Bin sorting method, bin sorting device, and program

Abstract

This bin sorting method comprises receiving an instruction for a picking operation for storing an article stored in a first storage bin or a second storage bin having a size smaller than that of the first storage bin in a delivery bin, determining the number of storage bins of the object article of the picking operation on the basis of the instruction, and distributing the storage bin to one or a plurality of picking robots from among a plurality of first picking robots and a plurality of second picking robots on the basis of the determination result and the type of the storage bin for storing the object article.

Description

Bottle sorting method, bottle sorting device, and program

[0001] The present disclosure relates to a bin sorting method, a bin sorting device, and a program.

[0002] Patent Literature 1 discloses an information processing method for allocating picking tasks to picking means. The information processing method calculates the processing capacity for processing the picking task for each picking means. The information processing method then allocates the picking task to each picking means based on the calculated processing capacity. Items to be picked are stored on a shelf and transported to the picking means, which then places the items on a tray.

[0003] Japanese Patent Application Laid-Open No. 2022-183002

[0004] In warehouse operations, picking work may be performed to transfer an item from a storage unit (hereinafter referred to as a "storage bin") where an item is stored to a storage unit (hereinafter referred to as an "output bin") that stores one or more items to be output. For example, a situation may be considered in which items are transferred from multiple storage bins to a single output bin for a single order. In such a situation, for example, if a picking robot were to transfer an item from each of the multiple storage bins in turn to a single output bin, it would take a long time until the transfer of items from all of the storage bins to the output bins was completed, which may be inefficient in warehouse operations.

[0005] The present disclosure has been devised in view of the above-described conventional situation, and aims to appropriately allocate bins.

[0006] The present disclosure provides a bin allocation method that receives an instruction for a picking operation to store items stored in a first storage bin or a second storage bin that is smaller in size than the first storage bin into an outgoing bin, determines the number of storage bins for the items targeted for the picking operation based on the instruction, and allocates the storage bins to one or more of a plurality of first picking robots and a plurality of second picking robots based on the determination result and the type of storage bin storing the target items.

[0007] The present disclosure also provides a bin allocation device that includes a processor and a memory, and in which the processor and the memory work together to receive picking instructions for storing items stored in a first storage bin or a second storage bin that is smaller in size than the first storage bin into an outgoing bin, determine the number of storage bins for the items that are the target of the picking operation based on the instructions, and allocate the storage bins to one or more of a plurality of first picking robots and a plurality of second picking robots based on the determination result and the type of storage bin that stores the target items.

[0008] The present disclosure also provides a program for causing a computing device to receive instructions for a picking operation to store items stored in a first storage bin or a second storage bin smaller in size than the first storage bin into an outgoing bin, determining the number of storage bins for the items targeted for the picking operation based on the instructions, and allocating the storage bins to one or more of a plurality of first picking robots and a plurality of second picking robots based on the determination result and the type of storage bin storing the target items.

[0009] Any combination of the above components, and conversion of the expression of the present disclosure into a method, device, system, storage medium, computer program, etc., are also valid aspects of the present disclosure.

[0010] According to the present disclosure, bins can be appropriately sorted.

[0011] Schematic diagram for explaining the operation of a robot by the warehouse system according to the embodiment 1. Schematic diagram for explaining the operation of a robot by the warehouse system according to the embodiment 1. Schematic diagram for explaining an example of storage bin allocation according to the embodiment 1. Flowchart showing the overall processing of robot operation according to the embodiment 1. Flowchart showing robot selection processing according to the embodiment 1. Flowchart showing bin allocation processing according to the embodiment 1. Flowchart showing bin allocation processing according to the embodiment 1.

[0012] Hereinafter, with reference to the accompanying drawings, detailed embodiments of the present disclosure will be described in detail, specifically illustrating a bin sorting method, a bin sorting device, and a program. However, unnecessary detailed descriptions may be omitted. For example, detailed descriptions of well-known matters and redundant descriptions of substantially identical configurations may be omitted. This is to avoid unnecessary redundancy in the following description and to facilitate understanding by those skilled in the art. Note that the accompanying drawings and the following description are provided to enable those skilled in the art to fully understand the present disclosure, and are not intended to limit the subject matter recited in the claims.

[0013] <First Embodiment> [System Configuration] Fig. 1 is a block diagram showing an overall overview of a warehouse system 1 according to the first embodiment. Note that the system configuration shown in Fig. 1 is an example, and one system may be divided into multiple systems, or multiple systems may be integrated into one system. Also, multiple systems or devices may be provided, one of which is shown in Fig. 1. Furthermore, the processing entities shown below are an example, and some of the functions of one system may be implemented as functions of another system.

[0014] The warehouse system 1 includes a warehouse management system 100, a warehouse operations management system 200, a warehouse control system 300, a warehouse control system 400, a warehouse control system 500, a robot 600, an automated warehouse 700, an automated guided vehicle 800, and an operation terminal 900. Each component of the warehouse system 1 is configured to be able to communicate with each other via a network. The warehouse management system 100 is a system that manages and controls logistics within a warehouse and is positioned at the highest level in the example configuration shown in FIG. 1 . The warehouse management system 100 manages, for example, inventory management of goods within a warehouse, and the entry and exit (e.g., arrival and shipment) and movement of goods. In this specification, "goods" includes merchandise and parcels, and these terms may be interpreted interchangeably. The warehouse management system may also be referred to as a warehouse management system (hereinafter referred to as "WMS"), etc. The warehouse management system 100 may be configured to be able to communicate with external systems not shown in FIG. 1, and may acquire and manage instructions related to the inbound and outbound shipment of goods, product information, information about warehouse equipment such as robots, information about workers, etc.

[0015] The warehouse operations management system 200 is a system that manages and controls work within a warehouse, and in the example configuration shown in FIG. 1 , is positioned at the warehouse management system 100. The warehouse operations management system may also be referred to as a Warehouse Execution System (hereinafter referred to as "WES"), etc. The warehouse operations management system 200 comprehensively controls, for example, the work content of various work entities within the warehouse and the equipment within the warehouse. Hereinafter, the warehouse operations management system may also be referred to as a computing device, a robot selection device, or a bin allocation device.

[0016] The warehouse control systems 300, 400, and 500 manage and control various pieces of equipment in a warehouse. The warehouse control system may also be referred to as a Warehouse Control System (hereinafter referred to as "WCS"). In the configuration example shown in FIG. 1 , the warehouse control systems 300, 400, and 500 manage and control a robot 600, an automated warehouse 700, and an automated guided vehicle 800, respectively. The robot 600 is equipped with, for example, a direct mechanism or a multi-axis arm and is configured to be able to hold products at its tip. The configuration of the tip of the robot 600 may be, for example, a suction type or a multi-fingered hand grip type, and is not particularly limited. Multiple types of robots 600 may be installed in a warehouse to accommodate picking operations for various products. In the picking operation, the robot 600 transfers the item from a storage unit where an item is stored (hereinafter referred to as a "storage bin") to a storage unit that stores one or more items to be shipped (hereinafter referred to as an "output bin"). In addition, a camera may be installed around the robot 600 to capture images of the surrounding area, particularly images of the bins placed in the vicinity.

