Warehouse system

Abstract

This warehouse system comprises: an acquisition unit that acquires a picking list including a plurality of tasks constituting picking work associated with a first shipping bin, and picking means information indicating a plurality of types of picking means for transferring an article from a storage bin to the first shipping bin; an allocation unit that allocates each of the plurality of tasks to one of the plurality of types of picking means on the basis of the picking list and the picking means information; and a control unit that controls movement of the first shipping bin, during the picking work associated with the first shipping bin, on the basis of the allocation of each of the plurality of tasks to one of the plurality of types of picking means.

Description

Warehouse System

[0001] The present disclosure relates to warehouse systems.

[0002] In a conventional warehouse, picking work is performed by workers. For example, Patent Literature 1 discloses a picking system having a function of rearranging pick instructions to workers and a function of dividing pick instructions.

[0003] Japanese Patent Application Laid-Open No. 2014-205552

[0004] The present disclosure has been devised in view of the above-described conventional situation, and aims to improve the efficiency of work related to picking work by a robot.

[0005] The present disclosure provides a warehouse system comprising: an acquisition unit that acquires a picking list including a plurality of tasks that constitute a picking operation linked to a first shipping bin; and picking means information that indicates a plurality of types of picking means that will move items from a storage bin to the first shipping bin; an allocation unit that assigns each of the plurality of tasks to one of the plurality of types of picking means based on the picking list and the picking means information; and a control unit that controls the movement of the first shipping bin based on the allocation of the plurality of tasks to one of the plurality of types of picking means during the picking operation linked to the first shipping bin.

[0006] 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.

[0007] According to the present disclosure, it is possible to improve the efficiency of work related to robot picking work.

[0008] Schematic diagram showing an example of a task rearrangement according to the embodiment 1. Schematic diagram showing an example of a shipping bin movement according to the embodiment 1. Table diagram showing an example of a task allocation according to the embodiment 1. Schematic diagram showing an example of a task allocation according to the embodiment 1. Schematic diagram showing an example of a shipping bin and a storage bin movement according to the embodiment 1. Schematic diagram showing an example of a shipping bin movement according to the embodiment 1. Flowchart showing a task allocation process according to the embodiment 1. Flowchart showing a task reallocation process according to the embodiment 1.

[0009] (Background to the present disclosure) In warehouses where cargo is received, stored, packed, shipped, and the like, automation using robots and the like is required to reduce the manual workload. With the increase in cargo volume in recent years, further efficiency improvements in a series of tasks are required. In such warehouses, items (hereinafter also referred to as "products") of various shapes and attributes are handled, so it is necessary for humans and robots to share tasks and perform them in consideration of the characteristics of the products. One such task is picking, based on shipping instructions, from a storage unit where products are stored (hereinafter referred to as a "storage bin") to a storage unit (hereinafter referred to as a "shipping bin") that stores one or more products to be shipped.

[0010] When a picking operation is performed, storage bins and shipping bins are arranged around a picking device, and the picking device moves products from the storage bins to the shipping bins. For example, if the picking device is a robot, the ease of the picking operation, in other words, the success rate of product grasping, varies depending on the product characteristics, the robot's specifications, and the shape of the robot's product grasping device. Therefore, for example, even if a single robot is used to pick products into a shipping bin, if the shape of a specific product among multiple products stored in the shipping bin is incapable of being grasped by the robot, not only will manual intervention be required for the picking operation, but work efficiency will be reduced because picking work into the shipping bin will be concentrated among humans. Therefore, to improve the efficiency of the entire operation, it is necessary to consider the type of product to be picked, the robot's success rate of grasping the product, and the arrangement of the shipping bins that store the product. The arrangement of the shipping bins is determined based on one or more tasks that constitute the picking operation into the shipping bin. For example, if a robot is assigned the task of transferring products stored in a storage bin to a shipping bin, the shipping bin is placed in a predetermined position near the robot for the robot to perform the task.

[0011] Therefore, in the following embodiment, an example of a system is described in which one or more tasks constituting the picking operation are assigned to the picking means, and the movement of the shipping bins is controlled based on the task assignment to the picking means, so that the picking means can more efficiently perform the picking operation to the shipping bins. The movement of the shipping bins, to be precise, refers to the movement of the automated guided vehicle 800 that transports the shipping bins, but to avoid redundant explanation, it may be simply referred to as the movement of the shipping bins. The same applies to the movement of storage bins.

[0012] Hereinafter, with reference to the drawings as appropriate, a detailed description of an embodiment specifically disclosing a warehouse system according to the present disclosure will be provided. However, more detailed description than necessary 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 further external systems not shown in FIG. 1, and may acquire and manage instructions related to the inbound and outbound shipment of cargo, product information, information related to warehouse equipment such as robots, information related to workers, and information related to the transportation status of vehicles or ships used to transport cargo.

[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 below 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"). The warehouse operations management system 200, for example, comprehensively controls the work content of various work entities within the warehouse and the equipment within the warehouse.

[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, an orthogonal 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 an item from a storage bin in which the item is stored to a shipping bin that stores one or more items to be shipped. A camera may be installed around the robot 600 to capture images of the surrounding area, particularly images of the bins placed around the robot 600.

[0017] The automated warehouse 700 is configured to be able to store 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-shaped frame so that multiple bins can be stored. Examples of bins stored in the automated warehouse 700 include storage bins for storing items. Furthermore, the storage bins may include empty bins that do not store any items, and bins for which no items have been determined to be stored. Note that the bins used in the automated warehouse 700 also include shipping bins for bundling products together before shipping. The shapes and dimensions of the storage bins and shipping bins may differ, but they are configured to be transportable by the automated guided vehicle 800, and will be described here as having the same rectangular box-shaped configuration.

[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 Graphical 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"), etc. The processing device 11 realizes various functions described below by, for example, referring to various databases stored in the storage device 12 or reading out programs.

[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").

[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 (not shown) that transport bins are arranged in a drivable manner inside the warehouse.

[0030] A work area 830 is configured around the automated warehouse 700 where workers 850, who act as the main operators of the picking work, perform their work. A work area is also provided where robots 600, who act as the main operators of the picking work, perform their work. As will be described in detail later, tasks that make up the picking work are assigned to the operators, and bins (e.g., storage bins 810, shipping bins 820) are transported and placed in the work area so that the operators can perform the tasks assigned to them. Hereinafter, the area where picking work is performed by the operators may be referred to as a picking station. The operators of the picking work may also be referred to as a picking means.

[0031] 3 shows an example in which one area for the human worker 850 to work and one area for the robot 600 to work are provided, but this is not limited to this. A plurality of each area may be provided. Alternatively, only one area for the human to work and one area for the robot to work may be provided. Furthermore, although an example in which the robot 600 equipped with an orthogonal mechanism is provided is shown, a robot equipped with a multi-axis arm may also be provided.

