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WO2025187430A1 - Procédé et système de gestion d'entrepôt - Google Patents

Procédé et système de gestion d'entrepôt

Info

Publication number
WO2025187430A1
WO2025187430A1 PCT/JP2025/005704 JP2025005704W WO2025187430A1 WO 2025187430 A1 WO2025187430 A1 WO 2025187430A1 JP 2025005704 W JP2025005704 W JP 2025005704W WO 2025187430 A1 WO2025187430 A1 WO 2025187430A1
Authority
WO
WIPO (PCT)
Prior art keywords
bin
item
recovery
warehouse
picking
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
PCT/JP2025/005704
Other languages
English (en)
Japanese (ja)
Other versions
WO2025187430A8 (fr
Inventor
達大 若山
将志 竹村
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Panasonic Intellectual Property Management Co Ltd
Original Assignee
Panasonic Intellectual Property Management Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Panasonic Intellectual Property Management Co Ltd filed Critical Panasonic Intellectual Property Management Co Ltd
Publication of WO2025187430A1 publication Critical patent/WO2025187430A1/fr
Publication of WO2025187430A8 publication Critical patent/WO2025187430A8/fr
Pending legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02—Storage devices
    • B65G1/04—Storage devices mechanical
    • B65G1/137—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed

Definitions

  • This disclosure relates to a warehouse management method and a warehouse management system.
  • a known conventional automated warehouse system includes multiple automated warehouses, multiple work stations, a travel route that allows access to the multiple automated warehouses and the multiple work stations, multiple 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 work stations that belong to that travel area (see Patent Document 1).
  • This disclosure provides a warehouse management method and warehouse management system that can prevent a decline in warehouse operating efficiency even if an item falls within the warehouse.
  • One aspect of the present disclosure is a warehouse management method for managing a warehouse, the warehouse management method comprising the steps of: acquiring operating range information indicating the operating range of a picking robot that picks items; acquiring drop position information indicating the drop position of a first item from the picking robot; acquiring placement status information indicating the placement status of each piece of equipment within the warehouse; and determining whether or not it is necessary to move a bin that stores the item based on the operating range of the picking robot, the drop position of the first item, and the placement status of each piece of equipment.
  • One aspect of the present disclosure is a warehouse management system that includes a processor and manages a warehouse, wherein the processor acquires operating range information indicating the operating range of a picking robot that performs the work of picking items, acquires drop position information indicating the drop position of a first item from the picking robot, acquires placement status information indicating the placement status of each piece of equipment within the warehouse, and determines whether or not it is necessary to move a bin that stores the item based on the operating range of the picking robot, the drop position of the first item, and the placement status of each piece of equipment.
  • FIG. 1 is a diagram illustrating an example of the configuration of a warehouse system according to a first embodiment.
  • FIG. 1 is a diagram illustrating an example of an environment inside a warehouse according to an embodiment of the present invention.
  • FIG. 1 is a diagram showing an example of a hardware configuration applicable to devices constituting a warehouse operations management system.
  • FIG. 10 is a diagram showing an example of picking instruction information.
  • FIG. 10 is a diagram showing an example of robot configuration information.
  • FIG. 10 is a diagram showing an example of product information.
  • FIG. 1 shows a first example of mapping information.
  • FIG. 2 shows a second example of mapping information.
  • FIG. 10 is a diagram showing a first example of bin movement when the item falls in an area between bins and is within the operating range of the picking robot.
  • FIG. 10 is a diagram showing a second example of bin movement when the item falls in an area between bins and is within the operating range of the picking robot.
  • FIG. 10 is a diagram for supplementary explanation of a first example of the operation of the warehouse system when the dropped position is in another area and is outside the operating range of the picking robot.
  • FIG. 10 is a diagram for supplementary explanation of a second example of the operation of the warehouse system when the drop position is outside the operating range of the picking robot.
  • FIG. 10 is a diagram showing an example of recovery of a re-dropped item when the re-drop position is in the bin area.
  • FIG. 10 is a diagram showing a first example of recovery of a re- fallen object when the re-fall position is an area other than the area inside the bin in the warehouse.
  • FIG. 10 is a diagram showing a second example of recovery of a re- fallen object when the re-fall position is an area other than the area inside the bin in the warehouse.
  • FIG. 10 is a diagram illustrating a modified example of the movement of the bin when a fallen object is in the area inside the bin.
  • 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.
  • the warehouse management system 10 is a system for facilitating logistics within a warehouse, and is also known as a Warehouse Management System (WMS).
  • the warehouse management system 10 manages items such as inventory.
  • the warehouse management system 10 has inventory management functions and inventory management functions.
  • the warehouse management system 10's inventory management function manages information about the status of currently stored inventory. 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 management function manages records of the inventory and shipping of items.
  • the warehouse management system 10 is capable of managing inventory and shipping schedules and recording actual inventory and shipping activities.
  • the warehouse management system 10 also has functions to facilitate tasks associated with inventory and shipping, such as creating picking lists and slips for items.
  • the warehouse operations management system 20 has warehouse management and warehouse control functions and is also known as 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 work data such as inventory management, warehousing, and picking in real time.
  • the warehouse operations management system 20 is a system for comprehensively controlling people, goods, facilities (machines), etc. within the warehouse.
  • the warehouse operations management system 20 has work management functions and equipment control functions. With its work management function, the warehouse operations management system 20 visualizes the work status of various pieces of equipment within the warehouse (e.g., picking robots 40, transport robots 42, automated warehouses 50, cameras 60) or workers, enabling progress to be understood in real time. It is also capable of sending specified instructions to devices carried by workers (e.g., wearable devices, audio terminals) or terminals installed in the work area (e.g., displays). With its equipment control function, the warehouse operations management system 20 is capable of controlling various pieces of equipment within the warehouse.
  • the warehouse operations management system 20 With its equipment control function, the warehouse operations management system 20 is capable of controlling various pieces of equipment within the warehouse.
  • the warehouse management system 10 and the warehouse operations management system 20 may be integrated, with one system having the functions of the other.
  • the warehouse control system 30 controls various equipment within the warehouse in real time, enabling goods to be brought in and out according to an optimal schedule.
  • the warehouse control system 30 is also known as a Warehouse Control System (WCS).
  • WCS Warehouse Control System
  • the warehouse control system 30 monitors the operation of equipment in real time and can send specified instruction information to the equipment.
  • the various pieces of equipment contribute to the automation of various tasks within the warehouse.
  • the various pieces of equipment include a picking robot 40, a transport robot 42, an automated warehouse 50, and a camera 60, and may also include other equipment (for example, various sensors).
  • the picking robot 40 picks various items stored in a storage bin 71 in response to instructions from the warehouse control system 30, and moves them to a shipping bin 72 for storage.
  • the picking robot 40 has an arm and a hand.
  • the arm can approach a predetermined position inside the bin 70.
  • 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 inside the bin 70.
  • the hand may be of a suction type that grasps items by suction, or may be of a multi-fingered hand type that grasps items, or may grasp items using other methods.
  • the transport robot 42 transports bins 70 (see Figure 2) in which various items managed within 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 running unit for performing operations related to movement, sensors for acquiring peripheral information (for example, sensors for detecting position), a communication device, etc.
