JP7102366B2 - Picking system - Google Patents

Description

The present invention relates to a picking system.

At distribution sites such as factories or warehouses, a wide variety of goods are mounted on transport vehicles and transported, taken out by workers or robots, and transferred to conveyors and the like.

Japanese Unexamined Patent Publication No. 2004-10289

In recent years, automation of distribution sites has progressed, but the higher the ratio of mechanization, the higher the cost because it is necessary to control highly functional robots with high precision. It is possible to have the worker perform some work such as maintenance work of the robot and parts supply work, but the cooperation between the worker and the robot has not been sufficiently examined.

The present invention has been made in view of the above problems, and an object of the present invention is to provide a picking system capable of improving the efficiency of picking work.

In order to solve the above problems, in the picking system according to one aspect of the present invention, the first robot work section and the second robot work section are arranged along the moving direction of the transport vehicle for transporting the work. A first picking robot that is arranged in the first robot work area and performs picking work on the first work target area set in the transport vehicle, and a second work target area that is arranged in the second robot work area and is set in the transport vehicle. A second picking robot for picking work and a worker section provided between at least the first robot work section and the second robot work section and where a predetermined work is performed by a worker are provided.

According to the present invention, the work can be taken out from the transport vehicle by the first picking robot in the first robot work section, the second picking robot in the second robot work section, and the worker in the worker section.

It is an overall schematic diagram of the picking system which concerns on 1st Embodiment. It is a system block diagram of a picking system. It is a sequence diagram of a picking process. It is explanatory drawing which shows typically the work in each section. It is a flowchart of the process which controls the operation of a picking robot. It is explanatory drawing which shows a part of the picking system which concerns on 2nd Embodiment. FIG. 3 is an overall schematic diagram of the picking system according to the third embodiment.

Hereinafter, embodiments of the present invention will be described with reference to the drawings. In the present embodiment, the efficiency (throughput) of the picking work is improved by performing the picking work in cooperation with the worker and the picking robot. In the present embodiment, the picking work by the first picking robot and the second picking robot are performed by the worker performing a predetermined process between the first picking robot and the second picking robot having different work target areas. It is linked with the picking work by.

In the present embodiment, since the work by the worker and the work by each picking robot can be executed in parallel, the number of works to be unloaded from the transport vehicle by one worker can be increased per unit time (throughput). Improvement).

In the present embodiment, since the work of taking out the work from the transport vehicle is divided for each work target area by the first picking robot and the second picking robot, the number of parallel processes can be increased and the picking work throughput is improved. Can be made to.

In the present embodiment, since the picking work for different work target areas is performed by changing the installation method of the picking robot having a common structure, a relatively small and inexpensive picking robot can be used. Therefore, as compared with the case where one picking robot is in charge of both the first work target area and the second work target area, the introduction cost of the picking robot can be suppressed in the present embodiment.

In the present embodiment, in order to arrange a worker section between the first robot work section and the second robot work section and perform a predetermined work by the worker, the first picking robot is temporarily in the first work target area. Even if the work cannot be taken out and the work remains in the first work target area, it can be taken out by the worker in the worker section. Therefore, in this case, even if the accuracy of the image recognition of the first picking robot is low, the throughput of the picking system as a whole can be improved while maintaining the reliability.

The first embodiment will be described with reference to FIGS. 1 to 5. FIG. 1 shows an overall overview of the picking system 1. The picking system 1 includes, for example, at least one first picking robot 10, at least one second picking robot 20, at least one basket 30, and at least one conveyor device 50. The work 40 of this embodiment is, for example, a container such as a cardboard box. The container is not limited to a cardboard box, and may be a plastic or metal container. The work 40 is not limited to the container, and may be any object that is sorted at the distribution site. The work 40 is formed in a rectangular cuboid, for example, but it does not necessarily have to be a rectangular cuboid, and may have a shape such as a columnar shape, a triangular columnar shape, or a hemispherical shape.

In this embodiment, in order to improve work efficiency, a set of cage vehicles is formed by connecting a predetermined number (for example, three) of cage vehicles 30 as "transport vehicles". A predetermined number of the first picking robot 10 and the second picking robot 20 are also arranged. The predetermined number is not limited to "3" and may be a value of "2" or more.

In this embodiment, the case where the inside of the cage car 30 is divided into two accommodating portions 31 and 32 will be described, but instead, the inside of the cage car 30 may be divided into three or more accommodating portions. Further, even if each housing portion is not physically separated by a floor plate or the like, it is within the scope of the present invention if it is divided into work target areas of a plurality of robots.

