JP6362902B2 - Product picking apparatus and program - Google Patents

Description

  The present invention relates to a commodity picking apparatus and a program.

  A conveyor system in which a plurality of picking zones for picking goods is provided around a main conveyor line is known (for example, see Patent Document 1).

JP 2003-050850 JP

  However, in the configuration described in Patent Document 1, the main conveyor line is formed by a single line from the transport container supply unit to the transport container collection unit, so that the operating rate in the picking zone is efficiently increased. There is a problem that can not be.

  Therefore, in one aspect, an object of the present invention is to provide a product picking apparatus and a program that can efficiently increase the operation rate of a robot.

According to one aspect of the present disclosure, a product placement line comprising a plurality of container stop stations;
A first transport conveyor provided in the product placement line;
An empty container supply device for supplying empty transport containers one by one from the upstream side of the product arrangement line;
A product delivery line that is provided in parallel with the product placement line, and that delivers the transport container in which the product is placed downstream;
A second transport conveyor provided in the commodity delivery line;
A plurality of discharge devices that are provided in association with each of the plurality of container stop stations, and that discharge the transport containers in which the arrangement of all planned products has been completed at the corresponding container stop station to the product discharge line;
A plurality of product container stations, each of which is provided in association with each of the plurality of container stop stations, and in which product containers containing products scheduled to be placed in a transport container are placed,
Provided in association with each of the plurality of product container stations, pick a product in a product container on the corresponding product container station, and place the picked product in a transport container on the corresponding container stop station With multiple robots to
Information representing the most downstream container stop station of each transport container when the container stop station in which the planned final product placement related to each transport container is performed is the most downstream container stop station among the plurality of container stop stations. And a processing device that determines the transport order of the transport containers in the product placement line in a manner in which the downstream transport container is transported first, and the most downstream container stop station is provided with a product picking device. The

  A product picking apparatus and program capable of efficiently increasing the operation rate of the robot can be obtained.

The figure which shows schematically the structure of the goods picking apparatus by an example. The figure which shows an example of the hardware constitutions of a processing apparatus. The flowchart which shows the flow of the process performed by the processing apparatus roughly. Explanatory drawing of an example of the payment order determination method of the store order which concerns on the same store. The table which shows the store name which concerns on the store order sorted by payout order. The flowchart which shows an example of a conveyance order determination process roughly. Explanatory drawing of the temporary determination process of a conveyance order. Explanatory drawing of the decision | availability determination process of the container replacement by remaining number picking. Explanatory drawing of the temporary determination process of the conveyance order again with the increase in object candidate container. Explanatory drawing when remaining number picking is possible even after the temporary determination of the conveyance order again accompanying the increase in a candidate container. Explanatory drawing when remaining number picking becomes impossible. The figure which shows an example in case a deadlock occurs. The figure which shows an example when a deadlock does not generate | occur | produce. The flowchart which shows an example of a deadlock determination process. Explanatory drawing of the virtual station arrangement | sequence for deadlock determination. Explanatory drawing of the arrangement | positioning possible range of the object candidate container for deadlock determination. Explanatory drawing of the arrangement | positioning possible range of the object candidate container for deadlock determination. Explanatory drawing of the other object candidate container confirmation range for deadlock determination. Explanatory drawing of the supply rule to the container stop station R1 of the empty conveyance container by an empty container supply apparatus. Explanatory drawing of the remaining number picking timing by a remaining number picking conveyor. Explanatory drawing of the conveyance rule (the 1) of the conveyance container between the stations in a merchandise arrangement line. Explanatory drawing of the conveyance rule (the 2) of the conveyance container between the stations in a merchandise arrangement line. Explanatory drawing of the conveyance rule (the 3) of the conveyance container between the stations in a goods arrangement line. Explanatory drawing of the conveyance rule (the 4) of the conveyance container between the stations in a goods arrangement line. It is explanatory drawing of the conveyance rule (the 5) of the conveyance container between the stations in a goods arrangement line. It is explanatory drawing of the conveyance rule (the 6) of the conveyance container between the stations in a merchandise arrangement line. It is explanatory drawing of the conveyance rule (the 7) of the conveyance container between the stations in a merchandise arrangement line. Explanatory drawing of the discharge rule (the 1) of the conveyance container to the goods delivery line by a completed container discharge conveyor. Explanatory drawing of the discharge rule (the 2) of the conveyance container to the goods delivery line by a completed container discharge conveyor. Explanatory drawing of the conveyance rule (the 1) of the conveyance container in a goods delivery line. Explanatory drawing of the conveyance rule (the 2) of the conveyance container in a goods delivery line. Explanatory drawing of the conveyance rule (the 3) of the conveyance container in a goods delivery line.

  Hereinafter, embodiments will be described in detail with reference to the accompanying drawings.

  FIG. 1 is a diagram schematically illustrating a configuration of a product picking apparatus 1 according to an example.

  The product picking apparatus 1 includes a product placement line 4, a product delivery line 6, an empty container supply device 20, a first transport conveyor 30, a second transport conveyor 32, a finished container discharge conveyor 34, and a remaining number picking conveyor. 36, merchandise container stations O1, O2, O3, O4, and robots 51 to 54. The product picking apparatus 1 includes a processing apparatus 100.

  The product arrangement line 4 includes a plurality of container stop stations R1, R2, R3, and R4 along the transport direction. In the example shown in FIG. 1, the product arrangement line 4 has four container stop stations R1, R2, R3, and R4. Although the conveyance direction is arbitrary, in the example shown in FIG. 1, it is the X direction. The product arrangement line 4 does not have to be a straight line and may include a curve.

  A transport container is supplied to each of the container stop stations R1, R2, R3, and R4 by the first transport conveyor 30. In addition, the product containers are transferred from the corresponding product container stations O1, O2, O3, and O4 to the container stop stations R1, R2, R3, and R4, respectively. This transfer will be described later.

  The product arrangement line 4 includes a plurality of buffer stations B1, B2, and B3 along the transport direction. The merchandise arrangement line 4 has, for example, buffer stations B1, B2, B3 one by one between the container stop stations R1, R2, R3, R4. Accordingly, in the example shown in FIG. 1, a total of three buffer stations B1, B2, and B3 are provided. The number of buffer stations B1, B2, and B3 is arbitrary. For example, two buffer stations B1, B2, and B3 may be provided between the container stop stations R1, R2, R3, and R4. Further, two buffer stations B1 between the container stop stations R1 and R2 and two buffer stations B3 between the container stop stations R3 and R4 may be provided irregularly. The functions of the buffer stations B1, B2, and B3 will be described later. Each of the buffer stations B1, B2, and B3 is supplied with a transport container by the first transport conveyor 30 in the same manner as the container stop stations R1, R2, R3, and R4. However, the arrangement of products is not executed at the buffer stations B1, B2, and B3. In the following, when the container stop stations R1, R2, R3, R4 and the buffer stations B1, B2, B3 in the product arrangement line 4 are expressed without distinction, they are simply referred to as “station 40”. It is assumed that the number of transfer containers that can be stopped simultaneously on one station 40 is one.

  The product delivery line 6 is provided in parallel with the product placement line 4. That is, the product delivery line 6 is arranged side by side in the Y direction with respect to the product arrangement line 4. In the example shown in FIG. 1, the Y direction is a direction perpendicular to the transport direction. However, the product delivery line 6 does not need to be parallel to the product placement line 4 and may have a shape including a curve or the like.

  The product delivery line 6 has a plurality of completed container receiving stations S1, S2, S3, and S4 along the transport direction. In the example shown in FIG. 1, the commodity delivery line 6 has four finished container receiving stations S1, S2, S3, and S4. The completed container receiving stations S1, S2, S3, and S4 are provided in association with the container stop stations R1, R2, R3, and R4 in the product arrangement line 4, respectively.

  The transport containers on the corresponding container stop stations R1, R2, R3, R4 are discharged to the completed container receiving stations S1, S2, S3, S4, respectively. For example, the transport container on the container stop station R1 is discharged to the completed container receiving station S1. This discharge is realized by the finished container discharge conveyor 34. Further, this discharge is executed when all scheduled products are arranged in the transport container (that is, when the placement of the last product in the transport container is completed). Accordingly, the transport container in which the last product is arranged at the container stop station R1 is discharged from the container stop station R1 to the finished container receiving station S1. On the other hand, the transport container in which the last product is arranged at the container stop station R4 is discharged from the container stop station R4 to the finished container receiving station S4.

  Similar to the product placement line 4, the product delivery line 6 has a plurality of buffer stations B4, B5, and B6 along the transport direction. The arrangement mode and number of the buffer stations B4, B5, and B6 may be the same as the buffer stations B1, B2, and B3 in the commodity arrangement line 4. In the following, when the finished container receiving stations S1, S2, S3, and S4 and the buffer stations B4, B5, and B6 in the commodity delivery line 6 are referred to without distinction, they are simply referred to as “station 60”. It is assumed that the number of transfer containers that can be stopped simultaneously on one station 60 is one.

  As shown in FIG. 1, a completed container delivery device 80 is disposed on the downstream side of the product delivery line 6. To the completed container delivery device 80, the transport containers on the product delivery line 6 are sequentially delivered one by one in a predetermined delivery order.

  The empty container supply device 20 is arranged on the upstream side of the product arrangement line 4. The empty container supply device 20 supplies empty conveyance containers one by one to the product arrangement line 4 under the control of the processing device 100. The empty transport container supplied by the empty container supply device 20 is moved to the container stop station R1 by the first transport conveyor 30.

  The first conveyor 30 is provided on the product arrangement line 4. The first conveyor 30 may be formed by, for example, a belt conveyor or a roller conveyor. The first conveyor 30 is provided between each station 40 in the product arrangement line 4. In other words, the first conveyor 30 is provided between each station 40, such as between the container stop station R1 and the uppermost buffer station B1, and between the uppermost buffer station B1 and the container stop station R2. . Moreover, the 1st conveyance conveyor 30 is provided between the empty container supply apparatus 20 and the uppermost container stop station R1, as shown in FIG.

  Each first conveyor 30 operates independently from each other under the control of the processing apparatus 100. The 1st conveyance conveyor 30 between each station 40 conveys the conveyance container on each station 40 to the station 40 of 1 downstream. Moreover, the 1st conveyance conveyor 30 between the empty container supply apparatus 20 and the uppermost container stop station R1 conveys the empty conveyance container from the empty container supply apparatus 20 to the container stop station R1. The transport container may have any configuration, and may be formed of any material such as plastic or paper.

  In addition, each 1st conveyance conveyor 30 may include each station 40, and may be formed by arranging the roller conveyor which has a rotating shaft in a Y direction continuously in a X direction. In this case, each station 40 is formed by stopping the roller conveyor in the corresponding area.

  The second transfer conveyor 32 is provided in the commodity delivery line 6. The second transport conveyor 32 has the same transport direction as the transport direction of the first transport conveyor 30. In the example illustrated in FIG. 1, the second transport conveyor 32 transports a transport container in the X direction. The second conveyor 32 may extend to the downstream side of the product arrangement line 4.