[0032] [Picking List] A picking list TBL1 according to this embodiment will be described with reference to Fig. 4. Fig. 4 is a table diagram showing an example of a picking list according to the first embodiment.

[0033] The picking list TBL1 shown in FIG. 4 is a list for managing picking work received on a task-by-task basis. For example, the warehouse management system 100 generates a picking instruction based on an external request and transmits it to the warehouse operations management system 200. The warehouse operations management system 200 then registers the received picking instruction in the picking list TBL1. Alternatively, the picking list TBL1 may be created by the warehouse management system 100, and the picking list TBL1 may be transmitted from the warehouse management system 100 to the warehouse operations management system 200 as a picking instruction. The picking list TBL1 may be managed and updated by the warehouse operations management system 200. Note that in this specification, the term "task" refers to one picking operation, that is, the smallest unit of a work process in which one item is picked (in other words, moved) from a storage bin to a shipping bin.

[0034] In this embodiment, "picking work" is composed of one or more tasks that transfer items from one or more storage bins to a shipping bin for shipping to that shipping bin. For example, when picking work for a shipping bin is performed, it means that one or more tasks that make up the picking work are performed, and each item stored in one or more storage bins is transferred to that shipping bin. In the following description, a task linked to a shipping bin means that an item is picked and transferred to that shipping bin by the execution of that task. In addition, a task linked to a storage bin means that an item is picked and removed from that storage bin by the execution of that task. In addition, picking work linked to a shipping bin means that one or more tasks that make up the picking work are all linked to that shipping bin.

[0035] The picking list TBL1 includes the following fields: picking ID, product, number of picks, storage bin ID, shipping bin ID, and status. The picking ID is identification information for uniquely identifying a task. The product field indicates the name of the product. The picking number is the number of products to be picked. The storage bin ID is identification information for uniquely identifying a storage bin. The shipping bin ID is identification information for uniquely identifying a shipping bin. The status field indicates status information for picking instructions for each task. In the example of FIG. 4 , the task with picking ID "1" instructs the picking of three apples from a storage bin with storage bin ID "x" to a shipping bin with shipping bin ID "z." The status of this task is "accepted," which indicates that the picking instruction for the task has been accepted by the warehouse operations management system 200 (i.e., picking work for the task is scheduled to be performed). The warehouse operations management system 200 creates a work list TBL2 (see FIG. 5) based on the picking list TBL1. Note that the configuration of the picking list TBL1 shown in FIG. 4 is an example, and the picking list TBL1 may be configured to include additional items or may be configured to exclude some of the items.

[0036] [Work List] The work list TBL2 according to this embodiment will be described with reference to Fig. 5. Fig. 5 is a table diagram showing an example of a work list according to the first embodiment.

[0037] The work list TBL2 shown in FIG. 5 is a list for managing one or more tasks that constitute picking work and are assigned to a picking means. Here, one work list is described as managing tasks linked to shipping bins with the same shipping bin ID. For example, the work list TBL2 shown in FIG. 5 manages tasks linked to a shipping bin with a shipping bin ID of "z." However, one work list may be configured to manage tasks linked to multiple shipping bins. The warehouse operations management system 200 creates a work list by assigning tasks included in the picking list to picking means based on the picking list and, as necessary, rearranging the order in which the assigned tasks are to be performed by the picking means. Therefore, the work list TBL2 may be managed and updated by the warehouse operations management system 200.

[0038] The work list TBL2 includes the following items: picking ID, product, number of picks, storage bin ID, shipping bin ID, picking station, and status. The picking ID, product, number of picks, storage bin ID, and shipping bin ID items are the same as the items included in the picking list TBL1 shown in Figure 4, so their explanations are omitted. The picking station item indicates the picking means to which the task is assigned. In this embodiment, the picking means are each located at a separate picking station. The status item indicates task status information. In the example of Figure 5, the work list TBL2 indicates that the task with picking ID "1" has been completed by robot A. The work list TBL2 also indicates that the task with picking ID "2" is being executed by robot B.

[0039] The warehouse operations management system 200 acquires information on multiple types of picking means in order to assign tasks to picking means. A processing device (e.g., processing device 11) or an interface device (e.g., external interface 16) of the warehouse operations management system 200 may function as an acquisition unit that acquires various types of information. The multiple types of picking means include workers and multiple types of robots. The multiple types of robots may be, for example, robots with orthogonal mechanisms or robots with multi-axis arms. Alternatively, the robot may be configured with at least an arm and a hand. Furthermore, each of the multiple types of robots may have a different combination of arm and hand. The information on the picking means includes information on the worker performing the picking work (hereinafter also referred to as "worker information") and information on the robot performing the picking work (hereinafter also referred to as "robot information"). The warehouse operations management system 200 may acquire the information on the picking means from the warehouse management system 100 or from an external system. Alternatively, the information on the picking means may be stored in a storage device (e.g., storage device 12) of the warehouse operations management system 200.

[0040] The worker information includes, for example, the number of workers, the available working time of each worker, etc. The robot information includes, for example, specification information including the operating speed and actuator type of each of the multiple types of robots installed in the warehouse, and the grasping success rate for each item of each of the multiple types of robots, etc.

[0041] The warehouse operations management system 200 assigns a task to one of multiple types of robots based on, for example, the success rate at which each of the multiple types of robots grasps an item that is transferred from a storage bin to a shipping bin as a result of the task being executed. A processing device (e.g., processing device 11) of the warehouse operations management system 200 may function as an assignment unit that assigns a task to a picking means. For example, the warehouse operations management system 200 may assign the task of picking an item to a robot with a high success rate at which the robot grasps the item. Specifically, if the success rate at which robot A grasps an apple is 80% and the success rate at which robot B grasps an apple is 60%, the warehouse operations management system 200 may assign the task of picking the apple to robot A. The warehouse operations management system 200 may also set a predetermined threshold for the grasp success rate. If the success rate at which a robot grasps an item is equal to or greater than the threshold, the warehouse operations management system 200 can assign the task of picking the item to the robot. If a robot with a gripping success rate for a certain item that is equal to or greater than the threshold has not been introduced in the warehouse, the warehouse operations management system 200 may assign a task of picking the item to a worker.

[0042] By having robots perform picking tasks instead of workers, the efficiency of the entire warehouse operation can be improved. However, if no picking tasks are assigned to workers and all picking tasks are assigned to robots, the workers will have nothing to do, which puts an unnecessary strain on the robots and may actually result in lower efficiency. Therefore, when assigning tasks, the warehouse operations management system 200 may also assign tasks to workers so that the workers work at a pace within a predetermined range. When assigning tasks, the warehouse operations management system 200 may take into consideration the total amount of tasks, the number of workers, the available working hours of the workers, the operating speed of the robots, etc.