Since the first picking robot 10 performs picking work on the upper accommodating portion 31 of the cage car 30, it can also be called an upper picking robot. Since the second picking robot 20 performs picking work on the lower accommodating portion 32 of the cage car 30, it can also be called a lower picking robot.

First, the arrangement of the work area will be described. In this embodiment, the plurality of robot work compartments AM and the plurality of worker compartments AW are alternately arranged along the moving direction of the cage car 30. In other words, the worker compartment AW is arranged on the upstream side and the downstream side of the robot work compartment AM, respectively. The upstream side and the downstream side are the upstream side and the downstream side in the moving direction of the cage wheel 30. Since the conveyor device 50 is arranged in parallel along the moving direction of the cage wheel 30, the upstream side and the downstream side referred to in the present specification are also the transport directions of the conveyor device 50.

In the example shown in FIG. 1, the first worker section AW1, the first robot work section AM1, the second worker section AW2, the second robot work section AM2, and the third worker section AW3 are in this order from the upstream side to the downstream side. It is arranged over. One worker W is in charge of one line having these plurality of worker sections AW1 to AW3. In the embodiment described later, one worker W is in charge of a plurality of lines.

The worker W manually pulls a set of cage cars into the first worker section AW1 from outside the figure, and performs pretreatment work such as opening the door of each cage car 30. Each of the cages 30 includes an upper accommodating portion 31 located on the upper side and a lower accommodating portion 32 located on the lower side, and the spaces 31 and 32 are partitioned by a partition plate 33. The upper accommodating portion 31 corresponds to the "first work target area", and the lower accommodating portion 32 corresponds to the "second work target area". The doors (not shown) may be individually provided for each of the accommodating portions 31 and 32, or may be a common door.

Here, a case where one set of cage cars is connected and manually moved by the worker W will be described as an example, but instead of this, a self-propelled transport to the lower side of each cage car 30 will be described. The robot may be positioned and the cage car 30 may be moved by the transfer robot. Alternatively, the self-propelled transfer robot may be arranged and moved to only one or a plurality of the cage cars in a set. A self-propelled carrier moves one set of cages between work areas, then moves to another set of cages, and another set of cages between other work areas. Can be moved.

When the pretreatment work is completed, the worker W manually carries a set of cage cars into the first robot work section AM1. When the worker W goes out of the first robot work section AM1 and safety is ensured, the picking work by each of the first picking robots 10 arranged in the first robot work section AM1 is started. The processing method of the picking work will be described later with reference to FIG.

Here, a brief explanation will be given. As described above, the first picking robot 10 is arranged according to the number of cages 30. When the worker W pulls a set of cage wheels into the first robot work section AM1 and stops them at a predetermined position, one cage wheel 30 is located in front of each first picking robot 10.

The first picking robot 10 includes, for example, an arm robot 11, a pedestal 12 that supports the arm robot 11, and a slider 13 that advances and retreats the pedestal 12 and the arm robot 11 with respect to the cage 30. The arm robot 11 can suck and take out the work 40 by, for example, a vacuum suction pad.

A camera 15 is provided above the arm robot 11. The work loading state of the upper accommodating portion 31 is photographed by the camera 15 and image-processed, and the operation of the arm robot 11 is controlled based on the result of the image processing. An example of the control device 100 that performs these series of controls will be described later with reference to FIG. The camera 15 and the camera 25 described later may be configured as, for example, a stereo camera or a three-dimensional distance image camera.

The arm robot 11 takes out the works 40 one by one from the upper accommodating portion 31, and puts the taken out works 40 on the conveyor device 50 behind.

The conveyor device 50 is extended along the moving direction of the cage wheel 30. The upstream side of the conveyor device 50 is the upper conveyor 51, on which the work 40 taken out from the upper accommodating portion 31 by the first picking robot 10 is placed. The downstream side of the conveyor device 50 is the lower conveyor 52, on which the work 40 taken out from the lower accommodating portion 32 by the second picking robot 20 is placed. The upper conveyor 51 and the lower conveyor 52 are connected by a slope portion 53. Therefore, the work 40 placed on the upper conveyor 51 enters the lower conveyor 53 from the upper conveyor 51 via the slope portion 52.

By using the conveyor device 50 common to the first picking robot 10 and the second picking robot 20 having different heights of the work target area, the work site can be compactly formed and the cost can be reduced. However, instead of the common conveyor device 50, the conveyor device for the first picking robot 10 and the conveyor device for the second picking robot 20 may be installed separately.

