Picking assistance method and picking assistance system

Abstract

This picking assistance method is for assisting with picking tasks for an article, and includes: a step for detecting a failure in a first conveyance robot that conveys the article; a step for determining whether to skip a first picking task for picking the article on the basis of at least a scheduled recovery time until recovery from the failure or the presence / absence of a substitute for the article which is according to the detection of the failure; and a step for outputting information on the basis of the determination result for whether to skip the first picking task.

Description

Picking support method and picking support system

[0001] The present disclosure relates to a picking support method and a picking support system.

[0002] In recent years, automated warehouse systems have become increasingly common. Automated warehouse systems use machinery and automation technology to store, transport, manage, and otherwise manage goods. A known conventional automated warehouse system includes a plurality of automated warehouses, a plurality of work stations, a travel route that is provided to allow access to the plurality of automated warehouses and the plurality of work stations, a plurality of automated guided vehicles that travel along the travel route, and a controller that determines an area that includes at least a portion of the travel route as a travel area in which the automated guided vehicles will travel, and controls the automated guided vehicles to transport goods between the automated warehouses and the work stations that belong to the travel area (see Patent Document 1).

[0003] Patent No. 7276595

[0004] The present disclosure provides a picking support method and a picking support system that can suppress a decrease in picking work efficiency even when a failure occurs in a transport robot in a warehouse.

[0005] One aspect of the present disclosure is a picking support method for supporting the picking of items, the picking support method including the steps of: detecting a failure of a first transport robot that transports the items; determining, in response to the detection of the failure, whether to skip the first picking operation of picking the items based on at least one of an estimated recovery time until the failure is recovered and whether a replacement for the item is available; and outputting information based on the result of the determination of whether to skip.

[0006] One aspect of the present disclosure is a picking support system that includes a processor and supports the picking work of items, wherein the processor detects a failure of a first transport robot that transports the items, and in response to the detection of the failure, determines whether to skip the first picking work of picking the items based on at least one of an estimated recovery time until the failure is recovered and whether a replacement for the item is available, and outputs information based on the result of the determination of whether to skip.

[0007] According to the present disclosure, even if a malfunction occurs in a transport robot in a warehouse, a decrease in picking work efficiency can be suppressed.

[0008] FIG. 1 is a diagram showing an example of the configuration of a warehouse system in the first embodiment. FIG. 2 is a diagram showing an example of the environment within a warehouse in this embodiment. FIG. 3 is a diagram showing an example of a hardware configuration applicable as an apparatus constituting a warehouse operations management system. FIG. 4 is a diagram showing an example of picking instruction information. FIG. 5 is a diagram showing an example of item information. Flowchart showing an example of the operation of a warehouse system (part 1). Flowchart showing an example of the operation of a warehouse system (part 2). FIG. 6 is a diagram showing an example of a screen displayed on the terminal of a picking worker. FIG. 7 is a diagram showing an example of a screen displayed on the terminal of a picking worker. FIG. 8 is a diagram showing an example of a screen displayed on the terminal of a picking worker. FIG. 9 is a diagram showing an example of a screen displayed on the terminal of another worker. Flowchart showing an example of the operation of a warehouse system after a failed transport robot is restored.

[0009] Hereinafter, embodiments will be described in detail with reference to the drawings as appropriate. However, more detailed description than necessary may be omitted. For example, detailed description of well-known matters or redundant description 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 described in the claims.

[0010] In the automated warehouse system of Patent Document 1, if a fault occurs in an automated guided vehicle that transports items within the automated warehouse, it becomes difficult for the automated guided vehicle to transport the items. As a result, picking operations are halted until the fault is resolved, which reduces the efficiency of the picking operations.

[0011] In the following embodiments, a picking support method and a picking support system that can suppress a decrease in picking work efficiency even when a failure occurs in a transport robot in a warehouse will be described.

[0012] (First embodiment) <Configuration of warehouse system> Fig. 1 is a diagram showing an example of the configuration of a warehouse system 5 according to the first embodiment. The warehouse system 5 includes a warehouse management system 10, a warehouse operations management system 20, a warehouse control system 30, a picking robot 40, a transport robot 42, an automated warehouse 50, and a camera 60. The warehouse system 5 supports the execution of item picking operations.

[0013] The warehouse management system 10, also known as a Warehouse Management System (WMS), is a system for facilitating logistics within a warehouse. The warehouse management system 10 manages items such as inventory. The warehouse management system 10 has inventory management functions and inventory / shipping management functions. The warehouse management system 10's inventory management function manages information about the status of currently stored inventory. The information about the inventory status includes, for example, the item's storage location (storage area), arrival date, quantity, expiration date, color, size, etc. The warehouse management system 10's inventory / shipping management function manages records of the inventory / shipping of items. The warehouse management system 10 can manage inventory / shipping schedules and record inventory / shipping results. The warehouse management system 10 also has functions to facilitate tasks associated with inventory / shipping, such as creating picking lists and slips for items.

[0014] The warehouse operations management system 20 has warehouse management and warehouse control functions and is also called a Warehouse Execution System (WES). The warehouse operations management system 20 is an intermediate system between the warehouse management system 10 and the warehouse control system 30. The warehouse operations management system 20 is also capable of grasping on-site operation data such as inventory management, warehousing, and picking of goods in real time. In other words, the warehouse operations management system 20 is a system for comprehensively controlling people, goods, facilities (machines), etc. within a warehouse.

[0015] The warehouse operations management system 20 has a work management function and an equipment control function. The warehouse operations management system 20's work management function visualizes the work status of various pieces of equipment in the warehouse (e.g., picking robots 40, transport robots 42, automated warehouses 50, cameras 60) or workers, enabling real-time progress monitoring. The system is also capable of sending predetermined instructions to devices carried by workers (e.g., wearable devices, audio terminals) or terminals installed in the work area (e.g., displays). The warehouse operations management system 20's equipment control function enables it to control various pieces of equipment in the warehouse.

[0016] The warehouse management system 10 and the warehouse operations management system 20 may be integrated, with one having the functions of the other.

[0017] The warehouse control system 30 controls various equipment in the warehouse in real time, enabling goods to be received and sent according to an optimal schedule. The warehouse control system 30 is also called a Warehouse Control System (WCS). The warehouse control system 30 can monitor the operation of the equipment in real time and send predetermined instruction information to the equipment.

[0018] It should be noted that only one warehouse control system 30 may be provided, or multiple warehouse control systems 30 may be provided, or one system may be provided for each piece of equipment in the warehouse.

[0019] The various types of equipment contribute to the automation of various tasks in the warehouse. The various types of equipment include the picking robot 40, the transport robot 42, the automated warehouse 50, and the camera 60, and may also include other equipment (for example, various sensors).

[0020] The picking robot 40 picks various items stored in a storage bin 71 (see FIG. 2) in response to instructions from the warehouse control system 30, and moves and stores the items in a shipping bin 72 (see FIG. 2). The picking robot 40 has an arm and a hand. The arm can approach a predetermined position inside the bin 70 (see FIG. 2). The arm may be an orthogonal mechanism arm, a multi-axis arm, or other arm. The hand is attached to the tip of the arm. The hand is capable of picking items in the bin 70. The hand may be of a suction type that grips items by suction, a multi-fingered hand that grips items, or other methods.