[0043] A processing device (e.g., processing device 11) of the warehouse operations management system 200 may function as a control unit that controls the movement of shipping bins based on task assignment to picking means. Under the control of the warehouse operations management system 200, shipping bins are transported to picking stations so that picking means can execute the assigned tasks. In other words, shipping bins are moved under the control of the warehouse operations management system 200. In the example of FIG. 5 , if only two tasks with picking IDs "1" and "2" are considered, a shipping bin with a shipping bin ID of "z" moves between the picking station where robot A is located and the picking station where robot B is located. In other words, the shipping bin moves between picking stations only once. The fewer times a shipping bin moves before the picking work associated with that shipping bin is completed, the more efficient it is. As will be described later with reference to FIG. 6 , the warehouse operations management system 200 not only assigns tasks to picking means but also rearranges the order in which tasks are executed by multiple types of picking means, thereby minimizing the movement of shipping bins and improving the efficiency of picking work. 9, when a shipping bin is moved a predetermined number of times or more for a picking operation associated with the shipping bin, the warehouse operations management system 200 may assign at least one of the tasks constituting the picking operation to a worker. This allows the number of tasks assigned to the workers and the number of tasks assigned to the robot to be distributed approximately evenly, which is expected to improve the efficiency of picking operations throughout the warehouse.

[0044] The task list TBL2 may be configured to include items other than the items shown in Fig. 5. For example, the task list TBL2 may be configured to include an item indicating the order in which tasks are to be performed.

[0045] [Example of Task Allocation and Rearrangement of Execution Order] The warehouse operations management system 200 rearranges the execution order of tasks so that picking work can be performed efficiently. A processing device (e.g., processing device 11) of the warehouse operations management system 200 may function as a task rearrangement unit that rearranges the execution order of multiple tasks. An example of task rearrangement will be described with reference to FIGS. 6 and 7. FIG. 6 is a schematic diagram showing an example of task rearrangement according to the first embodiment.

[0046] The task execution order list TBL3 indicates the execution order of each task linked to the first shipping bin before rearrangement. The task execution order list may be updated and managed, for example, by the warehouse operations management system 200. Furthermore, the task execution order list may be, for example, part of a work list configured to include the task execution order as an item.

[0047] Task TSK1 is assigned to robot A and is first in the order of execution. Task TSK2 is assigned to robot B and is second in the order of execution. Task TSK3 is assigned to robot A and is third in the order of execution. Task TSK4 is assigned to robot B and is fourth in the order of execution. Task TSK5 is assigned to robot A and is fifth in the order of execution. Task TSK6 is assigned to robot B and is sixth in the order of execution. If tasks TSK1, TSK2, TSK3, TSK4, TSK5, and TSK6 are each executed in the above order of execution, the first shipping bin will move alternately between the picking station where robot A is located and the picking station where robot B is located, which is time-consuming and inefficient.

[0048] The task execution order list TBL3A shows the rearranged execution order of each task linked to the first shipping bin. The rearranged task execution order is task TSK3, task TSK5, task TSK1, task TSK2, task TSK4, and task TSK6. As a result, when picking work for the first shipping bin is performed, robot A first executes tasks TSK3, TSK5, and TSK1. Then, the first shipping bin is moved to the picking station where robot B is located, and robot B executes tasks TSK2, TSK4, and TSK6. In this case, the first shipping bin is moved only once, which improves the efficiency of picking work for the first shipping bin compared to before the task execution order was rearranged. The number of times the shipping bin is moved refers, more precisely, to the number of times the automated guided vehicle 800 that transports the shipping bin is moved. However, for the sake of simplicity, the number of movements of the automated guided vehicle 800 that transports a shipping bin will be referred to as the number of movements of the shipping bin.

[0049] In this way, the task rearrangement unit (e.g., the processing device 11) can rearrange the execution order of multiple tasks (e.g., task TSK1, task TSK2, task TSK3, task TSK4, task TSK5, and task TSK6) so that multiple tasks (e.g., task TSK1, task TSK3, and task TSK5 assigned to robot A) assigned to a specific robot among multiple types of robots are temporally continuous (in other words, in a chronological order). In other words, the task rearrangement unit rearranges the execution order of the multiple tasks so that consecutive execution by a specific robot of multiple types of robots of the multiple tasks assigned to a specific robot among the multiple types of robots is not interrupted by work by another robot. In yet another way, the task rearrangement unit rearranges the execution order of the multiple tasks so that multiple tasks assigned to a specific robot among the multiple types of robots are temporally contiguous.

[0050] Furthermore, a predetermined threshold value may be set for the number of times a shipping bin is moved for a picking operation associated with the shipping bin. The warehouse operations management system 200 may then rearrange the execution order of multiple tasks constituting the picking operation by multiple types of picking means so that the number of times the shipping bin is moved is less than the threshold value. For example, in the task execution order list TBL3, the number of times the first shipping bin is moved is five. For example, if the threshold value for the number of times the shipping bin is moved is two, the warehouse operations management system 200 may rearrange the execution order of each task according to the task execution order list TBL3A so that the number of times the first shipping bin is moved is one.

[0051] The task execution order list TBL4 shows the execution order of each task linked to the second shipping bin before rearrangement. Task TSK7 is assigned to robot A and is first in the execution order. Task TSK8 is assigned to robot B and is second in the execution order. Task TSK9 is assigned to robot A and is third in the execution order. Task TSK10 is assigned to robot B and is fourth in the execution order. Task TSK11 is assigned to robot A and is fifth in the execution order. Task TSK12 is assigned to robot B and is sixth in the execution order. If tasks TSK7, TSK8, TSK9, TSK10, TSK11, and TSK12 are each executed in the above execution order, the first shipping bin will alternate between the picking station where robot A is located and the picking station where robot B is located, which is time-consuming and inefficient.

[0052] The task execution order list TBL4A shows the rearranged execution order of each task linked to the second shipping bin. The rearranged task execution order is task TSK8, task TSK10, task TSK12, task TSK7, task TSK9, and task TSK11. As a result, when picking work for the second shipping bin is performed, robot B first performs tasks TSK8, TSK10, and TSK12. Then, the second shipping bin is moved to the picking station where robot A is located, and robot A performs tasks TSK7, TSK9, and TSK11. In this case, the second shipping bin is moved only once, and the efficiency of picking work for the second shipping bin is improved compared to before the task execution order was rearranged.