When the picking work in the first robot work section AM1 is completed, the worker W manually pulls out a set of cages from the first robot work section AM1 and pulls them into the second worker section AW2.

The worker W executes the post-processing work for the first robot work section AM1 and the pre-processing work for the second robot work section AM2 in the second worker section AW2. The post-processing work for the first robot work section AM1 includes, for example, a visual confirmation work of the upper accommodating portion 31 and a manual operation of the work 40 (work not taken out by the first picking robot 10) left in the upper accommodating portion 31. Includes removal work by.

In this embodiment, since the worker section is arranged on the downstream side of the robot work section and the worker W performs the post-processing work in the worker section, it is not necessary to request complete picking work in the robot work section. Even if some of the works 40 fail to be taken out, the remaining works 40 are manually taken out by the workers in the worker section and placed on the conveyor device 50. Therefore, even if the accuracy of image processing deteriorates due to the lighting method, mechanical vibration, electrical noise, etc. when shooting with the camera 15, the work by the worker W is supplemented, and the picking system 1 as a whole is highly reliable. Can maintain sex.

When the post-processing work for the first robot work area AM1 is completed, the worker W performs the pre-processing work for the second robot work area AM2. In this pretreatment work, for example, the partition plate 33 is removed from the cage wheel 30, and the door of the lower accommodating portion 32 is opened. When the pretreatment work for the second robot work section AM2 is completed, the worker W manually pulls out a set of cages from the second worker section AW2 and pulls them into the second robot work section AM2.

Similar to the first picking robot 10, the second picking robot 20 has, for example, an arm robot 21, a pedestal 22 that supports the arm robot 21, and a slider 23 that advances the pedestal 22 and the arm robot 21 with respect to the cage 30. And. The arm robot 11 sucks and takes out the work 40 by, for example, a vacuum suction pad. A camera 25 is provided above the arm robot 21. The work loading state of the lower accommodating portion 32 is photographed by the camera 25 and image-processed, and the operation of the arm robot 21 is controlled based on the result of the image processing.

Here, the camera 15 is set with an angle of view, a mounting position, and the like so that the entire inside of the upper accommodating portion 31 can be photographed. Similarly, the camera 25 is set with an angle of view, a mounting position, and the like so that the lower accommodating portion 32 can be fully photographed.

The first picking robot 10 and the second picking robot 20 mainly differ only in the heights of the pedestals 12 and 22, and the basic configurations of the arm robots 11 and 21 are the same. By changing the height of the pedestal using a common arm robot, the first picking robot 10 can perform picking work in the upper accommodating portion 31 from the ceiling of the cage wheel 30 to the depth dimension H1. The second picking robot 20 can perform picking work in the lower accommodating portion 32 from the partition plate 33 to the depth dimension H2.

When the picking work in the second robot work section AM2 is completed, the worker W manually pulls out a set of cages from the second robot work section AM2 and pulls them into the third worker section AW3. The worker W performs post-processing work on the second robot work section AM2 in the third worker section AW3. The post-processing work includes, for example, a visual confirmation work of the lower storage unit 32 and a manual removal work of the work 40 (work that the second picking robot 20 did not take out) left in the lower storage unit 32. Is done. Therefore, the second picking robot 20 can perform the picking work without paying much consideration to the setting of the lighting system, measures against mechanical vibration and electrical noise, and the like.

When the worker W confirms that all the works 40 have been taken out, the worker W carries out a set of cage cars to a waiting place (not shown). Another work 40 is housed in a set of cage cars placed in the waiting place, and is carried into the first worker section AW1.

The work 40 placed on the conveyor device 50 by the first picking robot 10 and the second picking robot 20 is carried out by the conveyor device 50 to a shipping location (not shown).

FIG. 2 shows the system configuration of the picking system 1. For example, an input device 110, an output device 120, and a sensor 130 are connected to the control device 100 that controls the picking system 1. Further, the control device 100 is connected to the first picking robot 10, the second picking robot 20, the conveyor device 50, and the instruction device 60, respectively, via the communication network CN.

The control device 100 includes, for example, a microprocessor (CPU in the figure) 101, a memory 102, a storage device 103, and a communication unit 104. The control device 100 may be configured by using a general-purpose computer, or the control device 100 may be configured by a dedicated device.

