each node in the warehouse. In the example in Figure 6, when updating congestion information TB#3, which shows the current congestion level, and obtaining congestion information TB#4, the travel route determination unit 3 subtracts 1s from the congestion level of each node. As shown in congestion information TB#4, the congestion levels of nodes ND1, ND4, and ND5 are the values ​​shown in congestion information TB#3 minus 1s. For nodes ND2 and ND3, since the congestion level shown in congestion information TB#3 is 0s, the congestion levels of nodes ND2 and ND3 after updating remain at 0s, but it may also be set to -1s.

[0066] The route determination unit 3 may restart the timer after updating the congestion level and obtaining congestion level information TB#4. If the route determination unit 3 does not receive a new route determination request at the end of the timer, it updates the congestion level information TB#4, which shows the current value of the congestion level. In the example in Figure 6, when updating the congestion level information TB#4, which shows the current value of the congestion level, and obtaining congestion level information TB#5, the route determination unit 3 subtracts 1s from the congestion level of each node. As shown in congestion level information TB#5, the congestion levels of nodes ND1 and ND5 are the values ​​shown in congestion level information TB#4 minus 1s. For nodes ND2, ND3, and ND4, since the congestion level shown in congestion level information TB#4 is 0s, the congestion levels of nodes ND2 and ND3 after the update remain at 0s.

[0067] In this way, if the route determination process is not executed for a predetermined time, the congestion level, which indicates the expected congestion at each node, is updated to show congestion easing. This allows for highly accurate calculation of travel prediction times, enabling the assignment of the shortest possible route for multiple moving objects within the warehouse, thereby reducing the overall travel time of objects within the warehouse.

[0068] 5. Example of operation (Warehouse execution management flow) Next, with reference to Figure 7, the process by which the computer 100 according to Embodiment 1 performs warehouse execution management will be described. Figure 7 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 7 are executed by the processor 10 of the computer 100.

[0069] In Figure 7, 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.

[0070] 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.

[0071] 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.

[0072] 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.

[0073] 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.

[0074] (Warehouse simulation flow) Next, with reference to Figure 8, 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 8 are executed by the processor 10 of the computer 100.

[0075] In Figure 8, 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.

[0076] 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.

[0077] (Route determination flow) Next, with reference to Figure 9, the process by which the computer 100 performs route determination according to each embodiment will be described. Figure 9 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 9 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 are executed within step St3 of the warehouse execution management flow or step St13 of the warehouse simulation flow, as described above. For convenience, in the following description, the movement route determination unit 3 will be assumed to be the entity that executes the process.

[0078] In Figure 9, 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 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 9. In addition to congestion levels, the travel time factor information may also include information about the moving object or information PI about the pathways between each node.

[0079] 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.

[0080] 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.

[0081] The movement path determination unit 3 selects a movement path for the moving object from among the movement path candidates based on the predicted movement time calculated in step St25 (St26). The movement path determination unit 3 may select the movement path candidate with the shortest predicted movement time as the movement path.

[0082] Furthermore, once the route determination unit 3 selects a route, it updates the current congestion level for each node based on the selected route (St27). The route determination unit 3 updates the congestion level by adding a predetermined value to the congestion levels of the nodes included in the route determined in step St26, and by subtracting a predetermined value from the congestion levels 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.

[0083] (Congestion level update flow after route determination process) Next, with reference to Figure 10, the process by which the computer 100 in each embodiment performs congestion level update processing after route determination processing will be described. Figure 10 is a flowchart showing in chronological order an example of the operation procedure for updating congestion level by the computer 100 in each embodiment. The series of processes shown in Figure 10 are executed after the route determination processing is performed by the travel route determination unit 3 or travel route determination unit 16 functionally present in the processor 10 of the computer 100. For convenience, in the following description, it will be assumed that the entity executing the process is the travel route determination unit 3.

[0084] In Figure 10, the movement path determination unit 3 executes the path determination process described above by referring to Figure 9 (St31). In other words, the path determination process in step St31 corresponds to the series of processes in steps St21 to St27. Once the execution of the path determination process is complete, the movement path determination unit 3 starts a timer for a predetermined time (St32).

[0085] When the timer starts, the movement path determination unit 3 determines whether or not it has received a path determination request from the simulation execution unit 2 (St33). If the movement path determination unit 3 has received a path determination request (St33, YES), the process of the movement path determination unit 3 returns to step St31. On the other hand, if the movement path determination unit 3 has not received a path determination request (St33, NO), it determines whether or not the timer has timed out, in other words, whether or not a predetermined amount of time has elapsed since the last path determination process (St34). If the predetermined amount of time has not elapsed (St34, NO), the process of the movement path determination unit 3 returns to step St33.

[0086] On the other hand, if a predetermined time has elapsed (St34, YES), the route determination unit 3 updates the current congestion level for each node because it has not received a new route determination request within the given time (St35). The route determination unit 3 may update the congestion level by subtracting a predetermined value from the current congestion level of each node. Once the congestion level is updated, the route determination unit 3's process of updating the congestion level after route determination is completed.

[0087] 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.

[0088] In each of the embodiments described above, it is assumed that route determination processing is performed when assigning a route to a moving object, but it is not necessary to perform the route determination processing in the order in which each moving object starts moving. For example, even if moving object A starts moving before moving object B, the route determination processing for moving object B may be performed before the route determination processing for moving object A, and a route may be assigned to moving object B preferentially. This allows, for example, if the items that moving object B is picking have a high priority, a route will be assigned to it preferentially over that of moving object A, allowing it to reach the high-priority items in the shortest time. Also, for example, if the movement speed or rotation speed of moving object B is slower than that of moving object A, a relatively short distance route can be assigned to moving object B, which requires a longer travel time, before that of moving object A. This can improve the overall movement efficiency of the moving objects in the warehouse. In this way, by changing the order in which the route determination processing is performed, the overall work efficiency of the warehouse can be improved.