  Similar to the first conveyor 30, the second conveyor 32 may be formed by a belt conveyor, a roller conveyor, or the like. The second conveyor 32 is provided between each station 60 in the commodity delivery line 6. Further, the second conveyor 32 is provided between the most downstream completed container receiving station S4 and the completed container delivery device 80.

  The second conveyors 32 operate independently of each other under the control of the processing apparatus 100. The second transfer conveyor 32 between the stations 60 transfers the transfer container on each station 60 to the station 60 on the downstream side. The second transfer conveyor 32 between the most downstream completed container receiving station S4 and the completed container unloading apparatus 80 conveys the transfer container on the completed container receiving station S4 to the complete container unloading apparatus 80.

  In addition, each 2nd conveyance conveyor 32 may be formed by arranging several roller conveyors which have a rotating shaft in the Y direction continuously including the each station 60 in the X direction. In this case, each station 60 is formed by stopping the roller conveyor in the corresponding area.

  The completed container discharge conveyor 34 is provided in association with each of the container stop stations R1, R2, R3, R4. Under the control of the processing apparatus 100, each completed container discharge conveyor 34 transfers the transfer containers on the corresponding container stop stations R1, R2, R3, R4 to the corresponding completed container receiving stations S1, S2, S3, S4 in the Y direction. To discharge. The completed container discharge conveyor 34 may be configured to protrude upward from the container stop stations R1, R2, R3, and R4 and discharge products in the Y direction using gravity during the discharge operation.

  The product container stations O1, O2, O3, and O4 are provided in association with the container stop stations R1, R2, R3, and R4, respectively. In the product container stations O1, O2, O3, and O4, product containers containing the products to be picked are arranged. In the example shown in FIG. 1, each product container on the product container stations O1, O2, O3, and O4 is transferred by the conveyor 37 from the corresponding stock product container stations P1, P2, P3, and P4. The types of products in the product containers arranged in the product container stations O1, O2, O3, and O4 are different. That is, the type of the product in the product container arranged in the product container station O1 is different from the type of the product in the product container arranged in the product container station O2, and the other is also different. Note that stock product containers are transferred from the product container supply device 82 to the stock product container stations P1, P2, P3, and P4 by the conveyor 38. In addition, although the goods in a goods container are arbitrary, they may be goods (for example, bread) packed in a bag, for example.

  The remaining number picking conveyor 36 is provided in association with each of the container stop stations R1, R2, R3, R4 (and the product container stations O1, O2, O3, O4). The remaining number picking conveyor 36 is provided between the container stop station R1 and the commodity container station O1, and between the container stop station R2 and the commodity container station O2. The remaining number picking conveyor 36 is provided between the container stop station R3 and the commodity container station O3 and between the container stop station R4 and the commodity container station O4.

  The remaining number picking conveyor 36 transfers the product containers on the corresponding product container stations O1, O2, O3, and O4 to the corresponding container stop stations R1, R2, R3, and R4 under the control of the processing apparatus 100. Hereinafter, such transfer by the remaining number picking conveyor 36 is also referred to as “remaining number picking”. In this way, the product containers transferred onto the container stop stations R1, R2, R3, R4 by the remaining number picking conveyor 36 form a transport container after the transfer. Accordingly, the product containers transferred onto the container stop stations R1, R2, R3, and R4 by the remaining number picking conveyor 36 are discharged to the finished container unloading device 80 via the product discharge line 6 as transfer containers. It will be. For this purpose, the commodity container may have the same configuration as the transport container.

  The remaining number picking conveyor 36 includes a plurality of roller conveyors each having a rotation axis in the X direction, including the corresponding conveyor 37 and the conveyor 38, and the corresponding product container station and stock product container station. It may be formed by lining up. In this case, the merchandise container station and the stock merchandise container station are formed by stopping the roller conveyor in the corresponding area.

  The robots 51 to 54 are provided corresponding to the product container stations O1, O2, O3, and O4, respectively. That is, the robot 51 is provided corresponding to the commodity container station O1 (and container stop station R1), the robot 52 is provided corresponding to the commodity container station O2 (and container stop station R2), and so on. .

  The robots 51 to 54 operate under the control of the processing apparatus 100. The robots 51 to 54 pick the products in the product containers on the corresponding product container stations O1, O2, O3, and O4. Further, the robots 51 to 54 place (put) the picked goods in the transfer containers on the corresponding container stop stations R1, R2, R3, R4. For example, the robot 51 picks a product in a product container on the product container station O1, and places the picked product in a transport container on the container stop station R1. The robot 52 picks the product in the product container on the product container station O2, and places the picked product in the transport container on the container stop station R2. Hereinafter, such a series of operations is also referred to as “normal picking”. In FIG. 1, normal picking is schematically indicated by an arrow Y1.

  Note that the normal picking by the robots 51 to 54 is executed a number of times corresponding to the number of products (picking quantity) scheduled to be placed in the transport container. For example, when five products are put into the transport container at the container stop station R1, the robot 51 performs normal picking five times. However, the robots 51 to 54 may be configured such that two or more products can be arranged by one normal picking.

  The robots 51 to 54 also pick the products in the product containers on the corresponding stock product container stations P1, P2, P3, P4 in a predetermined case. Then, the robots 51 to 54 arrange the picked products in the transport containers (product containers) on the corresponding container stop stations R1, R2, R3, and R4. Hereinafter, such a series of operations is also referred to as “replenishment picking”. In FIG. 1, replenishment picking is schematically indicated by an arrow Y2. The replenishment picking is executed along with the remaining number picking by the remaining number picking conveyor 36. That is, the replenishment picking is performed by placing the same type of product as the product in the product container in the product container transferred to the container stop stations R1, R2, R3, R4 by the remaining number picking conveyor 36 with respect to the picking quantity. This is an operation of arranging the missing number. Replenishment picking is performed subsequent to the remaining number picking. It should be noted that stock merchandise containers in which merchandise is picked by replenishment picking may be transferred onto merchandise container stations O1, O2, O3, and O4 by the conveyor 37 during normal picking.

  The processing device 100 controls various operations of the product picking device 1 described above. Moreover, the processing apparatus 100 performs the process etc. which determine the conveyance order of each conveyance container in the 1st conveyance conveyor 30, as mentioned later. The processing apparatus 100 may be formed by a single processing apparatus or may include a plurality of processing apparatuses. For example, the processing apparatus 100 separately includes a processing apparatus that performs processing for determining the transport order of the transport containers on the first transport conveyor 30 and a processing apparatus that controls various operations of the above-described commodity picking apparatus 1. But you can.

  FIG. 2 is a diagram illustrating an example of a hardware configuration of the processing apparatus 100.

  In the example illustrated in FIG. 2, the processing device 100 includes a control unit 101, a main storage unit 102, an auxiliary storage unit 103, a drive device 104, a network I / F unit 106, and an input unit 107.

  The control unit 101 is an arithmetic device that executes a program stored in the main storage unit 102 or the auxiliary storage unit 103, receives data from the input unit 107 or the storage device, calculates, processes, and outputs the data to the storage device or the like. To do.

  The main storage unit 102 is a ROM (Read Only Memory), a RAM (Random Access Memory), or the like, and a storage device that stores or temporarily stores programs and data such as an OS and application software that are basic software executed by the control unit 101. It is.

  The auxiliary storage unit 103 is an HDD (Hard Disk Drive) or the like, and is a storage device that stores data related to application software or the like.

  The drive device 104 reads the program from the recording medium 105, for example, a flexible disk, and installs it in the storage device.

  The recording medium 105 stores a predetermined program. The program stored in the recording medium 105 is installed in the processing device 100 via the drive device 104. The installed predetermined program can be executed by the processing apparatus 100.

  The network I / F unit 106 is an interface between the processing apparatus 100 and a peripheral device having a communication function connected via a network constructed by a data transmission path such as a wired and / or wireless line.

  The input unit 107 includes a keyboard having cursor keys, numeric input, various function keys, and the like, a mouse, a slice pad, and the like.

  In the example shown in FIG. 2, various processes described below can be realized by causing the processing apparatus 100 to execute a program. It is also possible to record the program on the recording medium 105 and cause the processing apparatus 100 to read the recording medium 105 on which the program is recorded, thereby realizing various processes described below. Note that various types of recording media can be used as the recording medium 105. For example, a recording medium for optically, electrically or magnetically recording information such as a CD-ROM, flexible disk, magneto-optical disk, etc., a semiconductor memory for electrically recording information such as ROM, flash memory, etc. It may be. Note that the recording medium 105 does not include a carrier wave.

  FIG. 3 is a flowchart schematically showing a flow of processing executed by the processing device 100. The processing shown in FIG. 3 is performed when, for example, the operation of the product picking apparatus 1 is started, or when a new product container is transferred to the stock product container station P1, P2, etc. and there is an unallocated product in the product container. It may be executed at any time. Further, the process shown in FIG. 3 may be executed when a predetermined number of new store orders are input.

  In step 300, the processing apparatus 100 performs store order information input processing. The store order information input process may include a process of reading store order information from a storage device (for example, the auxiliary storage unit 103). The store order information may include information indicating the store name of the product delivery destination, the type of the ordered product, the quantity of the product (the number of provisions), and the like. The store order information may be input through the input unit 107, for example, or may be input through the network I / F unit 106 or the recording medium 105. In the following, for convenience of explanation, it is assumed that the store order information exists for each store order. There may be a plurality of store orders for the same store. Here, as a premise, it is assumed that the quantity of merchandise related to one store order is equal to or less than the maximum quantity of merchandise that can be placed in the transport container. In addition, when the quantity of the goods by a certain order is larger than the maximum quantity of the goods which can be arrange | positioned in a conveyance container, it is good also as dividing the said order into several shop orders by pre-processing.

  In step 310, the processing apparatus 100 performs a payout order determination process. The payout order determination process includes determining the payout order (delivery order) of each transport container when one transport container is assigned to each store order. In addition, as will be described later, a transport container related to one store order may be separated into a plurality of transport containers due to the remaining number picking. The delivery order of each transport container may be determined in any manner. For example, the order of reception of each store order may be used, and the delivery order of the transport containers related to the store order related to a specific store may be prioritized. As shown in FIG. 4, when there are a plurality of store orders related to the same store (in this case, store X), the payout order is the most downstream container stop station (hereinafter referred to as “the most downstream ST”). May be determined in such a manner that the transport container on the downstream side is dispensed first. Here, the most downstream ST indicates a container stop station that is stopped when the transport container is discharged from the product arrangement line 4 to the product delivery line 6. That is, it refers to the container stop station when the placement of goods is completed. For example, in the example shown in FIG. 4, the transport container according to the first store order is discharged at the container stop station R2 and all commodities are discharged to the completed container receiving station S2. It becomes a container stop station R2. The most downstream ST can be determined based on the store order information. For example, when the type of product related to a certain store order includes a product placed at the container stop station R1 and a product placed at the container stop station R4, the most downstream ST is the container stop station R4. In FIG. 4, three store orders are represented by three horizontal rows, and ● represents a container stop station (hereinafter referred to as “remaining number picking”) among the container stop stations R1, R2, R3, and R4. "Picking ST"). That is, picking ST refers to a container stop station where goods are arranged. Of the picking STs, the picking ST in which the remaining number picking is performed is also referred to as a “remaining number picking ST”. It should be noted that no product is placed on the transport container stopped at the container stop station that is not picking ST (that is, the robots 51 to 54 corresponding to the container stop station that is not picking ST do not operate).

