JP7634236B2 - Sorting operation support method, program, transport control system, and transport system - Google Patents

Description

The present disclosure relates to a sorting operation support method, a program, a transport control system, and a transport system. More specifically, the present disclosure relates to a sorting operation support method, a program, a transport control system, and a transport system that support a sorting operation for sorting items to multiple delivery destinations.

Patent Document 1 discloses an order picking system. In this order picking system, a warehouse is equipped with multiple storage shelves in which items are stored. A transport vehicle transports the specified storage shelf to a work station in accordance with instructions from an order management device. At the work station, a worker removes the item corresponding to the order from the storage shelf transported by the transport vehicle and places the removed item in an opening of a sorting shelf installed at the work station. The sorting shelf has multiple openings, and each opening is associated with a delivery destination. As a result, in accordance with instructions from the order management device, the item to be delivered is placed in the opening corresponding to the delivery destination.

In the above order picking system, when the same type of item is delivered to multiple delivery destinations, if the conveying device moves the storage shelf from the warehouse to the work station and then returns the storage shelf to the warehouse each time an item is placed into an opening corresponding to each of the multiple delivery destinations, the number of times the conveying device moves the storage shelf between the warehouse and the work station increases. If the number of times the conveying device moves the storage shelf between the warehouse and the work station increases, there is a problem in that the efficiency of the sorting work of sorting items to multiple delivery destinations decreases.

International Publication No. 2016/147335

The purpose of this disclosure is to improve the efficiency of sorting operations in which items are sorted to multiple delivery destinations.

A sorting operation support method according to an aspect of the present disclosure includes a first conveying process, a second conveying process, and a third conveying process. In the first conveying process, the conveying object is conveyed from a storage area in which the conveying object is stored to a sorting area. The conveying object contains a plurality of items. The sorting area is an area in which a sorting operation is performed to sort the items into a plurality of temporary storage areas for delivery destinations that are arranged in a predetermined arrangement direction corresponding to each of a plurality of delivery destinations. In the second conveying process, the conveying object is conveyed in a lateral movement area so as to move between two or more take-out areas. The lateral movement area includes the sorting area and at least a part of an intermediate area between the storage area and the sorting area, and is an area in which the conveying object can be conveyed along the arrangement direction. The two or more take-out areas correspond to two or more temporary storage areas for delivery destinations that correspond to the delivery destinations of the items contained in the conveying object being conveyed, among the plurality of temporary storage areas for delivery destinations. In the third conveyance process, after a sorting operation for sorting the items is performed in the two or more take-out areas, the conveyance object is conveyed from the lateral movement area to the storage area. In the third conveyance process, the conveyance object is moved from the lateral movement area to the storage area through a second location different from a first location through which the conveyance object passes when entering the lateral movement area from the storage area. There are two of the first locations and two of the second locations.

One aspect of the program disclosed herein is a program for causing one or more processors to execute the sorting work support method.

A transport control system according to an aspect of the present disclosure includes a control unit that controls a transport device that transports a transport target that contains a plurality of items. The control unit causes the transport device to execute a first transport process, a second transport process, and a third transport process. In the first transport process, the transport target is transported from a storage area in which the transport target is stored to a sorting area. The sorting area is an area in which a sorting operation is performed to sort the items into a plurality of temporary storage areas for delivery destinations that are arranged in a predetermined arrangement direction corresponding to each of a plurality of delivery destinations. In the second transport process, the transport target is transported in a lateral movement area so as to move between two or more take-out areas. The lateral movement area includes the sorting area and at least a part of an intermediate area between the storage area and the sorting area, and is an area in which the transport target can be transported along the arrangement direction. The two or more take-out areas correspond to two or more temporary storage areas for delivery destinations that correspond to the delivery destinations of the items contained in the transport target during transport, among the plurality of temporary storage areas for delivery destinations. In the third conveyance process, after a sorting operation for sorting the items is performed in the two or more take-out areas, the conveyance object is conveyed from the lateral movement area to the storage area. In the third conveyance process, the conveyance object is moved from the lateral movement area to the storage area through a second location different from a first location through which the conveyance object passes when entering the lateral movement area from the storage area. There are two of the first locations and two of the second locations.

A conveying system according to one aspect of the present disclosure comprises the conveying control system and the conveying device which conveys the object to be conveyed.

FIG. 1 is a schematic plan view showing an example of use of a sorting operation support method according to an embodiment of the present disclosure. 2A to 2D are explanatory diagrams showing an example of use of the sorting work support method. FIG. 3 is a schematic block diagram illustrating a transport system according to an embodiment of the present disclosure. FIG. 4 is an explanatory diagram of an example of use of the sorting work support method. FIG. 5 is an explanatory diagram of an example of using the above sorting work support method. FIG. 6 is an explanatory diagram of an example of using the above sorting work support method. FIG. 7 is a flowchart of the sorting operation support method.

(Embodiment)
(1) Overview Each drawing described in the following embodiments is a schematic drawing, and the ratio of sizes and thicknesses of each component in each drawing does not necessarily reflect the actual dimensional ratio.

FIG. 1 is a schematic plan view showing an example of the use of the sorting work support method of this embodiment. The sorting work support method of this embodiment includes a first conveying process, a second conveying process, and a third conveying process. In the first conveying process, the object 3 is conveyed from a storage area A1 in which the object 3 is stored to a sorting area A3. The object 3 contains a plurality of items B1. The sorting area A3 is an area in which a sorting work is performed to sort the items B1 into a plurality of temporary storage areas A41 to A46 for each delivery destination that are arranged along a predetermined arrangement direction DR1 corresponding to each of a plurality of delivery destinations. In the second conveying process, the object 3 is conveyed in the lateral movement area A2 so as to move between two or more take-out areas A21 to A26. The lateral movement area A2 includes the sorting area A3 and at least a part of the intermediate area between the storage area A1 and the sorting area A3. The lateral movement area A2 is an area in which the object 3 can be conveyed along the arrangement direction DR1. The two or more take-out areas A21-A26 correspond to the two or more temporary storage areas A41-A46 for different delivery destinations, among the multiple temporary storage areas A41-A46 for different delivery destinations, which correspond to the delivery destinations of the items B1 contained in the transport target 3 being transported. In the third transport process, after a sorting operation for sorting the items B1 is performed in the two or more take-out areas A21-A26, the transport target 3 is transported from the lateral movement area A2 to the storage area A1.