  • the transport robot 42 may include a transport robot 42 that travels within the 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 items to be shipped are stored. Note that the bins 70 themselves may operate as the transport robots 42, i.e., the bins 70 may be self-propelled.
  • the automated warehouse 50 is a warehouse where tasks such as storage (shelving), sorting, and collection (picking) are automated.
  • FIG. 2 is a diagram showing an example of the environment inside a warehouse according to this embodiment.
  • 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 either 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.
  • Shipping bins 72 may be located, for example, near the storage shelves 51 or at a shipping station, and may be transported to a predetermined picking station PS at a predetermined time.
  • a picking robot 40 or a picking worker 45 is stationed at each picking station PS to perform 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. Note that three or more picking stations PS may be provided. Also, multiple picking stations PS1 for picking robots 40 may be provided.
  • the transport robot 42 receives a transport instruction, for example, from the warehouse operations management system 20, and transports the shipping bin 72 to a predetermined position (for example, an outgoing station).
  • the outgoing station is, for example, a spatial area where items are inspected and packed for delivery.
  • Picking work involves 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.
  • picking work is a pick-and-place operation.
  • a standby area for storing the bins 70 may be provided.
  • the placement of the bins 70 around the picking station PS in the automated warehouse 50 changes over time.
  • the bins 70 are, for example, roughly rectangular parallelepiped-shaped, allowing items to be placed in and removed from above. Therefore, the picking robot 40 and 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 top of 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.
  • the bins 70 may also be transported by methods other than by the transport robot 42 (for example, by using a belt conveyor).
  • the camera 60 is positioned so that it can capture images of the inside of the bin 70.
  • the camera 60 is used, for example, to recognize the condition inside the bin 70.
  • the camera 60 is installed at 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 images captured by the camera 60 reflect, for example, items stored in storage bins 71 and shipping bins 72, making it possible to determine how the items are arranged.
  • the images captured by the camera 60 reflect the presence or absence of storage bins 71 and shipping bins 72, making it possible to determine whether the storage bins 71 and shipping bins 72 have arrived at their destination picking station PS based on the images.
  • One or more cameras 60 may be installed.
  • sensors and cameras 60 may be installed in various locations within the warehouse and used to detect the position of each piece of equipment within the warehouse.
  • Each system shown in FIG. 1 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.
  • Figure 3 is a diagram showing an example of a hardware configuration applicable to devices that make up the warehouse operations management system 20.
  • the configurations of systems other than the warehouse operations management system 20 i.e., the warehouse management system 10 and warehouse control system 30
  • the configurations of systems other than the warehouse operations management system 20 may also be similar to the configuration shown in Figure 3.
  • some of the components in Figure 3 may be omitted or other components may be added.
  • each system may have each of the components shown in Figure 3 as independent devices.
  • 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.
  • the processor 21 may be configured using, for example, a Central Processing Unit (CPU) or a Digital Signal Processor (DSP).
  • the processor 21 may also 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, cloud processing.
  • the processor 21 may control the operation of equipment in the warehouse (e.g., picking robot 40, transport robot 42, automated warehouse 50, 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.
  • the processor 21 acquires various types of information via the input device 23 or the communication device 24.
  • the processor 31 acquires captured images taken by the camera 60 and detection information detected by the sensor.
  • the processor 21 may detect various events based on the acquired captured images or detection information.
  • 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 (for example, the presence, shape, weight, material, and size of the item).
  • Memory 22 includes a primary storage device (e.g., Random Access Memory (hereinafter referred to as “RAM”) or Read Only Memory (hereinafter referred to as “ROM”)). Memory 22 may also include a secondary storage device (e.g., a Hard Disk Drive (hereinafter referred to as “HDD”) or a Solid State Drive (hereinafter referred to as “SSD”)) or a tertiary storage device (e.g., an optical disk or SD card). Memory 22 may also be an external storage medium, or may be detachable from the warehouse operation management system 20. Memory 22 stores various data, information, programs, etc.
  • RAM Random Access Memory
  • ROM Read Only Memory
  • Memory 22 may also include a secondary storage device (e.g., a Hard Disk Drive (hereinafter referred to as “HDD”) or a Solid State Drive (hereinafter referred to as “SSD”)) or a tertiary storage device (e.g., an optical disk or SD card). Memory 22 may also be an
  • the memory 22 may store, for example, picking instruction information regarding instructions for picking work, robot configuration information regarding the configuration of the picking robot 40, item information regarding items, etc.
  • the input device 23 may include various buttons, keys, keyboards, touch panels, microphones, or other input devices.
  • the input device 23 accepts input of various data or information.
  • the input device 23 is operated, for example, by an administrator or worker managing the warehouse operations management system 20 (for example, a worker performing picking work or other workers).
  • the input device 23 may also include a sensor.
  • a sensor may be provided for each picking robot 40 inside or around the picking robot 40.
  • a sensor may be provided for each transport robot 42 inside or around the transport robot 42.
  • the communication device 24 communicates various data or information according to 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, the camera 60) via the warehouse control system 30 or without the warehouse control system 30.
  • the communication device 24 also communicates with the terminal 65 via the network NT or without the network NT. Furthermore, the communication device 24 may sequentially acquire information such as the position, speed, acceleration, angle, or posture of the arm or hand from each picking robot 40 in chronological order. The communication device 24 may send a transport instruction for the bin 70 to the transport robot 42, and sequentially acquire information such as the current position from the transport robot 42 in chronological order. The communication device 24 may sequentially acquire information such as the current position of the bin in chronological order.
  • the input/output interface 25 inputs and outputs information and data between the processor 21, memory 22, input device 23, and communication device 24.
  • the processor 21 may detect that the item 80 has fallen based on detection information from a sensor or an image captured by the camera 60. For example, the processor 21 may detect that the item 80 has fallen from the hand 40h when the detection value (the value of the gripping force detected by the gripper (e.g., a current value)) from a pressure sensor or a sensor that detects gripping force changes to a predetermined value or less. For example, the processor 21 may detect that the item 80 has fallen from the hand 40h when a contact sensor changes from a contacting state to a non-contacting state. For example, the processor 21 may detect that the item 80 has fallen from the hand 40h based on an image captured by the camera 60.
  • the detection value the value of the gripping force detected by the gripper (e.g., a current value)
  • the processor 21 may detect that the item 80 has fallen from the hand 40h when a contact sensor changes from a contacting state to a non-contacting state.
  • the processor 21 may detect that the item 80 has fallen from the hand 40
  • the processor 21 acquires information about the operating range (movable range) of the picking robot 40 that performs the work of picking items.
  • the operating range is, for example, the range that the arm 40a and hand 40h can reach (approachable range) by the operation of the picking robot 40.
  • Information about the operating range of the picking robot 40 may be included in the robot configuration information and stored in the memory 22, for example.
  • the processor 21 acquires information about the location and time at which a specific item 80 falls from the picking robot 40.
  • the processor 21 may recognize the location based on, for example, detection information detected by a sensor in the warehouse or an image captured by a camera 60 in the warehouse.
  • the time at which the item falls may be the time at which the item was detected.
  • the processor 21 acquires information (equipment layout information) on the layout status of each piece of equipment in the warehouse (e.g., picking robot 40, transport robot 42, automated warehouse 50, bin 70).