[0017] The automated warehouse 700 is configured to accommodate multiple bins, and transports the bins using an automated guided vehicle 800 as required. Note that the method of transporting the bins is not limited to using the automated guided vehicle 800. For example, the bins may be transported using a belt conveyor or the like. The automated warehouse 700 is configured, for example, with a lattice frame so that multiple bins can be accommodated. Examples of bins stored in the automated warehouse 700 include storage bins for storing items. The storage bins may also include empty bins that do not contain any items, or bins for which no items have been determined to be stored. Note that the bins used in the automated warehouse 700 also include output bins for consolidating products before shipping. The shapes and dimensions of the storage bins and output bins may vary, but they are configured to be transportable by the automated guided vehicle 800 and will be described here as being rectangular boxes. Details will be described later with reference to FIG. 4 . In this embodiment, the storage bins include two types: shallow storage bins and deep storage bins.

[0018] Automated guided vehicle 800 is a vehicle for transporting bins to a predetermined location, and automatically moves or waits based on instructions. Automated guided vehicle 800 may be configured to detachably mount bins on its top, or may be configured to transport bins by pushing or pulling them. Automated guided vehicle 800 is configured to include, for example, a traveling unit for performing operations related to movement, sensors for acquiring peripheral information, a communication unit for transmitting and receiving data to and from warehouse control system 300, etc.

[0019] The operation terminal 900 is an information processing device configured to be usable by workers both inside and outside the warehouse. The operation terminal 900 may be, for example, a stationary information processing device such as a personal computer (hereinafter referred to as a "PC"), or may be a mobile terminal such as a tablet terminal, a point-of-sales (hereinafter referred to as a "POS") terminal, a handheld terminal, or a smartphone. The operation terminal 900 transmits and receives data to and from the warehouse management system 100, warehouse operations management system 200, warehouse control system 300, warehouse control system 400, warehouse control system 500, etc., and is used to receive notifications from each system and to configure or operate each system.

[0020] (Hardware Configuration Example) Each system shown in FIG. 1 may be configured as an on-premise server device at a base where a warehouse is located, or may be configured as a cloud-based system on a network. FIG. 2 is a block diagram showing an example of the hardware configuration of an information processing device 10 according to the first embodiment. The information processing device 10 is applicable as a device constituting each system. Here, the devices constituting each system are described as having the same configuration, but some components may be omitted or other components may be added depending on the functions provided. An example of a component that may be added is a barcode reader used to acquire information from barcodes attached to items or bins in a warehouse.

[0021] The information processing device 10 includes a processing device 11, a storage device 12, a communication device 13, an input device 14, an image acquisition unit 15, an external interface 16, and a display device 17. Each component is configured to be able to communicate with each other via an internal interface 18.

[0022] The processing device 11 may be configured using, for example, a central processing unit (hereinafter referred to as "CPU"), a graphic processing unit (hereinafter referred to as "GPU"), a micro processing unit (hereinafter referred to as "MPU"), a digital signal processor (hereinafter referred to as "DSP"), or a field programmable gate array (hereinafter referred to as "FPGA"). The processing device 11 realizes various functions described below, for example, by referencing various databases stored in the storage device 12 or reading programs. Hereinafter, the processing device may also be referred to as a processor.

[0023] The storage device 12 is a storage unit for storing various data, programs, etc. The storage device 12 may be configured from a volatile / non-volatile storage device such as a Random Access Memory (hereinafter referred to as "RAM"), a Read Only Memory (hereinafter referred to as "ROM"), or a Hard Disk Drive (hereinafter referred to as "HDD"). Hereinafter, the storage device may be referred to as a memory.

[0024] The communication device 13 is an interface for communicating with external devices via the network 35. There are no particular limitations on the communication standard that the communication device 13 can support, and the communication device 13 may support either a wired or wireless communication standard. The communication device 13 may also be capable of supporting multiple communication standards. Therefore, the network 35 may be configured by combining networks based on multiple communication standards.

[0025] The input device 14 receives operations and instructions from users of the warehouse (for example, managers and workers). The input device 14 may be configured with a mouse, a keyboard, a touch panel display, etc.

[0026] The image acquisition unit 15 is an interface for acquiring images of the inside of the warehouse from cameras 30 installed in the warehouse.

[0027] The external interface 16 is an interface for communicating with an external system 20. The external system 20 may be communicably connected via the communication device 13 and a network 35. The external system 20 is not limited to the systems shown in FIG. 1 , and may be another system.

[0028] The display device 17 displays various user interfaces to the user and may be configured with a liquid crystal display, a touch panel display, a lamp, or the like.

[0029] 3 is a schematic diagram showing an example of the configuration inside a warehouse according to embodiment 1. An automated warehouse 700 and one or more robots 600 are installed inside the warehouse. Also, a plurality of automated guided vehicles 800 that transport bottles are arranged in a drivable manner inside the warehouse.

[0030] A work area 830 is configured around the automated warehouse 700 for workers 850 as the main operators of the picking work. A work area 840 is also provided for robots 600 as the main operators of the picking work. In this embodiment, bins related to the picking work (e.g., storage bins 810 and output bins 820) are allocated to each operator so that the picking work by each operator can be performed more efficiently. Hereinafter, the area where the picking work is performed by the operators may be referred to as a picking station.

[0031] While the example in FIG. 3 shows an example in which one area for the human worker 850 and one area for the robot 600 are provided, this is not limiting. Multiple areas of each type may be provided. Alternatively, only one area for the human worker or one area for the robot may be provided. While the example shows a robot 600 equipped with a multi-axis arm, a robot equipped with a direct mechanism may also be provided. Details will be described later with reference to FIG. 4, in this embodiment, the robot 600 includes both small and large robots. A robot that performs picking operations may also be referred to as a picking robot.

[0032] [Types of Robots and Storage Bins] FIG. 4 is a schematic diagram illustrating the robot 600 and storage bins according to the first embodiment. FIG. 4 illustrates a small robot SR and a large robot LR. The distances of the storage bins and delivery bins assigned to each robot during picking operations from the assigned robot may be arbitrarily defined in advance. For example, as shown in FIG. 4, if a shallow storage bin SB1 is assigned to the small robot SR1 for picking operations, the distance between the shallow storage bin SB1 and the small robot SR1 may be defined as L1. Furthermore, if a deep storage bin DB1 is assigned to the large robot LR1 for picking operations, the distance between the deep storage bin DB1 and the large robot LR1 may be defined as L4. The height H1 of the shallow storage bin SB1 is smaller than the height H2 of the deep storage bin DB1. Simply put, the shallow storage bin SB1 is shallower than the deep storage bin DB1. In other words, the distance from the opening to the bottom of the deep storage bin DB1 is greater than the distance from the opening to the bottom of the shallow storage bin SB1.