Here, the item B1 includes, for example, a product manufactured in a factory, and in this embodiment, includes, for example, a food such as Western confectionery, or a box containing multiple foods. Note that the item B1 is not limited to Western confectionery, and may be a food other than Western confectionery, or a product other than food. The transport target 3 is, for example, a multi-tiered shelf that stores multiple items B1, but the transport target 3 may be a box that stores multiple items B1. In addition, in this embodiment, one transport target 3 stores one type of item B1, but one transport target 3 may store multiple types of items B1. The transport target 3 is a multi-tiered shelf that stores multiple items B1, and in this embodiment, the transport target 3 is transported by the transport device 1. The delivery destination of the item B1 is, for example, a store (retail store, convenience store, supermarket, etc.) that has requested the delivery of the item B1. Note that, if the item B1 is a semi-finished product, the delivery destination may be a factory that manufactures a final product using the semi-finished product as a material or part, or a manufacturing site of the next process in the factory. The delivery destination-specific temporary storage areas A41-A46 may be areas partitioned for each delivery destination within the temporary storage area adjacent to the sorting area A3, or may be transport equipment 4 for transport to the delivery destination that is placed in the temporary storage area. In other words, by placing the transport equipment 4 for transport to the delivery destination in the delivery destination-specific temporary storage areas A41-A46, the delivery destination-specific temporary storage areas A41-A46 become areas corresponding to the delivery destinations of the transport equipment 4. Note that the number of delivery destination-specific temporary storage areas A41-A46 and the number of removal areas A21-A26 corresponding to the delivery destination-specific temporary storage areas A41-A46 can be changed as appropriate according to the number of delivery destinations, etc.

As described above, in the second transport process, the transport target 3 is transported to two or more take-out areas A21 to A26 corresponding to the delivery destinations of the items B1 contained in the transport target 3 being transported, so that the sorting work of the items B1 can be performed in each of the two or more take-out areas A21 to A26. Therefore, when sorting the items B1 into each of the multiple delivery destination temporary storage areas A41 to A46, it is not necessary to transport the transport target 3 from the storage area A1 to the sorting area A3 each time, and then transport it from the sorting area A3 to the storage area A1 after sorting. Therefore, when sorting the items B1 contained in the transport target 3 into two or more delivery destination temporary storage areas A41 to A46, the number of times the transport target 3 is moved from the storage area A1 to the sorting area A3 and the number of times the transport target 3 is moved from the sorting area A3 to the storage area A1 can be reduced. Therefore, the sorting work support method of this embodiment can improve the efficiency of the sorting work of sorting the items B1 to multiple delivery destinations.

This sorting work support method can be realized, for example, by a computer system having one or more processors. In other words, the program according to this embodiment is a program for causing one or more processors to execute the sorting work support method. In addition, this item management method is realized, for example, by a transport control system 7 (see FIG. 7).

As shown in FIG. 3, the transport control system 7 of this embodiment includes a control unit 72 that controls a transport device (first transport device 1) that transports a transport target 3 that contains multiple items B1. The control unit 72 causes the transport device (first transport device 1) to execute a first transport process, a second transport process, and a third transport process. In the first transport process, the transport target 3 is transported from a storage area A1 that stores the transport target 3 that contains multiple items B1 to a sorting area A3. The sorting area A3 is an area where a sorting operation is performed to sort the items B1 into a plurality of temporary storage areas A41 to A46 for each delivery destination that are arranged in a predetermined arrangement direction DR1 corresponding to each of a plurality of delivery destinations. In the second transport process, the transport target 3 is transported in the horizontal movement area A2 so as to move between two or more take-out areas A21 to A26. The lateral movement area A2 includes the sorting area A3 and at least a part of the intermediate area between the storage area A1 and the sorting area A3, and is an area in which the transport object 3 can be transported along the arrangement direction DR1. The two or more take-out areas A21-A26 correspond to the two or more temporary storage areas A41-A46 for delivery destinations among the multiple temporary storage areas A41-A46 for delivery destinations corresponding to the delivery destinations of the items B1 contained in the transport object 3 being transported. In the third transport process, after a sorting operation for sorting the items B1 is performed in the two or more take-out areas A21-A26, the transport object 3 is transported from the lateral movement area A2 to the storage area A1.

In the conveying control system 7 of this embodiment, the control unit 72 executes the above-mentioned sorting work support method, thereby improving the efficiency of the sorting work of sorting item B1 to multiple delivery destinations.

The conveying system 10 is realized by the conveying control system 7 and one or more conveying devices (first conveying device 1) controlled by the conveying control system 7. In other words, the conveying system 10 includes the conveying control system 7 and a conveying device (first conveying device 1) that conveys the object 3 to be conveyed.

The conveying system 10 includes the above-mentioned conveying control system 7 and a conveying device (first conveying device 1), and can improve the efficiency of the sorting operation of sorting items B1 to multiple delivery destinations.

(2) Details The transport control system 7 and the transport system 10 according to this embodiment will be described in detail below with reference to the drawings.

As shown in Figures 1 to 2D, the sorting work support method according to this embodiment is a method used when shipping items B1 stored in a facility 100 from the facility 100. More specifically, the sorting work support method according to this embodiment is used when sorting and loading items B1 stored in a storage area A1 within the facility 100 onto transport equipment 4 to be transported to each of a number of delivery destinations. Then, the items B1 loaded onto the transport target 3 are delivered together with the transport equipment 4 to the delivery destination store or the like.

In this disclosure, a "facility" is a facility where item B1 (see FIG. 2A) is placed. Facility 100 may be, for example, a warehouse, a logistics center (including a distribution center), a factory, a construction site, a store, an office, a park, a house, a school, a hospital, a station, an airport, or a parking lot. Furthermore, for example, when item B1 stored in a moving body such as a ship, an airplane, or a train is shipped from the moving body, the moving body becomes facility 100. In this embodiment, as an example, a case will be described in which facility 100 is a food factory that produces food such as Western-style confectionery.