[0053] Furthermore, by rearranging the tasks associated with the first shipping bin and the tasks associated with the second shipping bin, picking work for the first shipping bin and picking work for the second shipping bin can be performed at the same time. According to the task execution order list TBL3 and the task execution order list TBL4, for example, robot A cannot execute task TSK1 associated with the first shipping bin and task TSK7 associated with the second shipping bin at the same time. For example, robot A can start task TSK7 after completing task TSK1. Therefore, a situation may arise in which picking work for the first shipping bin has begun, but picking work for the second shipping bin cannot begin. However, by rearranging the tasks associated with the first shipping bin and the tasks associated with the second shipping bin as shown in task execution order lists TBL3A and TBL4A, respectively, robot A can execute tasks TSK3, TSK5, and TSK1 associated with the first shipping bin while robot B executes tasks TSK8, TSK10, and TSK12 associated with the second shipping bin. Robot B can execute tasks TSK2, TSK4, and TSK6 associated with the first shipping bin while robot A executes tasks TSK7, TSK9, and TSK11 associated with the second shipping bin. This makes it possible, for example, to simultaneously start and complete picking operations for the first and second shipping bins.

[0054] Furthermore, the warehouse operations management system 200 can achieve more efficient picking operations by robot A by rearranging the tasks associated with the first shipping bin so that task TSK1 is third in the execution order and the tasks associated with the second shipping bin so that task TSK7 is fourth in the execution order. The execution of tasks TSK1 and TSK7 by robot A will be described with reference to FIG. 7. FIG. 7 is a schematic diagram showing an example of the movement of shipping bins according to the first embodiment. In FIG. 7, the execution order of the tasks associated with the first shipping bin SB1 is rearranged according to task execution order list TBL3A, and the execution order of the tasks associated with the second shipping bin SB2 is rearranged according to task execution order list TBL4A.

[0055] 7, robot A is placed at picking station PS1. Also, at picking station PS1, storage bin HB1 and first shipping bin SB1 are placed adjacent to robot A. Product "a" is stored in storage bin HB1. Storage bin HB1 is transported to and placed at picking station PS1 for robot A to execute task TSK1 linked to the first shipping bin SB1. Also, first shipping bin SB1 is transported to and placed at picking station PS1 for robot A to execute tasks TSK3, TSK5, and TSK1 linked to the first shipping bin SB1.

[0056] While robot A is executing tasks TSK3, TSK5, and TSK1 associated with first shipping bin SB1, first shipping bin SB1 remains positioned at picking station PS1. During this time, a storage bin (not shown) storing product "c," a storage bin (not shown) storing product "e," and storage bin HB1 storing product "a" are swapped and positioned at picking station PS1.

[0057] Here, it is assumed that task TSK12 associated with the second shipping bin SB2 is also completed when task TSK1 is completed. At this time, the second shipping bin SB2 is transported to and placed at picking station PS1 for robot A to execute tasks TSK7, TSK9, and TSK11 associated with the second shipping bin SB2. Furthermore, the first shipping bin SB1 is transported to and placed at the picking station where robot B is located for robot B to execute tasks TSK2, TSK4, and TSK6 associated with the first shipping bin SB1. In other words, the first shipping bin SB1 and the second shipping bin SB2 are swapped at picking station PS1. When the first shipping bin SB1 and the second shipping bin SB2 are swapped, storage bin HB1 storing product "a" remains positioned at picking station PS1 because it is linked to both task TSK1 linked to the first shipping bin SB1 and task TSK7 linked to the second shipping bin SB2, which are executed consecutively. For example, if task TSK11 is the fourth to be executed among the tasks linked to the second shipping bin, not only will the first shipping bin SB1 and the second shipping bin SB2 be swapped at picking station PS1, but storage bin HB1 will also be swapped with a storage bin (not shown) storing product "j," which may increase the time required to move the bins and reduce efficiency.

[0058] In this way, when a first task (e.g., task TSK1) constituting picking work for the first shipping bin SB1 is the movement of items stored in a specific storage bin (e.g., storage bin HB1) to the first shipping bin by a specific picking means (e.g., robot A), and a second task (e.g., task TSK7) constituting picking work for the second shipping bin SB2 is the movement of items stored in the specific storage bin to the second shipping bin SB2 by the specific picking means, the task rearrangement unit (e.g., processing device 11) may rearrange the order in which multiple tasks including the first task linked to the first shipping bin SB1 are executed by the specific picking means and the order in which multiple tasks including the second task linked to the second shipping bin SB2 are executed by the specific picking means as follows. In other words, the warehouse operations management system 200 may rearrange the order in which the specific picking means assigned the first task and the second task executes multiple tasks including the first task to the first shipping bin, and the order in which the specific picking means executes multiple tasks including the second task to the second shipping bin, so that the specific picking means can execute the first task and the second task consecutively in time.

[0059] FIG. 8 is a table diagram illustrating an example of task assignment according to the first embodiment. As shown in the task execution order list TBL5, the warehouse operations management system 200 may assign one or more tasks to workers among multiple tasks that constitute a picking operation for a certain shipping bin. In the example of FIG. 8 , task TSK13, which involves picking product "f," is assigned to worker G, and tasks other than task TSK13 are assigned to robot D. For example, task TSK13 may be assigned to worker G if the success rate of robot D in grasping product "f" is below a predetermined threshold. Furthermore, task TSK13 may be assigned to worker G if the warehouse work that worker G is to perform has been completed and worker G is available for work.

[0060] FIG. 9 is a schematic diagram illustrating an example of task assignment according to the first embodiment. For ease of explanation, the picking list TBL6 includes two items: a picking ID and a product. Additionally, a field for the robot capable of picking each picking ID and product is also included. For example, the picking list TBL6 indicates that robot A can pick product "a," a picking target with a picking ID of "1." Here, robot A being able to pick product "a" means that robot A's success rate in grasping product "a" is equal to or greater than a predetermined threshold. Similarly, robot B can pick product "b," robot C can pick product "c," robot D can pick product "d," robot E can pick product "e," and robot F can pick product "f." Note that the following description assumes that each product listed in the picking list TBL6 is to be picked into the same shipping bin.

[0061] The warehouse operations management system 200 creates a work list by assigning tasks such as picking item "a" to a picking means such as robot A. In this case, the warehouse operations management system 200 assigns the task of picking each item listed in the picking list TBL6 into a shipping bin to each robot capable of picking listed in the picking list TBL6. If the number of times the shipping bin has been moved exceeds a predetermined threshold, the warehouse operations management system 200 may assign multiple tasks constituting the picking work associated with the shipping bin to a worker. The predetermined threshold for the number of moves may be determined, for example, based on the number of tasks. In the example of the picking list TBL6, the number of tasks is six (picking item "a," picking item "b," picking item "c," picking item "d," picking item "e," and picking item "f"). For example, the warehouse operations management system 200 may set the threshold for the number of moves of a shipping bin to half the number of tasks associated with the shipping bin, i.e., three moves in this case. Here, if each of the six tasks is assigned to Robot A, Robot B, Robot C, Robot D, Robot E, and Robot F, the number of times the shipping bin moves between each robot, or more precisely, between each picking station, will be five, which is greater than or equal to the threshold value of three. In this case, the warehouse operations management system 200 may assign each task to Worker G as shown in work list TBL7. Note that, for simplicity's sake, work list TBL7 shows only three items: picking ID, product, and picking station.