[0021] The transport robot 42 transports bins 70 (see FIG. 2 ) in which various items managed in the warehouse are stored. The transport robot 42 is, for example, an automated guided vehicle (AGV). The transport robot 42 is configured to include a traveling unit for performing operations related to movement, a sensor for acquiring peripheral information (e.g., a sensor for detecting position), a communication device, etc. The transport robot 42 may include a transport robot 42 that travels within an automated warehouse 50 in the warehouse and a transport robot 42 that travels outside the automated warehouse 50 in the warehouse. The bins 70 include storage bins 71 in which received items are stored and shipping bins 72 in which shipped items are stored. Note that the bins 70 themselves may operate as the transport robot 42, i.e., the bins 70 may be self-propelled.

[0022] The automated warehouse 50 is a warehouse in which operations such as storage (shelving), sorting, and collection (picking) are automated.

[0023] <Warehouse Environment> FIG. 2 is a diagram showing an example of the warehouse environment of this embodiment.

[0024] The warehouse of this embodiment includes an automated warehouse 50 and a picking station PS. Storage shelves 51 that store bins 70 are arranged within the automated warehouse 50. The storage shelves 51 are partitioned planarly or spatially and can store a large number of bins 70. The transport robot 42 receives a transport instruction, for example, from the warehouse operations management system 20, and transports the bins 70 stored on the storage shelves 51 to one of the multiple picking stations PS. The storage shelves 51 store storage bins 71, and the storage bins 71 may be transported from the storage shelves 51 to a predetermined picking station PS at a predetermined time. The shipping bins 72 may be located, for example, near the storage shelves 51 or at an outgoing station, and may be transported to a predetermined picking station PS at a predetermined time.

[0025] A picking robot 40 or a picking worker 45 is positioned at each picking station PS to perform the picking work. Picking station PS0 is a picking station where picking work is performed by a person. Picking station PS1 is a picking station where picking work is performed by a picking robot 40. Three or more picking stations PS may be provided. Also, multiple picking stations PS1 for the picking robot 40 may be provided.

[0026] When the picking operation at the picking station PS is completed, the transport robot 42 receives a transport instruction from, for example, the warehouse operations management system 20 and transports the shipping bin 72 to a predetermined position (for example, a shipping station). The shipping station is, for example, a spatial area where the items are inspected and packed into boxes for delivery.

[0027] The picking work is the work of picking up an item from a storage bin 71, moving the item to a shipping bin 72, and placing the item in the shipping bin 72. In other words, the picking work is a pick-and-place work.

[0028] In addition, if it is desirable to temporarily wait for the bins 70 instead of moving them into the automated warehouse 50 from the viewpoint of improving the efficiency of the entire shipping process, a waiting area for waiting the bins 70 may be provided.

[0029] The bins 70 have, for example, a substantially rectangular parallelepiped shape, and items can be placed in and removed from above. Therefore, the picking robot 40 and the picking operator 45 place items in and remove items from the bins 70 from above. The shapes of the bins 70 may be the same or different. The transport robot 42 may move the bins 70 by pushing or pulling them, or the bins 70 may be placed on the transport robot 42 and moved. Different transport robots 42 may be used for transporting storage bins and shipping bins, or the same transport robot 42 may be used. Furthermore, the bins 70 may be transported by a method other than transport by the transport robot 42 (for example, transport using a belt conveyor).

[0030] Returning to FIG. 1 , the camera 60 is positioned so as to be able to capture images of the inside of the bin 70. The camera 60 is used, for example, to recognize the state inside the bin 70. The camera 60 is installed in the picking station PS and may be installed inside or near the picking robot 40. The camera 60 may also be installed outside the picking station PS. The captured image captured by the camera 60 reflects, for example, items stored in the storage bins 71 and shipping bins 72, making it possible to understand how the items are arranged. Furthermore, the captured image captured by the camera 60 reflects the presence or absence of the storage bins 71 and shipping bins 72, making it possible to determine whether the storage bins 71 and shipping bins 72 have arrived at the destination picking station PS based on the captured image. Note that one or more cameras 60 may be provided.

[0031] The warehouse operations management system 20 controls the operation of various pieces of equipment either via the warehouse control system 30 or without the warehouse control system 30 .

[0032] <Configuration of the warehouse operations management system> Each system shown in FIG. 1 (warehouse management system 10, warehouse operations management system 20, and warehouse control system 30) may be configured as an on-premise server device at the base where the warehouse is located, or may be configured as a cloud-based system on a network.

[0033] FIG. 3 is a diagram showing an example of a hardware configuration applicable to devices constituting the warehouse operations management system 20. Note that the configurations of systems other than the warehouse operations management system 20 (i.e., the warehouse management system 10 and the warehouse control system 30) may also be similar to the configuration shown in FIG. 3. Note that in each system, some of the components shown in FIG. 3 may be omitted or other components may be added depending on the functions provided. Furthermore, each system may have each of the components shown in FIG. 3 as an independent device.

[0034] As shown in FIG. 3 , the warehouse operations management system 20 includes a processor 21 , a memory 22 , an input device 23 , a communication device 24 , and an input / output interface 25 .

[0035] The processor 21 may be configured using, for example, a Central Processing Unit (CPU) or a Digital Signal Processor (DSP). The processor 21 may be configured using various integrated circuits (for example, a Large Scale Integration (LSI) or a Field Programmable Gate Array (FPGA)). The processor 21 realizes various functions by executing programs stored in the memory 22. The processor 21 comprehensively controls each part of the warehouse operations management system 20 and performs various processes. The processing by the processor 21 may be, for example, processing in the cloud.

[0036] The processor 21 may control the operation of equipment in the warehouse (e.g., the picking robot 40, the transport robot 42, the automated warehouse 50, and the camera 60) via the communication device 24. The processor 21 may control the transport of bins 70 by the transport robot 42 by controlling the travel of the transport robot 42. The processor 21 may control the picking work by the picking robot 40 by controlling the operation of the arm and hand of the picking robot 40. The processor 21 may control the picking work based on picking instruction information.

[0037] The processor 21 acquires various types of information via the input device 23 or the communication device 24. For example, the processor 21 acquires captured images captured by the camera 60 and detection information detected by a sensor. The processor 21 may detect various events based on the acquired captured images or detection information. For example, the processor 21 may recognize whether or not a bin 70 has arrived at each picking station PS, the coordinates at which the bin 70 is placed in the picking station, and information about the items stored inside the bin 70 (e.g., the presence, shape, weight, material, and size of the item).

[0038] For example, the processor 21 detects a failure of the transport robot 42 that transports an item. In response to the detection of the failure of the transport robot 42, the processor 21 determines whether or not to skip the picking operation of picking the item based on at least one of the estimated recovery time until recovery from the failure and the availability of a substitute for the item. The processor 21 outputs various information based on the determination result of whether or not to skip.