In this disclosure, an "item" refers to an item that can be stored in the transport target 3, and is, for example, various objects such as deliveries, industrial products (including parts), building materials, food and drink, clothing, daily necessities, books, or recording media. In this embodiment, as an example, a case is described in which the item B1 is a delivery (including a box) in which food (e.g., Western-style confectionery) produced in a food factory is stored in a box, but the item B1 may also be the food itself.

The transport equipment 4 is equipment (tool) for transporting the item B1 outside the facility 100, such as a roll box pallet (cage cart), flat pallet, box pallet, container, chest, tray, cooler box, or cart. In other words, the transport equipment 4 may be any equipment (tool) that can carry the item B1 and can be loaded onto a means of transport such as a truck 6 (see FIG. 1), and there are no particular limitations on its size, shape, function, etc. In this embodiment, as an example, a case will be described in which the transport equipment 4 is a roll box pallet (cage cart).

(2.1) Transfer System First, the overall configuration of the transfer system 10 according to this embodiment will be described.

As shown in FIG. 3, the conveying system 10 according to this embodiment includes a conveying control system 7 and a first conveying device 1 (see FIG. 2A). In this embodiment, in addition to the first conveying device 1 and the conveying control system 7, the conveying system 10 further includes a picking device 2 (see FIG. 2B) and a second conveying device 5 (see FIG. 2C and FIG. 2D). The conveying system 10 also includes multiple first conveying devices 1 and multiple second conveying devices 5. The conveying system 10 also includes multiple picking devices 2 (for example, three in FIG. 1). In the following description, when distinguishing between the three picking devices 2, they will be referred to as picking devices 2A, 2B, and 2C.

The transport control system 7 is configured to be able to communicate with each of the first transport device 1, the second transport device 5, and the picking device 2. In this disclosure, "capable of communication" means that information can be exchanged directly or indirectly via a network or a repeater, etc., by an appropriate communication method such as wired communication or wireless communication. That is, the transport control system 7 and each of the first transport device 1, the second transport device 5, and the picking device 2 can exchange information with each other. In this embodiment, the transport control system 7 and each of the first transport device 1, the second transport device 5, and the picking device 2 can communicate with each other bidirectionally. Therefore, both the transmission of information from the transport control system 7 to each of the first transport device 1, the second transport device 5, and the picking device 2, and the transmission of information from each of the first transport device 1, the second transport device 5, and the picking device 2 to the transport control system 7 are possible.

The transport control system 7 has a communication unit 71, a control unit 72, and a storage unit 73. In this embodiment, the transport control system 7 is mainly configured as a computer system including a memory and a processor. That is, the functions of the transport control system 7 are realized by the processor executing a program recorded in the memory of the computer system. The program may be pre-recorded in the memory, may be provided via a telecommunications line such as the Internet, or may be recorded on a non-transitory recording medium such as a memory card and provided.

The communication unit 71 communicates with each of the first conveying device 1, the second conveying device 5, and the picking device 2 directly or indirectly via a network or a repeater, etc. As a communication method between the communication unit 71 and each of the first conveying device 1, the second conveying device 5, and the picking device 2, an appropriate communication method such as wireless communication or wired communication is adopted. As an example in this embodiment, the communication unit 71 adopts wireless communication that uses radio waves as a communication medium, in accordance with standards such as Wi-Fi (registered trademark), Bluetooth (registered trademark), ZigBee (registered trademark), or unlicensed low-power radio (specified low-power radio).

The communication unit 71 is also configured to be able to communicate with a host system 200 installed outside the facility 100 via a network such as the Internet. In this case, for example, the transport control system 7 can transmit information to the host system 200 and receive information from the host system 200. As an example, the transport control system 7 receives shipping instruction information from the host system 200 instructing the shipment of item B1. The host system 200 is realized by a server or the like. In this embodiment, the host system 200 is not included in the components of the transport system 10, but the host system 200 may be included in the components of the transport system 10.

The control unit 72 executes various processes, such as controlling or monitoring the status of each of the first conveying device 1, the second conveying device 5, and the picking device 2. Specifically, the control unit 72 performs control to move the first conveying device 1 by outputting information such as an electronic map and control instructions to the first conveying device 1. At this time, the control unit 72 estimates at least the current position of the first conveying device 1 from the detection results of the detection unit provided in the first conveying device 1, and determines the movement route of the first conveying device 1 to the target point (target node) (route plan). The control unit 72 controls the first conveying device 1 so that the first conveying device 1 moves along this movement route. This realizes remote control of the first conveying device 1. Similarly, the control unit 72 remotely controls the second conveying device 5 and the picking device 2.

The memory unit 73 stores at least information, such as an electronic map, necessary for controlling or monitoring the status of each of the first conveying device 1, the second conveying device 5, and the picking device 2. Furthermore, the memory unit 73 stores information (such as addresses) for identifying each of the first conveying device 1, the second conveying device 5, and the picking device 2. The memory unit 73 includes a rewritable non-volatile memory such as an EEPROM (Electrically Erasable Programmable Read-Only Memory).

The transport control system 7 further includes a user interface, etc. The user interface is a device for accepting operations by a user (worker) and presenting information to the user. As a result, in this embodiment, the user can directly give shipping instructions to the transport control system 7 by operating the user interface.

The first conveying device 1 and the second conveying device 5 are both automated guided vehicles (AGVs). That is, each of the first conveying device 1 and the second conveying device 5 travels autonomously on a flat moving surface such as the floor surface of the facility 100. Here, as an example, both the first conveying device 1 and the second conveying device 5 are equipped with a storage battery and operate using electrical energy stored in the storage battery.