A predetermined computer program 1031 is stored in the storage device 103. By reading the computer program 1031 into the memory 102 and executing the microprocessor 101, a function for controlling the picking system 1 is realized.

The input device 110 is a device for the operator of the picking system 1 to input information to the control device 100. The input device 110 is, for example, a keyboard, a mouse, a touch panel, a voice input device, or the like. The output device 120 is a device that provides information from the control device 100 to the operator. The output device 120 is, for example, a display, a printer, a voice synthesizer, or the like.

The input device 110 and the output device 120 may be integrally configured. For example, a wearable terminal such as a desktop or notebook type personal computer, a tablet terminal, a mobile phone (including a so-called smartphone), a wristwatch type or a glasses type can also be used as an information input / output device. An AR (Augmented Reality) terminal may be used.

The operator can input various parameters, set values, and the like from the input device 110 to the control device 100. The operator can confirm the set value, the picking operation status, and the like based on the information from the output device 120.

The sensor 130 is, for example, a device such as a photoelectric switch, a limit switch, a weight sensor, and a safety switch. The presence of the cage car 30 and the worker W in the robot work area AM is detected by the sensor 130 and input to the control device 100.

The operation start switch for the worker W to instruct the start of the picking work by the picking robots 10 and 20 can be treated as a kind of the sensor 130. Alternatively, the input device 110 can be used as an operation start switch. The work detection sensor 70 of the embodiment described later can also be treated as a kind of the sensor 130.

The communication network CN is configured as a communication network for factories. Wireless communication may be incorporated into at least a part of the communication network CN.

The instruction device 60 is a display or the like installed at the work site. The control device 100 confirms the progress of the picking work at any time, and instructs the worker W on the next work content from the instruction device 60. The indicator 60 is not limited to the display, but may be combined with a lamp, a speaker, or the like.

The instruction device 60 may be provided for each work site or work line by installing the instruction device 60 on the wall surface of the work site or suspending it from the ceiling. Alternatively, the wearable terminal worn by the worker W may be used as the instruction device 60, and the work content may be instructed for each worker W.

FIG. 3 is a sequence diagram of the picking process. This will be described with reference to the schematic diagram of FIG. 4 as appropriate. In the figure, the work 40 is referred to as a "box".

The worker W performs a predetermined pretreatment work (door opening, etc.) on a set of cage cars in the first worker section AW1 and then carries the robot into the first robot work section AM1 (S11). The first picking robot 10 starts the picking operation after confirming the safety (S12).

That is, the first picking robot 10 approaches the cage wheel 30 by the slider 13, extends the arm robot 11 to the upper accommodating portion 31, takes out the work 40 accommodated in the upper accommodating portion 31, and places it on the conveyor device 50 (S12). ). This stage is shown in FIG. 4 (1). The worker W waits until the picking work by the first picking robot 10 is completed. During this waiting period (during the picking work of the first picking robot 10), the worker W can perform other work.

When the worker W confirms the completion of the picking work by the first picking robot 10 (S13), the worker W pulls out a set of cages from the first robot work section AM1 and performs a predetermined post-processing work in the second worker section AW2. Execute (S14). In this post-processing work, for example, the worker W manually takes out the work 40 left in the upper accommodating portion 31 and puts it on the conveyor device 50.

When the post-processing work related to the first robot work area AM1 is completed (S14), the worker W executes a predetermined pre-processing work related to the second robot work area AM2 in the second worker area AW2, and sets the set. The cage car is carried into the second robot work area AM2 (S15). In the pretreatment work, the partition plate 33 is removed from the cage wheel 30, and the door of the lower accommodating portion 32 is opened.

The steps of the post-processing work in step S14 and the pre-processing work in step S15 are shown in FIG. 4 (2). In FIG. 4, since a set of a plurality of cage wheels is shown, the reference numerals "30a" and "30b" are added to distinguish them. FIG. 4 (3) shows a state in which the worker W carries a set of cage cars into the second robot work section AM2 in step S15.

When a set of cage cars is carried into the second robot work section AM2 and safety is confirmed, the picking work by the second picking robot 20 is started (S16). That is, the second picking robot 20 approaches the cage wheel 30 by the slider 23, extends the arm robot 21 to the lower accommodating portion 32, takes out the work 40 accommodated in the lower accommodating portion 32, and places it on the conveyor device 50. (S16). This stage is shown in FIG. 4 (3).

During the picking work by the second picking robot 20, the worker W returns to the upstream of the work line, performs the pretreatment work for the other set of cages in the first worker section AW1, and then the other one. The set of cage cars is carried into the first robot work area AM1 (S17). This stage is shown in FIG. 4 (4).