  • the equipment layout information may be represented, for example, as mapping information MP (see FIG. 6, etc.).
  • the processor 21 may acquire detection information from various sensors and captured images from the camera 60, and recognize the position, speed, acceleration, etc. of each piece of equipment in the warehouse based on the detection information and captured images.
  • the processor 21 may acquire the equipment layout information by generating mapping information MP.
  • the processor 21 may also acquire detection information and captured images sequentially in chronological order, and sequentially recognize the position, etc. of each piece of equipment. Therefore, the processor 21 may sequentially generate mapping information MP that changes over time, and sequentially acquire the equipment layout information.
  • the processor 21 may also generate the equipment layout information by including information on the fall position of a fallen item in the equipment layout information.
  • the processor 21 may determine whether or not the bin 70 needs to be moved based on the operating range of the picking robot 40, the position where the dropped item 80 fell, and the layout of each piece of equipment in the warehouse.
  • the processor 21 may control the movement (e.g., evacuation) of the bin 70.
  • the processor 21 may generate movement path information regarding the path along which the bin 70 will be moved based on the operating range of the picking robot 40, the position of the dropped item, and the layout of each piece of equipment.
  • the movement path information may be, for example, a path along which the transport robot 42 for moving the bin will travel (also referred to as an AGV path).
  • the processor 21 may control the movement of the bin 70 by issuing a transport instruction to the transport robot 42 that transports the bin 70 based on the movement path information via the communication device 24.
  • the transport robot 42 moves the bin 70 in accordance with the control of the movement of the bin 70, i.e., in accordance with the transport instruction.
  • the processor 21 may control the picking robot 40 to recover the item 80 that has been dropped.
  • the processor 21 may send a recovery instruction to the picking robot 40 to instruct the picking robot 40 to recover the item 80 that has been dropped by the picking robot 40.
  • the picking robot 40 controls the arm 40a and hand 40h in accordance with the recovery instruction, and recovers the dropped item 80 by grasping it and storing it in the bin 70 to which it should be recovered.
  • the processor 21 may send a recovery instruction to a terminal 65 carried by a recovery worker recovering the fallen item 80, instructing the recovery worker to recover the fallen item 80.
  • the recovery instruction may include guidance information regarding the recovery work.
  • the terminal 65 displays the guidance information in accordance with the recovery instruction.
  • the guidance information may include, for example, identification information of the recoverer (picking robot 40 or recovery worker), identification information (item ID) of the fallen item 80, information on the location (i.e., recovery location) of the fallen item 80 (i.e., the item to be recovered), mapping information MP indicating the relative positions of each piece of equipment within the warehouse, etc.
  • 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.
  • 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 to each system in accordance with inputs made by operating the terminal 65, etc.
  • the data handled by the warehouse operations management system is stored in, for example, the memory 22, and may be updated as necessary.
  • FIG. 4A is a diagram showing an example of picking instruction information I1.
  • Picking instruction information I1 is instruction information related to picking issued by the warehouse management system 10.
  • Picking instruction information I1 includes information on a task (work) ID, task type, storage bin ID, shipping bin ID, and time.
  • the task ID is a unique ID (identification information).
  • the task type is information indicating the work content to be performed by the picking robot 40 or picking operator 45. This 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.
  • the shipping bin ID is the ID of the shipping bin.
  • the time information is the data issuance time when the picking instruction information was issued.
  • FIG 4B is a diagram showing an example of robot configuration information I2.
  • Robot configuration information I2 includes information on a structure type ID, a hand type ID, and robot installation coordinates.
  • the structure type ID is information indicating the type of structure of the picking robot 40 (e.g., Cartesian robot, vertical articulated robot, or other structure type).
  • the hand type ID is information indicating the type of hand (e.g., suction, two-fingered, multi-fingered, or other hand type).
  • Figure 4C is a diagram showing an example of item information I3.
  • Item information I3 holds information such as the item ID, the shape of the item 80, the material of the item 80, the weight of the item 80, and the size of the item 80.
  • the shape of the item 80 is, for example, a box, cylinder, or bag.
  • the material of the item 80 is, for example, paper, metal, plastic, or other materials.
  • Figure 5 shows a first example of mapping information MP as device layout information.
  • Figure 5 shows a second example of mapping information MP.
  • equipment layout information is obtained as mapping information MP of each piece of equipment (device) on a two-dimensional plane when the warehouse is viewed from the ceiling (above).
  • the warehouse is divided into multiple unit areas AU of the same size and shape (e.g., rectangular) on the two-dimensional plane.
  • the mapping information MP describes the layout of each piece of equipment based on the unit areas AU.
  • the mapping information MP in Figure 5 includes position information (placement information) for an empty area indicating an area in the automated warehouse 50 where nothing is placed, an in-bin area indicating the area inside the bin 70, and an outside area indicating the area outside the automated warehouse.
  • position information placement information
  • the mapping information MP shows information including these areas as its minimum configuration.
  • mapping information MP in FIG. 6 includes position information for the empty area, the area inside the bin, and the outside area. Furthermore, the mapping information MP in FIG. 6 includes position information for the bin surrounding area, which indicates the area around the bin 70, the area on the AGV, which indicates the area where the transport robot 42 (also referred to as the AGV) is located, and the AGV surrounding area, which indicates the area around the transport robot 42.
  • the warehouse operations management system 20 can visualize the layout status of each piece of equipment within the warehouse at each point in time using the mapping information MP.
  • ⁇ Example of a picking station> 7 is a diagram showing an example of the range of a picking station PS.
  • the picking station PS is, for example, a rectangular area that includes an area where the picking robot 40 or picking worker 45 that performs the picking work is located and an area that the picking robot 40 or picking worker 45 can approach.
  • Bins 70 that can be moved by a transport robot 42 or the like can freely enter and exit the picking station PS.
  • the fall position P80D (see Figure 8, etc.) of the fallen item 80 (falling item 80D) may be, for example, the area within the bin in the warehouse, the area around the bin, the area around the AGV, the area above the AGV, the empty area, the outside area, the inter-bin area which is the area between adjacent bins 70, an area near the bin 70 but not an inter-bin area (area next to the bin), etc., as shown in Figure 6, or any other area.
  • the inter-bin area and the area next to the bin may be included in the area around the bin.
  • the processor 21 may determine the position (area) within the warehouse where the fall position P80D is located based on the acquired fall position P80D and mapping information MP.
  • the processor 21 of the warehouse operations management system 20 determines whether the drop position P80D is within the operating range of the picking robot 40. If the drop position P80D is within the operating range of the picking robot 40, the processor 21 may determine that it is not necessary to move the bin 70. This is because the fallen item 80D can be recovered by the picking robot 40. On the other hand, if the drop position P80D is not within the operating range of the picking robot 40, the processor 21 may determine that it is necessary to move the bin 70. This is because a recovery worker needs to recover the fallen item 80D, and space is required for the recovery worker to pass through and perform the recovery work.
  • the processor 21 determines the AGV route for moving the recovery source bin 70 (recovery source bin 70B), i.e., the bin 70 containing the fallen item 80D, and the recovery destination bin 70 (recovery destination bin 70A) into the operating range of the picking robot 40.