In this embodiment, the first conveying device 1 travels on the moving surface while connected to the object 3 to be conveyed, as shown in FIG. 2A. As a result, the first conveying device 1 can convey, for example, the object 3 placed at a certain location in the facility 100 to another location in the facility 100. In this disclosure, "connected" means that an object is mechanically connected to the first conveying device 1 and the second conveying device 5. In a state in which the first conveying device 1 is connected to the object 3 to be conveyed, when the first conveying device 1 moves, the object 3 to be conveyed moves together with the first conveying device 1. In addition, in a state in which the second conveying device 5 is connected to the transport device 4, when the second conveying device 5 moves, the transport device 4 moves together with the second conveying device 5. Here, examples of the connection between the first conveying device 1 and the object 3 to be conveyed include a mode in which the first conveying device 1 slips under the object 3 to hold the object 3 to be conveyed, a mode in which the first conveying device 1 tows the object 3 to be conveyed, and a mode in which the first conveying device 1 pushes the object 3 to be conveyed (from behind). The manner of connection between the second conveying device 5 and the transport equipment 4 is similar to the manner of connection between the first conveying device 1 and the object to be conveyed 3. The "connection" manner also includes a manner in which the first conveying device 1 or the second conveying device 5 lifts the object to be conveyed 3 or the transport equipment 4 with a robot arm, a crane, or the like.

2C, the second conveying device 5 travels on the moving surface of the facility 100 while connected to the transport equipment 4. This allows the second conveying device 5 to, for example, transport the transport equipment 4 located at one location in the facility 100 to another location in the facility 100.

The configurations of the first conveying device 1 and the second conveying device 5 are described in detail in sections "(2.3) First conveying device" and "(2.4) Second conveying device".

The picking device 2 is a device that performs sorting work in the sorting area A3, by sorting and loading the items B1 contained in the transport target 3 onto transport equipment 4 placed in the delivery destination-specific temporary storage areas A41 to A46. In this embodiment, the picking device 2 is a stationary device installed in the sorting area A3 of the facility 100. The picking device 2 performs the work of removing the items B1 from the transport target 3 in the sorting area A3. In other words, the picking device 2 does not move around the facility 100, but performs the work of removing the items B1 from the transport target 3 transported to the sorting area A3 by the first transport device 1, and loading them onto the transport equipment 4 placed in the delivery destination-specific temporary storage areas A41 to A46.

As shown in FIG. 2B, the picking device 2 has a base 20 and an articulated arm unit 21. The base 20 of the picking device 2 is fixed at a fixed position in the sorting area A3, and the tip of the arm unit 21 moves as the arm unit 21 operates. The picking device 2 loads the item B1 onto the transport target 3 by moving the tip of the arm unit 21 while holding the item B1 at the tip of the arm unit 21. This allows for tasks such as removing the item B1 from the transport target 3 and loading it onto the transport equipment 4 to be performed. Here, the holding of the item B1 at the tip of the arm unit 21 is achieved by any appropriate means, such as suction (air or magnetic force), gripping, or adhesion.

As described above, each of the first conveying device 1, the second conveying device 5 and the picking device 2 is capable of communicating with the conveying control system 7 and operates based on control instructions from the conveying control system 7.

In other words, the conveying system 10 according to this embodiment is a system used to move a conveying target 3 containing items B1 to a sorting area A3, and sort and load the items onto multiple transport devices 4 in the sorting area A3 to be delivered to multiple destinations. The conveying system 10 includes a first conveying device 1 and a conveying control system 7 that controls the first conveying device 1. Such a conveying system 10 makes it possible to realize a method for supporting sorting work of items B1.

(2.2) Transport Object and Transporting Equipment Next, the configurations of the transport object 3 transported by the first transporting device 1 and the transporting equipment 4 transported by the second transporting device 5 will be described with reference to FIGS. 2A to 2D.

As shown in Figure 2A, the object to be transported 3 has a shelf body 30 and one or more (here, four) shelf boards 31.

The shelf body 30 is formed as a whole in a shape that is taller than its width and depth, i.e., a rectangular parallelepiped that is long in the vertical direction. The shelf body 30 is formed in a box shape with five sides surrounded by plates and one side (the front) open. In this embodiment, as an example, the shelf body 30 is approximately square in plan view. In addition, multiple (here, four) legs 32 protrude from the four corners of the bottom surface of the shelf body 30. The internal space of the shelf body 30 serves as a storage space for item B1.

In particular, in this embodiment, the internal space of the shelf body 30 has a shape in which the height is greater than the width and depth, that is, a rectangular parallelepiped that is long in the vertical direction. Therefore, in order to efficiently store items B1 in such an internal space, one or more (four in this case) shelf boards 31 are used to form multiple vertical tiers of storage areas for items B1. In other words, the one or more (four in this case) shelf boards 31 divide the internal space of the shelf body 30 into multiple (four in this case) vertical spaces, and each divided space can store items B1.

The transport object 3 configured in this manner is not fixed to structures such as pillars or walls in the facility 100, and is used while placed on the moving surface of the facility 100. For example, the transport object 3 is arranged in a row in the storage area A1 (see FIG. 1) of the facility 100. This allows multiple items B1 to be stored for multiple transport objects 3, and the space in the storage area A1 can be used effectively. In addition, since the bottom surface of the transport object 3 is raised above the moving surface by the multiple legs 32, a certain height of space is secured between the bottom surface of the transport object 3 (shelf body 30) and the moving surface. In this embodiment, it is assumed that multiple items B1 of the same type are stored in one transport object 3, but multiple items B1 of two or more types (e.g., sponge cakes, roll cakes, cream puffs, and cookies) may be stored in one transport object 3.

On the other hand, in this embodiment, the transport equipment 4 is, as an example, a roll box pallet (cage cart). Therefore, as shown in FIG. 2C, the transport equipment 4 has a cage body 41 and multiple (four in this case) casters 42.

The cage body 41 is generally formed in a shape that is taller than its width and depth, i.e., a rectangular parallelepiped that is long in the vertical direction. Three sides of the cage body 41 are surrounded by fences in a plan view, and one side is open. In this embodiment, as an example, the cage body 41 is approximately square in plan view.

The casters 42 are attached to the underside of the car body 41. The casters 42 are arranged at the four corners of the underside of the car body 41. Each of the casters 42 is made of a swivel wheel whose rotation axis direction in a plan view is variable.