  In step 320, the processing apparatus 100 performs a target candidate container selection process based on the payout order determined in step 310. The target candidate container selection process includes extracting (selecting) a predetermined number of transport containers from the order of the payout order. The predetermined number is an arbitrary number of 2 or more, and may be a fixed value or a variable value. As the predetermined number increases, the possibility of deadlock (described later) increases, but the operating rate of the robots 51 to 54 can be increased. In this example, a fixed value “7” is assumed as an example unless otherwise specified. However, as will be described later, the predetermined number may be reduced. FIG. 5 shows a table in which store orders are sorted in order of early payout order for store orders for which the transport order is not fixed. In this case, the transport containers related to the seven store orders are selected as the target candidate containers from the order of the payout order. Hereinafter, when a predetermined number of target candidate containers are represented as a whole, they are also referred to as “target candidate container groups”.

  In step 330, the processing apparatus 100 performs a conveyance order determination process. The transport order determination process is a process for determining the transport order of each target candidate container in the target candidate container group selected in step 320. The conveyance order is the conveyance order in the product arrangement line 4, and the conveyance order is earlier on the downstream side in the product arrangement line 4. Details of the transport order determination process will be described later.

  In step 340, the processing apparatus 100 performs a transport container supply process and a transport container dispensing process based on the transport order determined (determined) in step 330.

  In the transport container supply process, based on the transport order determined in step 330, empty transport containers are supplied by the empty container supply device 20, normal picking by the robots 51 to 54, remaining number picking by the remaining number picking conveyor 36, and the like. Including execution. Details of an example of the transport container supply process will be described later.

  The conveyance container payout process includes executing discharge by the completed container discharge conveyor 34, conveyance by the second conveyance conveyor 32, and the like. Details of an example of the transport container dispensing process will be described later.

  FIG. 6 is a flowchart schematically illustrating an example of the conveyance order determination process.

  In step 600, the processing apparatus 100 performs a provisional determination process of the transport order for each target candidate container in the target candidate container group selected in step 320. The order in which the target candidate containers are transported is determined in the order that the most downstream ST is in the downstream order, and when the most downstream ST is the same, the payout order is early. For example, in the example illustrated in FIG. 7, the target candidate container group has seven target candidate containers, and the fourth and seventh target candidate containers in the payout order have the most downstream ST at the container stop station R4 and the most downstream. It has the most downstream ST on the side. Accordingly, in this case, the fourth target candidate container with the payout order has the first transport order among these seven target candidate containers. Note that the conveyance order determined in step 600 is provisionally determined and can be changed thereafter (in other words, it may be determined as it is). Hereinafter, the transport order represents the transport order in one target candidate container group unless otherwise specified. Eventually, since the transport order is determined for each target candidate container group, the transport order in the entire target candidate container in the first transport order in a target candidate container group is the previous target candidate. Next to the target candidate container in the last transport order of the container group.

  In step 602, the processing apparatus 100 performs a picking quantity allocation process for each target candidate container in the target candidate container group selected in step 320, based on the transport order provisionally determined in step 600. The picking quantity allocation process is executed based on store order information related to each target candidate container in the target candidate container group. FIG. 8 is a table showing the reserved quantity at each picking ST for store orders sorted in the tentatively determined transport order. In the example illustrated in FIG. 8, for example, for the first candidate container in the transport order, four products are arranged at the container stop station R4. For the second candidate container in the transport order, three products are arranged at the container stop station R2 and two products are arranged at the container stop station R4.

  In step 604, the processing apparatus 100 determines whether or not there is a target candidate container that is the target of remaining number picking in the target candidate container group based on the allocation processing result in step 602. The target candidate container that is the target of remaining number picking is a target candidate container related to a store order that allows remaining number picking. For example, for a certain store order, if the allocated quantity at a certain picking ST is equal to or greater than the remaining quantity of the product in the product container on the product container station corresponding to the container stop station, the candidate for the store order The container is subject to remaining picking. The remaining quantity of merchandise in the merchandise container on the merchandise container station is reduced by the allocated quantity each time the merchandise is allocated. When the remaining quantity becomes exactly 0 after allocation, it is reset to the initial quantity (the number of goods in the new goods container for stock). Further, when the remaining quantity is less than the reserved quantity, it means that the remaining quantity picking is executed, and the remaining quantity is reset to a quantity obtained by subtracting the missing quantity from the initial quantity. For example, in the example shown in FIG. 8, the container stop station R3 becomes picking ST for the 3rd to 5th store orders in the transport order, and reserves 2, 3, and 6 products, respectively. The initial quantity of merchandise in the merchandise container on the merchandise container station O3 corresponding to the container stop station R3 is “10”, and the remaining quantity before allocation for the third store order in the transport order is “9”. At this time, the remaining quantity becomes “7” after allocation for the third store order in the transport order, and becomes “4” after allocation for the fourth store order in the transport order. Next, since the remaining quantity “4” is less than “2” in the reserved quantity “6” in the provision for the fifth store order in the transport order, the target candidate container related to the store order is the target of the remaining number picking. It becomes. As a result, after the allocation for the fifth store order in the transport order, the remaining quantity is “8” (= 10−2) after the allocation for the fifth store order in the transport order. For the two shortages related to the fifth store order in the transport order, two products in the product container on the stock product container station P3 are allocated. That is, the replenishment picking described above is executed.

  If there is no target candidate container to be picked in the remaining number in the target candidate container group in step 604, the process proceeds to step 612. On the other hand, if there is a target candidate container that is the target of remaining number picking in the target candidate container group, the target candidate container is determined as a target candidate container of the remaining number picking, and the process proceeds to step 606. FIG. 9 is an explanatory diagram of the processing result of step 604. In the table shown in FIG. 9, a character “remaining number P” is entered in the column of the reserved quantity relating to the target candidate container that is the target of remaining number picking. The remaining number picking may be performed at two or more container stop stations for one store order.

  In step 606, the processing apparatus 100 determines whether or not it is necessary to supply an empty transport container for the target candidate containers to be subjected to the remaining number picking. The case where supply of an empty transport container is required for the target candidate containers to be picked up for the remaining number corresponds to the case where the empty transport container cannot be replaced by the commodity container transferred by the remaining number picking. When there is no other picking ST upstream of the remaining number picking ST for a certain store order, an empty transport container can be replaced with a product container for the target candidate container related to the store order. That is, it is not necessary to supply an empty transport container. For example, in the example shown in FIG. 9, for the 7th store order in the transport order, there is no other picking ST upstream from the container stop station R1 that is the remaining number picking ST. In this case, with respect to the target candidate container related to the seventh store order in the transport order, an empty transport container can be replaced by the product container. On the other hand, when another picking ST exists on the upstream side of the remaining number picking ST for a certain store order, an empty transport container cannot be replaced by a product container for the target candidate container related to the store order. That is, it is necessary to supply an empty transport container. For example, in the example shown in FIG. 9, for the store order with the fifth transfer order, there is another picking ST (container stop station R1) upstream of the container stop station R3 that is the remaining number picking ST. In this case, with respect to the target candidate container related to the fifth store order in the transport order, it is not possible to replace the empty transport container with the product container.

  In this step 606, when it is not necessary to supply an empty transport container for the target candidate containers that are the target of remaining number picking, the process proceeds to step 612. On the other hand, if it is necessary to supply an empty transport container for the target candidate containers to be picked up, the process proceeds to step 608. Note that the number of target candidate containers increases for store orders that are targets of remaining number picking but need to be supplied with empty transport containers. For example, in the example shown in FIG. 9, for a store order with the fifth transport order, two transport containers are required: an empty transport container and a commodity container that is transferred by remaining number picking. Along with this, the number of target candidate containers related to the fifth store order in the transport order is increased (separated) to two. In the following, when distinguishing these target candidate containers, the target candidate containers for empty transport containers are also referred to as “original target candidate containers”, and the target candidate containers for product containers transferred by remaining number picking are “remaining number picking targets”. Also referred to as “candidate container”.

  In step 608, the processing apparatus 100 again performs the temporary determination process of the conveyance order for each target candidate container as the number of target candidate containers increases. In this case as well, the transport order of the target candidate containers is determined in the order of the downstream side ST in the downstream side and, in the case of the same downstream side ST, in the order of the payout order. Here, with regard to the original target candidate container and the remaining number picking target candidate containers related to one store order, the payout order is determined so that the remaining number picking target candidate containers continue immediately after the original target candidate containers. . That is, the payout order of the remaining number picking target candidate containers is next to the payout order of the original target candidate containers. The same applies to the case where there are two or more remaining picking target candidate containers, and it continues immediately after the order of paying out the original target candidate containers. For example, FIG. 10 shows an example related to a target candidate container group including four target candidate containers, unlike the examples shown in FIGS. 10A shows the state at the time of provisional determination in step 600, and FIG. 10B shows the state after the provisional determination again in step 608. In FIG. 10A, the target candidate containers related to the store order with the second payout order are targeted for remaining number picking at the container stop station R2. However, since the target candidate containers related to the store order with the second payout order are also arranged in the container stop station R1, it is not possible to replace the empty transport container by the product container by the remaining number picking. For this reason, the number of target candidate containers related to the store order with the second payout order is increased (separated) to two. At this time, the payout order is “2.0” th for the original target candidate container and “2.1” th for the remaining number picking target candidate container. Here, for convenience, “2.0” and “2.1” are set, but 2.1 may be changed to the third, and the initial third and subsequent may be changed to the fourth and subsequent. In this case, the conveyance order after the temporary determination again is as shown in FIG. Therefore, in this case, the target candidate container related to the store order with the first payout order and the target candidate container related to the store order with the fourth payout order have only one transfer order (for the picking target candidate containers). )Become slow. In FIG. 10B, “O” indicates that the originally scheduled normal picking is no longer necessary due to the remaining number picking.