  • the processor 21 of the warehouse operations management system 20 determines whether the drop position P80D is within the operating range of the picking robot 40. If the drop position P80D is within the operating range of the picking robot 40, the processor 21 may determine that the bin 70 needs to be moved. This is because it is impossible or difficult for the arm 40a or hand 40h of the picking robot 40 to enter the area between the bins, so it is necessary to secure the space necessary for the picking robot 40 to recover, and to secure space for recovery workers to pass through and perform recovery work.
  • the processor 21 determines a route for moving the bins 70 at both ends of the drop position P80D as the AGV route for moving the bins. By moving the bins 70 at both ends, the warehouse operations management system 20 can remove obstacles that would prevent the picking robot 40 from performing recovery work.
  • the processor 21 determines the area between the placement positions of the bins 70 on either side of the drop position P80D as an AGV travel prohibited area A1, an area in which the transport robot 42 is prohibited from traveling.
  • Figure 8 shows a first example of the movement of a bin 70 when the item falls in the area between bins and is within the operating range of the picking robot 40.
  • Figure 8 shows the layout of each bin 70 around the picking station PS and the AGV-prohibited area A1. Time-series changes in the state within the warehouse can be recognized and visualized using the sequentially obtained mapping information MP.
  • five bins 70 are placed within the operating range of the picking robot 40.
  • the picking robot 40 accidentally drops an item 80 while grasping and moving the item 80 to be picked from a storage bin 71 to a shipping bin 72.
  • the fallen item 80D is located between two adjacent bins 70 (70C1, 70C2). In other words, the fallen item 80D is in the intra-bin area.
  • the processor 21 When the processor 21 recognizes a fallen object 80D based on detection information from the sensor or an image captured by the camera 60, it determines an AGV no-go area A1 based on equipment layout information, etc.
  • the transport robot 42 is prohibited from traveling within the determined AGV no-go area A1, ensuring safety.
  • state A1 the arm 40a of the picking robot 40 cannot enter the area inside the bin, and the picking robot 40 cannot recover the fallen object 80D.
  • one or more bins 70 to be moved are being moved by the transport robot 42. Specifically, bins 70C1, 70C2, and 70C3 are being moved (evacuated) away from the picking robot 40.
  • a recovery destination bin 70A for recovering the fallen item 80D is located in the picking station PS.
  • the processor 21 controls the movement of the recovery destination bin 70A within the operating range of the picking robot 40.
  • the operating range of the picking robot 40 depends on the length and angle of the arm 40a and hand 40h, and is, for example, an area within the picking station PS, but is not limited to this. If the recovery destination bin 70A is located outside the operating range of the picking robot 40, even if the picking robot 40 is able to approach and grasp the fallen item 80D, it will not be able to approach the recovery destination bin 70A and store the fallen item 80D in the recovery destination bin 70A, and therefore will not be able to recover the fallen item 80D.
  • state A2 if bin 70C2 is to be moved in the direction of destination bin 70A, it is necessary to move destination bin 70A outside the operating range of the picking robot 40. Therefore, processor 21 moves the bins 70C1 and 70C2 to be moved so that state A2 is reached. In states A1 and A2, destination bin 70A is not moved, and its placement position remains unchanged.
  • the processor 21 controls the recovery destination bin 70A so as not to move it as much as possible, even if it is within the operating range of the picking robot 40. This is because the recovery destination bin 70A is often a shipping bin 72, and the order of picking work and the storage location of each item 80 may be determined taking into account the position of the shipping bin 72.
  • the restorer (here, the picking robot 40) restores the fallen item 80D by placing it inside the destination bin 70A and storing it.
  • Figure 9 is a diagram showing a second example of the movement of a bin 70 when the item falls in the area between bins and is within the operating range of the picking robot 40.
  • explanations of matters similar to those in Figure 8 will be omitted or simplified.
  • the recovery destination bin 70A becomes the bin 70 to be moved.
  • the processor 21 instructs the transport robot 42 to move the recovery destination bin 70A within the operating range of the picking robot 40.
  • the recovery destination bin 70A is moving in the direction of arrow YA.
  • the processor 21 may determine that the bin 70 needs to be moved. This is because a recovery worker needs to recover the fallen item 80D, and space is needed for the recovery worker to pass through and perform the recovery work. In this case, the processor 21 determines the flow line FL (see Figure 10) that the recovery worker will take during the recovery work within the warehouse, based on the equipment layout state after the fallen item 80D has fallen.
  • the flow line FL may be, for example, the shortest route connecting the recovery worker 46 (see Figure 10), the drop position P80D, and the recovery destination bin 70A, taking into account the layout state of each piece of equipment within the warehouse. Therefore, the flow line FL is a route that allows the recovery worker to efficiently perform the recovery work.
  • the processor 21 may, for example, determine an area encompassing the movement line FL along which the recovery worker travels toward the drop position P80D, the drop position P80D, and the recovery destination bin 70A as an arm entry prohibited area A2 (see FIG. 10) that prohibits the entry of the arm 40a of the picking robot 40.
  • the arm entry prohibited area A2 may, for example, be a rectangular area of the minimum size that encompasses the movement line FL, the drop position P80D, and the recovery destination bin 70A.
  • the processor 21 determines an AGV route for moving the bin.
  • This AGV route is a route for moving the bin 70 located on the flow line FL along which the recovery worker will travel.
  • the processor 21 transmits a recovery instruction to the recovery worker's terminal 65 via the communication device 24.
  • This recovery instruction may be issued after the arm entry restriction area A2 has been determined.
  • the recovery instruction includes guide information for guiding the recovery of the fallen item 80D.
  • the terminal 65 displays the guide information in accordance with the recovery instruction.
  • the guidance information may include, for example, identification information of the recovery worker, identification information (item ID) of the fallen item 80D, information on the drop position (i.e., recovery position) of the fallen item 80D (i.e., the object to be recovered), information on the flow line FL, etc.
  • the guidance information may also include information on the timing of recovery of the fallen item 80D, mapping information MP indicating the positional relationship of each piece of equipment within the warehouse, etc.
  • the processor 21 may determine that it is not necessary to move the bin 70. This is because the recovery person (the picking robot 40 or the recovery worker) can recover the fallen item 80D without moving the bin. Therefore, it is not necessary to determine the AGV route for moving the bin.
  • the processor 21 performs the same processing as when the drop position P80D is in the area between bins and outside the operating range of the picking robot 40, as described above.
  • Figure 10 is a diagram for supplementary explanation of a first example of the operation of the warehouse system 5 when the drop position P80D is in another area and is outside the operating range of the picking robot 40. As described above, the same operation as in Figure 10 will be performed when the drop position P80D is in the area between bins and is outside the operating range of the picking robot 40. In other words, if the drop position P80D is in an area that is neither inside a bin in the warehouse nor on an AGV, and the drop position P80D is outside the operating range of the picking robot 40, the same operation as in Figure 10 will be performed.
  • the drop position P80D is outside the operating range of the picking robot 40, and is therefore in a position where the picking robot 40 cannot recover the dropped item 80D.
  • a recovery worker 46 goes to the drop position P80D, grabs the dropped item 80D, and places the dropped item 80D in, for example, a recovery destination bin 70A for storage.