The transport equipment 4 configured in this manner can move on a moving surface, such as the floor surface of the facility 100, while rotating the casters 42, with the item B1 loaded on the cage body 41. The cage body 41 can carry multiple items B1. In addition, because the cage body 41 is suspended above the moving surface by the multiple casters 42, a certain height of space is secured between the bottom surface of the transport equipment 4 (cage body 41) and the moving surface.

(2.3) First conveying device Next, the conveying device (first conveying device 1) used in the sorting operation support method according to the present embodiment will be described in more detail with reference to Fig. 2A. In this embodiment, the conveying system 10 includes a plurality of first conveying devices 1, but the following description will focus on any one of the first conveying devices 1 unless otherwise specified. The following description can be applied to all the remaining first conveying devices 1 in the same manner.

As described above, the first conveying device 1 is an unmanned guided vehicle that travels autonomously on the moving surface of the facility 100. Furthermore, the first conveying device 1 is connected to the object to be conveyed 3, which is composed of a movable shelf, as described above, and has the function of conveying the object to be conveyed 3.

The first conveying device 1 comprises a vehicle body 11 and a plurality of wheels 12. Some of the plurality of wheels 12 are driving wheels, for example omni-directional wheels such as omni-wheels, and the rest are driven wheels. The first conveying device 1 can move in a desired direction by rotating the driving wheels in the desired direction at a desired rotational speed.

The vehicle body section 11 is formed in a rectangular parallelepiped shape that is square in plan view. The vehicle body section 11 is capable of traveling on a moving surface. The vehicle body section 11 is provided with a lifting section. The lifting section covers at least a portion of the upper surface of the vehicle body section 11 and is configured to be able to rise and fall relative to the vehicle body section 11. The lifting section receives power from a power source (motor, etc.) and rises and falls relative to the vehicle body section 11. The first conveying device 1 enters below the shelf body 30 of the object to be conveyed 3 and is connected to the object to be conveyed 3 by raising the lifting section to lift the shelf body 30.

The first conveying device 1 also detects the behavior of the vehicle body unit 11 and the surrounding conditions of the vehicle body unit 11. Here, "behavior" means movement and appearance. In other words, the behavior of the vehicle body unit 11 includes the operating state of the vehicle body unit 11 indicating whether the vehicle body unit 11 is running or stopped, the speed (and speed change) of the vehicle body unit 11, the acceleration acting on the vehicle body unit 11, and the attitude of the vehicle body unit 11.

Specifically, the detection unit includes sensors such as a speed sensor, an acceleration sensor, and a gyro sensor, and detects the behavior of the vehicle body 11 using these sensors. The detection unit also includes sensors such as an image sensor (camera), a sonar sensor, a radar, and a LiDAR (Light Detection and Ranging), and detects the surrounding conditions of the vehicle body 11 using these sensors. The surrounding conditions of the first conveying device 1 include, for example, the presence or absence of an object (obstacle, etc.) in front of the first conveying device 1 in the traveling direction, and the position (distance and direction) of the object. The obstacles include other first conveying devices 1, conveying targets 3, and people. The detection unit further includes multiple step sensors and multiple bumper sensors. The step sensor is, for example, an optical distance sensor that detects steps on the moving surface by shining light on the moving surface. The bumper sensor detects that the vehicle body 11 has come into contact with an obstacle while moving.

The detection unit also has a position identification unit that identifies the position of the vehicle body unit 11, i.e., the current position of the first conveying device 1. As an example, the position identification unit includes a receiver that receives beacon signals transmitted by radio waves from multiple transmitters. The multiple transmitters are arranged at multiple locations within the range in which the first conveying device 1 moves. The position identification unit measures the position of the vehicle body unit 11 based on the positions of the multiple transmitters and the received radio wave strength of the beacon signal at the receiver. The position identification unit may be realized using a satellite positioning system such as GPS (Global Positioning System).

The detection unit also measures the number of rotations of the wheels 12 (e.g., drive wheels) and estimates the position of the vehicle body 11 based on information such as the measured number of rotations of the wheels 12. In other words, in this embodiment, the position of the vehicle body 11 is estimated primarily based on an electronic map acquired in advance, the detection results of the various sensors described above, and so-called dead-reckoning (DR).

The vehicle body 11 moves autonomously on the moving surface by individually driving the multiple drive wheels based on the detection results of the detection unit. The first conveying device 1 determines the movement path of the vehicle body 11 to the destination based on at least the current position of the vehicle body 11 (route planning), and operates the vehicle body 11 so that the vehicle body 11 moves along this movement path. This allows the first conveying device 1 to travel autonomously.

In addition, the first conveying device 1 is appropriately equipped with other configurations than those described above, such as a communication circuit, a battery charging circuit, and a user interface.

(2.4) Second Conveyor Device Next, the configuration of the second conveyor device 5 used in the sorting operation support method according to the present embodiment will be described in more detail. In the present embodiment, the conveyor system 10 includes a plurality of second conveyor devices 5, but the following description will focus on any one of the second conveyor devices 5 unless otherwise specified. The following description can be applied to all the remaining second conveyor devices 5 in the same manner.

As described above, the second conveying device 5 is an unmanned guided vehicle that autonomously travels on the moving surface of the facility 100. Furthermore, the second conveying device 5 is connected to the transport equipment 4 as described above, and has the function of transporting the transport equipment 4.

The second conveying device 5 includes a main body 51 and a plurality of wheels. The main body 51 is formed in a rectangular parallelepiped shape in a plan view. The plurality of wheels support the main body 51. Some of the plurality of wheels are drive wheels, and the main body 51 can run on the moving surface by rotating the drive wheels. The drive wheels of the second conveying device 5 are omnidirectional wheels such as omni-wheels. The second conveying device 5 runs on the moving surface by rotating the drive wheels in a desired direction at a desired speed. The main body 51 is provided with a lifting section. The lifting section covers at least a portion of the upper surface of the main body 51 and is configured to be able to rise and fall relative to the main body 51. The lifting section receives power from a power source (motor, etc.) and rises and falls relative to the main body 51. The second conveying device 5 enters the underside of the cage body 41 of the conveying equipment 4, and is connected to the conveying equipment 4 by raising the lifting section to lift the cage body 41.