[0033] The small robot SR is equipped with a gripping means capable of gripping a target item at the bottom of a shallow storage bin SB1 during picking operations. The target item is the item to be picked. An example of the gripping means is the hand provided on the small robot SR and the large robot LR, as shown in FIG. 4. However, during picking operations, the gripping means provided on the small robot SR cannot grip a target item at the bottom of a deep storage bin DB1. Therefore, while the small robot SR can pick items stored in the shallow storage bin SB1, it may not be able to pick items stored in the deep storage bin DB1.

[0034] The large robot LR is equipped with a gripping means capable of gripping target items at the bottom of the deep storage bin DB1 during picking operations. Because the shallow storage bin SB1 is shallower than the deep storage bin DB1, the gripping means equipped to the large robot LR can also grip target items at the bottom of the shallow storage bin SB1. Therefore, the large robot LR can pick up both items stored in the shallow storage bin SB1 and items stored in the deep storage bin DB1. In the first embodiment, the types of storage bins are classified by the difference in height (shallow, deep), but this is not limiting and the storage bins may also be classified by size, including differences in width and depth.

[0035] For ease of explanation, the robot 600 will be referred to as one of two types: a small robot (e.g., a small robot SR) and a large robot (e.g., a large robot LR). Furthermore, when referring to small robots and large robots collectively without distinguishing between them, they may be simply referred to as robots. The heights of the storage bins installed in the warehouse may be different, but whether the storage bins are shallow or deep may be determined based on, for example, the height of the storage bins and the lengths of each part of the robot. The lengths of each part of the robot are, for example, the length L2 of the hand of the small robot SR, the length L3 of the arm to which the hand is attached, and the length L6 of the arm to which the hand is attached, as shown in FIG. 4 , of the large robot LR.

[0036] In this embodiment, the robot 600 is a portable robot. The small robot SR is equipped with, for example, casters C1 and C2 as a means of transportation. The large robot LR is equipped with, for example, casters C3 and C4 as a means of transportation. Note that although only two casters are shown on each of the small robot SR and the large robot LR in FIG. 4, the small robot SR and the large robot LR may each be equipped with four casters. The small robot SR and the large robot LR may each be easily movable manually, or may be movable automatically.

[0037] Furthermore, a storage bin may store one type of item or multiple types of items, and an outgoing bin may store one type of item or multiple types of items depending on the picking operation.

[0038] Hereinafter, the large robot may be referred to as the first picking robot, and the small robot may be referred to as the second picking robot. Also, hereinafter, the deep storage bin may be referred to as the first storage bin, and the shallow storage bin may be referred to as the second storage bin.

[0039] [Robot Operation Information] FIG. 5 is a table diagram showing operation information for the robot 600 according to embodiment 1. The operation information includes at least the operation rate of the robot over a predetermined period and the percentage of each type of storage bin that the robot handled during picking operations during that period. In the example of FIG. 5 , for example, the operation rate of the small robots SR1 and SR2 over that period is 90%. This indicates that the small robots SR1 and SR2 performed picking operations for 90% of their working hours during that period. Also, in the example of FIG. 5 , each of the small robots SR1 and SR2 handled shallow storage bins in all picking operations performed during that period. In other words, the percentage of each type of storage bin that the small robots SR1 and SR2 handled during picking operations during that period is 100% shallow storage bins and 0% deep storage bins. Conversely, each of the large robots LR1 and LR2 processed deep storage bins in all picking operations performed during a specified period. In other words, the proportion of storage bin types processed in picking operations by each of the large robots LR1 and LR2 during that specified period was shallow storage bins at 0% and deep storage bins at 100%. When a robot processes a storage bin, it means that the robot transfers items stored in that storage bin to an outgoing bin. Simply put, when a robot processes a storage bin, it means that the robot performs a picking operation using that storage bin.

[0040] The criteria for determining whether an operation rate is high or low may be arbitrarily defined in advance by a worker, a manager, etc. For example, in the example of Fig. 5, the operation rates of the small robot SR1, the small robot SR2, the large robot LR1, and the large robot LR2 may each be determined to be high. This determination may be made, for example, by the warehouse operations management system 200.

[0041] In the example of Figure 5, during picking work, large robots handle deep storage bins 100% of the time, and small robots handle shallow storage bins 100% of the time. Assuming that each robot has a high operating rate, the number of small robots and large robots performing picking work is considered appropriate. This is because large robots can handle both deep and shallow storage bins, but small robots may not be able to handle deep storage bins. Examples of cases where the appropriate number of small robots and large robots are not being used and how to deal with this will be described later with reference to Figures 6 and 7.

[0042] [Robot Selection and Bin Allocation] FIGS. 6 and 7 are schematic diagrams for explaining the execution of a picking operation by the warehouse system 1 according to the first embodiment.

[0043] The various functions of the picking robot operation control unit 201 of the warehouse operations management system 200 are realized by cooperation between a processing device (e.g., processing device 11) and a storage device (e.g., storage device 12) provided in the warehouse operations management system 200. The picking robot operation control unit 201 uses various information contained in a robot database 202 and an order database 203 to realize the respective functions of a robot selection unit 204, a robot initial setting unit 205, a picking instruction receiving unit 206, a bin allocation unit 207, and a picking operation instruction unit 208. The robot database 202 and the order database 203 may be stored in the storage device of the warehouse operations management system 200, for example.

[0044] The robot selection unit 204 determines the number of large robots and small robots to be used for picking work in the warehouse based on the robot information 209 stored in the robot database 202 and the operation information 210 stored in the order database 203.

[0045] The robot information 209 includes a list of at least two types of picking robots deployed in the warehouse. Simply put, the robot information 209 includes a list of robots owned by the warehouse. In the example of FIG. 6 , small robot SR1, small robot SR2, small robot SR3, small robot SR4, large robot LR1, and large robot LR2 are deployed in the warehouse.

[0046] As described with reference to FIG. 5 , the operation information 210 includes at least the operation rate of the robots during a predetermined period and the proportion of each type of storage bin handled by the robots during picking operations during that period. In the example of FIG. 6 , the operation rates of the small robot SR1, the small robot SR2, the large robot LR1, and the large robot LR2 during that period are 90%, 90%, 70%, and 60%, respectively. The small robots SR3 and SR4 are not operating during that period. Furthermore, during picking operations during that period, the small robots SR1 and SR2 only handle shallow storage bins. Furthermore, during picking operations during that period, the large robots LR1 and LR2 handle shallow storage bins and deep storage bins in equal proportions.