[0039] The output of information here may include transmitting instruction information for issuing various instructions (for example, to transfer an item or a replacement item) to the transfer robot 42. The output of information here may include transmitting instruction information for issuing various instructions (for example, to transfer an item or a replacement item) to the terminal 65 held by the picking operator 45. The output of information here may include transmitting instruction information for issuing various instructions (for example, to transfer an item or a replacement item) to the terminal 65 held by another operator other than the picking operator 45. The instruction information to the terminal 65 may include display instruction information for displaying various information on the terminal 65.

[0040] The memory 22 includes a primary storage device (for example, a random access memory (hereinafter referred to as "RAM") or a read only memory (hereinafter referred to as "ROM")). The memory 22 may include a secondary storage device (for example, a hard disk drive (hereinafter referred to as "HDD") or a solid state drive (hereinafter referred to as "SSD")) or a tertiary storage device (for example, an optical disk or an SD card). The memory 22 may also be an external storage medium, or may be detachable from the warehouse operations management system 20. The memory 22 stores various data, information, programs, etc.

[0041] The memory 22 may store, for example, picking instruction information relating to instructions for picking work, item information relating to items, etc.

[0042] The input device 23 may include various buttons, keys, a keyboard, a touch panel, a microphone, or other input devices. The input device 23 accepts input of various data, information, etc. The input device 23 is operated, for example, by an administrator or worker (e.g., a worker performing a picking operation or other worker) who manages the warehouse operations management system 20. The input device 23 may also include a sensor. For example, a sensor may be provided for each picking robot 40 inside or around the picking robot 40. For example, a sensor may be provided for each transport robot 42 inside or around the transport robot 42.

[0043] The communication device 24 communicates various data, information, etc. using a wired or wireless communication method. The communication device 24 may be communicatively connected to the network NT. The communication method used by the communication device 24 may include, for example, a local area network (Local Area Network), a wide area network (WAN), a mobile phone network, or power line communication. The communication device 24 communicates with external systems (e.g., the warehouse management system 10, the warehouse control system 30, or other systems) and external devices. The communication device 24 also communicates with various pieces of equipment in the warehouse (e.g., the picking robot 40, the transport robot 42, the automated warehouse 50, and the camera 60) via the warehouse control system 30 or without the warehouse control system 30. The communication device 24 also communicates with a terminal 65 via the network NT or without the network NT. The communication device 24 also acquires information such as the position, angle, or posture of the arm or hand from each picking robot 40. The communication device 24 sends a transfer instruction for the bin 70 to the transfer robot 42 and acquires information such as the current position from the transfer robot 42.

[0044] The input / output interface 25 inputs and outputs information and data between the processor 21 , the memory 22 , the input device 23 , and the communication device 24 .

[0045] <Configuration of Terminal> The terminal 65 is a PC (Personal Computer), a smartphone, a tablet terminal, a mobile terminal, or the like. The terminal 65 has a hardware configuration similar to that of a general terminal, including a processor, a memory, a communication device, an input device, a display device, and the like. As shown in FIG. 1 , the terminal 65 may communicate various data and information with the warehouse management system 10, the warehouse operations management system 20, and the warehouse control system 30, receive notifications and instructions of various information, perform operations in accordance with the notifications and instructions, and issue various instructions in accordance with inputs made by operating the terminal 65, etc.

[0046] <Details of Information Handled by the Warehouse Operations Management System> Next, we will explain the details of the data handled by the warehouse operations management system 20. The data handled by the warehouse operations management system is stored in, for example, the memory 22, and may be updated as necessary.

[0047] FIG. 4A is a diagram showing an example of picking instruction information I1. The picking instruction information I1 is instruction information regarding picking work instructed by the warehouse management system 10. The picking instruction information I1 includes information such as a task (work) ID, a task type, a storage bin ID, an output bin ID, work priority, and remaining picking work information. The task ID is a unique ID (identification information). The task type is information indicating the content of the picking work performed by the picking robot 40 or the picking worker 45. The work content includes information such as the item ID of the item to be picked and the number of items to be picked. The storage bin ID is the ID of the storage bin 71 transported from the storage shelf 51, etc. The output bin ID is the ID of the output bin. The work priority is information indicating the priority of each task (work). The remaining picking work information is retained after the picking work for each task is performed and indicates the content of the remaining picking work that was not picked or was stopped or interrupted midway. The remaining picking work information includes, for example, information such as the IDs of the remaining items to be picked, the number of remaining items to be picked, etc., similar to the task type. In the picking instruction information I1, if there is no remaining picking work, information indicating that there is no remaining picking work may be stored as the remaining picking work information, and if picking work has not been performed, information indicating that it has not been performed may be stored.

[0048] FIG. 4B is a diagram showing an example of item information I2. The item information I2 holds, for each item, information on the item's shape, material, weight, and size. The item's shape may be, for example, a box, a cylinder, or a bag. The item's material may be, for example, paper, metal, or plastic. The item information I2 also holds, for each item, information on picking robot availability, a substitute ID, and a storage area. The picking robot availability information indicates whether picking by a picking robot is possible. The substitute ID is identification information for an item that will be substituted for an item that is absent in the warehouse or that is absent from the picking station PS even when the picking time arrives. The storage area is a storage area within the warehouse where items are stored, either inside or outside the automated warehouse 50. The storage area may be a pinpoint storage location where the item is stored, or may be an area with a certain extent that includes the storage location.

[0049] <Operation of Warehouse System> Next, the operation of the warehouse system 5 will be described.

[0050] 5 and 6 are flowcharts showing an example of the operation of the warehouse system 5. Fig. 5 and 6 mainly show the operation from when a fault occurs in a transport robot 42 to when a notification is sent to another transport robot 42 or to a terminal 65 of any worker. At the start of Fig. 5, it is assumed that some kind of fault has occurred in the warehouse.

[0051] The processor 21 of the warehouse operations management system 20 determines whether the transport robot 42 transporting an item to be picked toward the picking station PS has malfunctioned (S11). For example, the transport robot 42 may itself transmit malfunction information to the warehouse operations management system 20 when it malfunctions. For example, if a worker in the warehouse discovers a malfunction in the transport robot 42, the worker may input malfunction information indicating the malfunction into the terminal 65 and transmit the malfunction information to the warehouse operations management system 20. The processor 21 may acquire the malfunction information and determine that the transport robot 42 has malfunctioned (detect a malfunction of the transport robot 42) based on the malfunction information. For example, the processor 21 may determine that the transport robot 42 has malfunctioned if the transport robot 42 has departed with an item loaded and the item has not arrived at the picking station PS at the scheduled arrival time. Information on the scheduled arrival time of the item at the picking station PS may be included in the item information and stored in the memory 22.

[0052] If it is determined that the transport robot 42 transporting the item is not broken (No in step S11), an instruction to perform recovery work for the occurred fault is given to, for example, the terminal 65 (S12). The picking worker 45 who checks the terminal 65 or another worker other than the picking worker 45 can carry out recovery work for the occurred fault.