The main body 51 has the same detection function as the detection unit of the first conveying device 1. The detection unit detects the behavior of the main body 51, the surrounding conditions of the main body 51, the position of the main body 51 (the current position of the second conveying device 5), etc. The main body 51 moves autonomously on the moving surface by driving the drive wheels based on the detection results of the detection unit. The second conveying device 5 determines the movement path of the main body 51 to the destination based on at least the current position of the main body 51 (route planning), and operates the main body 51 so that the main body 51 moves along this movement path. This realizes autonomous driving of the second conveying device 5.

In addition, the second conveying device 5 is appropriately equipped with other configurations than those described above, such as a communication circuit, a battery charging circuit, and a user interface.

In this embodiment, as shown in Figures 2A and 2C, the first conveying device 1 and the second conveying device 5 have different structures. That is, the first conveying device 1 is a device for conveying the object to be conveyed 3, and therefore has a structure adapted to the object to be conveyed 3, whereas the second conveying device 5 is a device for conveying the transport equipment 4, and therefore has a structure adapted to the transport equipment 4. It is not essential that the first conveying device 1 and the second conveying device 5 have different structures, and the first conveying device 1 and the second conveying device 5 may have the same structure.

(3) Operation Hereinafter, the operation of the conveying system 10 according to this embodiment, that is, the sorting operation support method according to this embodiment, will be described with reference to FIGS. 1 to 6. FIG. 1 is a schematic plan view of a facility 100. FIG. 2A is an explanatory diagram of a scene in which the first conveying device 1 conveys the object 3 to be conveyed from the storage area A1 to the sorting area A3. FIG. 2B is an explanatory diagram of a scene in which the picking device 2 performs sorting work in the sorting area A3. FIG. 2C is an explanatory diagram of a scene in which the second conveying device 5 conveys the transport device 4 from the sorting area A3 to the shipping area A5. FIG. 2D is an explanatory diagram of a scene in which the second conveying device 5 loads the transport device 4 onto the truck 6 in the shipping area A5. Note that each arrow in FIGS. 1 and 4-6 merely represents the direction in which an object (e.g., the object 3 to be conveyed) moves, and does not have any substance.

(3.1) Premise The conveying system 10 according to the present embodiment starts a series of operations, for example, when the conveying control system 7 receives shipping instruction information from the upper system 200. The shipping instruction information is information instructing the shipment of the item B1, and includes item information for identifying the item B1 and delivery destination information indicating the delivery destination of the item B1. The "item information" in this disclosure is information for identifying the item B1, and is, for example, an identification code such as the JAN (Japanese Article Number) code used in Japan. In addition to the JAN code, this type of identification code includes the EPC (Electronic Product Code), the EAN (European Article Number) code used in Europe, and the UPC (Universal Product Code) used in the United States. In addition, the item information is not limited to information for identifying the type (kind) of the item B1, and may include information such as lot information and serial information for individually identifying the same item B1. As a result, even if there are multiple items B1 of the same type, each of the multiple items B1 of the same type can be identified by the item information.

As shown in FIG. 1, facility 100 has a number of areas including at least storage area A1, lateral movement area A2, sorting area A3, temporary storage area A4 (including temporary storage areas A41-A46 by delivery destination), and shipping area A5. Storage area A1, lateral movement area A2, sorting area A3, temporary storage area A4, and shipping area A5 are arranged in the stated order. Picking device 2 provided in sorting area A3 can access both the transport target 3 present in lateral movement area A2 and the transport equipment 4 present in temporary storage area A4. Therefore, picking device 2 can perform sorting work by removing item B1 from transport target 3 present in lateral movement area A2 and transferring it to transport equipment 4 present in temporary storage area A4.

In the storage area A1, a transport object 3 (e.g., a movable shelf) that contains the item B1 is stored. In the temporary storage area A4, a plurality of (e.g., six in FIG. 1) temporary storage areas A41-A46 for delivery destinations are set, in which a plurality of transport devices 4 corresponding to each of the plurality of delivery destinations are placed one by one. The plurality of temporary storage areas A41-A46 for delivery destinations are set to be aligned along the arrangement direction DR1. The lateral movement area A2 includes the sorting area A3 and at least a portion of the intermediate area between the sorting area A3 and the storage area A1, and in this embodiment, the lateral movement area A2 is set to include a portion of the sorting area A3. The lateral movement area A2 may be set to include an intermediate area between the sorting area A3 and the storage area A1 (the area between the sorting area A3 and the storage area A1 in the facility 100). The lateral movement area A2 extends along the arrangement direction DR1, and the transport object 3 can move along the arrangement direction DR1 in the lateral movement area A2. The shipping area A5 is an area for transporting the goods B1 together with the transport equipment 4 loaded with the goods B1 from the facility 100, and is an area for loading the transport equipment 4 onto a transport means for transporting the goods B1 from the facility 100 to another facility. The "transport means" in this disclosure is a transportation facility capable of transporting the goods B1 from the facility 100 to another facility, and includes automobiles such as trucks 6, wagons, and buses, railways (including freight trains), ships, and aircraft. In addition, the "other facility" in this disclosure is a facility other than the facility 100, and is, for example, a destination of the goods B1 shipped from the facility 100, and may be, for example, a store selling the goods B1 or a distribution center for the goods B1. In addition, the goods B1 may be transferred to multiple transport means while transporting the goods B1 from the facility 100 to another facility.

In addition, in this embodiment, it is assumed that all processes (first conveying process, second conveying process, and third conveying process) included in the sorting work support method are executed by the devices (first conveying device 1, picking device 2, and second conveying device 5). This makes it possible to automate all steps of the sorting work support method. In other words, with the sorting work support method according to this embodiment, even if the facility 100 is unmanned, it is possible to ship item B1 from the facility 100. However, this is not intended to be limited to unmanned facilities 100, and the sorting work support method according to this embodiment can be adopted even in manned facilities 100. In this embodiment, the sorting work is performed by a device (picking device 2), but the sorting work may also be performed by a person.