[0047] The operation information 210 reveals that the type and number of robots were not appropriately selected. It is assumed that small robots are less expensive to introduce and operate than large robots. Therefore, while large robots can process both deep and shallow storage bins, small robots may not be able to process deep storage bins. Therefore, the idea is to have the large robot focus on processing deep storage bins and leave shallow storage bin processing to the small robots. However, in the example of operation information 210 shown in FIG. 6 , the large robots LR1 and LR2 are processing shallow storage bins. This is because the shallow storage bins that the small robots SR1 and SR2 cannot process are assigned to the large robots LR1 and LR2. In this case, for example, by operating one of the small robots SR3 and SR4 instead of one of the large robots LR1 and LR2, the small robot can be tasked with processing shallow storage bins, allowing the large robot to focus on processing deep storage bins, while also achieving cost reduction.

[0048] The robot selection unit 204 determines the number of large robots and small robots to be used for picking work in the warehouse. In other words, the robot selection unit 204 selects robots to be used for picking work from the robots in stock. The robot selection process by the robot selection unit 204 will be described later with reference to FIG. 10 . The robot selection result 211 by the robot selection unit 204 indicates whether each of the robots in stock will be used for picking work. In the example of FIG. 6 , of the robots in stock, small robot SR1, small robot SR2, small robot SR3, and large robot LR1 are used, while small robot SR4 and large robot LR2 are not used.

[0049] Based on the robot selection result 211, the robot initial setting unit 205 stops the control of robots that are not in use and adjusts the positions of the robots that are in use in the picking station.

[0050] The picking instruction receiving unit 206 receives picking instructions from the picking instruction unit 101 of the warehouse management system 100. The functions of the picking instruction unit 101 of the warehouse management system 100 are realized by cooperation between a processing device (e.g., processing device 11) and a storage device (e.g., storage device 12) provided in the warehouse management system 100. For example, when the picking instruction unit 101 of the warehouse management system 100 receives an instruction related to the inbound or outbound shipment of an item from an external device or the operation terminal 900, it transmits a picking instruction to the warehouse operations management system 200.

[0051] The picking instruction receiving unit 206 transmits a picking instruction 212 to the bin allocating unit 207. In the example of FIG. 6 , the picking instruction 212 instructs picking work for an order with an order ID of 01 for identifying each order. The order calls for three items with an item ID of 33 and an item name of X, and one item with an item ID of 45 and an item name of Y, for identifying each item. Furthermore, both the item with the item ID of 33 and the item with the item ID of 45 are stored in shallow storage bins. In the example of FIG. 6 , two storage bins are processed by a robot in the picking work for the order. In the picking work for the order, each item is transferred from the two storage bins to one output bin. In this case, for example, if one robot transfers items from each of the two storage bins to the output bin in turn, it may take a long time to finish transferring the items from the two storage bins to the output bin. Therefore, in order to efficiently complete the picking work, the bin allocating unit 207 allocates the two storage bins to multiple robots selected by the robot selecting unit 204 .

[0052] The bin allocation process by the bin allocation unit 207 will be described later with reference to Figures 11 and 12. The bin allocation result 213 by the bin allocation unit 207 indicates the order ID, the location of the storage bin that stores the product to be picked for the order related to that order ID, and the location of the output bin to which the product will be transferred. In the example of Figure 6, the storage bin that stores the product with product ID 33 is placed at position [3] (see Figure 7). The storage bin that stores the product with product ID 45 is placed at position [5] (see Figure 7). The output bin to which these products will be transferred is placed at position [4] (see Figure 7).

[0053] The picking operation instruction unit 208 transmits a bin movement instruction to the automated guided vehicle 800 based on the bin allocation result 213 by the bin allocation unit 207, and transmits picking operation instructions to each robot selected by the robot selection unit 204. These instructions may be transmitted via the warehouse control system 300 or the like.

[0054] Specific instructions will be explained with reference to Figure 7. The picking operation instruction unit 208 instructs the automated guided vehicle 800 to move shallow storage bin SB4, which stores the product with product ID 33, to position [3]. Position [3] is a position where the small robot SR2 can process the shallow storage bin placed therein. In other words, shallow storage bin SB4 is assigned to the small robot SR2.

[0055] The picking operation instruction unit 208 also instructs the automated guided vehicle 800 to move shallow storage bin SB5, which stores the product with product ID 45, to position [5]. Position [5] is a position where the small robot SR3 can process the shallow storage bin placed therein. In other words, shallow storage bin SB5 is assigned to the small robot SR3.

[0056] The picking operation instruction unit 208 also instructs the automated guided vehicle 800 to move the outgoing bin OB1 to position [4]. Position [4] is a position where each of the small robots SR2 and SR3 can store the items they have grasped in the outgoing bins located at that position.

[0057] In addition, the picking operation instruction unit 208 instructs the small robot SR2 to pick the product (i.e., the product with product ID 33) by transferring it from position [3] (i.e., shallow storage bin SB4) to position [4] (i.e., output bin OB1).

[0058] In addition, the picking operation instruction unit 208 instructs the small robot SR3 to pick the product (i.e., the product with product ID 45) by transferring it from position [5] (i.e., shallow storage bin SB5) to position [4] (i.e., output bin OB1).

[0059] This allows the small robots SR2 and SR3 to process shallow storage bins SB4 and SB5, respectively, compared to when the small robot SR2 processes shallow storage bins SB4 and SB5 in sequence, thereby reducing the time required for picking work related to an order with order ID 01.

[0060] In the example of FIG. 7 , a shallow storage bin SB2 is placed at position [1], and a shallow storage bin SB3 is placed at position [2]. Positions [1] and [2] are positions where the small robot SR1 can process the shallow storage bins placed there. In other words, the shallow storage bins SB2 and SB3 are assigned to the small robot SR1. Also, in the example of FIG. 7 , a deep storage bin DB2 is placed at position [6], and an output bin OB2 is placed at position [7]. Position [6] is a position where the large robot LR1 can process the deep storage bin placed there. In other words, the deep storage bin DB2 is assigned to the large robot LR1. Position [7] is a position where the large robot LR1 can store an item it has grasped into the output bin placed there.

[0061] 7, the small robot SR4 and the large robot LR2 are not used. The small robot SR4 and the large robot LR2 may be used for other purposes, for example. Furthermore, if the robots are being used under lease agreements, the worker or manager may cancel the lease agreements for the small robot SR4 and the large robot LR2.

[0062] Next, an example of storage bin allocation will be described with reference to Fig. 8. Fig. 8 is a schematic diagram for explaining an example of storage bin allocation according to embodiment 1. For convenience of explanation, Fig. 8 shows an example in which two robots are arranged at one picking station, but this is to simply show that one robot is arranged at each of two adjacent picking stations.

[0063] First, we will explain the case where there is one storage bin to be sorted. In this case, the storage bin is sorted to either a small robot or a large robot depending on the type of storage bin, i.e., whether the storage bin is a shallow storage bin or a deep storage bin.