[0062] Furthermore, the warehouse operations management system 200 may assign some of the tasks to the worker G so that the number of times the shipping bin is moved is less than a threshold value. For example, as shown in the task list TBL8, the warehouse operations management system 200 may assign the task of picking product "a" to the robot A, the task of picking product "b" to the robot B, and the remaining tasks to the worker G.

[0063] In the example shown above, a task associated with a shipping bin is assigned to a worker when the number of times the shipping bin is moved exceeds a predetermined threshold due to the assignment of multiple tasks associated with the shipping bin to multiple types of robots. However, this is not limiting. The warehouse operations management system 200 may assign a task associated with the shipping bin to a worker when the distance traveled by the shipping bin or the estimated time required for the picking operation exceeds a predetermined threshold due to the assignment of multiple tasks associated with the shipping bin to multiple types of robots. The distance traveled by the shipping bin is, more precisely, the distance traveled by the automated guided vehicle 800 transporting the shipping bin. However, for simplicity, this is referred to as the distance traveled by the shipping bin. This is because, even if the number of times the shipping bin is moved by the robot for picking is small, if the distance traveled is long, it may be more efficient to assign the task to a worker (i.e., the picking operation can be completed in a shorter time). Furthermore, the estimated time required for the picking operation may include the time required for the shipping bin to move. The warehouse operations management system 200 may calculate the estimated time required for the picking operation from, for example, the movement time of the shipping bin, the operation speed of the robot, etc. If the estimated time required for the picking operation is equal to or greater than a predetermined threshold, the warehouse operations management system 200 may assign the task to a worker.

[0064] 10 is a schematic diagram showing an example of movement of shipping bin SB3 and storage bin HB2 according to embodiment 1. Robot A arranged at picking station PS2 is assigned the task of moving (picking) an item stored in storage bin HB2 to shipping bin SB3. At this time, the warehouse operations management system 200 may reallocate the tasks constituting the picking task to a picking means so that the picking task for picking shipping bin SB3 becomes more efficient.

[0065] Robot A located at picking station PS2 and robot A2 located at picking station PS3 are robots with the same specifications. Therefore, the success rate of robot A grasping an item stored in storage bin HB2 is equal to the success rate of robot A2 grasping the same item. In this case, the task of picking an item stored in storage bin HB2 to shipping bin SB3 may start earlier if assigned to robot A2.

[0066] The warehouse operations management system 200 acquires picking station information. The picking station information includes the progress of picking work at each picking station. The warehouse operations management system 200 may acquire the picking station information from, for example, the warehouse control system 300, the warehouse management system 100, etc. Here, it is assumed that the robot A2 is not performing any work at the picking station PS3. Based on the picking station information, the warehouse operations management system 200 can determine that the robot A2 is operable at the picking station PS3.

[0067] The warehouse operations management system 200 further acquires location information of shipping bin SB3 and storage bin HB2. The warehouse operations management system 200 may acquire this location information from, for example, the warehouse control system 500, the warehouse management system 100, etc. Based on this location information, the warehouse operations management system 200 can determine that the location of shipping bin SB3 is within picking station PS4 where robot B is located, and that the location of storage bin HB2 is near picking station PS2 where robot A is located.

[0068] The warehouse operations management system 200 calculates the total travel distance of each of the storage bins HB2 and SB3 from their current positions to picking station PS2 where robot A, which is assigned the task of picking from storage bin HB2 to shipping bin SB3, is located. The warehouse operations management system 200 also calculates the total travel distance of each of the storage bins HB2 and SB3 from their current positions to picking station PS3 where robot A2 is located. Here, it is assumed that the total travel distance of each of the storage bins HB2 and SB3 to picking station PS3 is shorter than the total travel distance of each of the storage bins HB2 and SB3 to picking station PS2. The warehouse operations management system 200 determines that reassigning the task of picking from storage bin HB2 to shipping bin SB3, which is currently assigned to robot A, to robot A2 will result in an earlier start time for the task than if the task remained assigned to robot A, and reassigns the task to robot A2. This brings forward the start time of the task, which in turn brings forward the completion time of the picking work associated with shipping bin SB3, thereby improving the efficiency of warehouse operations overall.

[0069] In this manner, the acquisition unit (e.g., the processing device 11, the external interface 16) may acquire picking station information including the progress of picking operations at picking stations (e.g., picking station PS3) where multiple types of picking devices are located, location information of a first shipping bin (e.g., shipping bin SB3) in the warehouse, and location information of a storage bin (e.g., storage bin HB2) in the warehouse. Then, based on the picking station information, the location information of the first shipping bin, and the location information of the storage bins, the allocation unit (e.g., the processing device 11) may assign tasks associated with both the first shipping bin and the storage bin to a picking device (e.g., robot A2) different from the assigned picking device (e.g., robot A) so as to minimize the total travel distance of the first shipping bin and the storage bin.

[0070] 11 is a schematic diagram showing an example of movement of shipping bin SB4 according to embodiment 1. A method in which the warehouse operations management system 200 assigns a task linked to shipping bin SB4 to any one of robot A, robot B, and robot C will be described with reference to FIG.

[0071] 11 , if the task associated with shipping bin SB4 is assigned to robot A, shipping bin SB4 is transported to and placed at target position P1 in picking station PS5. If the task associated with shipping bin SB4 is assigned to robot B, shipping bin SB4 is transported to and placed at target position P2 in picking station PS6. If the task associated with shipping bin SB4 is assigned to robot C, shipping bin SB4 is transported to and placed at target position P3 in picking station PS7. The warehouse operations management system 200 acquires picking station information and, based on the picking station information, determines that robot A, robot B, and robot C are operable at picking station PS5, picking station PS6, and picking station PS7, respectively.

[0072] The success rate of robot A picking up items picked by tasks linked to shipping bin SB4 is 100%, the success rate of robot B picking up those items is 90%, and the success rate of robot C picking up those items is 10%.

[0073] The warehouse operations management system 200 acquires the position information of the shipping bin SB4 and, based on the position information, determines the current position P0 of the shipping bin SB4. The warehouse operations management system 200 also calculates the distance of a route 41 that the shipping bin SB4 will take to move from the current position P0 to the target position P1. The warehouse operations management system 200 also calculates the distance of a route 42 that the shipping bin SB4 will take to move from the current position P0 to the target position P2, and the distance of a route 43 that the shipping bin SB4 will take to move from the current position P0 to the target position P3. For ease of explanation, in FIG. 11 , the routes 41, 42, and 43 are each shown as routes that the shipping bin SB4 takes directly to the target position. However, the movement of the shipping bin SB4 is not limited to a direct route to the target position. In the example of FIG. 11 , the warehouse operations management system 200 determines that the distance of route 41 is long, the distance of route 42 is short, and the distance of route 43 is short based on the calculated distances of each route. In addition, the warehouse operations management system 200 may determine whether a route is "long" or "short" based on a predetermined distance range, or may determine the top (i.e., longest) percentage of the calculated route distances as "long" and the rest as "short."