  In step 610, the processing apparatus 100 determines whether or not the remaining number picking is still possible based on the transport order of the target candidate containers temporarily determined in step 608. This determination may be realized by performing the same processing as in Steps 602 and 604 again. Or, more simply, the order of transporting the remaining number picking target candidate containers among the order of transporting the plurality of target candidate containers in which the products are arranged in the remaining number picking ST is due to the provisional determination in step 608 above. You may determine whether it changed. That is, the order of product placement in the remaining number picking ST of the remaining number picking target candidate containers in relation to other target candidate containers in which products are placed in the remaining number picking ST is due to the provisional determination in step 608 above. It may be determined whether or not it has changed. When such a change occurs, it is determined that a target candidate container in which a product is arranged in the remaining number picking ST before the remaining number picking target candidate container has newly occurred due to the provisional determination in step 608 above. means. If the target candidate container in which the product is arranged in the remaining number picking ST prior to the remaining number picking candidate container is not newly generated due to the provisional determination in step 608, the remaining number picking is still possible. It is. If the target candidate container in which the product is arranged in the remaining number picking ST is only the remaining number picking target candidate container, the remaining number picking is still possible.

  For example, in the example shown in FIG. 10, according to the provisional determination result in step 600, as shown in FIG. 10A, in the container stop station R <b> 2 that is the remaining number picking ST, the payout order is second and fourth. Products are arranged in the order of target candidate containers related to each store order. According to the tentative determination result of step 608 again, at the container stop station R2, the products are arranged in the order of the target candidate containers related to the second and fourth store orders in the payout order. Therefore, the target candidate container related to the store order whose payout order is 2.1st is transported to the container stop station R2 before the target candidate container related to another store order even after the temporary determination in step 608 above. Is done. That is, the remaining number picking target candidate containers, that is, the target candidate containers related to the store order with the payout order of 2.1st, can be picked as planned in step 604.

  On the other hand, FIG. 11 shows a case where the remaining number picking becomes impossible, (A) shows the state at the time of provisional determination in step 600, and (B) shows the state after the provisional determination again in step 608. Indicates. According to the tentative determination result in step 600, as shown in FIG. 11A, in the container stop station R2 in which the remaining number picking is executed, the target candidates related to the second and fourth store orders with the payout order Goods are arranged in the order of containers. According to the temporary determination result of the above step 608 again, in the container stop station R2, the products are arranged in the order of the target candidate containers related to the fourth and 2.1th store orders. Therefore, the target candidate container related to the store order whose payout order is 2.1 is caused by the temporary determination in the above step 608 again at the container stop station R2 after the target candidate containers related to other store orders. Products are placed. That is, the remaining number picking as planned in step 604 is not possible for the target candidate container related to the store order with the payout order of 2.1.

If the remaining number picking is still possible in step 610, the process proceeds to step 612. On the other hand, if the remaining number picking is not possible, the number (predetermined number) of target candidate containers in the target candidate container group is reduced (step 616), and the processing from step 310 is repeated. That is, the number of target candidate containers is reduced, and the processing from step 600 is performed again on the target candidate container group including the target candidate containers whose number is reduced. At this time, the target candidate containers excluded from the target candidate container group due to the predetermined number of reductions are the targets with the slowest payout order among the target candidate container groups before the predetermined number reduction. Candidate container. When the target candidate container with the latest payout order corresponds to the remaining number picking target candidate container, the original target candidate container for the remaining number picking target candidate container is excluded. In this way, the number of target candidate containers is reduced until the process proceeds to step 612, and the processing from step 600 is repeated. The number of reductions per time is arbitrary, but may be “1”, for example.

  In step 612, the processing apparatus 100 performs a deadlock determination process based on the transport order of the provisionally determined state. That is, the processing apparatus 100 determines whether or not a deadlock that disables payout according to the payout order occurs based on the transport order in the provisionally determined state. The transport order in the provisionally determined state corresponds to the transport order provisionally determined in step 600 above. However, when the processing in step 608 is performed, the transport order corresponds to the transport order provisionally determined in step 608 again. A deadlock occurs when a transport container having a later delivery order is discharged to the product delivery line 6 before the delivery container having a later delivery order. For example, FIG. 12 is a diagram illustrating an example when a deadlock occurs, and FIG. 13 is a diagram illustrating an example when a deadlock does not occur. In FIG. 12 and FIG. 13, ▪ indicates virtually the position of the target candidate container relating to each store order at a certain point in time. 12 and 13 show an example regarding a target candidate container group including five target candidate containers. In the example illustrated in FIG. 12, the target candidate container related to the store order with the third payout order is located at the container stop station R3. The target candidate container related to the third store order in the payout order is the container stop station R3 at the most downstream ST, and therefore needs to be discharged to the product payout line 6 at this position. On the other hand, the target candidate container related to the store order with the first payout order is located in the buffer station B1 that is one upstream from the container stop station R2. In addition, the target candidate container related to the store order with the second payout order is located in the container stop station R1. As for the target candidate containers related to the first and second store orders, the most downstream ST is the container stop station R2. However, since the target candidate container related to the first store order in the payout order is another target candidate container (target candidate container related to the fifth store order in the payout order) on the container stop station R2, the container stop Cannot proceed to station R2. Further, the target candidate container relating to the fifth store order in the payout order cannot be discharged to the product payout line 6 at this position because the most downstream ST is the container stop station R3. The same applies to other target candidate containers on the buffer station B2 downstream of the target candidate container related to the fifth store order with the payout order (target candidate containers related to the store order with the fourth payout order). is there. As a result, if the target candidate container related to the third store order in the payout order is not discharged to the product payout line 6, the target candidate container related to the first store order in the payout order may be moved to the container stop station R2. It will not be possible. Therefore, it is necessary to discharge the target candidate container related to the store order whose payout order is the third to the product payout line 6. As a result, the target candidate container related to the store order with the third payout order is discharged to the product payout line 6 before the target candidate container related to the store order with the first payout order. That is, deadlock occurs. On the other hand, in the example shown in FIG. 13, the number of target candidate containers is reduced by one compared to the example shown in FIG. Specifically, the target candidate container related to the store order with the fifth payout order (latest in the target candidate container group) is excluded. In this case, the target candidate container relating to the store order with the first payout order can be discharged to the product payout line 6 at this position. Accordingly, the target candidate container related to the store order with the second payout order can proceed to the container stop station R2. As a result, it is avoided that the target candidate containers related to the third store order with the payout order are discharged to the product payout line 6 before the target candidate containers related to the first and second store orders with the payout order. The That is, no deadlock occurs (is avoided).

  If no deadlock occurs in step 612, the process proceeds to step 614. On the other hand, if a deadlock occurs, the number (predetermined number) of target candidate containers in the target candidate container group is reduced (step 616), and the processing from step 320 is repeated. At this time, the target candidate containers excluded from the target candidate container group due to the predetermined number of reductions are the targets with the slowest payout order among the target candidate container groups before the predetermined number reduction. Candidate container. When the target candidate container with the latest payout order corresponds to the remaining number picking target candidate container, the original target candidate container for the remaining number picking target candidate container is excluded. In this way, until the process proceeds to step 614, the number of target candidate containers is reduced and the processing from step 600 is repeated.

  In step 614, the processing apparatus 100 determines the transport order in the provisionally determined state. That is, the processing apparatus 100 determines (determines) the transport order in the provisionally determined state as the final transport order. The transport order in the provisionally determined state corresponds to the transport order provisionally determined in step 600 above. However, when the processing in step 608 is performed, the transport order corresponds to the transport order provisionally determined in step 608 again.

  FIG. 14 is a flowchart illustrating an example of a deadlock determination process. The deadlock determination process shown in FIG. 14 may be employed in step 612 shown in FIG.

  In step 1400, the processing apparatus 100 selects one target candidate container from the target candidate containers in the target candidate container group in the order of early transport order based on the transport order in the provisionally determined state. The selection target includes the remaining number picking target candidate containers.

  In step 1402, the processing apparatus 100 places the target candidate container selected in step 1400 on the virtual station array for deadlock determination. As shown in FIG. 15, the virtual station array for deadlock determination includes each station 40 in the product arrangement line 4 and virtual buffers V11 to V47. The virtual buffers V11 to V17 are virtual ones that are waiting to be supplied to the container stop station R1, and the number of target candidate containers (seven in this example) is prepared. This is because there can be a maximum of seven target candidate containers starting from an empty transport container in the target candidate container group. Note that the target candidate container starting from the transport container (product container) transferred to the container stop station R1 by the remaining number picking can be handled in the same manner as the target candidate container starting from the empty transport container. When the predetermined number is reduced as described above (when the number of target candidate containers in the target candidate container group is reduced), the virtual buffers V11 to V17 are sequentially excluded from the virtual buffer V17 accordingly. The For example, when the number of target candidate containers is five, the virtual buffers V11 to V15 are set. Similarly, the virtual buffers V21 to V27 are virtual ones that are waiting for supply to the container stop station R2, and the number of target candidate containers (seven in this example) is prepared. This is because there can be a maximum of seven target candidate containers in the target candidate container group starting from a transport container (commodity container) transferred to the container stop station R2 by remaining number picking. In the following, the target candidate container starting from the transport container (product container) transferred to the container stop station R2 by the remaining number picking is also referred to as “remaining number picking target candidate container from the container stop station R2.” The same applies to the target candidate container starting from the transport container (commodity container) transferred to the other container stop stations R3 and R4 by the remaining number picking. Similarly, the virtual buffers V31 to V37 are virtual ones that are waiting to be supplied to the container stop station R3, and the number of target candidate containers (seven in this example) is prepared. This is because there can be a maximum of seven remaining picking target candidate containers from the container stop station R3 in the target candidate container group. Similarly, the virtual buffers V41 to V47 are obtained by imagining a station waiting for supply to the container stop station R4, and the number of target candidate containers (seven in this example) is prepared. This is because there can be a maximum of seven remaining picking target candidate containers from the container stop station R4 in the target candidate container group. In the virtual station array, virtual buffers V11 to V47 are also treated as stations. The concept of upstream and downstream is V11 ... V17, R1, B1, V21 ... V27, R2, B2, V31 ... V37, R3, B3, V41 ... V47, R4 in order from the upstream side. .

  Specifically, the processing apparatus 100 arranges the target candidate containers selected in step 1400 on the virtual station array according to the following rules. When the selected target candidate container is a target candidate container starting from an empty transport container, the selected target candidate container is arranged at the most downstream station between the most downstream ST and the virtual buffer V11 of the selected target candidate container. When another target candidate container is already arranged between the most downstream ST and the virtual buffer V11, the processing apparatus 100 moves the selected target candidate container from the station of the other target candidate container on the most upstream side. It is arranged at the most downstream station up to the virtual buffer V11. For example, FIG. 16 shows an arrangement possible range when the selected target candidate container is a target candidate container starting from an empty transport container and the most downstream ST is the container stop station R3. In this case, the possible arrangement range is between the container stop station R3 and the virtual buffer V11. When another target candidate container has already been placed within the placeable range, the place from the station where the other target candidate container is placed to the virtual buffer V11 is the placeable range. For example, when other target candidate containers (remaining number picking target candidate containers from the container stop station R2) are already arranged in the virtual buffer V27, the possible arrangement range is between the buffer station B1 and the virtual buffer V11. Become. FIG. 17 shows an arrangement possible range when the selected target candidate container is the remaining number picking target candidate container from the container stop station R2 and the most downstream ST is the container stop station R3. In this case, the possible arrangement range is between the container stop station R3 and the virtual buffer V21. Similarly, when another target candidate container is already arranged within the arrangeable range, the range from the station where the other target candidate container is arranged to the virtual buffer V21 is the arrangeable range.