[0064] For example, at picking station 860, a small robot SR5 performs a picking operation of transferring an item from a shallow storage bin SB6 to an outgoing bin OB3. Also, at picking station 861, a large robot LR3 performs a picking operation of transferring an item from a deep storage bin DB3 to an outgoing bin OB4.

[0065] Next, we will explain the case where there are two storage bins to be sorted. In this case, the two storage bins are each sorted to a small robot or a large robot depending on the type of the two storage bins. However, it is assumed that the two robots to which the two storage bins are sorted are adjacent to each other and are not operating for different picking tasks.

[0066] For example, at picking station 862, small robot SR6 performs a picking operation of transferring an item from shallow storage bin SB7 to output bin OB5. Also, small robot SR7 adjacent to small robot SR6 performs a picking operation of transferring an item from shallow storage bin SB8 to output bin OB5.

[0067] Also, for example, in picking station 863, large robot LR4 performs picking work of transferring an item from deep storage bin DB4 to output bin OB6. Also, small robot SR8 adjacent to large robot LR4 performs picking work of transferring an item from shallow storage bin SB9 to output bin OB6.

[0068] Also, for example, in picking station 864, large robot LR5 performs picking work of transferring an item from deep storage bin DB5 to output bin OB7. Also, large robot LR6 adjacent to large robot LR5 performs picking work of transferring an item from deep storage bin DB6 to output bin OB7.

[0069] Next, a case where there are three or four storage bins to be sorted will be described. In this case, these storage bins are sorted to the large robot.

[0070] For example, in picking station 865, large robot LR7 performs picking work by transferring items from shallow storage bin SB10, deep storage bin DB8, deep storage bin DB7, and shallow storage bin SB11 to outgoing bin OB8 in that order. In this case, shallow storage bin SB10 and deep storage bin DB7 are located farther away from large robot LR7 than deep storage bin DB8 and shallow storage bin SB11. For example, if large robot LR7 is replaced with a small robot, the small robot may be able to process shallow storage bin SB11 but may not be able to process shallow storage bin SB10. This is because the gripping means of the small robot is limited, for example, by the dimensions of each part of the small robot (e.g., hand length L2 shown in FIG. 4 ). Therefore, even if the small robot can grasp an item stored in shallow storage bin SB11, it may not be able to reach an item stored in shallow storage bin SB10. If a small robot attempts to process a storage bin that is located in an unprocessable position, such as shallow storage bin SB10, it may be necessary to change the position of the storage bin, which may take time. Therefore, if there are three or four storage bins to be sorted, those storage bins are sorted to a large robot. Hereinafter, the storage bins to be sorted may be referred to as the storage bins for the target items.

[0071] [Processing Flow] The processing flow when a picking operation is performed in a warehouse according to this embodiment will be described below with reference to FIGS. 9, 10, 11 and 12. FIG.

[0072] (Overall Processing) Fig. 9 is a flowchart showing the overall processing when a picking operation is performed according to the first embodiment. "A" in Fig. 9 corresponds to "A" in Fig. 11. In this example, the processing is performed by the warehouse operations management system 200, but some functions may be performed by other systems.

[0073] The warehouse operations management system 200 selects a robot to be used for picking work in the warehouse (step S1000). Details of this process will be described later with reference to Figure 10. After this process is completed, the process of the warehouse operations management system 200 proceeds to step S1100.

[0074] The warehouse operations management system 200 performs initial settings for each robot based on the robot selection results of the processing in step S1000 (step S1100). As a result, the warehouse operations management system 200, for example, stops control of robots that are not in use and adjusts the positions of each robot in the picking station that is in use.

[0075] The warehouse operations management system 200 performs a process for receiving a picking instruction from the warehouse management system 100, which is a higher-level system (step S1200).

[0076] The warehouse operations management system 200 checks whether or not a picking instruction has been issued through the picking instruction reception process in step S1200 (step S1300).

[0077] If there is no picking instruction (step S1300; NO), the warehouse operations management system 200 returns to step S1200 and repeats the process.

[0078] If a picking instruction has been issued (step S1300; YES), the warehouse operations management system 200 executes a bin allocation process (step S1400). Details of this process will be described later with reference to Figures 11 and 12. After this process is completed, the process of the warehouse operations management system 200 proceeds to step S1500.

[0079] When the warehouse operations management system 200 has completed the allocation of bins in the process of step S1400, it instructs the robot selected in the process of step S1000 and to which the bins are allocated to perform picking (step S1500).

[0080] The warehouse operations management system 200 determines whether picking has been completed (step S1600), and if it determines that picking has not been completed (step S1600; NO), repeats the determination.

[0081] When the warehouse operations management system 200 determines that the picking is completed (step S1600; YES), it determines whether or not to end the series of processes for the picking work (step S1700).

[0082] If the warehouse operations management system 200 determines that the series of processes for the picking operation should not be ended (step S1700; NO), it returns to step S1200 and repeats the process.

[0083] If the warehouse operations management system 200 determines that the series of processes for the picking operation is to be ended (step S1700; YES), it ends this processing flow.

[0084] (Robot Selection Process) Fig. 10 is a flowchart showing the robot selection process according to embodiment 1. This process flow corresponds to the process of step S1000 in the flowchart shown in Fig. 9 and is executed by the warehouse operations management system 200.

[0085] The warehouse operations management system 200 acquires robot information (for example, robot information 209) and operation information (for example, operation information 210) from the robot database 202 and the order database 203, respectively (step S1001).

[0086] Based on the robot information and operation information acquired in step S1001, the warehouse operations management system 200 calculates a numerical value M, which is the total percentage of picking operations that processed deep storage bins among the picking operations performed by N (N: an integer greater than or equal to 1) large robots over a specified period (step S1002). For the sake of explanation, it is assumed that the warehouse operations management system 200 acquired the robot information 209 and operation information 210 shown in FIG. 6 in step S1001. The robot information 209 indicates that the warehouse owns four small robots and two large robots. In this case, N is 2. Furthermore, in this case, the warehouse operations management system 200 can calculate the numerical value M using the following formula (1):

[0087]

[0088] The warehouse operations management system 200 calculates a numerical value M' by rounding up the decimal point of the numerical value M calculated in the processing of step S1002 (step S1003). If the numerical value M is 0.65, the numerical value M' is 1. Hereinafter, the numerical value M may be referred to as a first numerical value.

[0089] The warehouse operations management system 200 updates the number of large robots to be used from N to M' (step S1004). As a result, the number of large robots to be used for picking work is determined to be one.

[0090] Based on the robot information 209 and operation information 210 acquired in step S1001, the warehouse operations management system 200 calculates a numerical value Q, which is the total percentage of picking operations that processed shallow storage bins among the picking operations performed by P (P: an integer greater than or equal to 1) small robots and N (in this case, two) large robots during a specified period (step S1005). The robot information 209 indicates that the warehouse has four small robots and two large robots. In this case, P is 4. In this case, the warehouse operations management system 200 can calculate the numerical value Q using the following equation (2):

[0091]

[0092] The warehouse operations management system 200 calculates a numerical value Q' by rounding up the decimal point of the numerical value Q calculated in the processing of step S1005 (step S1006). If the numerical value Q is 2.45, the numerical value Q' is 3. Hereinafter, the numerical value Q may be referred to as a second numerical value.