[0074] 11 shows a table TBL9 that lists the success rate of grasping an item by each robot and the distance between the current position of the shipping bin SB4 and each target position. Table TBL9 is a table to assist in the explanation of FIG.

[0075] The warehouse operations management system 200 assigns the task of picking an item into shipping bin SB4 to robot B. If the warehouse operations management system 200 assigns this task to robot A, the distance traveled by shipping bin SB4 is long, and therefore the warehouse operations management system 200 determines not to assign this task to robot A. If the warehouse operations management system 200 assigns this task to robot C, the warehouse operations management system 200 determines not to assign this task to robot C, because the success rate of robot C grasping the item is low. Here, the warehouse operations management system 200 may determine whether the grasping success rate is high or low based on, for example, a predetermined threshold value. If the warehouse operations management system 200 assigns this task to robot B, the distance traveled by shipping bin SB4 is short, and the success rate of robot B grasping the item is high, and therefore the warehouse operations management system 200 determines to assign this task to robot B.

[0076] The assignment of a task to the robot B based on the gripping success rate and the moving distance of the shipping bin SB4, as described with reference to FIG. 11, may be performed as a reassignment of the task.

[0077] In this manner, the acquisition unit (e.g., the processing device 11, the external interface 16) may acquire picking station information including the progress of picking operations at picking stations (e.g., picking stations PS5, PS6, and PS7) where multiple types of picking means (e.g., robot A, robot B, and robot C) are located, and location information of a first shipping bin (e.g., shipping bin SB4) in the warehouse. Then, based on the picking station information, location information, and the gripping success rates of each of the multiple types of robots, the assignment unit (e.g., the processing device 11) may assign a task constituting the picking operation for the first shipping bin to a robot among the multiple types of robots whose gripping success rate for the item to be moved to the first shipping bin by the task is equal to or greater than a specified threshold and that is located within a specified distance from the first shipping bin.

[0078] [Processing Flow] Hereinafter, a processing flow from obtaining a picking list to causing a picking means to perform a picking operation according to this embodiment will be described with reference to FIGS. 12 and 13. FIG.

[0079] 12 is a flowchart showing a task allocation process according to embodiment 1. In this flowchart, the warehouse operations management system 200 is described as the processing entity, but some functions may be configured to be executed by other systems.

[0080] The warehouse operations management system 200 acquires a picking list from the warehouse management system 100, which is a higher-level system (step S1000). Alternatively, the warehouse operations management system 200 may receive picking instructions from the warehouse management system 100 and register the received picking instructions in the picking list. The picking list includes multiple tasks that make up the picking work associated with shipping bins.

[0081] The warehouse operations management system 200 acquires robot information (step S1001). The warehouse operations management system 200 acquires the robot information, for example, from the upper system, the warehouse management system 100. This allows the warehouse operations management system 200 to acquire the grasping success rate for each item of each robot deployed in the warehouse.

[0082] The warehouse operations management system 200 acquires worker information (step S1002). The warehouse operations management system 200 acquires the worker information, for example, from the warehouse management system 100, which is a higher-level system. The processes of steps S1001 and S1002 may be performed simultaneously. That is, the warehouse operations management system 200 may acquire picking means information, including robot information and worker information, at one time.

[0083] The warehouse operations management system 200 assigns each of the multiple tasks that make up the picking work linked to the shipping bins included in the picking list acquired in step S1000 to a robot or a worker based on the robot information acquired in step S1001 and the worker information acquired in step S1002 (step S1003). For example, the warehouse operations management system 200 assigns a task to a robot whose gripping success rate for the items to be picked in a certain task is equal to or greater than a predetermined threshold.

[0084] The warehouse operations management system 200 rearranges and determines the execution order of the multiple tasks associated with the shipping bins that were assigned to the robots or workers in step S1003 (step S1004). At this time, the warehouse operations management system 200 may rearrange the execution order so that the number of times the shipping bins are moved between picking stations is less than a predetermined number of times.

[0085] When the warehouse operations management system 200 determines the order of execution of multiple tasks in step S1004, it creates a work list based on the picking list obtained in step S1000 and the robots or workers to which the multiple tasks were assigned in step S1003 (step S1005).

[0086] The warehouse operations management system 200 controls the movement of shipping bins based on the work list created in step S1005, and sends instructions to the robots or workers to which multiple tasks were assigned in step S1003 to perform the picking work (step S1006). Although not described here, the warehouse operations management system 200 may control the movement of storage bins as well as shipping bins. When sending instructions to workers, the warehouse operations management system 200 may send the instructions to a terminal carried by the worker, for example. When the warehouse operations management system 200 completes step S1006, it ends this processing flow.

[0087] By executing this process flow by the warehouse operations management system 200, picking operations are initiated by robots or workers. In this picking operation, multiple tasks associated with shipping bins are assigned to multiple types of picking means. Shipping bins can be moved between multiple picking stations. For example, if a shipping bin is fixed at a single picking station and a robot assigned to that picking station fails to pick an item into that shipping bin, another picking means must pick the item, resulting in inefficiency. However, since each task is assigned based on the robot's success rate, shipping bins are moved between picking stations, allowing the robot to pick various items with a high success rate. Furthermore, in this picking operation, tasks are assigned not only to robots but also to workers to minimize the time workers are not performing warehouse tasks, thereby effectively utilizing workers' available time. Furthermore, in this picking operation, rearranging the task execution order reduces the number of times shipping bins need to be moved, thereby shortening the completion time of the picking operation.

[0088] (Task Reassignment) FIG. 13 is a flowchart showing a task reassignment process according to the first embodiment. In this flowchart, the processing is performed by the warehouse operations management system 200, but some functions may be performed by other systems. This flowchart is executed by the warehouse operations management system 200 in a situation where picking work has actually been started in step S1006 of the flowchart shown in FIG. 12. The warehouse operations management system 200 performs the picking work more efficiently by reallocating the tasks described with reference to FIGS. 10 and 11.

[0089] The warehouse operations management system 200 acquires a task list (step S1100). Because picking work has already been performed, the task list acquired by the warehouse operations management system 200 in step S1100 reflects the status of each task at the time the task list was acquired. At this time, for example, it is possible that the first task to be executed among the tasks linked to a certain shipping bin has already been completed.