  In step 1404, the processing apparatus 100 has another target candidate container whose delivery order is slower than the target candidate container placed in step 1402, downstream of the placement position of the target candidate container placed in step 1402. It is determined whether or not. At this time, the range in which the presence of other target candidate containers should be confirmed (hereinafter referred to as “other target candidate container check range”) is the placement of the target candidate containers placed in step 1402 in the virtual buffers V11 to V47. Contains a virtual buffer downstream from the location. For example, FIG. 18 shows another target candidate container confirmation range F when the arrangement position of the selected target candidate container is the virtual buffer V21. In this case, the other target candidate container confirmation range F is between the container stop station R3 and the virtual buffer V22.

  In step 1404, when there is another target candidate container whose delivery order is slow downstream from the arrangement position of the target candidate container, the process proceeds to step 1410 and the delivery order is arranged downstream from the arrangement position of the target candidate container. If there is no other target candidate container that is slow, the process proceeds to step 1406.

  In step 1406, it is determined whether or not the arrangement of all target candidate containers in the target candidate container group has been completed. If the arrangement of all target candidate containers has been completed, the process proceeds to step 1408; otherwise, the process returns to step 1400. In this case, in step 1400, the target candidate container with the next highest transport order is selected. In this manner, when the arrangement of all target candidate containers is completed without making a negative determination in step 1404, the process proceeds to step 1408.

  In step 1408, the processing apparatus 100 determines that no deadlock occurs.

  In step 1410, the processing apparatus 100 determines that a deadlock occurs.

  In the example illustrated in FIG. 14, the determination in step 1404 is performed for each arrangement of the target candidate containers. However, the determination in step 1404 may be performed after the arrangement of all the target candidate containers.

  Next, the transport container supply process and the transport container dispensing process (see step 330 in FIG. 3) will be described.

  FIG. 19 is an explanatory diagram of a rule for supplying an empty transport container to the container stop station R1 by the empty container supply device 20. Here, the store orders in the first to sixth conveyance orders will be described.

  An empty transport container is supplied each time the transport container passes through the container stop station R1. For example, the empty container supply device 20 supplies the empty transfer container according to the first store order in the transfer order first to the container stop station R1. For the empty transport container related to the store order with the second transport order, the empty container supply device 20 immediately after the transport container related to the store order with the first transport order passes the container stop station R1. Supply to R1. Immediately after passing through the container stop station R1 includes immediately after moving to the buffer station B1 or immediately after discharging to the finished container receiving station S1. The same applies to the other container stop stations R2, R3, R4. The transport container related to the third store order in the transport order is formed by a commodity container that is transported by remaining number picking at the container stop station R4. Accordingly, the empty container supply device 20 does not supply an empty transfer container according to the store order whose transfer order is third. Hereinafter, similarly, the empty container supply apparatus 20 immediately after the transport container related to the second store order in the transport order passes through the container stop station R1 for the empty transport container related to the fourth store order in the transport order. To the container stop station R1. The transport container related to the fifth store order in the transport order is formed by a commodity container that is transported by remaining number picking at the container stop station R1. Accordingly, the empty container supply device 20 does not supply an empty transfer container according to the store order whose transfer order is fifth. For the empty transport container related to the store order whose transport order is the sixth, the empty container supply device 20 immediately after the transport container related to the store order whose transport order is the fifth passes the container stop station R1. Supply to R1.

  FIG. 20 is an explanatory diagram of the remaining number picking timing by the remaining number picking conveyor 36. That is, FIG. 20 is an explanatory diagram of a rule for transferring the commodity containers to the container stop stations R1, R2, R3, R4 related to the remaining number picking. Here, the store orders in the order of conveyance from the 1st to the 10th will be described.

  The remaining number picking is another transport container that is scheduled to pass the corresponding remaining number picking ST, and all the other transport containers whose transport order is earlier than the transport container to be picked by the remaining number picking ST It is executed immediately after passing. For example, the remaining number picking conveyor 36 corresponding to the container stop station R3 stops the product container on the product container station O3 immediately after the transport container related to the first store order in the transport order passes through the container stop station R3. Transfer to station R3. The product container thus transferred forms a transport container according to the second store order in the transport order. The remaining number picking conveyor 36 corresponding to the container stop station R2 removes the product container on the product container station O2 from the container stop station R2 immediately after the transport container related to the fourth store order in the transport order passes through the container stop station R2. Move up. The merchandise container thus transferred forms a transport container according to the fifth store order in the transport order. The remaining number picking conveyor 36 corresponding to the container stop station R1 transfers the product container on the product container station O1 to the container stop station R1 immediately after the transport container related to the fourth store order in the transport order passes through the container stop station R1. Move up. The merchandise container thus transferred forms a transport container according to the sixth store order in the transport order. The remaining number picking conveyor 36 corresponding to the container stop station R4 removes the product container on the product container station O4 from the container stop station R4 immediately after the transport container related to the first store order in the transport order passes through the container stop station R4. Move up. The product container thus transferred forms a transport container according to the seventh store order in the transport order. The remaining number picking conveyor 36 corresponding to the container stop station R3 removes the product container on the product container station O3 from the container stop station R3 immediately after the transport container related to the sixth store order in the transport order passes the container stop station R3. Move up. The product container thus transferred forms a transport container according to the eighth store order in the transport order. The remaining number picking conveyor 36 corresponding to the container stop station R2 removes the product container on the product container station O2 from the container stop station R2 immediately after the transport container related to the sixth store order in the transport order passes the container stop station R2. Move up. The merchandise container thus transferred forms a transport container according to the ninth store order in the transport order. The remaining number picking conveyor 36 corresponding to the container stop station R1 transfers the product container on the product container station O1 to the container stop station R1 immediately after the transport container related to the sixth store order in the transport order passes the container stop station R1. Move up. The product container thus transferred forms a transport container according to the tenth store order in the transport order.

  FIG. 21 is an explanatory diagram of the conveyance rule (part 1) of the conveyance container between the stations 40 in the commodity arrangement line 4. That is, FIG. 21 is an explanatory diagram of the transport rules for transport containers by the first transport conveyor 30 between the stations 40. FIG. 21 shows a state before conveyance (before movement) on the left side and a state after conveyance (after movement) on the right side. In FIG. 21, for convenience of explanation, the station 40 on the downstream side of the buffer station B2 is not shown. The same applies to FIGS. 22 to 27 below.

  In the example shown in FIG. 21, the transport container C exists on the container stop station R1, and there is no transport container on the downstream buffer station B1. It is assumed that the most downstream ST of the transport container C is not the container stop station R1. In this case, as indicated by an arrow on the right side of FIG. 21, the transfer container C is moved as it is (without restriction) onto the buffer station B1. That is, the first transport conveyor 30 between the container stop station R1 and the buffer station B1 transports the transport container C on the container stop station R1 onto the buffer station B1. This rule is similarly applied to the transport containers on the other container stop stations R2 and R3. In this manner, the transfer container on a certain container stop station is transferred to the one downstream buffer station as it is when there is no other transfer container in the one downstream buffer station.

  FIG. 22 is an explanatory diagram of the conveyance rule (part 2) of the conveyance container between the stations 40 in the commodity arrangement line 4.

  In the example shown in FIG. 22, the transport container C1 exists on the container stop station R1, and another transport container C2 exists on the downstream buffer station B1. It is assumed that the most downstream ST of the transport container C1 is not the container stop station R1. In this case, as indicated by an arrow on the right side of FIG. 22, both transport containers C1 and C2 are transported to the next station 40 at the same timing. Specifically, the first transport conveyor 30 between the buffer station B1 and the container stop station R2 transports the transport container C2 on the buffer station B1 onto the container stop station R2. At the same time, the first transport conveyor 30 between the container stop station R1 and the buffer station B1 transports the transport container C1 on the container stop station R1 onto the buffer station B1. As described above, when another transfer container is present at one downstream buffer station, the transfer container on a certain container stop station is transferred to the one downstream station 40 simultaneously with the other transfer container. The

  FIG. 23 is an explanatory diagram of a conveyance container conveyance rule (No. 3) between stations 40 in the product arrangement line 4.

  In the example shown in FIG. 23, the transfer container C1 exists on the buffer station B1, and the transfer container does not exist on the downstream container stop station R2. In this case, as indicated by an arrow on the right side of FIG. 23, the transfer container C is moved as it is (without restriction) onto the container stop station R2. That is, the first transfer conveyor 30 between the buffer station B1 and the container stop station R2 transfers the transfer container C1 onto the buffer station B1 onto the container stop station R2. This rule is similarly applied to the transfer containers on the other buffer stations B2 and B3. In this way, the transfer container on a certain buffer station is transferred to the one downstream container stop station as it is when there is no other transfer container at the one downstream container stop station.

  FIG. 24 is an explanatory diagram of a transport container transport rule (part 4) between stations 40 in the product placement line 4.

  In the example shown in FIG. 24, the transfer container C1 exists on the buffer station B1, and the transfer container C2 exists on the downstream container stop station R2. It is assumed that the most downstream ST of the transport container C2 is not the container stop station R2. In this case, as indicated by the arrows on the right side of FIG. 24, both transport containers C1 and C2 are transported to the next station 40 at the same timing. Specifically, the first transport conveyor 30 between the container stop station R2 and the buffer station B2 transports the transport container C2 on the container stop station R2 onto the buffer station B2. At the same time, the first transport conveyor 30 between the buffer station B1 and the container stop station R2 transports the transport container C1 on the buffer station B1 onto the container stop station R2. As described above, when another transport container is present at one downstream container stop station, the transport container on a certain buffer station is transported to the one downstream station 40 simultaneously with the other transport container. The

  FIG. 25 is an explanatory diagram of a conveyance rule (No. 5) for the conveyance container between the stations 40 in the commodity arrangement line 4. In FIG. 25, for convenience of explanation, a part of the product delivery line 6 (completed container receiving stations S1, S2, buffer stations B4, B5) is shown.

  In the example shown in FIG. 25, the transport container C1 exists on the buffer station B1, and the transport container C2 exists on the downstream container stop station R2. It is assumed that the most downstream ST of the transport container C2 is a container stop station R2. In this case, as indicated by an arrow on the right side of FIG. 25, after the transport container C2 is transferred to the commodity delivery line 6, the transport container C1 is moved onto the container stop station R2. Specifically, the completed container discharge conveyor 34 corresponding to the container stop station R <b> 2 discharges the transport container C <b> 2 in which the arrangement of all the products has been completed to the completed container receiving station S <b> 2 of the product delivery line 6. After this discharge, the first transport conveyor 30 between the buffer station B1 and the container stop station R2 transports the transport container C1 on the buffer station B1 onto the container stop station R2. As described above, when there is another transport container in which all commodities have been arranged at one container stop station on the downstream side, the transport container on a certain buffer station is immediately after the discharge of the other transport container. One is transported to the downstream container stop station.