  • the processor 21 may determine, based on the equipment layout information, whether there is sufficient space for the recovery worker 46 to move toward the drop position P80D or to perform recovery work. In FIG. 10, it is assumed that there is sufficient space for the recovery worker 46 to pass between the recovery destination bin 70A and the picking robot 40. If there is sufficient space, the processor 21 determines that there is no need to move the bin 70 at the picking station PS, and does not change the position of the recovery destination bin 70A or any other bins 70.
  • the processor 21 determines the arm entry no-go area A2 based on the flow line FL taken by the recovery worker 46, the drop position P80D, and the recovery destination bin 70A.
  • the arm entry no-go area A2 is an area that surrounds the flow line FL, the drop position P80D, and the recovery destination bin 70A, and may be, for example, the smallest rectangular area that surrounds the flow line FL, the drop position P80D, and the recovery destination bin 70A.
  • the recovery worker 46 moves along the flow line FL and recovers the fallen item 80D by storing the fallen item 80D at the drop position P80D in the recovery destination bin 70A.
  • the arm 40a of the picking robot 40 does not enter the area around the flow line FL, so the warehouse system 5 can prevent the recovery worker 46 from unexpectedly coming into contact with the picking robot 40 during the recovery work. This ensures the safety of the recovery worker 46 during the recovery work.
  • Figure 11 is a diagram providing additional explanation of a second example of the operation of the warehouse system 5 when the drop position P80D is outside the operating range of the picking robot 40.
  • explanations of matters similar to those in Figure 10 will be omitted or simplified.
  • the processor 21 may determine, based on the equipment layout information, whether there is sufficient space for the recovery worker 46 to move to the drop position P80D or to perform recovery work. In FIG. 11, it is assumed that there is insufficient space for the recovery worker 46 to pass between the recovery destination bin 70A and the picking robot 40. If there is not enough space, the processor 21 moves (evacuates) the bin 70 at the picking station PS to ensure space for recovery work.
  • the processor 21 instructs the transport robot 42 via the communication device 24 to move bins 70D1 and 70D2, among the bins 70 at the picking station PS, to the outside of the picking station PS. In other words, the processor 21 controls the movement of bins 70D1 and 70D2 outside the operating range of the picking robot 40. This allows the warehouse operations management system 20 to secure space for the recovery worker 46 to perform the recovery work.
  • the processor 21 determines the area encompassing the flow line FL along which the recovery worker 46 will travel during the recovery work, the drop position P80D, and the location of the recovery destination bin 70A as the arm entry prohibited area A2.
  • the recovery worker 46 passes between the picking robot 40 and the bin 70 and heads toward the drop position P80D.
  • the warehouse operations management system 20 can prevent a decrease in operational efficiency within the warehouse and ensure safety.
  • the processor 21 controls the movement of the bin 70 to make it easier for the recovery worker 46 to recover.
  • the processor 21 determines a route for moving the recovery source bin 70B and the recovery destination bin 70A to a position that is easy for the recovery worker 46 to work on as an AGV route for moving the bins for recovery by the recovery worker 46.
  • the recovery source bin 70B here is the item that contains the re-falling item 80E.
  • the processor 21 then sends a recovery instruction for the re-falling item 80E to the terminal 65 of the recovery worker 46.
  • the guidance information included in this recovery instruction includes, for example, the recovery work location (re-falling position P80E of the re-falling item 80E), identification information (item ID) of the re-falling item 80E, and the number of recoveries.
  • Figure 12 shows an example of recovery of a re-falling item 80E when the re-fall position P80E is in the area inside the bin.
  • fallen item 80D is located inside bin 70. Let's assume that the picking robot 40 attempts to recover fallen item 80D but fails. Let's assume that the re- fallen item 80E is in the same position as fallen item 80D.
  • the processor 21 moves the recovery source bin 70B and the recovery destination bin 70A to the vicinity of the recovery worker 46, thereby creating an environment in which the recovery worker 46 can easily make recovery.
  • the vicinity of the recovery worker 46 is, for example, an area within a predetermined distance from the recovery worker 46.
  • the processor 21 acquires the location information of the recovery worker 46.
  • the location information of the recovery worker may be recognized, for example, based on an image captured by the camera 60.
  • the location information of the recovery worker may be obtained by detecting the position of the terminal 65 of the recovery worker 46 using a position detection sensor on the terminal 65, and the location information of the terminal 65 may be acquired as the location information of the recovery worker 46 via the communication device 24.
  • the processor 21 controls the recovery source bin 70B and the recovery destination bin 70A to move to the vicinity of the recovery worker 46 via the communication device 24 based on the location information of the recovery worker 46.
  • the transport robot 42 transports the recovery source bin 70B and the recovery destination bin 70A to move to the vicinity of the recovery worker 46 in accordance with the control (e.g., transport instructions) of the warehouse operations management system 20.
  • the recovery worker 46 can easily remove the re- fallen item 80E from the recovery source bin 70B and store it in the recovery destination bin 70A without having to move much himself, thereby recovering the re- fallen item 80E.
  • the warehouse operations management system 20 can prevent the recovery worker 46 from moving around within the automated warehouse 50, thereby preventing a decrease in the operating efficiency of the automated warehouse 50 and ensuring safety.
  • the warehouse system 5 performs the same operation as when the initial drop position P80D is outside the operating range of the picking robot 40.
  • the processor 21 determines the flow line FL (for example, the flow line of the shortest route described above) based on the equipment layout state when the fallen object 80D falls again due to a recovery failure.
  • This flow line FL is a route that allows the recovery worker 46 to efficiently recover the re-falling object 80E.
  • the processor 21 may determine the arm entry no-go area A2 to be an area that encompasses the flow line FL for the recovery worker 46 to head toward the re-fall position P80E, the re-fall position P80E, and the recovery destination bin 70A.
  • the arm entry no-go area A2 may be, for example, a rectangular range of the smallest size that encompasses the flow line FL, the re-fall position P80E, and the recovery destination bin 70A.
  • the processor 21 also determines an AGV route for moving bins to recover the re-falling item 80E.
  • This AGV route is a route for moving bins 70 that are located on the flow line FL along which the recovery worker 46 passes.
  • the processor 21 then transmits a recovery instruction for the re-falling item 80E to the recovery worker's terminal 65 via the communication device 24.
  • the recovery instruction may be issued after the arm entry restriction area A2 has been determined.
  • the recovery instruction includes guide information for guiding the recovery of the re-falling item 80E.
  • the terminal 65 displays the guide information in accordance with the recovery instruction.
  • the guidance information may include identification information for the recovery worker, identification information (item ID) for the re-falling item 80E, information on the re-fall position P80E (i.e., the recovery position) of the re-falling item 80E, the number of recovery operations to be performed on the re-falling item 80E, information on the flow line FL, etc.
  • the guidance information may also include information on the recovery timing of the fallen item 80D, mapping information MP indicating the positional relationship of each piece of equipment within the warehouse, etc.
  • Figure 13 shows a first example of recovery of a re-falling item 80E when the re-fall position P80E is an area other than the bin area in the warehouse.
  • the falling position P80D of the falling item 80D is the inter-bin area.
  • the processor 21 controls the movement (removal) of the bins 70 on both sides of the falling item 80D that has been dropped into the inter-bin area by the picking robot 40.
  • state D2 let's say that the picking robot 40 attempts to recover, but the recovery fails.