[0090] The warehouse operations management system 200 acquires picking station information (step S1101). Based on the picking station information, the warehouse operations management system 200 can grasp the progress of picking work at each picking station.

[0091] The warehouse operations management system 200 acquires robot information and worker information (step S1102).

[0092] The warehouse operations management system 200 acquires location information in the warehouse of the storage bins and shipping bins associated with each task included in the work list (step S1103). Note that the warehouse operations management system 200 may acquire location information in the warehouse of the storage bins and shipping bins associated with incomplete tasks included in the work list.

[0093] The warehouse operations management system 200 acquires information about the automated guided vehicles 800 (step S1104). The information about the automated guided vehicles 800 includes the movement speed of the automated guided vehicles 800 installed in the warehouse and the position information of each automated guided vehicle within the warehouse.

[0094] The warehouse operations management system 200 calculates the travel distance of the automated guided vehicle 800 (step S1105). The calculation of the travel distance of the automated guided vehicle 800 will be described using FIG. 10 as an example. The warehouse operations management system 200 calculates the travel distance from the current positions of the storage bin HB2 and the shipping bin SB3 to the picking station PS2 based on the uncompleted task assigned to robot A. Although not illustrated in FIG. 10 , as in the example of FIG. 11 , target positions for the storage bin HB2 and the shipping bin SB3 may be set within the picking station PS2. Furthermore, the warehouse operations management system 200 calculates the travel distance from the current positions of the storage bin HB2 and the shipping bin SB3 to the picking station PS3 when the uncompleted task is assigned to robot A2.

[0095] Calculation of the travel distance of the automated guided vehicle 800 will be described using FIG. 11 as an example. In the example of FIG. 11 , an uncompleted task linked to shipping bin SB4 is assumed to be assigned to robot D (not shown). The warehouse operations management system 200 calculates the travel distance from the current positions of the storage bin linked to the uncompleted task and shipping bin SB4 to the picking station where robot D is located. The warehouse operations management system 200 also calculates the travel distance from the current positions of the storage bin and shipping bin SB4 to picking stations PS5, PS6, and PS7. In the example of FIG. 10 , storage bin HB2 storing the item to be picked was transported by the automated guided vehicle 800. However, the storage bin storing the item to be picked may be stored in the automated warehouse 700. In this case, the warehouse operations management system 200 may calculate the travel distance of the automated guided vehicle 800 transporting the storage bin as the sum of the travel distance from the current position of the automated guided vehicle 800 to the storage position of the storage bin in the automated warehouse 700 and the travel distance from the storage position to the picking station.

[0096] The warehouse operations management system 200 determines whether to reassign the uncompleted task to one of the picking means based on the travel distance of the automated guided vehicle 800 in step S1105, i.e., the travel distance of the storage bin and shipping bin linked to the uncompleted task (step S1106). In the example of Fig. 10, the warehouse operations management system 200 determines to reassign the uncompleted task that was assigned to robot A to robot A2. In the example of Fig. 11, the warehouse operations management system 200 determines to reassign the uncompleted task to robot B.

[0097] If the warehouse operations management system 200 determines that the uncompleted task should not be reassigned to any of the picking means (step S1106; NO), it ends this processing flow.

[0098] When the warehouse operations management system 200 determines that the uncompleted task should be reassigned to one of the picking means (step S1106; YES), it reassigns the task to a robot or a worker based on the travel distance of the automated guided vehicle 800 calculated in step S1105 (step S1107). At this time, the warehouse operations management system 200 may reassign the task taking into consideration the grasping success rate of each robot, the available working time of the worker, etc.

[0099] The warehouse operations management system 200 updates the picking station item in the work list based on the task reassignment in step S1107 (step S1108).

[0100] The warehouse operations management system 200 controls the movement of the shipping bins based on the work list updated in step S1108 and sends a picking operation execution instruction to the robot or worker to which the task is assigned (step S1109). The warehouse operations management system 200 then ends this processing flow. Note that the warehouse operations management system 200 may execute this flowchart when a predetermined amount of tasks is completed or when a predetermined time has elapsed since the start of picking operation.

[0101] In this way, the warehouse operations management system 200 can control the movement of shipping bins based on the progress of the actual picking work, thereby making the work performed by robots or workers related to the picking work more efficient.

[0102] (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.

[0103] (Technology 1) A warehouse system (e.g., warehouse system 1) includes an acquisition unit (e.g., external interface 16) that acquires a picking list including multiple tasks that make up a picking operation linked to a first shipping bin (e.g., first shipping bin SB1) and picking means information that indicates multiple types of picking means that will move items from a storage bin (e.g., storage bin 810) to the first shipping bin; an allocation unit (e.g., processing device 11) that assigns each of the multiple tasks to one of the multiple types of picking means based on the picking list and the picking means information; and a control unit that controls the movement of the first shipping bin based on the allocation of the multiple tasks to one of the multiple types of picking means during the picking operation linked to the first shipping bin.

[0104] This enables the warehouse system to improve the efficiency of work related to the picking operation of the picking means within the warehouse.

[0105] (Technology 2) In the warehouse system described in Technology 1, the warehouse system further includes a task rearrangement unit (e.g., processing device 11) that rearranges the order in which multiple tasks are performed by multiple types of picking means so that the number of times the first shipping bin is moved for picking work linked to the first shipping bin is less than a predetermined number of times.

[0106] This allows the warehouse system to reduce the number of times shipping bins need to be moved by rearranging the order in which tasks are executed, thereby improving the efficiency of picking work.

[0107] (Technology 3) In the warehouse system described in Technology 1 or 2, the multiple types of picking means include a worker (for example, worker 850) and multiple types of robots (for example, robot 600).

[0108] This enables the warehouse system to improve the efficiency of picking work by robots or workers within the warehouse.

[0109] (Technology 4) In the warehouse system described in Technology 3, each of the multiple types of robots includes an arm and a hand, and each of the multiple types of robots has a different combination of the arm and the hand.

[0110] (Technology 5) In a warehouse system described in any one of Technologies 1 to 4, the picking means information includes the success rate of grasping each item by each of the multiple types of robots, and the allocation unit allocates each of the multiple tasks to one of the multiple types of picking means based on the success rate of grasping by each of the multiple types of robots for each of the multiple items that are moved from the storage bin to the first shipping bin as the multiple tasks are executed.

[0111] As a result, if the robot's gripping success rate for an item is equal to or greater than a predetermined threshold, the warehouse system can assign the robot the task of picking the item. Also, the warehouse system can assign the task of picking an item that is difficult for the robot to grip to a worker. This allows the warehouse system to improve the efficiency of picking work.

[0112] (Technology 6) In the warehouse system described in Technology 2, the task rearrangement unit rearranges the execution order of multiple tasks so that, among the multiple tasks, multiple tasks assigned to a specific robot among multiple types of robots are consecutive in time.