[0093] The warehouse operations management system 200 updates the number of small robots to be used from P to Q′ (step S1007). As a result, the number of small robots to be used for picking work is determined to be three.

[0094] 6, the warehouse operations management system 200 determines that, of the robots owned by the warehouse, small robots SR1, SR2, and SR3 and large robot LR1 will be used, and that small robot SR4 and large robot LR2 will not be used. It is assumed here that the specifications of each small robot and each large robot are the same. Therefore, for example, if the warehouse operations management system 200 determines that one large robot will be used, it may select the large robot LR2 instead of the large robot LR1.

[0095] (Bin allocation process) Figures 11 and 12 are flowcharts showing the bin allocation process according to embodiment 1. "B" shown in Figure 11 corresponds to "B" shown in Figure 12. The process flows in Figures 11 and 12 correspond to the process of step S1400 in the flowchart shown in Figure 9, and are executed by the warehouse operations management system 200.

[0096] The warehouse operations management system 200 reads the picking instruction received in the processing of step S1200 in FIG. 9 (step S1401).

[0097] The warehouse operations management system 200 determines whether the number of storage bins for the items to be picked is one (step S1402). First, a case where the number of storage bins for the items to be picked is one will be described.

[0098] If the warehouse operations management system 200 determines that the number of storage bins for the items to be picked is one (step S1402; YES), it determines whether the storage bin is a shallow storage bin (step S1403). In other words, the warehouse operations management system 200 determines whether the storage bin is a shallow storage bin or a deep storage bin.

[0099] If the warehouse operations management system 200 determines that the storage bin containing the target item is a shallow storage bin (step S1403; YES), it assigns the shallow storage bin to a small robot (step S1404). As a result, the shallow storage bin is assigned to the small robot by the automated guided vehicle 800. In the bin assignment process, the robot to which the bin is assigned is one of the robots selected in step S1000 of FIG. 9 . Here, for example, the small robot to which the shallow storage bin is assigned in step S1404 may be the small robot SR1 or the small robot SR2. For example, a worker or a manager may specify a priority for assigning bins to each robot. Based on the priority, bins may be preferentially assigned to the small robot SR1, for example.

[0100] After the processing of step S1404, the warehouse operations management system 200 ends this processing flow.

[0101] If the warehouse operations management system 200 determines that the storage bin for the target item is a deep storage bin (step S1403; NO), the warehouse operations management system 200 assigns the deep storage bin to a large robot (step S1405). Then, the warehouse operations management system 200 ends this processing flow.

[0102] Next, a case where the number of storage bins for the items to be picked is not one will be described. When the warehouse operations management system 200 determines that the number of storage bins for the items to be picked is not one (step S1402; NO), it determines whether the number of storage bins for the items to be picked is two (step S1406). First, a case where the number of storage bins for the items to be picked is not two will be described.

[0103] If the warehouse operations management system 200 determines that the number of storage bins for the items to be picked is not two (step S1406; NO), it determines whether the number of storage bins for the items to be picked is three or four (step S1407). In other words, the warehouse operations management system 200 determines whether the number of storage bins for the items to be picked is three or four, or five or more.

[0104] If the warehouse operations management system 200 determines that the number of storage bins for the items to be picked is three or four (step S1407; YES), it assigns the three or four storage bins to the large robot (step S1405). At this time, the three or four storage bins are assigned to the large robot regardless of whether they are shallow or deep storage bins.

[0105] If the warehouse operations management system 200 determines that the number of storage bins for the items to be picked is not three or four, i.e., that the number of storage bins for the items to be picked is five or more (step S1407; NO), it instructs the worker to perform the picking manually (step S1408). This is because, when there are five or more storage bins, having a robot perform the picking may actually take more time and be less efficient. After processing step S1408, the warehouse operations management system 200 proceeds to processing step S1700 shown in FIG. 9.

[0106] Next, a case where the number of storage bins for the items to be picked is two will be described. When the warehouse operations management system 200 determines that the number of storage bins for the items to be picked is two (step S1406; YES), it determines whether the two storage bins are a combination of shallow storage bins (step S1409).

[0107] If the two storage bins are a combination of shallow storage bins (step S1409; YES), the warehouse operations management system 200 assigns the two shallow storage bins to the two small robots (step S1410).The warehouse operations management system 200 then ends this processing flow.

[0108] If the warehouse operation management system 200 determines that the two storage bins storing two types of products are not a combination of shallow storage bins (step S1409; NO), it determines whether the two storage bins are a combination of deep storage bins (step S1411).

[0109] If the two storage bins are a combination of deep storage bins (step S1411; YES), the warehouse operations management system 200 assigns the two deep storage bins to the two large robots (step S1412).The warehouse operations management system 200 then ends this processing flow.

[0110] If the two storage bins are not a combination of two deep storage bins (step S1411; NO), that is, if the two storage bins are a combination of a shallow storage bin and a deep storage bin, the warehouse operations management system 200 assigns the shallow storage bin to one small robot and the deep storage bin to one large robot (step S1413).The warehouse operations management system 200 then ends this processing flow.

[0111] The warehouse operations management system 200 then instructs the robot to which the storage bin is assigned to perform the picking work. Although not explained here, not only the storage bins but also the shipping bins may be assigned to the robots according to the contents of the picking work.

[0112] By selecting an appropriate number of small robots and large robots for picking work, for example, it becomes possible to efficiently respond to fluctuations in logistics, and efficient robot operation is realized. Also, by allocating storage bins to small robots or large robots depending on the number and type (i.e., whether the storage bin is a shallow storage bin or a deep storage bin), for example, it becomes possible to complete picking work in a time-efficient manner.

[0113] In the first embodiment, an example is described in which the warehouse has four small robots and two large robots, but this is not limited to this, and the warehouse may have even more robots. Also, in the example in which the picking work is performed by a worker when the number of types of items, in other words, the number of storage bins, is five or more, but for example, a large robot may be configured to perform picking work using five or more storage bins.

[0114] (Summary of First Embodiment) The above description of First Embodiment discloses at least the following techniques. Note that, in parentheses, examples of corresponding components in First Embodiment are shown, but the present invention is not limited to these.