[0089] The above description of embodiments discloses the technical concepts described in the following items.

[0090] (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 object located in a warehouse, which is performed by a computer (100), The first position (S) and the second position (G) of the moving body are obtained. One or more candidate travel paths (path 1, path 2) are selected to reach the second position from the first position by passing through some of the multiple nodes (ND1 to ND5) installed in the warehouse. 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. Based on the calculation result of the predicted travel time, the travel path of the moving body is determined from among the one or more candidate travel paths. The congestion level of each node is updated based on the determined travel path. 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 total travel time of objects throughout the warehouse.

[0091] (Item 2) In the method for determining the travel path described in item 1, The aforementioned congestion level is, If the determined travel path includes the node corresponding to the congestion level, a predetermined value is added and updated. If the determined travel route does not include the node corresponding to the congestion level, a predetermined value is subtracted and updated. The congestion level of each node is updated based on the determined travel path. 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 total travel time of objects throughout the warehouse.

[0092] (Item 3) In the method for determining the travel path described in item 1 or 2, The aforementioned predicted movement time is This is calculated based on the sum of the congestion levels of at least one of the plurality of nodes included in the candidate travel path. This allows movement paths to be determined based on congestion levels, which indicate the expected congestion at each node. Therefore, it is possible to assign the shortest possible route for multiple moving objects within the warehouse, thereby reducing the overall movement time of objects within the warehouse.

[0093] (Item 4) In the method for determining the travel path described in item 3, The aforementioned travel time factor information is, This includes information regarding the pathways between the nodes (PI) and information regarding the moving body, The aforementioned predicted travel time is further, The calculation is based on the travel time between the nodes included in the candidate travel path calculated based on information about the passage between the nodes, and the rotation time of the moving body in the direction of movement on the nodes included in the candidate travel path calculated based on information about the moving body. In this way, the travel path is determined based on the congestion level, which indicates the expected congestion at each node, information about the pathways between nodes, and information about the moving objects. This allows for highly accurate calculation of the predicted travel time, enabling the assignment of the shortest possible route for multiple moving objects within the warehouse, thereby reducing the overall travel time of objects within the warehouse.

[0094] (Item 5) In the method for determining the travel route described in any one of items 1 to 4, The congestion level of each node is updated by subtracting a predetermined value from its current value if no new route determination request is received within a predetermined time after the determination of the travel route. In this way, if the route determination process is not executed for a predetermined time, the congestion level, which indicates the expected congestion at each node, is updated to show congestion easing. This allows for highly accurate calculation of travel prediction times, enabling the assignment of the shortest possible route for multiple moving objects within the warehouse, thereby reducing the overall travel time of objects within the warehouse.

[0095] (Item 6) The program related to this disclosure is A program that causes a computer (100) to determine the movement path of at least one mobile object to be placed in a warehouse, The first position (S) and the second position (G) 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, This involves obtaining 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. Based on the calculation result of the predicted movement time, the system determines the movement path of the moving body from among the one or more candidate movement paths, and then performs the following: The congestion level of each node is updated based on the determined travel path. 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 total travel time of objects throughout the warehouse.

[0096] 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]

[0097] 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]

[0098] 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 ND1, ND2, ND3, ND4, ND5 nodes S Starting point G End point Information regarding pathways between PI nodes TB#1, TB#2, TB#2′, TB#3, TB#4, TB#5 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. Based on the calculation result of the predicted travel time, the travel path of the moving body is determined from among the one or more candidate travel paths. The congestion level of each node is updated based on the determined travel path. The predicted travel time is calculated based on the total congestion level of at least one of the plurality of nodes included in the candidate travel path. Method for determining travel routes.

2. The aforementioned congestion level is, If the determined travel path includes the node corresponding to the congestion level, a predetermined value is added and updated. If the determined travel route does not include the node corresponding to the congestion level, a predetermined value is subtracted and updated. The method for determining a travel path according to claim 1.

3. A method for determining the movement path of at least one mobile body located in 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. Information on factors affecting travel time, 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. Based on the calculation result of the predicted travel time, the travel path of the moving body is determined from among the one or more candidate travel paths. The congestion level of each node is updated by subtracting a predetermined value from its current value if no new route determination request is received within a predetermined time after the route determination. Method for determining travel routes.

4. The aforementioned travel time factor information is, This includes information regarding the passage between the nodes and information regarding the moving body, The aforementioned predicted travel time is further, The calculation is based on the travel time between the nodes included in the candidate travel path calculated based on information about the passage between the nodes, and the rotation time of the moving body in the direction of movement on the nodes included in the candidate travel path calculated based on information about the moving body. Claim 1: A method for determining a travel path.

5. 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. Based on the calculation result of the predicted movement time, the system will determine the movement path of the moving body from among the one or more candidate movement paths, and perform the following actions: The congestion level of each node is updated based on the determined travel path. The predicted travel time is calculated based on the total congestion level of at least one of the plurality of nodes included in the candidate travel path. program.

6. A computer, a program for determining the movement path of at least one mobile body located in 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. Based on the calculation result of the predicted movement time, the system will determine the movement path of the moving body from among the one or more candidate movement paths, and perform the following actions: The congestion level of each node is updated by subtracting a predetermined value from its current value if no new route determination request is received within a predetermined time after the route determination. program.

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