In addition, the devices for realizing the sorting work support method (the first conveying device 1, the picking device 2, and the second conveying device 5) are integratedly controlled by the conveying control system 7. As a result, the conveying control system 7 can integratedly control the devices for realizing the sorting work support method (the first conveying device 1, the picking device 2, and the second conveying device 5), and can operate each device efficiently.

In the following, as shown in Figures 1 to 2D, a scene is assumed in which shipping instruction information instructs the shipping of items B1 to be shipped for each delivery destination from among multiple types of items B1 stored in storage area A1, and the items B1 to be shipped are sorted for two or more delivery destinations. Then, when the task of loading one or more items B1 to be shipped for each delivery destination onto a transport device 4 is completed, the transport device 4 is loaded onto a truck 6 parked in shipping area A5 (truck berth), and the truck 6 transports the items 4 from facility 100 to another facility. In this manner, the multiple items B1 specified in the shipping instruction information are shipped from facility 100.

(3.2) Specific Example As described above, the sorting operation support method according to this embodiment includes the first conveying process, the second conveying process, and the third conveying process.

The sorting work support method according to this embodiment further includes a sorting process and a shipping process. The sorting process is a process in which, in the sorting area A3, multiple items B1 contained in the transport target 3 are sorted and loaded onto transport equipment 4 provided for each delivery destination. The shipping process is a process in the shipping area A5 in which, by the second transport device 5, the transport equipment 4 is loaded onto a transport means (truck 6).

First, when the transport control system 7 receives shipping instruction information from the host system 200, the transport control system 7 identifies the location of the item B1 identified by the shipping instruction information. The shipping instruction information is output from the host system 200, triggered, for example, by the arrival or approach of a truck 6 at the shipping area A5 (truck berth). The shipping instruction information may be output from the host system 200 in accordance with the delivery time of the item B1 based on delivery request information (information such as the type, quantity, and delivery time of the item 1 to be delivered) received by the host system 200 from multiple delivery destinations. The item B1 to be shipped is stored in one or more of the multiple transport targets 3 (movable shelves) arranged in the storage area A1. Therefore, the transport control system 7 selects the transport target 3 in which the item B1 to be shipped is stored from the multiple transport targets 3.

In the first conveying process, as shown in Fig. 2A, the first conveying device 1 moves the conveying object 3 (movable shelf) containing the item B1 to be shipped from the storage area A1 to the sorting area A3. That is, since multiple conveying objects 3 are arranged in the storage area A1, the conveying object 3 selected by the conveying control system 7 from among these multiple conveying objects 3, that is, the conveying object 3 containing the item B1 to be shipped, is conveyed to the sorting area A3 by the first conveying device 1.

Specifically, the conveying control system 7 transmits a control instruction including the position information of the selected conveying object 3 (or the identification information of the conveying object 3) to any one of the multiple first conveying devices 1. As a result, the first conveying device 1 that has received the control instruction is first coupled to the conveying object 3 in which the item B1 to be shipped is stored in the storage area A1. At this time, the first conveying device 1 slips under the movable shelf that is the conveying object 3, and lifts the conveying object 3 to a position where the legs 32 of the conveying object 3 are completely separated from the moving surface, thereby being coupled to the conveying object 3 (see FIG. 2A). Then, while coupled to the conveying object 3, the first conveying device 1 conveys the conveying object 3 that stores the item B1 from the storage area A1 to the sorting area A3.

Here, based on FIG. 4, the explanation will be given with attention to the four delivery destination-specific temporary storage areas A41 to A44 set in the temporary storage area A4. As shown in FIG. 4, when the item B1 contained in the transport target 3 is delivered to, for example, four delivery destinations (stores), in the sorting area A3, the item B1 is sorted and loaded onto the transport devices 4A to 4D corresponding to the four delivery destinations. The four transport devices 4A to 4D are temporarily stored in the four delivery destination-specific temporary storage areas A41 to A44 corresponding to the four delivery destinations in the temporary storage area A4. The sorting area A3 has multiple picking devices 2 that are the main operators in the sorting work. In the example of FIG. 4, in the sorting area A3, a picking device 2A is placed between the take-out areas A21 and A22, and a picking device 2B is placed between the take-out areas A23 and A24. Therefore, the sorting work of the transport objects 3 placed in the take-out areas A21 and A22 to the transport equipment 4A and 4B is performed by the picking device 2A, and the sorting work of the transport objects 3 placed in the take-out areas A23 and A24 to the transport equipment 4C and 4D is performed by the picking device 2B.

When the picking devices 2A and 2B perform a sorting operation to sort the items B1 contained in the transport target 3 into the four transport devices 4A to 4D, the transport target 3 is moved into the lateral movement area A2 by the first transport device 1. In the lateral movement area A2, four take-out areas A21 to A24 are set corresponding to the four delivery destination-specific temporary storage areas A41 to A44. The take-out areas A21 to A24 are set in the lateral movement area A2 at locations relatively close to the corresponding delivery destination-specific temporary storage areas A41 to A44. In the example of FIG. 4, two picking devices 2A and 2B are arranged, and in the second transport process, the transport target 3 is transported so that it moves between the multiple take-out areas A21 to A24 where multiple work entities (two picking devices 2A and 2B) perform sorting operations. As a result, by moving one transport object 3 between the multiple take-out areas A21-A24, the sorting work of the items B1 can be performed in each of the multiple take-out areas A21-A24. Therefore, when sorting work is performed in each of the multiple take-out areas A21-A24, the number of transport objects 3 moving within the lateral movement area A2 can be reduced, and congestion of multiple transport objects 3 within the lateral movement area A2 can be suppressed.