[0053] If it is determined that a transport robot 42 transporting an item has failed (Yes in step S11), the processor 21 acquires the estimated failure recovery time of the failed transport robot 42 (42F). For example, the memory 22 stores the estimated failure recovery time for each transport robot 42, and the processor 21 may acquire the estimated failure recovery time for the transport robot 42F from the memory 22. The processor 21 may also receive input of the estimated failure recovery time from the picking operator 45 or another operator via the input device 23, for example. The memory 22 may also accumulate recovery times from past transport robot 42 failures, and the processor 21 may acquire the accumulated recovery time as the estimated failure recovery time. The processor 21 also acquires the estimated shipping time of the item. For example, the processor 21 may acquire the estimated shipping time of the item included in the picking instruction information stored in the memory 22.

[0054] The processor 21 determines whether the scheduled shipping time will be met, taking into account the scheduled time for failure recovery (S13). In this case, the processor 21 may determine whether the scheduled time for failure recovery, which is based on the current time and the scheduled time for failure recovery, is earlier than the scheduled shipping time.

[0055] The estimated time to restore the failure is, for example, the time it takes to recover or repair the transport robot 42 occupying the warehouse and return it to a state where it can transport the goods to the specified location.

[0056] If it is determined that the scheduled shipping time will be met (Yes in step S13), the processor 21 decides to skip (omit) the currently executing picking operation (S14). The processor 21 then determines whether or not there is a shipping bin 72 in the middle of being worked on in the currently executing picking operation (S15). For example, if there is a work task to store three items to be picked in a shipping bin 72 based on the picking instruction information, and only one item has been stored and no other items have been stored, the processor 21 determines that there is a shipping bin 72 in the middle of being worked on.

[0057] If it is determined that there is a shipping bin 72 in the middle of work (Yes in step S15), the processor 21 instructs the shipping bin 72 to be transported to a predetermined storage area (S16). In this case, the processor 21 may send instruction information to a transport robot 42 other than the transport robot 42F via the communication device 24, or may send instruction information to the terminal 65. The processor 21 then controls the execution of the next picking operation based on the picking instruction information. The control of the picking operation may include, for example, an instruction to transport the item to be picked, an operation instruction for the picking robot 40 to perform the picking operation, and a display instruction on the terminal.

[0058] The storage area (bin storage area) for storing the shipping bins 72 may be, for example, within the automated warehouse 50, the waiting area, or another storage area. In addition, the bin storage area may be prepared according to the characteristics of the items, such as room temperature items, refrigerated items, or frozen items, and the bins may be evacuated to the storage area according to the items.

[0059] The transport robot 42 that has received the instruction to transport the shipping bin 72 to the predetermined storage area transports the shipping bin 72 to the predetermined storage area. The worker holding the terminal 65 that has received the instruction to transport the shipping bin 72 to the predetermined storage area transports the shipping bin 72 to the predetermined storage area.

[0060] Fig. 7 is a diagram showing an example of a screen displayed on the terminal 65 of the picking worker 45. Fig. 7 shows an example of displaying information based on skipping of a picking operation.

[0061] The processor 21 transmits, via the communication device 24, display instruction information to the terminal 65 of the picking operator 45, instructing the terminal 65 to display information indicating that the picking operation for the item that did not arrive due to the failure of the transport robot 42F will be skipped. The terminal 65 receives this display instruction information and displays the information in accordance with the display instruction information. For example, the terminal 65 displays a screen G1 containing a message such as "A failure has occurred, so the package will not arrive at the picking station. The operation will be skipped." The terminal 65 also displays a button B1 on the screen G1 for moving on to the next picking operation. When the terminal 65 receives operation of the button B1, it transmits a control instruction for the next picking operation to the warehouse operations management system 20.

[0062] In addition, if the warehouse system 5 is configured in advance not to output information based on the skipping of picking work, the display instruction information is not sent to the terminal 65, and the terminal 65 does not have to display the screen G1.

[0063] Returning to Fig. 5, if it is determined that there is no shipping bin 72 in the middle of work (No in step S15), the processor 21 controls to execute the next picking work based on the picking instruction information (S17).

[0064] The processes in steps S14 to S17 are also collectively referred to as step SA.

[0065] On the other hand, if it is determined that the scheduled shipping time will not be met, taking into account the estimated time for recovery from the failure (No in step S13), the process proceeds to FIG. 6. The processor 21 then determines whether or not a replacement item for the item that did not arrive due to the failure of the transport robot 42F is available in any storage area within the warehouse (S21). The replacement item may be, for example, an item that is identical to the item that was transported by the failed transport robot 42F, or a similar product that has been specified in advance.

[0066] If it is determined that a substitute item is present in the warehouse (step S21), the processor 21 determines not to skip the picking operation in progress. Then, the processor 21 determines whether the substitute item is present in any storage area of ​​the automated warehouse 50 (S22). If it is determined that the substitute item is present in the automated warehouse 50 (Yes in step S22), the processor 21 transmits instruction information to the transport robot 42 to instruct it to pick up and transport the substitute item from the automated warehouse 50. This transport robot 42 is a transport robot 42 other than the transport robot 42F, and may be a transport robot 42 that travels outside the automated warehouse 50 or a transport robot 42 that travels within the automated warehouse 50. The transport robot 42 picks up the substitute item and transports it to the picking station PS in accordance with the instruction information from the warehouse operations management system 20. Note that when transporting the substitute item, a substitute item not included in the bin 70 may be transported, or a bin 70 (storage bin 71) in which the substitute item is stored may be transported.

[0067] At this time, the processor 21 transmits, via the communication device 24, to the terminal 65 of the picking operator 45, instruction information instructing the picking operator 45 to wait until the replacement item arrives (S23). In this case, the processor 21 may transmit, via the communication device 24, display instruction information instructing the terminal 65 to display information indicating that the replacement item will be transported from the automated warehouse 50.

[0068] 8 is a diagram showing an example of a screen displayed on the terminal 65 of the picking operator 45. In FIG. 8, an example of displaying information urging the picking operator 45 to wait until a replacement item arrives from the automated warehouse 50 is shown.

[0069] The processor 21 transmits display instruction information based on the presence of a substitute item in the automated warehouse 50 to the terminal 65 carried by the picking worker. The terminal 65 receives this display instruction information and displays the information in accordance with the display instruction information. For example, it displays a screen G2 including a message such as "A failure has occurred, but we will bring in a substitute item from the automated warehouse. Please wait" (S23). Note that the processor 21 does not need to display the screen G2 if a substitute item is expected to arrive from the automated warehouse 50 within a predetermined time.

[0070] Returning to FIG. 6 . If it is determined that there is no substitute item in the automated warehouse 50 (No in step S22), the processor 21 determines that the substitute item is in a predetermined storage area (e.g., a shelf) outside the automated warehouse 50 in the warehouse. Then, the processor 21 determines whether another worker or the transport robot 42 is located near the predetermined storage area outside the automated warehouse 50 (S24). For example, the transport robot 42 may be equipped with a position detection sensor (e.g., a GPS sensor), thereby determining whether the transport robot 42 is located near the storage area of ​​the substitute item. For example, the terminal 65 carried by the other worker may be equipped with a position detection sensor (e.g., a GPS sensor) or have a position detection function, thereby determining whether the other worker is located near the storage area of ​​the substitute item.