  • state D3 the item falls again to the same position P80D as it was before recovery, and a re- fallen item 80E is present.
  • processor 21 determines whether there is sufficient space for the recovery worker 46 to pass through and perform recovery work. In state D2, it is assumed that there is sufficient space. Processor 21 determines the arm entry no-go area A2 based on the equipment layout information for this bin 70 layout state. Specifically, processor 21 determines the area surrounding the flow line FL that the recovery worker 46 will follow during recovery work, the re-drop position P80E, and the position of the recovery destination bin 70A as the arm entry no-go area A2.
  • the recovery worker 46 can secure the space required for work and movement, ensure the safety of this space, and recover the re-falling item 80E.
  • FIG. 14 is a diagram showing a second example of recovery of a re-falling item 80E when the re-fall position P80E is an area other than the bin area in the warehouse.
  • FIG. 14 is a modified example of the second example of recovery of a re-falling item 80E shown in FIG. 13. In FIG. 14, the explanation of the matters explained in FIG. 13 is omitted or simplified.
  • States E1 and E2 in Figure 14 are almost the same as states D1 and D2 in Figure 13. However, in state E2, there is not enough space for the recovery worker 46 to perform the recovery work. If there is not enough space, the processor 21 controls the movement of bins 70 that are on the path that the recovery worker 46 will take.
  • the processor 21 determines the arm entry no-go area A2 based on the equipment layout information for this bin 70 layout state. Specifically, the processor 21 determines the area surrounding the flow line FL that the recovery worker 46 will follow during recovery work, the re-drop position P80E, and the position of the recovery destination bin 70A as the arm entry no-go area A2.
  • the recovery worker 46 when recovering the re-falling item 80E, the recovery worker 46 can move the bin 70, ensuring sufficient space for the recovery work and passage of the recovery worker 46. The recovery worker 46 can then move from outside the automated warehouse 50 to the re-falling position P80E of the re-falling item 80E, grab the re-falling item 80E, and store it in the recovery destination bin 70A.
  • Figure 15 is a diagram illustrating a modified example of the movement of the bin 70 when a falling object 80D is in the area inside the bin.
  • the spacing between the bins 70 is relatively short. Specifically, the distance r between two adjacent bins 70 in one direction (the x direction) of the horizontal plane in which the bins 70 are arranged is less than or equal to threshold value th1. Similarly, the distance r between two adjacent bins 70 in the other direction of the horizontal plane in which the bins 70 are arranged, the x direction (the y direction) perpendicular to the one direction, is also less than or equal to threshold value th1.
  • the processor 21 determines the areas between each of the four bins 70 arranged in a grid pattern as AGV no-travel areas A1.
  • the processor 21 sends a transport instruction to the transport robot 42 to move at least four bins 70 around the drop position P80D.
  • the transport robot 42 moves the four bins 70 to be moved in accordance with the transport instruction.
  • the processor 21 moves (evacuates) the three bins 70 other than the recovery destination bin 70A away from the picking robot 40.
  • the three bins 70 other than the recovery destination bin 70A are located outside the operating range of the picking robot 40.
  • the processor 21 moves the recovery destination bin 70A, but moves it so that its position after the move is still within the operating range of the picking robot 40.
  • the warehouse system 5 can adjust the placement of the bins 70 and use the picking robot 40 to optimally recover the fallen items 80D. Furthermore, the warehouse system 5 can expand the AGV no-travel area A1 to improve safety during recovery work by the picking robot 40.
  • Figures 16 to 18 are flowcharts showing an example of the operation of the warehouse system 5.
  • the processor 21 of the warehouse operations management system 20 detects the drop position P80D of the item 80 (S11).
  • the processor 21 determines whether the drop position P80D is inside the bin 70 (intra-bin area) or above the transport robot 42 (above-AGV area) (S12).
  • the area inside the bin includes at least one of the area inside the bin 70 loaded on the transport robot 42 (also referred to as the area inside the bin with an AGV) and the area inside the bin 70 not loaded on the transport robot 42 (also referred to as the area inside the bin without an AGV).
  • the area above the AGV includes at least one of the area above the transport robot 42 on which the bin 70 is loaded (also referred to as the area above the AGV with a bin) and the area above the transport robot 42 on which the bin 70 is not loaded (also referred to as the area above the AGV without a bin).
  • drop position P80D is any position inside the bin 70 on the transport robot 42. On the other hand, if the area is on an AGV with a bin, drop position P80D is any position outside the bin 70 on the transport robot 42. Also, if the area is inside a bin without an AGV, drop position P80D is any position inside a bin 70 that is not loaded on the transport robot 42. On the other hand, if the area is on an AGV without a bin, drop position P80D is any area on the transport robot 42 where a bin 70 is not loaded.
  • the processor 21 determines whether the drop position P80D is within the operating range of the picking robot 40 (S13).
  • the processor 21 controls the transport robot 42 to move within the operating range of the picking robot 40 (S14). In this case, the processor 21 sends a movement instruction (transport instruction) to the transport robot 42 via the communication device 24.
  • a movement instruction transport instruction
  • the warehouse operations management system 20 moves the transport robot 42 carrying the bin 70 containing the falling item 80D, thereby moving the bin 70 containing the falling item 80D and positioning the falling item 80D within the operating range of the picking robot 40.
  • the warehouse operations management system 20 moves the transport robot 42 carrying the falling item 80D, thereby positioning the falling item 80D within the operating range of the picking robot 40.
  • the processor 21 controls the picking robot 40 to perform recovery work by grasping the fallen item 80D and storing it in the recovery destination bin 70A.
  • the processor 21 sends a recovery instruction to the picking robot 40 via the communication device 24.
  • the picking robot 40 Upon receiving the recovery instruction, the picking robot 40 performs the recovery work in accordance with the recovery instruction.
  • the processor 21 determines whether the recovery by the picking robot 40 was successful (S15). For example, the processor 21 may acquire detection information from any sensor or an image captured by the camera 60 a predetermined time after the recovery instruction to the picking robot 40 or when a recovery completion notification is received from the picking robot 40, and determine whether the fallen object 80D was successful based on the detection information or the image captured. For example, if the fallen object 80D has been removed from the drop position P80D, it may be determined that the recovery of the fallen object 80D was successful. Furthermore, if the recovery by the picking robot 40 fails, the processor 21 may perform retry control a predetermined number of times, and may ultimately determine that the recovery has failed if recovery is unsuccessful even as a result of the retries.
  • the processor 21 controls the recovery source bin 70B or the transport robot 42 carrying the re- fallen item 80E, which is the item that has fallen again from the fallen item 80D, and the recovery destination bin 70A to move to the vicinity of the recovery worker 46 (S16).
  • the processor 21 sends a movement instruction (transport instruction) to the transport robot 42 via the communication device 24.
  • the transport robot 42 moves the recovery source bin 70B or the transport robot 42 carrying the re- fallen item 80E and the recovery destination bin 70A in accordance with the transport instruction.
  • the processor 21 notifies the terminal 65 of the recovery worker 46 of a recovery instruction including guidance information (S17).
  • the guidance information includes, for example, information on the re-drop position P80E of the re-dropped item 80E and identification information (bin ID) of the recovery destination bin 70A.