[0115] (Technology 1) (Technologies 1 to 9 are robot selection) A robot selection method acquires robot information (e.g., robot information 209) including a list of a first type of multiple first picking robots and a second type of multiple second picking robots (e.g., small robot SR1, large robot LR1) deployed in a warehouse, and operation information (e.g., operation information 210) including the operation rates of each of the first picking robots and the second picking robots for a predetermined period and the proportion of types of storage bins (e.g., shallow storage bin SB1, deep storage bin DB1) processed in picking operations for the predetermined period, calculates a first numerical value (e.g., numerical value M) based on the operation information, which is the sum of the proportion of picking operations in which first storage bins (e.g., deep storage bin DB1) were processed among the picking operations of each of the first picking robots (e.g., large robot LR1) identified by the robot information for the predetermined period, and determines the number of first picking robots to be used for picking operations in the warehouse based on the first numerical value and the robot information.

[0116] As a result, the robot selection method can determine the number of first picking robots to be used for picking work in the warehouse based on robot information and operation information for a specified period of time, thereby enabling appropriate selection of picking robots.

[0117] (Technology 2) In the robot selection method described in Technology 1, the robot selection method calculates, based on operation information, a second numerical value (numerical value Q) that is the sum of the proportion of picking operations in which second storage bins (e.g., shallow storage bins SB1) are processed among the picking operations of each of a plurality of first picking robots and a plurality of second picking robots (e.g., small robots SR1) identified by the robot information during a predetermined period, and determines the number of second picking robots to be used for picking operations in the warehouse based on the second numerical value and the robot information.

[0118] As a result, the robot selection method can determine the number of second picking robots to be used for picking work in the warehouse based on robot information and operation information for a specified period of time, thereby enabling appropriate selection of picking robots.

[0119] (Technology 3) In the robot selection method according to Technology 1 or 2, the robot selection method sets the number of first picking robots to a value obtained by rounding up the first numerical value to an integer (for example, numerical value M').

[0120] As a result, the robot selection method can determine the number of first picking robots by rounding up the decimal point of the first numerical value.

[0121] (Technology 4) In the robot selection method according to Technology 2, the number of second picking robots is determined by rounding up the second numerical value (for example, numerical value Q').

[0122] As a result, the robot selection method can determine the number of second picking robots by rounding up the second numerical value to the nearest whole number.

[0123] (Technology 5) In the robot selection method according to Technology 2 or 4, the first storage bin is a storage bin that is larger in size than the second storage bin.

[0124] As a result, in the robot selection method, for example, the operation information can include the operation rate of each of multiple picking robots over a specified period and the respective proportions of shallow and deep storage bins processed in the picking operation.

[0125] (Technology 6) In the robot selection method described in any one of Technology 2, 4, or 5, the multiple first picking robots each have a gripping means that is capable of gripping a target item at the bottom of a first storage bin and is also capable of gripping a target item at the bottom of a second storage bin during a picking operation, and the multiple second picking robots each have a gripping means that is not capable of gripping a target item at the bottom of a first storage bin and is also capable of gripping a target item at the bottom of a second storage bin during a picking operation.

[0126] As a result, in the robot selection method, the first picking robot can pick items stored in both the first storage bin and the second storage bin, and the second picking robot can pick items stored in the second storage bin.

[0127] (Technology 7) In the robot selection method according to any one of Technologies 1 to 6, the picking robot is a portable picking robot.

[0128] This allows the robot selection method to, for example, easily move unused picking robots for other uses.

[0129] (Technology 8) A robot selection device (e.g., warehouse operations management system 200) includes a processor (e.g., processing device 11) and a memory (e.g., storage device 12). The processor and the memory work together to acquire robot information including a list of a first type of multiple first picking robots and a second type of multiple second picking robots deployed in the warehouse, and operation information including the operation rates of each of the first picking robots and the second picking robots for a predetermined period of time and the proportion of each type of storage bin processed in picking operations for the predetermined period. The robot selection device calculates a first numerical value based on the operation information, which is the sum of the proportion of picking operations in which a first storage bin was processed among the picking operations for each of the first picking robots identified by the robot information for the predetermined period of time, and determines the number of first picking robots to be used for picking operations in the warehouse based on the first numerical value and the robot information.

[0130] This allows the robot selection device to obtain the same effect as that of Technique 1.

[0131] (Technology 9) A program causes a computing device (e.g., warehouse operations management system 200) to acquire robot information including a list of a plurality of first picking robots of a first type and a plurality of second picking robots of a second type deployed in the warehouse, and operation information including the operation rates of each of the plurality of first picking robots and the plurality of second picking robots in a predetermined period and the proportion of each type of storage bin processed in picking operations in the predetermined period, calculate a first numerical value based on the operation information, which is the sum of the proportion of picking operations in which a first storage bin was processed among the picking operations of each of the plurality of first picking robots identified by the robot information in the predetermined period, and determine the number of first picking robots to be used for picking operations in the warehouse based on the first numerical value and the robot information.

[0132] This allows the program to achieve the same effect as Technique 1.

[0133] (Technology 10) Techniques 10 to 20 are bin allocation methods. The bin allocation method receives a picking instruction to store items stored in a first storage bin or a second storage bin that is smaller than the first storage bin into an outgoing bin, determines the number of storage bins for the items to be picked based on the instruction, and allocates the storage bins to one or more of a plurality of first picking robots and a plurality of second picking robots based on the determination result and the type of the storage bin storing the target items.

[0134] This allows the storage bins to be allocated to one or more of the first and second picking robots according to their sizes. Therefore, the bin allocation method allows the bins to be allocated appropriately.

[0135] (Technology 11) In the bin allocation method described in Technology 10, the first picking robot is equipped with a gripping means that is capable of gripping a target item at the bottom of the first storage bin during the picking operation and is also capable of gripping a target item at the bottom of the second storage bin, and the second picking robot is equipped with a gripping means that is not capable of gripping a target item at the bottom of the first storage bin during the picking operation and is also capable of gripping a target item at the bottom of the second storage bin.

[0136] This allows the picking robots to be operated efficiently by allocating bins in a bin allocation method, for example, by allocating deep storage bins to large picking robots and shallow bins to small picking robots.

[0137] (Technology 12) In the bin allocation method described in Technology 10 or 11, if there is one storage bin for the target item and that storage bin is one first storage bin, the bin allocation method allocates that first storage bin to one first picking robot.

[0138] This allows the bin allocation method to allocate one deep storage bin for picking work to one large picking robot.

[0139] (Technology 13) In the bin allocation method described in any one of Technologies 10 to 12, if there is one storage bin for the target item and the storage bin is one second storage bin, the bin allocation method allocates the second storage bin to one second picking robot.

[0140] As a result, the bin allocation method can allocate one shallow storage bin for picking work to one small picking robot.

[0141] (Technology 14) In the bin allocation method described in any one of Technologies 10 to 13, if the number of storage bins for the target items is two and the two storage bins are two first storage bins, the bin allocation method allocates the two first storage bins to two first picking robots, respectively.

[0142] This allows the bin allocation method to allocate two deep storage bins for picking work to two large robots, respectively.

[0143] (Technology 15) In the bin allocation method described in any one of Technologies 10 to 14, if the number of storage bins for the target items is two and the two storage bins are two second storage bins, the bin allocation method allocates the two second storage bins to two second picking robots, respectively.