[0071] If it is determined that neither another worker nor the transport robot 42 is located near the predetermined storage area outside the automated warehouse 50 (No in step S24), the processor 21 transmits instruction information via the communication device 24 to the terminal 65 of the picking worker 45 to instruct the picking worker 45 to pick and transport a substitute item (S25). In this case, the processor 21 may transmit display instruction information via the communication device 24 to instruct the terminal 65 of the picking worker 45 to display information indicating that the substitute item will be picked up from the predetermined storage area and transported to the picking station PS.

[0072] Fig. 9 is a diagram showing an example of a screen displayed on the terminal 65 of the picking operator 45. Fig. 9 shows an example of a screen displayed when the picking operator 45 transports a substitute item. Note that screens G31 to G33 are also collectively referred to as screen G3.

[0073] The processor 21 transmits display instruction information indicating that the picker 45 will transport a substitute product to the terminal 65 of the picker 45. The terminal 65 receives this display instruction information and displays the information in accordance with the display instruction information. For example, the terminal 65 displays a screen G31 containing a message such as, "A failure has occurred, but a substitute product is available at XXX. Please confirm the location of the substitute product, obtain it, and store it in the shipping bin." The terminal 65 also displays a button B31 on the screen G31 instructing the picker 45 to confirm the storage location of the substitute product. When the button B31 is operated, the terminal 65 displays information regarding the storage location of the substitute product on the screen G32. The screen G32 displays information indicating the current location (current location) of the picker 45 and information indicating the storage location of the substitute product. The terminal 65 also displays a button B32 on the screen G32 for inputting that the substitute product has been obtained (picked up).

[0074] When the button B32 is operated, the terminal 65 displays information (next task transition information) prompting the user to move on to the next picking task on the screen G33 together with a button B33 for inputting that the user wishes to move on to the next picking task.

[0075] When the button B33 is operated, the terminal 65 instructs the warehouse operations management system 20 to control the next picking operation. When the processor 21 receives the control instruction for the next picking operation, it controls the execution of the next picking operation based on the picking instruction information.

[0076] Although the example shows the screen transition from screen G31 to screen G32 and then to screen G33, the example is not limited to this. The terminal 65 may simultaneously display at least some of the information on screens G31 to G33.

[0077] 6 . On the other hand, if it is determined that another worker or the transport robot 42 is located near a predetermined storage area outside the automated warehouse 50 (Yes in step S24), the processor 21 determines whether the transport robot 42 can transport a substitute item (S26). For example, information regarding the characteristics of items that each transport robot 42 can transport may be stored in the memory 22, and the processor 21 may refer to the memory 22 and determine whether the transport robot 42 can transport a substitute item based on the characteristics of the substitute item.

[0078] If it is determined that the transport robot 42 cannot transport the substitute item (No in step S26), the processor 21 transmits, via the communication device 24, to the terminal 65 of the other worker, instruction information instructing the other worker to pick up the substitute item and transport it to the picking station PS (S27). In this case, the processor 21 may transmit, via the communication device 24, display instruction information to the terminal 65 held by the other worker, instructing the terminal 65 to display information indicating that the substitute item will be picked up and transported. The processor 21 may also transmit, via the communication device 24, display instruction information to the terminal 65 of the picking worker 45, instructing the terminal 65 to display guidance information (transport guidance information) indicating that the other worker or the transport robot 42 will pick up and transport the substitute item.

[0079] 10 is a diagram showing an example of a screen displayed on the terminal 65 of the picking worker 45. FIG. 10 shows an example of a screen displayed when another worker picks up an item substituted for the picking worker. Note that screen G41 and screen G42 are also collectively referred to as screen G4.

[0080] The processor 21 transmits display instruction information for displaying transport guidance information to the terminal 65 carried by the picking worker 45. The terminal 65 receives this display instruction information and displays the information in accordance with the display instruction information. For example, the terminal 65 displays a screen G41 containing a message such as, "A problem has occurred, but a replacement item is available at XXX. A nearby worker or AMR will bring the replacement item, so please wait." The terminal 65 also displays a button B41 on the screen G41, which allows the picking worker 45 to input that he or she has acquired a replacement item. When the button B41 is operated, the terminal 65 displays information (next task transition information) urging the picking worker 45 to move on to the next picking task on the screen G42, along with a button B42 for inputting that the picking worker 45 has acquired the replacement item.

[0081] When the button B42 is operated, the terminal 65 instructs the warehouse operations management system 20 to control the next picking operation. When the processor 21 receives the control instruction for the next picking operation, the processor 21 controls the execution of the next picking operation based on the picking instruction information.

[0082] Although the example shows the screen transition from screen G41 to screen G42 in this order, the present invention is not limited to this. The terminal 65 may simultaneously display at least some of the information on screens G41 to G42.

[0083] 11 is a diagram showing an example of a screen displayed on the terminal 65 of another worker. Fig. 11 shows an example of a screen displayed when another worker picks up and transports a replacement item. Note that screen G51 and screen G52 are also collectively referred to as screen G5.

[0084] The processor 21 transmits display instruction information based on the fact that the other worker will pick up and transport the replacement item to the terminal 65 held by the other worker. The terminal 65 receives this display instruction information and displays the information in accordance with the display instruction information. For example, the terminal 65 displays a screen G51 containing a message such as, "A problem has occurred in the automated warehouse. Please transport the replacement item to XX." The terminal 65 also displays a button B51 on the screen G51, which instructs the user to confirm the storage location of the replacement item. When the button B51 is operated, the terminal 65 displays information regarding the storage location of the replacement item on the screen G52. The screen G52 displays information indicating the current location (current location) of the other worker, information indicating the storage location of the replacement item, and information indicating the location of the delivery destination (i.e., the location of the picking station PS where the replacement item will be picked). The terminal 65 also displays a button B52 on the screen G52 for inputting that the replacement item has been transported.

[0085] Although the example shows the screen transition from screen G51 to screen G52 in this order, the present invention is not limited to this. The terminal 65 may simultaneously display at least some of the information on screens G51 to G52.

[0086] Returning to FIG. 6 . If it is determined that the transport robot 42 can transport the substitute item (Yes in step S26), the processor 21 determines whether a picking robot located near the storage location of the substitute item (storage area) can pick up the substitute item (S28). A picking robot located in the storage area may include a picking robot located in (or near) the storage area, or a picking robot mounted on a transport robot 42 located in (or near) the storage area. For example, information regarding the characteristics of items that each picking robot can pick up may be stored in the memory 22, and the processor 21 may refer to the memory 22 and determine whether any of the picking robots can pick up the substitute item based on the characteristics of the substitute item.

[0087] If it is determined that the picking robot located in the storage area can pick up the substitute item (Yes in step S28), the processor 21 transmits instruction information via the communication device 24 to instruct the picking robot located in the storage area to pick up the substitute item and the transport robot 42 to transport it to the picking station PS (S29). The transport robot 42 picks up the substitute item and transports it to the picking station PS in accordance with the instruction information from the warehouse operations management system 20.