  • the terminal 65 displays the guidance information in accordance with the recovery instruction. This allows the recovery worker 46 to confirm information useful for the recovery work from the guidance information (for example, the re-drop position P80E, the position of the recovery destination bin 70A, the flow line FL for performing the recovery work, and mapping information MP) and carry out the recovery work.
  • step S12 if the drop position P80D is not in the area inside the bin or the area on the AGV (No in step S12), proceed to Figure 17. Then, the processor 21 determines whether the drop position P80D is between bins 70 (inter-bin area) (S21).
  • the processor 21 determines (sets) the area between the two bins 70 on either side of the drop position P80D, or the area between the four bins 70 surrounding the drop position P80D, as the AGV travel-prohibited area A1 (S22).
  • the processor 21 controls the movement of the two bins 70 on either side of the fallen object 80D or the four surrounding bins 70 as the movement targets while avoiding the AGV no-travel area A1 (S23). In this case, the processor 21 sends a transport instruction to the transport robot 42 via the communication device 24 to move the bins 70 to be moved.
  • the processor 21 determines whether the recovery destination bin 70A remains within the picking station PS (within the operating range of the picking robot 40) (S24).
  • the processor 21 controls the movement of the bin 70 to leave the recovery destination bin 70A in the picking station PS and to free up the position of the recovery destination bin 70A (S25). For example, as shown in FIG. 9, if another bin 70 is located at the destination to which the recovery destination bin 70A is to be moved, the processor 21 moves the other bin 70 before moving the recovery destination bin 70A. In this case, the processor 21 controls the recovery destination bin 70A to free up the position of the recovery destination bin 70A without moving the recovery destination bin 70A outside the operating range of the picking robot 40.
  • step S21 If the drop position P80D is not in the inter-bin area in step S21 (No in step S21), if there are no recovery destination bins 70A remaining in the picking station PS in step S24 (No in step S24), or after processing step S25, proceed to FIG. 18.
  • the processor 21 determines whether the drop position P80D is within the operating range of the picking robot 40 (S31).
  • the processor 21 controls the picking robot 40 to perform recovery work by grasping the fallen item 80D and storing it in the recovery destination bin 70A.
  • the processor 21 sends a recovery instruction to the picking robot 40 via the communication device 24.
  • the picking robot 40 performs the recovery work in accordance with the recovery instruction.
  • the processor 21 determines whether the picking robot 40 has been successfully restored (S32).
  • the processor 21 determines the movement line FL for the recovery work by the recovery worker 46 based on the drop position P80D and the equipment layout information (S33).
  • the processor 21 controls the movement of bins in the flow line area (S34).
  • the flow line area may be a position on the flow line FL, or may be a larger area that includes positions around the flow line FL.
  • the processor 21 determines (sets) an arm entry no-entry area A2 that includes the movement line area (S35).
  • Processor 21 controls the arm 40a of the picking robot 40 to move from the determined arm entry no-go area A2. In other words, processor 21 controls the picking robot 40 so that the arm 40a of the picking robot 40 does not enter the arm entry no-go area A2.
  • the processor 21 notifies the terminal 65 of the recovery worker 46 of a recovery instruction including guidance information (S17).
  • the guidance information includes, for example, information on the fall position P80D of the fallen object 80D and identification information (bin ID) of the recovery destination bin 70A.
  • the terminal 65 displays the guidance information in accordance with the recovery instruction. This allows the recovery worker 46 to confirm information useful for the recovery work from the guidance information (for example, the fall position P80D, the position of the recovery destination bin 70A, the flow line FL for performing the recovery work, and mapping information MP) and carry out the recovery work.
  • the warehouse system 5 of the first embodiment in a warehouse including an automated warehouse 50 in which the placement state of bins 70 around a picking station PS changes over time, even if the arm 40a of a picking robot 40 drops an item 80 at an unexpected time, the warehouse system can detect the fall of the item 80 and determine whether the bin needs to be moved (evacuated) to recover the fallen item 80D. Therefore, the warehouse system 5 can prevent the bin 70 from becoming an obstacle when a recovery person (picking robot or recovery worker) attempts to recover the fallen item 80D, resulting in a decrease in warehouse operating efficiency.
  • the warehouse system 5 can also efficiently operate the automated warehouse 50.
  • the picking robot 40 can recover the fallen item 80D whenever possible, and the recovery worker can also assist in recovering the fallen item 80D.
  • the recovery destination bin 70A is moved within the operating range of the picking robot 40, but this is not limited to this.
  • the recovery destination bin 70A may also be temporarily moved (evacuated) outside the operating range of the picking robot 40.
  • the processor 21 controls the movement of the moved recovery destination bin 70A so that it is positioned within the operating range of the picking robot 40.
  • fallen items 80D and re-falling items 80E are restored by storing them in the restoration destination bin 70A, but this is not limited to this.
  • fallen items 80D and re-falling items 80E may be damaged or malfunctioning, so they may be recovered.
  • the operation of the warehouse system 5 during recovery (recovery work) may be the same as the operation of the warehouse system 5 during recovery (recovery work) in this embodiment.
  • a warehouse management method for managing a warehouse comprising: A step of acquiring operating range information indicating an operating range of a picking robot (picking robot 40) that performs a picking operation of an item (item 80); acquiring, from the picking robot, drop position information indicating a drop position (drop position P80D) of a first item (falling item 80D); acquiring placement status information indicating the placement status of each device in the warehouse; determining whether or not a bin (bin 70) storing the item needs to be moved based on the operating range of the picking robot, the drop position of the first item, and the arrangement of the devices;
  • a warehouse management method comprising:
  • the warehouse management method can determine whether or not the bin needs to be moved to recover the first item, even if, for example, a picking robot drops the first item at an unexpected time. Therefore, the warehouse management method can prevent the bin from becoming a barrier when recovering an item, making it difficult for the picking robot to grasp the item, or making it difficult for the recovery worker to move to the location where the item fell. Therefore, it can prevent the bin from becoming an obstacle when a recoverer (picking robot or recovery worker) tries to recover an item, and reduce the operating efficiency of the warehouse.
  • the step of controlling the movement of the bins comprises: generating travel path information relating to a path along which the bin is to be moved; and instructing a transport robot (transport robot 42) that transports the bottle to transport the bottle based on the movement path information. 3.
  • the step of controlling the movement of the bins comprises: controlling movement of the bin so that a destination bin (destination bin 70A) in which the first item is stored is within an operating range of the picking robot; 4.
  • the warehouse management method allows the picking robot to store the first item in the destination bin, reducing the workload of the recovery worker.
  • the step of determining whether or not the bin needs to be moved includes: determining that movement of the bin is unnecessary when the position where the first item is dropped is a position other than between a plurality of adjacent bins in the warehouse and is within an operating range of the picking robot; 5.
  • the warehouse management method according to any one of items 1 to 4.
  • the warehouse management method allows the picking robot to recover the first item even with the current bin arrangement, eliminating the need to move unnecessary bins and shortening the time required for recovery.
  • the step of determining whether or not the bin needs to be moved includes: determining that the bin needs to be moved when the first item falls inside the bin or on a transport robot that transports the bin and outside the operating range of the picking robot;
  • the step of controlling the movement of the bins comprises: and controlling movement of the bins so that a source bin (source bin 70B) containing the first item and a destination bin in which the first item is stored are positioned within an operating range of the picking robot. 5.