Hereinafter, similarly to the above, in the first robot work section AM1, the picking work by the first picking robot 10 is performed on the other set of cage cars (S18). During the picking work by the first picking robot 10, the picking work by the second picking robot 20 is completed in the second robot work section AM2 (S19).

The worker W pulls out the set of cages that have been processed earlier from the second robot work section AM2, carries them into the third worker section AW3, and performs a predetermined post-processing work (S20). In the post-processing work, the worker W takes out the work 40 left from the lower accommodating portion 32 and puts it on the conveyor device 50, or sends out a set of cage wheels to the waiting place of the cage trucks. This stage is shown in FIG. 4 (5).

After the work on the first set of cages (reference numeral "30a" in FIG. 4) is completed, the picking work of the first picking robot 10 on the latter set of cages is completed (S21). The worker W carries a set of cages (reference numeral “30b” in FIG. 4) into the first worker section AW1 and performs post-processing work (S22). Hereinafter, the same process is repeated.

As described in FIGS. 3 and 4, the worker W also performs manual work during the picking work by the picking robots 10 and 20. Therefore, in this embodiment, the work of the picking robot and the manual work of the operator can be executed in parallel, and the work 40 can be taken out from the cage 30 and processed one after another.

FIG. 5 is a flowchart showing a control process of the picking robot. The control device 100 determines whether or not the cage car 30 exists in the robot work area AM based on the shooting result of the camera or the signal from the sensor 130 (S31).

When the control device 100 confirms that the cage car 30 exists in the robot work section AM (S31: YES), the control device 100 confirms that the worker W does not exist in the robot work section AM (S32). This is to ensure the safety of the worker W.

When the control device 100 determines that the worker W does not exist in the robot work section AM (S32: YES), the control device 100 determines whether the operation start is instructed by the worker W (S33).

When the control device 100 determines that the worker W has instructed the start of the picking operation (S33: YES), the control device 100 photographs the inside of the housing portion of the cage car 30 with a camera (S34). The control device 100 recognizes the position and shape of the work 40 (S35), calculates the operation of the arm robot according to the result of the object recognition, and causes the picking operation to be performed (S36).

If NO is determined in any of steps S31, S32, and S33, the process returns to step S31.

The control device 100 determines whether all the works 40 in the accommodating portion, which is the work target area, have been taken out (S37). When the control device 100 determines that the work 40 remains in the accommodating portion (S37: NO), the control device 100 returns to step S31. When the control device 100 determines that all the works 40 have been taken out from the accommodating portion (S37: YES), the picking operation is stopped (S38), and the present process is terminated. As described above, in the present embodiment, the worker section AW is arranged downstream of the robot work section AM, and in the worker section AW, the worker W visually inspects and deals with work omissions caused by the picking robot. Therefore, the accuracy of image recognition during picking work by the picking robot does not have to be high.

According to the present embodiment configured as described above, since the picking robots 10 and 20 and the worker W can jointly process the work in parallel, the work efficiency can be improved and the throughput can be increased. ..

The second embodiment will be described with reference to FIG. In each of the following examples including this embodiment, the differences from the first embodiment will be mainly described. In the picking system 1A of this embodiment, the workpieces 40 placed on the conveyor device 50 are prevented from coming into contact with each other.

The first picking robot 10 will be described as an example. The first robot work section AM1 includes cells MS (1) to MS (3) for each first picking robot 10. Each cell MS (1) to MS (3) is a work area for placing the work 40 taken out by the first picking robots 10 (1) to 10 (3) on the upper conveyor 51 of the conveyor device 50.

Work detection sensors 70 (1) to 70 (3) are provided on the downstream side of each cell MS (1) to MS (3). The work detection sensors 70 (1) to 70 (3) are composed of, for example, a reflection type photoelectric switch, a transmission type photoelectric switch, an ultrasonic sensor, and the like, and detect the presence or absence of the work 40 and output it to the control device 100. ..

The control device 100 determines whether or not the work 40 exists in the area on the conveyor corresponding to the cell based on the detection signals from the work detection sensors 70 (1) to 70 (3). For example, when the sensor 70 provided in the cell located on the upstream side of the target cell MS detects the passage of the work 40, and the sensor 70 provided in the target cell MS does not detect the passage of the work 40. It can be determined that the work 40 exists on the conveyor area corresponding to the target cell. When it is determined that the work 40 exists somewhere in the conveyor area corresponding to the target cell MS, the first picking robot 10 provided in the target cell MS moves the work 40 taken out from the upper accommodating portion 31 onto the conveyor 51. Do not put. This is because if the work is placed on the conveyor, it may come into contact with other work flowing from the upstream.