[0144] This allows the bin allocation method to allocate two shallow storage bins for picking work to two small robots, respectively.

[0145] (Technology 16) In the bin allocation method described in any one of Technologies 10 to 15, when the number of storage bins for the target items is two and the two storage bins are one first storage bin and one second storage bin, the bin allocation method allocates the first storage bin to one first picking robot and allocates the second storage bin to one second picking robot.

[0146] As a result, when there are two storage bins for picking work, a deep storage bin and a shallow storage bin, the bin allocation method can allocate the deep storage bin to a large robot and the shallow storage bin to a small robot.

[0147] (Technology 17) In the bin allocation method described in any one of Technologies 10 to 16, when the number of storage bins for the target items is three or four, the bin allocation method allocates the three or four storage bins to one first picking robot.

[0148] As a result, in the bin allocation method, when there are three or four storage bins for picking work, these storage bins can be allocated to one large robot.

[0149] (Technology 18) In the bin allocation method according to any one of Techniques 10 to 17, when the number of storage bins for the target item is five or more, the bin allocation method notifies the worker of an instruction for picking work.

[0150] As a result, the bin allocation method can have a worker perform the picking work when there are five or more storage bins for the picking work.

[0151] (Technology 19) A bin allocation device (e.g., warehouse operations management system 200) includes a processor and a memory, and the processor and memory work together to receive instructions for a picking operation to store items stored in a first storage bin or a second storage bin that is smaller than the first storage bin into an output bin, determine the number of storage bins for the items to be picked based on the instructions, and allocate the storage bins to one or more of a plurality of first picking robots and a plurality of second picking robots based on the determination result and the type of storage bin storing the target items.

[0152] This allows the bin sorting device to obtain the same effect as that of Technique 10.

[0153] (Technology 20) The program causes a computing device to receive instructions for a picking operation to store items stored in a first storage bin or a second storage bin smaller than the first storage bin into an outgoing bin, determine the number of storage bins for the items to be picked based on the instructions, and allocate the storage bins to one or more of a plurality of first picking robots and a plurality of second picking robots based on the determination result and the type of storage bin storing the target items.

[0154] This allows the program to achieve the same effect as technique 10.

[0155] The functions of the above-described embodiments can also be realized by supplying programs and applications for realizing the functions of the above-described embodiments to a system or device using a network or storage medium, etc., and having one or more processors in the computer of that system or device read and execute the programs.

[0156] Furthermore, the functions of the above-described embodiments may be realized by a circuit that realizes one or more functions (for example, an Application Specific Integrated Circuit (hereinafter referred to as "ASIC") or an FPGA).

[0157] Although the embodiments of the present disclosure have been described above with reference to the drawings, it goes without saying that the present disclosure is not limited to such examples. It is clear that a person skilled in the art can conceive of various modifications, alterations, substitutions, additions, deletions, and equivalents within the scope of the claims, and it is understood that these also naturally fall within the technical scope of the present disclosure. Furthermore, the components of the above-described embodiments may be combined in any manner as long as they do not deviate from the spirit of the invention.

[0158] The present disclosure is useful as a bin sorting method, a bin sorting device, and a program.

[0159] 1 Warehouse system 10 Information processing device 11 Processing device 12 Storage device 13 Communication device 14 Input device 15 Image acquisition unit 16 External interface 17 Display device 18 Internal interface 20 External system 30 Camera 35 Network 100 Warehouse management system 200 Warehouse operation management system 209 Robot information 210 Operation information 300, 400, 500 Warehouse control system 600 Robot 700 Automated warehouse 800 Automated guided vehicle 900 Operation terminal SB1, SB2, SB3, SB4, SB5, SB6, SB7, SB8, SB9, SB10, SB11 Shallow storage bin DB1, DB2, DB3, DB4, DB5, DB6, DB7, DB8 Deep storage bin SR1, SR2, SR3, SR4, SR5, SR6, SR7, SR8 Small robots LR1, LR2, LR3, LR4, LR5, LR6, LR7 Large robots

Claims

1. A bin allocation method comprising: receiving a picking instruction to store items stored in a first storage bin or a second storage bin smaller than the first storage bin into an outgoing bin; determining the number of storage bins for the items to be picked based on the instruction; and allocating the storage bins to one or more of a plurality of first picking robots and a plurality of second picking robots based on the determination result and the type of the storage bin storing the target items.

2. The bin allocation method described in claim 1, wherein each of the plurality of first picking robots is equipped with a gripping means capable of gripping the target item at the bottom of the first storage bin during the picking operation and capable of gripping the target item at the bottom of the second storage bin, and each of the plurality of second picking robots is equipped with a gripping means incapable of gripping the target item at the bottom of the first storage bin during the picking operation and capable of gripping the target item at the bottom of the second storage bin.

3. A bin allocation method according to claim 1 or 2, wherein if there is one storage bin for the target item and that storage bin is a first storage bin, that first storage bin is allocated to one of the first picking robots.

4. A bin allocation method according to claim 1 or 2, wherein if there is one storage bin for the target item and that storage bin is a second storage bin, the second storage bin is allocated to one of the second picking robots.

5. A bin allocation method as described in claim 1 or 2, wherein if the number of storage bins for the target items is two and the two storage bins are two first storage bins, the two first storage bins are allocated to the two first picking robots, respectively.

6. A bin allocation method as described in claim 1 or 2, wherein if the number of storage bins for the target items is two and the two storage bins are two second storage bins, the two second storage bins are allocated to the two second picking robots, respectively.

7. A bin allocation method as described in claim 1 or 2, wherein, when there are two storage bins for the target items and the two storage bins are one first storage bin and one second storage bin, the first storage bin is allocated to one of the first picking robots and the second storage bin is allocated to one of the second picking robots.

8. The bin allocation method according to claim 1 or 2, wherein when the number of storage bins for the target items is three or four, the three or four storage bins are allocated to one of the first picking robots.

9. The bin allocation method according to claim 1, wherein if the number of storage bins for the target items is five or more, instructions for the picking work are notified to a worker.

10. A bin allocation device comprising a processor and a memory, wherein the processor and the memory cooperate to receive picking instructions for storing items stored in a first storage bin or a second storage bin smaller in size than the first storage bin into an outgoing bin, determine the number of storage bins for the items targeted for the picking operation based on the instructions, and allocate the storage bins to one or more of a plurality of first picking robots and a plurality of second picking robots based on the determination result and the type of the storage bin storing the targeted items.

11. A program for causing a computing device to receive instructions for a picking operation to place items stored in a first storage bin or a second storage bin smaller in size than the first storage bin into an outgoing bin, determine the number of storage bins for the items to be picked based on the instructions, and allocate the storage bins to one or more of a plurality of first picking robots and a plurality of second picking robots based on the determination result and the type of storage bin storing the target items.

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