  • the warehouse management method according to any one of items 2 to 4.
  • the warehouse management method moves a bin that is far from the picking robot forward, bringing it closer to the picking robot and within its range of motion, allowing the picking robot to store any fallen items that have fallen into the source bin in the destination bin and recover them.
  • the warehouse management method allows a transport robot that is far from a picking robot to move forward, bringing it closer to the picking robot and within its range of motion, allowing the picking robot to recover any fallen items that have fallen onto the transport robot.
  • the step of determining whether or not the bin needs to be moved includes: determining that the bin needs to be moved when the drop position of the first item is between adjacent bins and within the operating range of the picking robot;
  • the step of controlling the movement of the bins comprises: controlling the movement of the adjacent bins;
  • the method further includes a step of determining an area between the adjacent bins as a no-travel area (AGV no-travel area A1) in which travel of a transport robot transporting the bins is prohibited. 5.
  • the warehouse management method according to any one of items 2 to 4.
  • the warehouse management method can make it easier to pick up the first item by moving adjacent bins. Furthermore, by making the area between the adjacent bins where the first item has fallen a no-travel area, transport robots will not enter the no-travel area, reducing obstacles during recovery work and making it easier for picking robots to retrieve the item.
  • the step of determining whether or not the bin needs to be moved includes: determining that the bin needs to be moved when the position where the first item falls is a position in the warehouse that is neither inside the bin nor a position of a transport robot that transports the bin, and is outside the operating range of the picking robot; determining a flow line (flow line FL) to be taken by a recovery worker (recovery worker 46) who recovers the first item in the warehouse during the recovery work; determining an area encompassing the flow line, the position where the first item was dropped, and the position of the recovery destination bin in which the first item is stored, as an arm entry prohibited area (arm entry prohibited area A2) into which the arm of the picking robot is prohibited from entering, 5.
  • the warehouse management method according to any one of items 1 to 4.
  • the first item cannot be recovered by the picking robot and must be recovered by a recovery worker, but a traffic line for the recovery worker to recover the item can be secured. Furthermore, the arm can be prevented from entering no-arm-entry areas, including traffic lines, improving the safety of the recovery worker.
  • the step of controlling the movement of the bins comprises: When it is determined that the recovery of the first item has failed and the re-drop position (re-drop position P80E) of the first item (re-dropped item 80E) is inside the bin, the method includes a step of controlling, based on the worker position information, to move a recovery source bin that is the bin containing the first item and a recovery destination bin that is the bin in which the first item is stored. 10.
  • the warehouse management method according to any one of items 2 to 9.
  • the warehouse management method can reduce the amount of movement required by the recovery worker by, for example, moving the bin to a position close to the recovery worker that makes it easy to pick up the first item, thereby reducing the amount of work the recovery worker has to do. Furthermore, the warehouse management method can also improve the safety of the recovery worker by reducing the amount of movement the recovery worker has to do within the automated warehouse.
  • (Item 11) determining whether the recovery of the first item by the picking robot has been successful; If it is determined that the recovery of the item has failed and the first item is dropped again outside the bin, determining a route of movement to be taken by a recovery worker who recovers the items in the warehouse during the recovery work; and determining an arm entry prohibition area that prohibits the arm of the picking robot from entering an area that encompasses the flow line, the position where the first item is dropped, and the position of a recovery destination bin that is the bin in which the first item is stored. 10.
  • the warehouse management method according to any one of items 1 to 9.
  • the warehouse management method ensures a traffic line for recovery workers to recover the first item even if the picking robot fails to recover it.
  • the warehouse management method also prevents the arm from entering the traffic line area, ensuring the safety of the recovery worker recovering the first item that has fallen again.
  • the step of controlling the movement of the bins comprises: a step of controlling the movement of the bins on the movement line after determining the arm no-entry area, Item 12.
  • the warehouse management method can move bins if they are on the traffic line, preventing bins on the traffic line from becoming a barrier to the movement of recovery workers. Furthermore, by moving bins after determining the no-arm-entry area, it is possible to prevent bins from colliding with the arm and causing malfunctions, etc.
  • the method further includes a step of transmitting a recovery instruction including flow line information regarding the flow line to a terminal (terminal 65) of the recovery worker after determining the arm entry no-entry area. 13.
  • the warehouse management method according to any one of items 9, 11, and 12.
  • This warehouse management method prevents the arm from entering restricted areas, including traffic lines, and allows recovery workers to recover items only after ensuring the safety of those passing along the traffic lines.
  • a warehouse management system (warehouse operations management system 20) that includes a processor (processor 21) and manages a warehouse, The processor: acquiring operating range information indicating an operating range of a picking robot that performs an item picking operation; acquiring drop position information indicating a drop position of a first item from the picking robot; Acquire placement status information indicating the placement status of each device in the warehouse; determining whether or not the bin storing the item needs to be moved based on the operating range of the picking robot, the position where the first item is dropped, and the arrangement of the devices; Warehouse management system.
  • the above embodiment may also be applicable to a program that realizes the functions of the warehouse management 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.
  • a computer e.g., warehouse operations management system 20
  • This disclosure is useful for warehouse management methods and warehouse management systems that can prevent a decline in warehouse operating efficiency even if an item falls within the warehouse.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)

Abstract

L'invention concerne un procédé de gestion d'entrepôt pour gérer un entrepôt, le procédé comprenant : une étape consistant à acquérir des informations de plage de fonctionnement qui indiquent une plage de fonctionnement d'un robot de prélèvement pour effectuer un travail de prélèvement d'un article ; une étape consistant à acquérir des informations de position de dépôt qui indiquent une position de dépôt dans laquelle un premier article doit être déposé par le robot de prélèvement ; une étape consistant à acquérir des informations de position d'agencement qui indiquent l'état d'agencement d'appareils respectifs à l'intérieur de l'entrepôt ; et une étape consistant à déterminer, sur la base de la plage de fonctionnement du robot de prélèvement, de la position de dépôt du premier article, et de l'état d'agencement des appareils respectifs, s'il est nécessaire ou non de déplacer un compartiment dans lequel l'article doit être stocké.
PCT/JP2025/005704 2024-03-06 2025-02-19 Procédé et système de gestion d'entrepôt Pending WO2025187430A1 (fr)

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JP2024-033990 2024-03-06

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Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2020505293A (ja) * 2017-01-26 2020-02-20 ツァイニャオ スマート ロジスティクス ホールディング リミティド 物品ピッキング方法および装置
JP2021197048A (ja) * 2020-06-18 2021-12-27 株式会社オカムラ 自動倉庫システム
JP2022001513A (ja) * 2020-06-19 2022-01-06 株式会社東芝 ハンドリングシステムおよび制御方法

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2020505293A (ja) * 2017-01-26 2020-02-20 ツァイニャオ スマート ロジスティクス ホールディング リミティド 物品ピッキング方法および装置
JP2021197048A (ja) * 2020-06-18 2021-12-27 株式会社オカムラ 自動倉庫システム
JP2022001513A (ja) * 2020-06-19 2022-01-06 株式会社東芝 ハンドリングシステムおよび制御方法

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