  FIG. 26 is an explanatory diagram of a conveyance container conveyance rule (No. 6) between stations 40 in the commodity arrangement line 4. In FIG. 26, for convenience of explanation, a part of the product delivery line 6 (finished container receiving stations S1, S2, buffer stations B4, B5) and product container stations O1, O2 are shown.

  In the example shown in FIG. 26, the transport container C1 exists on the buffer station B1, and the product container C3 exists on the product container station O2 corresponding to the downstream container stop station R2. The product container C3 is scheduled to be subjected to the remaining number picking, and is assumed to be transported earlier than the transport container C1. Further, it is assumed that the most downstream ST of the transport container C3 is not the container stop station R2. In this case, as indicated by an arrow on the right side of FIG. 26, first, the commodity container C3 is moved onto the container stop station R2 by remaining number picking. Next, as in the example shown in FIG. 24, both transport containers C1 and C3 are transported to the next station 40 at the same timing. In this way, when a transport container on a certain buffer station is transported to a downstream container stop station by another picking of the remaining product containers in the order of transport, the transport of the product containers is awaited. .

  Specifically, first, the remaining number picking conveyor 36 transfers the product container C3 on the product container station O2 to the container stop station R2. The product container C3 transferred to the container stop station R2 forms a transport container, and replenishment picking is performed as necessary. Next, the first transport conveyor 30 between the container stop station R2 and the buffer station B2 transports the transport container C3 on the container stop station R2 onto the buffer station B2. At the same time, the first transport conveyor 30 between the buffer station B1 and the container stop station R2 transports the transport container C1 on the buffer station B1 onto the container stop station R2.

  FIG. 27 is an explanatory diagram of a conveyance rule (No. 7) for the conveyance container between the stations 40 in the commodity arrangement line 4. In FIG. 27, for convenience of explanation, a part of the product delivery line 6 (finished container receiving stations S1, S2, buffer stations B4, B5) and product container stations O1, O2 are shown.

  In the example shown in FIG. 27, the transport container C1 exists on the buffer station B1, and the product container C3 exists on the product container station O2 corresponding to the downstream container stop station R2. The product container C3 is scheduled to be subjected to the remaining number picking, and is assumed to be transported earlier than the transport container C1. Further, it is assumed that the most downstream ST of the transport container C3 is a container stop station R2. In this case, as indicated by an arrow on the right side of FIG. 27, first, the product container C3 is moved onto the container stop station R2 by remaining number picking. Next, as in the example shown in FIG. 25, after the transport container C3 is transferred to the commodity delivery line 6, the transport container C1 is moved onto the container stop station R2.

  Specifically, first, the remaining number picking conveyor 36 transfers the product container C3 on the product container station O2 to the container stop station R2. The product container C3 transferred to the container stop station R2 forms a transport container, and replenishment picking is performed as necessary. Next, the completed container discharge conveyor 34 corresponding to the container stop station R <b> 2 discharges the transport container C <b> 3 in which the arrangement of all the products is completed to the completed container receiving station S <b> 2 of the product delivery line 6. After this discharge, the first transport conveyor 30 between the buffer station B1 and the container stop station R2 transports the transport container C1 on the buffer station B1 onto the container stop station R2.

  FIG. 28 is an explanatory diagram of a discharge rule (No. 1) of the transport container to the product delivery line 6 by the completed container discharge conveyor 34. FIG. In addition, discharge of the transport container to the product delivery line 6 by the completed container discharge conveyor 34 is executed on the assumption that the placement of all the products in the transport container is completed as described above.

  In the example shown in FIG. 28, the transport container C1 exists on the container stop station R1, and the transport container C2 exists on the container stop station R2. It is assumed that the most downstream ST of the transport container C1 is a container stop station R1, and the most downstream ST of the transport container C2 is a container stop station R2. It is assumed that the delivery order of the transport container C2 is later than that of the transport container C1. In this case, as indicated by an arrow on the left side of FIG. 28, first, the transport container C1 is first discharged to the product delivery line 6, and the transport container C1 is moved downstream of the product delivery line 6 by the second transport conveyor 32. Be transported. Then, as indicated by an arrow on the right side of FIG. 28, after the transport container C1 passes through the completed container receiving station S2, the transport container C2 is discharged to the commodity delivery line 6.

  Specifically, first, the completed container discharge conveyor 34 corresponding to the container stop station R1 discharges the transport container C1 to the completed container receiving station S1. The second transport conveyor 32 transports the transport container C1 on the completed container receiving station S1 toward the buffer station B5 through the buffer station B4 and the completed container receiving station S2. The completed container discharge conveyor 34 corresponding to the container stop station R2 discharges the transfer container C2 on the container stop station R2 to the completed container receiving station S2 after the transfer container C1 passes through the completed container receiving station S2.

  In this way, the upstream delivery container on the product arrangement line 4 has a faster delivery order, and the most downstream ST of the upstream delivery container is upstream of the most downstream ST of the downstream delivery container. At this time, discharge of the downstream transport container to the commodity delivery line 6 is waited. In the example shown in FIG. 28, the transport container C2 is assumed to have a later delivery order than the transport container C1, but if the transport container C2 is earlier than the transport container C1, the transport container C2 remains as it is (without waiting). ) Is discharged (see FIG. 29).

  FIG. 29 is an explanatory diagram of a delivery container discharge rule (part 2) to the product delivery line 6 by the finished container discharge conveyor 34. FIG.

  In the example shown in FIG. 29, the transport container C exists on the container stop station R <b> 2, and there is no transport container that is earlier in delivery order than the transport container C on the upstream side. It is assumed that the most downstream ST of the transport container C is a container stop station R2. In this case, the transport container C is discharged to the commodity delivery line 6 as it is (without waiting). Specifically, the completed container discharge conveyor 34 corresponding to the container stop station R2 discharges the transport container C on the container stop station R2 to the completed container receiving station S2. In this way, when there is a transportable container on the product arrangement line 4 and there is no transport container that is earlier than the transportable container, the transportable container can be discharged. The product is discharged as it is to the product delivery line 6.

  FIG. 30 is an explanatory diagram of a conveyance container conveyance rule (part 1) in the commodity delivery line 6. That is, FIG. 30 is an explanatory diagram of the transport rules for transport containers by the second transport conveyor 32 in the commodity delivery line 6.

  In the example shown in FIG. 30, there is no transport container that is earlier than the transport container C in the merchandise arrangement line 4, and there is no transport container on the downstream side of the transport container C in the product payout line 6. In this case, the transport container C is paid out to the completed container delivery device 80 as it is. Specifically, as indicated by an arrow in FIG. 30, the second transport conveyor 32 transports the transport container C to the finished container delivery device 80. In this way, the transport containers on the product delivery line 6 are transported to the finished container unloading device 80 as they are when all other transport containers with a fast delivery order have been paid out.

  FIG. 31 is an explanatory diagram of the conveyance rule (No. 2) of the conveyance container in the commodity delivery line 6.

  In the example shown in FIG. 31, there is a transport container C2 that is earlier than the transport container C1 in the commodity placement line 4, and there is no transport container on the downstream side of the transport container C1 in the commodity delivery line 6. It is assumed that the most downstream ST of the transport container C2 is a container stop station R4. Further, it is assumed that the delivery order of the transport container C1 is next to the delivery order of the transport container C2. In this case, the transport container C1 is transported to the buffer station B6 that is one upstream of the completed container receiving station S4 corresponding to the container stop station R4, and waits for the transport container C2 to be discharged at the buffer station B6. That is, as indicated by arrows in FIG. 31, the second transport conveyor 32 transports the transport container C1 to the buffer station B6 and stops it. Thereafter, when the transport container C2 is discharged to the finished container receiving station S4, the transport container C2 is paid out to the finished container delivery device 80 in accordance with the rules shown in FIG. Accordingly, the transport container C1 is paid out to the completed container delivery device 80 in accordance with the rules shown in FIG.

  In this way, the transport container on the product delivery line 6 is in a standby state without being delivered to the finished container delivery device 80 when another delivery container with a fast delivery order exists in the product placement line 4. At this time, the transfer container on the product discharge line 6 is in a standby state at the buffer station B6 that is one upstream from the completed container receiving station S1 corresponding to the most downstream ST of the other transfer containers whose discharge order is earlier.

  FIG. 32 is an explanatory diagram of a conveyance container conveyance rule (part 3) in the commodity delivery line 6.

  In the example shown in FIG. 32, there is a transport container C <b> 2 that is earlier than the transport container C <b> 3 in the commodity placement line 4, and there is a transport container C <b> 1 on the downstream side of the transport container C <b> 3 in the product payout line 6. In accordance with the example shown in FIG. 31, the transport container C1 is in a standby state for discharging the transport container C2 at the buffer station B6. Assume that the delivery order of the transport container C3 is next to the delivery order of the transport container C1. In this case, the transport container C3 is transported to the completed container receiving station S3 which is one upstream from the buffer station B6, and the transport container C2 is in a standby state for discharging the transport container C2. That is, as indicated by arrows in FIG. 32, the second transport conveyor 32 transports the transport container C3 to the completed container receiving station S3 and stops it. Thereafter, when the transport container C2 is discharged to the finished container receiving station S4, the transport container C2 is paid out to the finished container delivery device 80 in accordance with the rules shown in FIG. Accordingly, the transport container C1 is paid out to the completed container delivery device 80 in accordance with the rules shown in FIG. Accordingly, the transport container C3 is paid out to the completed container delivery device 80 in accordance with the rules shown in FIG. In this manner, the transport container on the product delivery line 6 is in a standby state without being delivered to the finished container delivery device 80 when another delivery container with a fast delivery order exists in the product delivery line 6. At this time, the transport container on the product delivery line 6 is in a standby state at a station one upstream side of the station of the other transport containers (standby transport containers) on the product delivery line 6. However, when there are two or more other transport containers (for example, transport container C1) in the standby state on the downstream side, the transport container on the commodity delivery line 6 is one than the most upstream transport container station. It becomes a standby state at the upstream station.

  By the way, a delivery from a manufacturer or a wholesaler to a retail store is generally a case where a plurality of products are delivered at the same time, and recently, due to diversification of consumer needs, the trend of delivery has become a small variety of products. For this reason, in logistics operations, it is a necessary condition to load a plurality of products in one delivery container. On the other hand, picking work using a robot can be considered as a cost-effective improvement measure in logistics operations. However, considering the productivity of the picking robot, the operating range of the robot is limited, and it is not realistic for one robot to simultaneously pick a plurality of products. For this reason, it is necessary to study allocation control that improves the operation rate of a plurality of robots.