Since the same applies to the second picking robot 20, the description thereof will be omitted.

This embodiment configured in this way also has the same effect as that of the first embodiment. Further, in this embodiment, when it can be determined that the work does not exist on the conveyor area corresponding to the picking robot, the work taken out from the accommodating portion is placed on the conveyor. Therefore, it is possible to prevent the workpieces from coming into contact with each other on the conveyor.

In this embodiment, since a relatively inexpensive work detection sensor 70 such as a photoelectric switch is used, contact of the work can be prevented with a low cost and a simple configuration, and reliability can be improved.

The third embodiment will be described with reference to FIG. 7. In the picking system 1B of this embodiment, one worker W is in charge of a plurality of (for example, two) work lines. The first work line is shown on the left side of FIG. 7, and the second work line is shown on the right side of FIG. 7.

The configuration of each work line is as described in the first embodiment. That is, in each work line, the robot work section AM and the worker section AW are alternately arranged along the moving direction of the cage car 30. The worker W moves between the work sections and executes a predetermined work in response to the instruction from the instruction device 60.

This embodiment configured in this way also has the same effect as that of the first embodiment. Further, in this embodiment, since one worker W is in charge of a plurality of work lines, the throughput can be further improved. In addition, this Example can be combined with either 1st Example or 2nd Example.

The present invention is not limited to the above-described embodiment, and includes various modifications. The above-described embodiment has been described in detail in order to explain the present invention in an easy-to-understand manner, and is not necessarily limited to the one including all the described configurations. It is also possible to replace a part of the configuration of one embodiment with the configuration of another embodiment. It is also possible to add the configuration of another embodiment to the configuration of one embodiment. Further, it is possible to add / delete / replace a part of the configuration of each embodiment with another configuration.

Each component of the present invention can be arbitrarily selected, and the invention including the selected configuration is also included in the present invention. Further, the configurations described in the claims can be combined in addition to the combinations specified in the claims.

1,1A, 1B: Picking system, 10: 1st picking robot, 11: Arm robot, 12: Pedestal, 13: Slider, 15: Camera, 20: 2nd picking robot, 21: Arm robot, 22: Pedestal, 23 : Slider, 25: Camera, 30: Cage, 31: Upper housing, 32: Lower housing, 33: Partition plate, 40: Work, 50: Conveyor device, 51: Upper conveyor, 52: Lower conveyor , 53: Slope section, 60: Indicator device, 100: Control device, 110: Input device, 120: Output device, 130: Sensor, AW: Worker section, AM: Robot work section

Claims (8)

It ’s a picking system.
A first robot work section and a second robot work section are arranged along the moving direction of the carrier for transporting the work.
A first picking robot arranged in the first robot work area and picking a first work target area set in the transport vehicle, and a first picking robot.
A second picking robot arranged in the second robot work section and picking a second work target area set in the transport vehicle, and a second picking robot.
A picking system including at least a worker section provided between the first robot work section and the second robot work section and in which a predetermined work is performed by a worker.
The picking work by the first picking robot, the picking work by the second picking robot, and the work by the worker are carried out in parallel.
The picking system according to claim 1. A conveyor device for carrying out the work taken out by the first picking robot and the second picking robot is further provided.
The picking system according to claim 2. A plurality of the transport vehicles form a set, and the first picking robot and the second picking robot are arranged according to the number of the transport vehicles.
The picking system according to claim 3. The predetermined work includes at least one of a post-processing work for taking out the work left in the first work target area and a pre-processing work for preparing the work by the second picking robot.
The picking system according to claim 4. The first work target area and the second work target area are arranged in the vertical direction.
The picking system according to claim 5. The conveyor device is located so as to face the transport vehicle with the first picking robot and the second picking robot interposed therebetween, and is provided along the moving direction of the transport vehicle.
The conveyor device is provided with a work detection sensor for detecting a work corresponding to the first picking robot and the second picking robot.
The first picking robot and the second picking robot place a work on the conveyor device according to a timing determined based on a signal from the work detection sensor.
The picking system according to claim 6. The first picking robot and the second picking robot are composed of the same robots having different installation methods.
The picking system according to claim 1.

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