[0088] If it is determined that the picking robot located in the storage area is unable to pick up the substitute item (No in step S28), the processor 21 transmits instruction information to the terminal 65 of the other worker instructing the other worker to pick up the substitute item, and transmits instruction information to the transport robot 42 instructing the transport robot 42 to transport the substitute item to the picking station PS (S30). In this case, the processor 21 may transmit display instruction information via the communication device 24 to the terminal 65 held by the other worker instructing the other worker to display information instructing the other worker to pick up the substitute item and place it on the transport robot 42 that will transport the substitute item. The processor 21 may also transmit display instruction information for the transport guide information described above to the terminal 65 of the picking worker 45 via the communication device 24.

[0089] In step S30, the same screen as that shown in FIG. 10 is displayed on the terminal 65 of the picking worker 45. Furthermore, a screen that is partially different from that shown in FIG. 11 is displayed on the terminal 65 of the other worker. For example, in accordance with display instruction information based on the fact that the other worker is picking up a replacement item, the terminal 65 may display a screen including a message such as "A fault has occurred in the automated warehouse. Please pick up a replacement item and place it in the AMR," instead of screen G51. Furthermore, the terminal 65 does not need to display screen G52.

[0090] The transport robot 42 transports the items picked up and placed by other workers to the picking station PS in accordance with instruction information from the warehouse operations management system 20.

[0091] In step S21, if it is not determined that there is no substitute product in the warehouse (No in step S21), the processes of steps S14 to S17 shown in FIG. 5 are performed (step SA).

[0092] 5 and 6 , the warehouse system 5 can appropriately determine whether to skip the ongoing picking operation, taking into account the scheduled shipping time and the availability of a replacement item. Furthermore, if a replacement item is available, the system can issue instructions to other transport robots 42 in the warehouse or to the operator's terminal 65 according to the situation to transport the replacement item to the picking station PS in place of the broken transport robot 42. Thus, the transport robot 42 that receives the instruction can transport the replacement item to the picking station PS in accordance with the instruction. Furthermore, an operator (e.g., a picking operator or another operator) who checks the terminal 65 that received the instruction can bring the replacement item to the picking station PS. Therefore, the warehouse system 5 can ship the replacement item in place of the failed item without skipping the ongoing picking operation, thereby minimizing shipping delays.

[0093] Although the example in step S13 is given in which the estimated time for recovery from the failure is taken into consideration to determine whether the scheduled shipping time will be met, this process is not essential. That is, the processor 21 of the warehouse operations management system 20 may determine whether to skip the picking operation in progress (the picking operation for the item that did not arrive) depending on whether a substitute item is available, without taking into consideration the estimated time for recovery from the failure or the scheduled shipping time.

[0094] Next, the operation of the warehouse system 5 after the failed transport robot 42 is restored will be described.

[0095] FIG. 12 is a flowchart showing an example of the operation of the warehouse system 5 after the failed transport robot 42 is restored.

[0096] When the processor 21 recovers from a failure, the warehouse operations management system 20 acquires picking instruction information and acquires the priority of the picking task currently being performed and the priority of the skipped picking task. For example, the processor 21 may transmit recovery information to the warehouse operations management system 20 when the failed transport robot 42F recovers. For example, when an operator in the warehouse discovers that the transport robot 42F has recovered, the processor 21 may input recovery information indicating the recovery to the terminal 65 and transmit the recovery information to the warehouse operations management system 20. The processor 21 may acquire the recovery information and determine that the transport robot 42 has recovered based on the recovery information (detect the recovery of the transport robot 42).

[0097] The processor 21 determines whether the priority of the skipped picking operation is higher than the priority of the currently being performed picking operation (S41). As an example, whether the priority is high or not may be determined based on the scheduled shipping time for the item to be picked. For example, the earlier the scheduled shipping time, the higher the priority, and the later the scheduled shipping time, the lower the priority. Information on the priority of each picking operation may be included in the picking instruction information.

[0098] If the priority of the skipped picking operation is equal to or lower than the priority of the currently being performed picking operation, the processor 21 continues to perform the currently being performed picking operation (S42).

[0099] If the priority of the skipped picking operation is higher than the priority of the currently being performed picking operation, the processor 21 controls to interrupt and perform the skipped picking operation (S43). In this case, the processor 21 transmits instruction information via the communication device 24 to the transport robot 42 to transport the shipping bin 72 that was being worked on from the bin storage area to the picking station PS. This transport robot 42 may be the transport robot 42F that has recovered from a malfunction, or a transport robot other than the transport robot 42F. In accordance with this instruction information, the transport robot 42 transports the shipping bin 72 that was being worked on from the bin storage area to the picking station PS.

[0100] The processor 21 acquires remaining picking task information included in the picking instruction information and acquires picking robot feasibility information included in the item information. The processor 21 determines whether the remaining picking tasks can be picked by the picking robot 40 based on the remaining picking task information and the picking robot feasibility information (S44). In addition, for example, information on the characteristics of items that each picking robot 40 can pick (grasp) may be stored in the memory 22, and the processor 21 may refer to the memory 22 to determine whether the items can be picked based on the characteristics of the items to be picked in the remaining picking tasks.

[0101] If it is determined that the remaining picking work can be performed by the picking robot 40 (Yes in step S44), the processor 21 transmits information to the picking robot 40 via the communication device 24 to instruct the picking robot 40 to perform the remaining picking work (S45). The picking robot 40 receives the instruction information for the remaining picking work and performs the remaining picking work in accordance with the instruction information for the remaining picking work.

[0102] If it is determined that the remaining picking work cannot be performed by the picking robot 40 (No in step S44), information instructing the picking worker 45 to perform the remaining picking work is transmitted to the terminal 65 of the picking worker 45 (S46). The terminal 65 receives the instruction information for the remaining picking work and displays it in accordance with the instruction information for the remaining picking work.

[0103] According to this example of operation after recovery from the transport robot 42 failure, the warehouse system 5 can preferably perform the skipped picking work. In this case, it is not necessary to perform the skipped picking work, and picking work with a higher priority can be performed first upon recovery. Furthermore, even if the work task includes an item that originally required picking by a picker 45, if the picking work for that item was completed before the transport robot 42F failed, the remaining picking work can be performed by the picking robot 40. Note that the warehouse system 5 does not require the picker 45 who was performing the picking work before the skip to continue working, and after recovery, the optimal picker 45 or picking robot 40 can perform the picking work.

[0104] According to the warehouse system 5 of the first embodiment, even if a failure (breakdown) occurs in any of the transport robots 42 transporting items in the warehouse, the warehouse system 5 can adjust the picking operation so that it does not get delayed by determining whether to skip the picking operation that was being performed when the failure occurred. Furthermore, the warehouse system 5 can output various information to the terminals of other transport robots and workers based on the determination results, allowing the other transport robots and workers to take measures to perform picking operations efficiently. This prevents a decrease in the efficiency of picking operations.

[0105] (Summary of the embodiment) As described above, the present disclosure describes at least the following matters. Note that, in parentheses, examples of components corresponding to the above-described embodiment are shown, but the present disclosure is not limited to these.