  In this regard, according to the present embodiment, as described above, since the product placement line 4 and the product delivery line 6 are provided, the operation rate of the robots 51 to 54 can be increased efficiently. More specifically, in order to efficiently increase the operating rate of the robots 51 to 54, it is useful to form a state in which the robots 51 to 54 are operating as simultaneously as possible. In this regard, in the configuration having only one line of the product arrangement line 4, the transport container whose most downstream ST is the container stop station R1 is also transported to the container stop station R4. Therefore, the robots 51 to 53 cannot operate during a period in which the transport container that is the container stop station R1 is located on the container stop stations R2, R3, and R4. On the other hand, according to the present embodiment, the transport container whose most downstream ST is the container stop station R1 can be discharged from the container stop station R1 to the commodity delivery line 6. As a result, it is possible to suppress a reduction in the operation rate that occurs when the transport container whose downstream end ST is the container stop station R1 transports to the container stop station R4, and to efficiently increase the operation rates of the robots 51 to 54. .

  On the other hand, in the configuration in which each transport container is discharged to the product delivery line 6 at the most downstream ST, on the other hand, the most downstream ST is the downstream transport container, and the most downstream ST is the upstream transport container. It tends to be discharged to the product delivery line 6 later. Accordingly, deadlock is more likely to occur when the delivery order is slower in the transport container with the most downstream ST upstream than the transport container with the most downstream ST downstream.

  In this regard, according to the present embodiment, as described above, the transport order is determined so that the most downstream ST is transported in the downstream transport container and the most downstream ST is transported before the upstream transport container. The Thereby, the operation rate of the robots 51 to 54 can be efficiently increased in a manner in which deadlock hardly occurs. Further, according to the present embodiment, as described above, when the most downstream ST is the same, the transport order is determined such that the transport container with the earlier payout order is transported first. Thereby, even when there are a plurality of transfer containers having the same most downstream ST, it is possible to efficiently increase the operating rates of the robots 51 to 54 in a manner in which deadlock does not easily occur.

  In addition, according to the present embodiment, as described above, a predetermined number of transfer containers are grouped into one group, and the transfer order is determined for each group. Therefore, the robots 51 to 54 can be operated in a manner in which deadlock hardly occurs. The rate can be increased efficiently. In other words, if the predetermined number is a very large number, for example, the number of all the store orders, the delivery order is earlier because the delivery order is, for example, the last transportation container and the most downstream ST is downstream. In some cases, deadlock is very likely to occur. In this regard, according to the present embodiment, by appropriately setting the predetermined number, it is possible to efficiently increase the operating rates of the robots 51 to 54 in a mode in which deadlock hardly occurs.

  Further, according to the present embodiment, when deadlock occurs, the predetermined number is reduced and the transfer order is re-determined. Therefore, the operation rate of the robots 51 to 54 can be efficiently increased in a manner in which deadlock does not occur. Can be increased. That is, even when the initial predetermined number is inappropriate, the predetermined number can be reduced to avoid deadlock.

  Further, according to the present embodiment, as described above, since the buffer stations B1, B2, B3 are provided between the container stop stations R1, R2, R3, R4, even if the predetermined number is set to a relatively large value, The order of conveyance can be determined in such a manner that no locking occurs. This is also apparent from the deadlock determination logic described above with reference to FIG. For example, even if the target candidate container has a fast delivery order but a slow transport order, it can be supplied to the product placement line 4 as soon as the buffer stations B1, B2, and B3 exist. Even when the buffer stations B1, B2, and B3 are provided, if the initial predetermined number is inappropriate, deadlock occurs. In this case, the predetermined number can be reduced to avoid deadlock. it can. As the number of buffer stations B1, B2, and B3 increases, deadlock is less likely to occur, but the total length of the product arrangement line 4 tends to increase by that amount.

  Further, according to the present embodiment, as described above, since the remaining number picking is executed, the operation rate of the robots 51 to 54 can be increased efficiently. This is because, for example, a commodity container transferred by remaining number picking at the container stop station R4 does not need to pass through the container stop stations R1, R2, and R3. Further, by executing the remaining number picking, it is possible to reduce the time required for the arrangement of the products per transport container as compared with the configuration in which the remaining number picking is not performed. For example, it is necessary to arrange five products at a container stop station R1 for a transport container related to a certain store order, and assume that four products remain in the product container on the product container station O1. . In this case, in the configuration in which the remaining number picking is not performed, four products in the product container on the product container station O1 are arranged in the transport container by normal picking by the robot 51, and then become empty on the product container station O1. The product container needs to be removed. Then, after that, a new product container is transferred from the stock product container station P1 onto the product container station O1, and one product from the transferred new product container needs to be placed in the transport container by normal picking by the robot 51. There is. On the other hand, according to the present embodiment, in such a case, the merchandise container on the merchandise container station O1 is transferred to the container stop station R1 together with the container (that is, the remaining number picking is performed). Then, after that, it is only necessary to place one commodity from the commodity container on the stock commodity container station P1 in the transport container (the commodity container transferred by the remaining number picking) by replenishment picking by the robot 51. For this reason, in this embodiment, since the product container becomes the transport container as it is, it is not necessary to take out the empty product container from the product container station O1. When replenishment picking is unnecessary, the time can be further shortened. For example, in the above example, it is necessary to place five products in the container stop station R1 for a transport container related to a certain store order, and five products remain in the product container on the product container station O1. If it is, replenishment picking is not necessary.

  Although each embodiment has been described in detail above, it is not limited to a specific embodiment, and various modifications and changes can be made within the scope described in the claims. It is also possible to combine all or a plurality of the components of the above-described embodiments.

  For example, in the above-described embodiment, the remaining number picking is performed in order to efficiently reduce the time required for the arrangement of the product per transport container, but the remaining number picking is not performed. Also good.

  In the above-described embodiment, the buffer stations B1, B2, and B3 are provided. However, all or a part of the buffer stations B1, B2, and B3 may be omitted. The same applies to the buffer station B4 and the like in the commodity delivery line 6.

  In the above-described embodiment, the conveyance direction of the product delivery line 6 is the same as the conveyance direction of the product arrangement line 4, but the conveyance direction of the product delivery line 6 is the same as the conveyance direction of the product arrangement line 4. Need not be. For example, the conveyance direction of the commodity delivery line 6 may be opposite to the conveyance direction of the commodity arrangement line 4. In this case, for example, in step 600 of FIG. 6, the conveyance order of the target candidate containers may be determined in the order in which the most downstream ST is in the downstream side, and in the order in which the payout order is late when the most downstream ST is the same.

  In the above-described embodiment, the function of the remaining number picking conveyor 36 may be realized by means (for example, a robot) other than the conveyor. Similarly, the function of the completed container discharge conveyor 34 may be realized by means (for example, a robot) other than the conveyor.

  In the above-described embodiment, the payout order is determined in an arbitrary manner. However, when the degree of freedom in the payout order is high, the payout order is determined in a manner in which the operation rate of the robots 51 to 54 is increased (or later). May be changed). For example, when a deadlock occurs, the delivery order of the transport containers may be changed so that the deadlock does not occur. In this case, for example, the determination in step 612 in FIG. 6 can be made unnecessary.