[0113] This allows a specific robot to perform multiple tasks linked to a shipping bin consecutively, thereby reducing the distance and time that the shipping bin travels between multiple robots, thereby improving the efficiency of picking work.

[0114] (Technology 7) In the warehouse system described in Technology 2, when a first task constituting the picking work for a first shipping bin is the movement of items stored in a specific storage bin to the first shipping bin by a specific picking means, and a second task constituting the picking work for a second shipping bin is the movement of items stored in the specific storage bin to the second shipping bin by the specific picking means, the task rearrangement unit rearranges the order in which multiple tasks including the first task for the first shipping bin are executed by the specific picking means and the order in which multiple tasks including the second task for the second shipping bin are executed by the specific picking means, so that the specific picking means can execute the first task and the second task consecutively in time.

[0115] This allows the warehouse system to pick from the storage bin to the second shipping bin when a specific robot completes picking from the storage bin to the first shipping bin and then starts picking from the second shipping bin, thereby reducing the time required to move the storage bin and improving the efficiency of picking operations.

[0116] (Technology 8) In a warehouse system described in any one of Technologies 1 to 7, the acquisition unit acquires picking station information including the progress of picking work at picking stations where multiple types of picking means are located, first shipping bin position information indicating the position of a first shipping bin in the warehouse, and storage bin position information indicating the position of a storage bin in the warehouse, and the allocation unit allocates tasks linked to both the first shipping bin and the storage bin to a picking means different from the assigned picking means based on the picking station information, the first shipping bin position information, and the storage bin position information so as to reduce the total travel distance of the first shipping bin and the storage bin.

[0117] This allows the warehouse system to reallocate tasks to picking means depending on the progress of picking work in the warehouse so that the travel distance of each storage bin and shipping bin is reduced, thereby making picking work more efficient.

[0118] (Technology 9) In the warehouse system described in Technology 2, when the number of times the first shipping bin is moved for a picking operation is equal to or greater than a predetermined number, the allocation unit allocates at least one of the multiple tasks that make up the picking operation to a worker.

[0119] As a result, when the number of times a shipping bin has been moved reaches a predetermined number of times or more, the warehouse system can assign the task of picking items into that shipping bin to a worker, thereby making picking work more efficient.

[0120] (Technology 10) In the warehouse system described in Technology 5, the acquisition unit acquires picking station information including the progress of picking work at picking stations where each of the multiple types of picking means is located, and first shipping bin position information indicating the position of a first shipping bin in the warehouse, and the allocation unit allocates one of the multiple tasks to a robot among the multiple types of robots that has a gripping success rate for items transferred to the first shipping bin by the task that is equal to or higher than a specified threshold and is located within a specified distance from the first shipping bin, based on the picking station information, the first shipping bin position information, and the respective gripping success rates of the multiple types of robots.

[0121] This allows the warehouse system to assign tasks linked to a shipping bin to a robot with a high success rate in grasping items, depending on the progress of picking work in the warehouse, so as to reduce the distance the shipping bin has to travel, thereby making picking work more efficient.

[0122] 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.

[0123] 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).

[0124] 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.

[0125] The present disclosure is useful as a warehouse system.

[0126] REFERENCE SIGNS LIST 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 300, 400, 500 Warehouse control system 600 Robot 700 Automated warehouse 800 Automated guided vehicle 900 Operation terminal

Claims

1. A warehouse system comprising: an acquisition unit that acquires a picking list including multiple tasks that make up a picking operation linked to a first shipping bin and picking means information that indicates multiple types of picking means that will move items from a storage bin to the first shipping bin; an allocation unit that assigns each of the multiple tasks to one of the multiple types of picking means based on the picking list and the picking means information; and a control unit that controls the movement of the first shipping bin based on the allocation of the multiple tasks to one of the multiple types of picking means during the picking operation linked to the first shipping bin.

2. The warehouse system of claim 1, further comprising a task sorting unit that sorts the order in which the multiple tasks are performed by the multiple types of picking means so that the number of times the first shipping bin is moved for picking work associated with the first shipping bin is less than a predetermined number of times.

3. The warehouse system according to claim 2, wherein the plurality of types of picking means includes workers and a plurality of types of robots.

4. The warehouse system according to claim 3, wherein each of the plurality of types of robots includes an arm and a hand, and each of the plurality of types of robots has a different combination of the arm and the hand.

5. The warehouse system described in claim 1, wherein the picking means information includes a grasping success rate for each item by each of multiple types of robots, and the allocation unit allocates each of the multiple tasks to one of the multiple types of picking means based on the grasping success rate by each of the multiple types of robots for each of the multiple items that are moved from the storage bin to the first shipping bin as a result of the multiple tasks being executed.

6. The warehouse system according to claim 3, wherein the task rearrangement unit rearranges the execution order of the plurality of tasks so that, among the plurality of tasks, a plurality of tasks assigned to a specific robot among the plurality of types of robots are consecutive in time.

7. The warehouse system of claim 2, wherein when a first task constituting the picking work for the first shipping bin is the movement of items stored in a specific storage bin to the first shipping bin by a specific picking means, and a second task constituting the picking work for a second shipping bin is the movement of items stored in the specific storage bin to the second shipping bin by the specific picking means, the task rearrangement unit rearranges the order in which multiple tasks including the first task for the first shipping bin are executed by the specific picking means and the order in which multiple tasks including the second task for the second shipping bin are executed by the specific picking means so that the specific picking means can execute the first task and the second task consecutively in time.

8. The warehouse system of claim 1, wherein the acquisition unit acquires picking station information including the progress of the picking work at picking stations where each of the multiple types of picking means is located, first shipping bin position information indicating the position of the first shipping bin in the warehouse, and storage bin position information indicating the position of the storage bin in the warehouse, and the allocation unit assigns tasks linked to both the first shipping bin and the storage bin to a picking means different from the assigned picking means based on the picking station information, the first shipping bin position information, and the storage bin position information so as to minimize the total travel distance of the first shipping bin and the storage bin.

9. The warehouse system according to claim 2, wherein the allocation unit allocates at least one of the tasks constituting the picking work to a worker when the number of times the first shipping bin is moved for the picking work is equal to or greater than the predetermined number of times.

10. The warehouse system described in claim 5, wherein the acquisition unit acquires picking station information including the progress of the picking work at picking stations where each of the multiple types of picking means is located, and first shipping bin position information indicating the position of the first shipping bin in the warehouse, and the allocation unit assigns one of the multiple tasks to a robot among the multiple types of robots that has a gripping success rate for items transferred to the first shipping bin by the task that is equal to or higher than a specified threshold and is located within a specified distance from the first shipping bin, based on the picking station information, the first shipping bin position information, and the gripping success rate of each of the multiple types of robots.

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