[0106] (Item 1) A picking support method for supporting the picking work of an item, comprising: a step of detecting a failure of a first transport robot (transport robot 42F) that transports the item; a step of determining, in response to the detection of the failure, whether or not to skip the first picking work of picking the item based on at least one of an estimated recovery time until the failure is recovered and whether or not there is a substitute for the item; and a step of outputting information based on the result of the determination of whether or not to skip.

[0107] As a result, even if a failure occurs in the first transport robot that transports items in the warehouse, the picking support method can adjust the picking work so that it does not get delayed by determining whether to skip the picking work that is currently being performed. Furthermore, the picking support method can output various information to other transport robots and workers based on the determination result, allowing the other transport robots and workers to take measures to perform picking work efficiently. Therefore, it is possible to prevent a decrease in the work efficiency of the picking work.

[0108] (Item 2) The picking support method according to Item 1, wherein the step of outputting the information includes a step of outputting instruction information instructing the transport of the substitute item to a picking area (picking station PS) where the picking operation of the item is performed, when it is determined that the first picking operation should not be skipped.

[0109] As a result, even if a failure occurs in the first transport robot transporting an item, the picking support method can continue the picking work currently being performed using a substitute that can replace the item, thereby preventing a decrease in the efficiency of the picking work.

[0110] (Item 3) The picking assistance method according to Item 2, wherein the step of outputting the information includes a step of, when the substitute item is stored in the automated warehouse, transmitting the instruction information to a second transport robot (a transport robot 42 other than transport robot 42F) to transport the substitute item from the automated warehouse to the picking area.

[0111] As a result, the picking assistance method can automatically transport replacement items from the automated warehouse without increasing the workload of the picking worker or other workers.

[0112] (Item 4) The picking support method according to Item 3, wherein the step of outputting the information includes a step of transmitting display instruction information to a terminal of a picking worker performing the picking work, the display instruction information instructing the terminal to display information indicating that the second transport robot will transport the substitute item from the automated warehouse to the picking area.

[0113] This allows the picking worker to recognize that a malfunction has occurred in the first transport robot and that a replacement item will be transported.

[0114] (Item 5) The picking support method according to Item 2, wherein the step of outputting the information includes a step of, when the substitute item is stored outside the automated warehouse and neither a second transport robot nor another worker is present in the storage area where the substitute item is stored, transmitting the instruction information to a terminal of a picking worker performing the picking work, instructing the picking worker to transport the substitute item from the storage area to the picking area.

[0115] This allows the picking worker to recognize that the replacement item will not be automatically transported to the picking area, and that he or she must personally go to the storage area to retrieve the replacement item.

[0116] (Item 6) The picking support method according to Item 5, wherein the step of outputting the information includes a step of transmitting display instruction information to the terminal of the picking worker to instruct the terminal to display information including information indicating a storage location of the substitute item and information indicating a location of the picking worker.

[0117] This allows the picker to check the location of the replacement item and the route to retrieve it.

[0118] (Item 7) The picking assistance method according to Item 2, wherein the step of outputting the information includes a step of, when the substitute item is stored outside the automated warehouse, a second transport robot and another worker are present in the storage area where the substitute item is stored, and the second transport robot is unable to transport the substitute item from the storage area, sending instruction information to a terminal of the other worker instructing the other worker to transport the substitute item from the storage area to the picking area.

[0119] This allows the other worker to recognize that he or she needs to go to the storage area to get a replacement item and bring it to the picking area.

[0120] (Item 8) The picking support method according to Item 7, wherein the step of outputting the information includes a step of transmitting display instruction information to the terminal of the other worker to instruct the terminal to display information including information indicating the location of the other worker and information indicating the location of the storage area where the substitute item is stored.

[0121] This allows other workers to check the location of the substitute, the route (path) to pick up the substitute, and the route (path) to bring the substitute to the picking area.

[0122] (Item 9) The picking assistance method according to Item 2, wherein the step of outputting the information includes the steps of: when the substitute is stored outside the automated warehouse, a second transport robot is located in the storage area where the substitute is stored, a first picking robot located in the storage area is capable of picking up the substitute, transmitting first instruction information to the first picking robot instructing it to pick up the substitute from the storage area, and when the second transport robot is capable of transporting the substitute from the storage area to the picking area, transmitting second instruction information to the second transport robot instructing it to transport the substitute from the storage area to the picking area.

[0123] As a result, the picking support method can instruct the first picking robot and the second transport robot to pick up and transport the replacement item, reducing the effort required by the worker when transporting the replacement item to the picking area.

[0124] (Item 10) The picking assistance method according to Item 2, wherein the step of outputting the information includes, when the substitute is stored outside the automated warehouse, a second transport robot and another worker are present in the storage area where the substitute is stored, the second transport robot can transport the substitute from the storage area to the picking area, and the first picking robot present in the storage area cannot pick up the substitute, sending third instruction information to a terminal of the other worker instructing the other worker to pick up the substitute from the storage area and sending fourth instruction information to the second transport robot instructing the second transport robot to transport the substitute from the storage area to the picking area.

[0125] As a result, the picking assistance method attempts to pick up and transport the replacement item using the first picking robot and the second transport robot as much as possible, and can assist in transporting the replacement item to the picking area with the assistance of other workers if necessary.

[0126] (Item 11) The picking assistance method described in Item 1, wherein the step of outputting the information includes a step of sending instruction information to a third transport robot (a transport robot 42 other than transport robot 42F) to transport the shipping bin to a bin storage area where the shipping bin is stored, when it is determined that the first picking operation should be skipped and there is a shipping bin in the middle of being worked on in the first picking operation.

[0127] This allows the picking support method to evacuate shipping bins that are currently being used from the picking area, thereby preventing the smooth progress of other picking operations from being hindered.

[0128] (Item 12) The picking support method according to Item 1 or 11, wherein the step of outputting the information includes a step of sending, when it is determined that the first picking operation should be skipped, display instruction information to a terminal of a picking operator to instruct the terminal to display information indicating that the failure has occurred and that the first picking operation will be skipped.

[0129] This allows the picking worker to recognize that the first picking operation will be skipped due to the occurrence of a failure.

[0130] (Item 13) The picking support method according to Item 1, further comprising: when the failure is recovered, determining whether the first picking operation has a higher priority than a second picking operation that is a picking operation being executed at the time of recovery; and when it is determined that the first picking operation has a higher priority than the second picking operation, interrupting the second picking operation and executing the first picking operation.

[0131] As a result, the picking support method does not necessarily interrupt and carry out the skipped first picking work, but makes a decision based on the priority with respect to the second picking work, so that it can support the efficient execution of a series of picking works.

[0132] (Item 14) The picking support method described in Item 13, wherein the step of outputting the information includes a step of sending instruction information to a fourth transport robot (transport robot 42F or a transport robot 42 other than transport robot 42F) when the failure is recovered and the first picking operation is controlled to be performed, instructing the fourth transport robot to transport the shipping bin from the bin storage area to a picking area where the item picking operation is performed.

[0133] As a result, the picking support method can reduce the worker's effort in returning the shipping bins that were evacuated due to the skipping of the first picking operation to the picking area.