In addition, the following additional remarks are disclosed regarding the above Example.
(Appendix 1)
A product placement line with multiple container stop stations;
A first transport conveyor provided in the product placement line;
An empty container supply device for supplying empty transport containers one by one from the upstream side of the product arrangement line;
A product delivery line that is provided in parallel with the product placement line, and that delivers the transport container in which the product is placed downstream;
A second transport conveyor provided in the commodity delivery line;
A plurality of discharge devices that are provided in association with each of the plurality of container stop stations, and that discharge the transport containers in which the arrangement of all planned products has been completed at the corresponding container stop station to the product discharge line;
A plurality of product container stations, each of which is provided in association with each of the plurality of container stop stations, and in which product containers containing products scheduled to be placed in a transport container are placed,
Provided in association with each of the plurality of product container stations, pick a product in a product container on the corresponding product container station, and place the picked product in a transport container on the corresponding container stop station With multiple robots to
Information representing the most downstream container stop station of each transport container when the container stop station in which the planned final product placement related to each transport container is performed is the most downstream container stop station among the plurality of container stop stations. And a processing device that determines the transport order of the transport containers in the product placement line in a mode in which the downstream transport container is transported first, and the most downstream container stop station is a product picking apparatus.
(Appendix 2)
The product picking device according to appendix 1, wherein the information indicating the most downstream container stop station of each transport container includes information on a type of product to be put in each transport container.
(Appendix 3)
In the processing apparatus, when the most downstream container stop station is the same, based on the information regarding the delivery order of the transport containers to the downstream side in the product delivery line, the transport container with the earlier delivery order is transported first. The commodity picking apparatus according to Supplementary Note 1 or 2, wherein the order of conveyance is determined in such a manner.
(Appendix 4)
The product picking device according to appendix 3, wherein the processing device determines the transport order for each of a predetermined number of transport containers in a payout order for a plurality of transport containers scheduled to be paid out.
(Appendix 5)
Remaining number picking means is provided in association with each of the plurality of commodity container stations, and performs remaining number picking for transferring the commodity containers on the commodity container station together with the containers onto the corresponding container stop station,
The commodity picking apparatus according to any one of appendices 1 to 4, wherein the commodity container transported by the remaining number picking means forms the transport container after the transportation.
(Appendix 6)
The processing apparatus, after determining the transport order for the predetermined number of transport containers, information on the determined transport order, the number of products to be put in each of the predetermined number of transport containers, and on each product container station On the basis of the information on the number of products remaining in the product container, for each of the container stop stations, the number of products scheduled to be placed in each transport container It is determined whether the number of products remaining in the product container is equal to or greater than the number, and the number of products scheduled to be picked by the robot is equal to or greater than the number of products remaining in the product container on the corresponding product container station. The commodity picking apparatus according to appendix 5, wherein the transport container is determined as the transport container to be picked by the remaining number.
(Appendix 7)
The processing device determines whether or not the empty transport container supplied by the empty container supply device is necessary for the remaining number picking target transport container, and the empty transport container is necessary. In such a case, the commodity picking apparatus according to appendix 6, wherein the order of transportation is re-determined in such a manner that the commodity scheduled to be placed in the remaining number picking target transportation container is separated into separate transportation containers and transported. .
(Appendix 8)
The processing apparatus determines whether the remaining number picking is still possible at the container stop station where the remaining number picking is scheduled to be performed based on the re-determined transport order after re-determining the transport order, If the remaining number picking is not possible, the predetermined number is reduced until the remaining number picking is possible, and the determination of the transfer order for the reduced predetermined number of transfer containers is repeated. Product picking device.
(Appendix 9)
The product placement line includes a buffer station capable of stopping a transport container between the plurality of container stop stations, and no product is placed in the transport container stopped on the buffer station. The product picking apparatus according to any one of the preceding claims.
(Appendix 10)
The processing device is unable to dispense according to the dispensing order based on the determined conveyance order (including the re-determined conveyance order) and information indicating the most downstream container stop stations of the predetermined number of conveyance containers. If the deadlock occurs, the predetermined number is reduced until the deadlock does not occur, and the transfer order is determined for the reduced predetermined number of transfer containers. The product picking device according to appendix 9, wherein:
(Appendix 11)
The product picking device according to any one of appendices 1 to 10, wherein a transport direction of the transport container in the product delivery line is the same as a transport direction of the transport container in the product placement line.
(Appendix 12)
If the number of products scheduled to be placed in the transport container is greater than the number of products remaining in the product container on the corresponding product container station, the container stop where the product container has been transferred by the remaining number picking means The robot corresponding to the station picks up a product from a new product container by an amount that is insufficient with respect to the planned product, and places the picked product in a transport container on the container stop station. The commodity picking apparatus according to appendix 5.
(Appendix 13)
When the empty transport container is not necessary, the processing apparatus follows a delivery order based on the determined transport order and information indicating the most downstream container stop station of each of the predetermined number of transport containers. It is determined whether or not a deadlock that cannot be paid out occurs. If a deadlock occurs, the predetermined number is reduced until the deadlock does not occur, and the transport is performed for the reduced predetermined number of transport containers. The product picking device according to appendix 7, wherein the determination of the order is repeated.
(Appendix 14)
14. The commodity picking apparatus according to appendix 10 or 13, wherein the processing device determines the transport order in which deadlock does not occur as a final transport order.
(Appendix 15)
In the processing apparatus, when an arrangement of goods is scheduled at a container stop station upstream of the container stop station where the remaining number picking is performed, the empty transfer container The product picking device according to appendix 7, wherein the product picking device is determined to be necessary.
(Appendix 16)
The processing apparatus is configured to transfer the empty transport container when the product is not scheduled to be placed at a container stop station upstream of the container stop station where the remaining number picking is performed on the transport container to be picked. The commodity picking apparatus according to appendix 7, wherein it is determined that a container is not necessary.
(Appendix 17)
In the appendix 7, the processing device re-determines the transport order in such a manner that the dispensation order is continuous for separate transport containers for transporting the goods scheduled to be placed in the transport container targeted for the remaining number picking. The product picking apparatus described.
(Appendix 18)
The processing apparatus includes the remaining number of the transport containers in which the products are arranged by the remaining number picking among the separate transport containers that transport the products scheduled to be placed in the transport container to be picked. The order in which the products are arranged at the container stop station where the remaining number picking is performed is determined before and after the re-determination in relation to other transport containers where the products are arranged at the container stop station where the picking is performed. The product picking apparatus according to appendix 8, wherein the remaining number picking is determined not to be possible when changed.
(Appendix 19)
When the remaining number picking is still possible or when the predetermined number is reduced and the remaining number picking is possible, the processing apparatus determines the re-determined transport order and the predetermined number of transports. Based on the information indicating the most downstream container stop station of each container, it is determined whether or not a deadlock that disables dispensing according to the dispensing order occurs, and if a deadlock occurs, a deadlock occurs. The commodity picking apparatus according to appendix 8, wherein the predetermined number is reduced until the predetermined number is reduced, and the determination of the transfer order is repeated for the reduced predetermined number of transfer containers.
(Appendix 20)
The product picking device according to any one of appendices 1 to 19, wherein the product containers containing different types of products are placed in each of the plurality of product container stations.
(Appendix 21)
A program that causes a computer to execute various processes performed by the processing device of the commodity picking device according to any one of Supplementary Notes 1 to 20 to realize the processing device.
(Appendix 22)
Out of a plurality of container stop stations in the product placement line, when the container stop station in which the final product placement scheduled for each transport container is performed is the most downstream container stop station, the most downstream container stop of each transport container Based on the information representing the station, in the aspect in which the downstream transport container is transported first at the most downstream container stop station, the transport order of the transport containers in the product arrangement line is determined,
Supplying a transport container to the product placement line according to the determined transport order,
Using the first transport conveyor provided in the product placement line, while stopping the transport container on the product container station, transport the transport container downstream until all the planned product placement is completed,
Using each robot provided in association with each of the plurality of product container stations, placing a planned product in a transport container stopped on a container stop station,
Products that are provided in parallel with the product arrangement line using the discharge devices provided in association with each of the plurality of container stop stations, and the transport containers in which the arrangement of all planned products is completed at the container stop station. To the discharge line,
Using the second conveyor provided in the product delivery line, the delivery container discharged from the product placement line is delivered to the downstream side of the product delivery line,
A program that causes a computer to execute processing.
(Appendix 23)
Out of a plurality of container stop stations in the product placement line, when the container stop station in which the final product placement scheduled for each transport container is performed is the most downstream container stop station, the most downstream container stop of each transport container Based on the information representing the station, in the aspect in which the downstream transport container is transported first at the most downstream container stop station, the transport order of the transport containers in the product arrangement line is determined,
Supplying a transport container to the product placement line according to the determined transport order,
Using the first transport conveyor provided in the product placement line, while stopping the transport container on the product container station, transport the transport container downstream until all the planned product placement is completed,
Using each robot provided in association with each of the plurality of product container stations, placing a planned product in a transport container stopped on a container stop station,
Products that are provided in parallel with the product arrangement line using the discharge devices provided in association with each of the plurality of container stop stations, and the transport containers in which the arrangement of all planned products is completed at the container stop station. To the discharge line,
The product picking method including paying out the transport container discharged from the product placement line to the downstream side of the product delivery line using a second transport conveyor provided in the product delivery line.

DESCRIPTION OF SYMBOLS 1 Commodity picking apparatus 4 Commodity arrangement line 6 Commodity delivery line 20 Empty container supply apparatus 30 1st conveyance conveyor 32 2nd conveyance conveyor 34 Finished container discharge conveyor 36 Remaining number picking conveyors 51 thru | or 54 Robot 80 Finished container delivery apparatus 82 Commodity container supply Equipment 100 Processing equipment B1-B6 Buffer station O1-O4 Product container station P1-P4 Stock product container station R1-R4 Container stop station S1-S4 Finished container receiving station

Claims (10)

A product placement line with multiple container stop stations;
A first transport conveyor provided in the product placement line;
An empty container supply device for supplying empty transport containers one by one from the upstream side of the product arrangement line;
A product delivery line that is provided in parallel with the product placement line, and that delivers the transport container in which the product is placed downstream;
A second transport conveyor provided in the commodity delivery line;
A plurality of discharge devices that are provided in association with each of the plurality of container stop stations, and that discharge the transport containers in which the arrangement of all planned products has been completed at the corresponding container stop station to the product discharge line;
A plurality of product container stations, each of which is provided in association with each of the plurality of container stop stations, and in which product containers containing products scheduled to be placed in a transport container are placed,
Provided in association with each of the plurality of product container stations, pick a product in a product container on the corresponding product container station, and place the picked product in a transport container on the corresponding container stop station With multiple robots to
Information representing the most downstream container stop station of each transport container when the container stop station in which the planned final product placement related to each transport container is performed is the most downstream container stop station among the plurality of container stop stations. And a processing device that determines the transport order of the transport containers in the product placement line in a mode in which the downstream transport container is transported first, and the most downstream container stop station is a product picking apparatus.   In the processing apparatus, when the most downstream container stop station is the same, based on the information regarding the delivery order of the transport containers to the downstream side in the product delivery line, the transport container with the earlier delivery order is transported first. The commodity picking apparatus according to claim 1, wherein the transport order is determined in a manner.   The commodity picking apparatus according to claim 2, wherein the processing device determines the transport order for each of a predetermined number of transport containers in a payout order for a plurality of transport containers scheduled to be paid out. Remaining number picking means is provided in association with each of the plurality of commodity container stations, and performs remaining number picking for transferring the commodity containers on the commodity container station together with the containers onto the corresponding container stop station,
The merchandise picking apparatus according to claim 3, wherein the merchandise container transferred by the remaining number picking means forms the transport container after the transfer.   The processing apparatus, after determining the transport order for the predetermined number of transport containers, information on the determined transport order, the number of products to be put in each of the predetermined number of transport containers, and on each product container station On the basis of the information on the number of products remaining in the product container, for each of the container stop stations, the number of products scheduled to be placed in each transport container It is determined whether the number of products remaining in the product container is equal to or greater than the number, and the number of products scheduled to be picked by the robot is equal to or greater than the number of products remaining in the product container on the corresponding product container station. The commodity picking apparatus according to claim 4, wherein the transport container is determined as the transport container that is the target of the remaining number picking.   The processing device determines whether or not the empty transport container supplied by the empty container supply device is necessary for the remaining number picking target transport container, and the empty transport container is necessary. 6. The product picking according to claim 5, wherein the order of transportation is re-determined in a mode in which products to be arranged in the remaining number picking target transport container are separated and transported to separate transport containers. apparatus.   The processing apparatus determines whether the remaining number picking is still possible at the container stop station where the remaining number picking is scheduled to be performed based on the re-determined transport order after re-determining the transport order, 7. When the remaining number picking is not possible, the predetermined number is reduced until the remaining number picking is possible, and the transfer order is determined for the reduced predetermined number of transfer containers. Goods picking equipment.   The product placement line includes a buffer station capable of stopping a transport container between the plurality of container stop stations, and no product is placed in the transport container stopped on the buffer station. The commodity picking apparatus according to any one of the above.   The processing apparatus determines whether or not a deadlock that disables dispensing according to the dispensing order occurs based on the determined conveying order and information indicating the most downstream container stop station of each of the predetermined number of conveying containers. If the deadlock occurs, the predetermined number is reduced until the deadlock does not occur, and the transfer order is determined for the reduced predetermined number of transfer containers. The product picking apparatus described. Out of a plurality of container stop stations in the product placement line, when the container stop station where the final product is scheduled to be placed on each transport container is the most downstream container stop station, the most downstream container stop station of each transport container Based on the information representing, in the aspect in which the downstream transport container is transported first in the most downstream container stop station, determine the transport order of the transport container in the product arrangement line,
Supplying a transport container to the product placement line according to the determined transport order,
Using the first transfer conveyor provided in the product arrangement line, while stopping the transfer container on the container stop station, transfer the transfer container to the downstream side until the arrangement of all planned products is completed,
Each robot provided in association with each of a plurality of product container stations, each of which is provided in correspondence with each of the plurality of container stop stations and in which a product container containing products scheduled to be placed in a transport container is placed. Use the placed product in the transport container stopped on the container stop station,
Products that are provided in parallel with the product arrangement line using the discharge devices provided in association with each of the plurality of container stop stations, and the transport containers in which the arrangement of all planned products is completed at the container stop station. To the discharge line,
Using the second conveyor provided in the product delivery line, the delivery container discharged from the product placement line is delivered to the downstream side of the product delivery line,
A program that causes a computer to execute processing.

Images