[0134] (Item 15) The picking support method according to Item 13, wherein the step of performing the first picking operation includes the steps of: determining whether a second picking robot arranged in a picking area can perform the remaining picking operation in the first picking operation; and instructing the second picking robot to perform the remaining picking operation if it is determined that the second picking robot can perform the remaining picking operation, and instructing a picking operator to perform the remaining picking operation if it is determined that the second picking robot cannot perform the remaining picking operation.

[0135] As a result, even if the item originally included in the picking assistance method is one that the second picking robot cannot pick, if that item has already been picked by a picker, the picking assistance method can assign the remaining work to the second picking robot. Thus, the picking assistance method can perform the skipped picking work with as little effort as possible for the picker.

[0136] (Item 16) A picking support system (warehouse operations management system 20) that includes a processor (processor 21) and supports the work of picking items, wherein the processor: detects a failure of a first transport robot that transports the items; upon detection of the failure, determines whether or not to skip the first picking work of picking the items based on at least one of an estimated recovery time until recovery from the failure and whether or not a substitute for the item is available; and outputs information based on the result of the determination of whether or not to skip.

[0137] As a result, the picking support system can achieve the same effect as item 1.

[0138] Although various embodiments 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 or alterations 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 without departing from the spirit of the invention.

[0139] In addition, the above embodiment may also be applicable to a program that realizes the functions of the picking support method, which is supplied to a computer (e.g., warehouse operations management system 20) via a network or various storage media, and which is read and executed by the processor of this computer, as well as to the storage media on which this program is stored.

[0140] The present disclosure is useful for a picking support method and a picking support system that can prevent a decrease in picking work efficiency even when a failure occurs in a transport robot in a warehouse.

[0141] 5 Warehouse system 10 Warehouse management system 20 Warehouse operation management system 21 Processor 22 Memory 23 Input device 24 Communication device 25 Input / output interface 30 Warehouse control system 40 Picking robot 42 Transport robot 45 Picking worker 50 Automated warehouse 60 Camera 65 Terminal 70 Bin 71 Storage bin 72 Shipping bin PS, PS0, PS1 Picking station

Claims

1. A picking support method for supporting the picking work of an item, comprising: a step of detecting a failure of a first transport robot that transports the item; a step of determining, in response to the detection of the failure, whether or not to skip the first picking work of picking the item based on at least one of an estimated recovery time until the failure is restored and whether or not a substitute for the item is available; and a step of outputting information based on the result of the determination of whether or not to skip.

2. The picking support method according to claim 1, wherein the step of outputting the information includes a step of outputting instruction information instructing the transport of the substitute item to a picking area where the picking operation of the item is performed when it is determined that the first picking operation should not be skipped.

3. The picking assistance method described in claim 2, wherein the step of outputting the information includes a step of sending the instruction information to a second transport robot instructing it to transport the substitute item from the automated warehouse to the picking area if the substitute item is stored in the automated warehouse.

4. The picking support method according to claim 3, wherein the step of outputting the information includes a step of sending display instruction information to a terminal of a picking worker performing the picking work, instructing the terminal to display information indicating that the second transport robot will transport the substitute item from the automated warehouse to the picking area.

5. The picking support method according to claim 2, wherein the step of outputting the information includes a step of, when the substitute item is stored outside the automated warehouse and neither a second transport robot nor another worker is present in the storage area where the substitute item is stored, sending the instruction information to a terminal of a picking worker performing the picking work, instructing the picking worker to transport the substitute item from the storage area to the picking area.

6. A picking support method as described in claim 5, wherein the step of outputting the information includes a step of sending display instruction information to the terminal of the picking worker to instruct the terminal to display information including information indicating the storage location of the substitute item and information indicating the location of the picking worker.

7. The picking support method according to claim 2, wherein the step of outputting the information includes a step of, when the substitute item is stored outside the automated warehouse, a second transport robot and another worker are present in the storage area where the substitute item is stored, and the second transport robot is unable to transport the substitute item from the storage area, sending instruction information to the terminal of the other worker instructing the other worker to transport the substitute item from the storage area to the picking area.

8. The picking support method described in claim 7, wherein the step of outputting the information includes a step of sending display instruction information to the terminal of the other worker to instruct the terminal to display information including information indicating the location of the other worker and information indicating the location of the storage area where the substitute item is stored.

9. The picking assistance method of claim 2, wherein the step of outputting the information includes the steps of: when the substitute is stored outside the automated warehouse, a second transport robot is located in the storage area where the substitute is stored, a first picking robot located in the storage area can pick up the substitute, and the second transport robot can transport the substitute from the storage area to the picking area, sending first instruction information to the first picking robot instructing it to pick up the substitute from the storage area, and sending second instruction information to the second transport robot instructing it to transport the substitute from the storage area to the picking area.

10. The picking assistance method according to claim 2, wherein the step of outputting the information includes the step of, when the substitute is stored outside the automated warehouse, a second transport robot and another worker are present in the storage area where the substitute is stored, the second transport robot is able to transport the substitute from the storage area to the picking area, and the first picking robot present in the storage area is unable to pick up the substitute, sending third instruction information to the terminal of the other worker instructing the other worker to pick up the substitute from the storage area and sending fourth instruction information to the second transport robot instructing the second transport robot to transport the substitute from the storage area to the picking area.

11. The picking assistance method described in claim 1, wherein the step of outputting the information includes a step of sending instruction information to a third transport robot instructing it to transport the shipping bin to a bin storage area where the shipping bin is stored, when it is determined that the first picking operation should be skipped and there is a shipping bin in the middle of being worked on in the first picking operation.

12. A picking support method as described in claim 1 or 11, wherein the step of outputting the information includes a step of sending display instruction information to a terminal of a picking worker to instruct the terminal to display information indicating that the first picking task is to be skipped.

13. The picking support method according to claim 1, further comprising the steps of: when the failure is recovered, determining whether the first picking operation has a higher priority than a second picking operation that is a picking operation being executed at the time of recovery; and when it is determined that the first picking operation has a higher priority than the second picking operation, controlling the second picking operation to be interrupted and the first picking operation to be executed.

14. The picking support method described in claim 11, wherein the step of outputting the information includes a step of sending instruction information to a fourth transport robot instructing it to transport the shipping bin from the bin storage area to a picking area where the item picking operation is performed when the failure is recovered and control is exercised to perform the first picking operation.

15. The picking support method according to claim 13, wherein the step of controlling to execute the first picking task includes the steps of: determining whether or not the remaining picking task in the first picking task can be executed by a second picking robot arranged in a picking area; and, if it is determined that the second picking robot can execute the remaining picking task, instructing the second picking robot to execute the remaining picking task, and, if it is determined that the second picking robot cannot execute the remaining picking task, instructing a picking operator to execute the remaining picking task.

16. A picking support system comprising a processor for supporting the picking work of an item, wherein the processor detects a failure of a first transport robot that transports the item, and in response to the detection of the failure, determines whether or not to skip the first picking work of picking the item based on at least one of an estimated recovery time until recovery from the failure and whether or not a substitute for the item is available, and outputs information based on the result of the determination of whether or not to skip.

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