Specifically, the transport control system 7 performs a sorting operation of loading items B1 from the transport target 3 onto the transport equipment 4A with the picking device 2A, while the first transport device 1 has moved the transport target 3 to the take-out area A21 at one end of the arrangement direction DR1 in the lateral movement area A2. When the loading of items B1 onto the transport equipment 4A is completed, the transport control system 7 performs a sorting operation of loading items B1 from the transport target 3 onto the transport equipment 4B with the picking device 2A, while the first transport device 1 has moved the transport target 3 to the take-out area A22 next to the take-out area A21. When the loading of items B1 onto the transport equipment 4B is completed, the transport control system 7 performs a sorting operation of loading items B1 from the transport target 3 onto the transport equipment 4C with the picking device 2B, while the first transport device 1 has moved the transport target 3 to the take-out area A23 next to the take-out area A22. When loading of item B1 onto the transport equipment 4C is completed, the transport control system 7 moves the object 3 to be transported to the removal area A24 adjacent to the removal area A23 using the first transport device 1, and then performs sorting work to load item B1 from the object 3 to the transport equipment 4D using the picking device 2B.

Then, when loading of item B1 onto transport equipment 4D is completed, transport control system 7 performs a third transport process in which first transport device 1 transports object 3 from lateral movement area A2 to storage area A1. When object 3 arrives at a predetermined position within storage area A1, first transport device 1 unloads object 3, thereby releasing the connection with object 3, and stores object 3 in storage area A1.

In this way, in the second transfer process, the transfer control system 7 moves the transfer target 3 in one direction along the arrangement direction DR1 within the lateral movement area A2. If multiple transfer targets 3 move in multiple directions within the lateral movement area A2, there is a possibility that the multiple transfer targets 3 may interfere with each other, but by moving the multiple transfer targets 3 in one direction along the arrangement direction DR1, the multiple transfer targets 3 can be moved smoothly.

In addition, in the third transfer process, the transfer control system 7 moves the object 3 to be transferred to the storage area A1 from a second location (exit) G2 that is different from the first location (entrance) G1 where the object 3 to be transferred enters the lateral movement area A2 from the storage area A1 (see FIG. 4). In this way, the first location G1 where the object 3 to be transferred enters the lateral movement area A2 is separated from the second location G2 where the object 3 to be transferred exits the lateral movement area A2, so congestion at the entrance and exit is suppressed and the object 3 to be transferred can be moved smoothly.

When multiple types of items B1 are loaded onto the transport equipment 4, the transport control system 7 moves the multiple transport targets 3, each of which contains multiple types of items B1, one by one to the sorting area A3 using the first transport device 1 based on shipping instruction information from the upper system 200. That is, the transport control system 7 performs the above-mentioned first transport process and second transport process for each of the multiple transport targets 3 to perform sorting work using the picking device 2, and then performs the third transport process to move the transport targets 3 to the storage area A1. Then, when the loading of the items B1 onto the transport equipment 4 is completed, the transport control system 7 transports the transport equipment 4 on which the loading of the items B1 has been completed to the shipping area A5 using the second transport device 5, and performs shipping processing to load the transport equipment 4 onto a truck 6.

Here, in order to sort the item B1 from one transport target 3 to multiple transport devices 4 in the temporary storage area A4, multiple transport devices 4 that sort the same type of item B1 at the same time must be placed in the temporary storage area A4. Therefore, the transport control system 7 determines the arrangement of two or more transport devices 4 so that the transport devices 4 for two or more delivery destinations to which the same type of item B1 is delivered are located as close as possible in the multiple delivery destination-specific temporary storage areas A41 to A46 based on, for example, shipping instruction information obtained from the upper system 200. As shown in FIG. 4, if the transport devices 4A to 4D for four delivery destinations to which the same type of item B1 is delivered are arranged adjacent to each other, the transport target 3 containing the item B1 can be moved in order to the four take-out areas A21 to A24, and the sorting work can be performed in each of the take-out areas A21 to A24. In addition, it is unlikely that the types of items B1 to be delivered to one delivery destination and another delivery destination are all the same, and the transport control system 7 may stop the transport target 3 only at the take-out area corresponding to the delivery destination of the item B1 contained in the transport target 3 and perform the take-out operation. For example, as shown in Fig. 5, when the item B1 contained in the transport target 3 is loaded onto the transport devices 4A, 4B, and 4D arranged in the delivery destination-specific temporary storage areas A41, A43, and A44, the transport target 3 may be moved in order to the take-out areas A21, A23, and A24 to perform the sorting operation.

In this embodiment, there are multiple types of items B1 stored in the storage area A1. The transport control system 7 sets a combination of multiple delivery destinations corresponding to multiple delivery destination-specific temporary storage areas A41 to A46 based on information regarding the matching of the types of items B1 to be sorted (i.e., items B1 to be delivered to multiple delivery destinations). Here, the information regarding the matching of the types of items B1 to be sorted may include information regarding the number of types of items B1 that are the same type as the multiple types of items B1 to be delivered to a certain delivery destination, among the multiple types of items B1 to be delivered to another delivery destination. In addition, the information regarding the matching of the types of items B1 to be sorted may include information regarding the ratio (matching rate) of the number of types of items B1 that are the same type as the items B1 to be delivered to another delivery destination to the number of types of items B1 to be delivered to a certain delivery destination. In other words, the information regarding the matching of the types of items B1 to be sorted may include at least one of the matching number and the matching rate, but the following will explain the case where the information regarding the matching of the types of items B1 to be sorted is the matching number.

For example, when 40 types of items B1 are sorted into the transport device 4A, if 20 of the 40 types of items B1 sorted into the transport device 4A are common to the items B1 sorted into the transport device 4B, the number of matching types of items B1 between the destination of the transport device 4A and the destination of the transport device 4B is 20. In this case, 20 of the 40 transport targets 3 transported to the sorting area A3 to load the items B1 onto the transport device 4A are moved to the take-out area A22 within the lateral movement area A2, and loaded onto the transport device 4B. Here, if four delivery destination-specific temporary storage areas A41 to A44 are set in the temporary storage area A4, it is preferable to set the combination of the transport devices 4 to be placed in the four delivery destination-specific temporary storage areas A41 to A44 based on information regarding the matching of the types of items B1 to be sorted. The transport control system 7 selects any four delivery destinations from among the multiple delivery destinations, and obtains information regarding the matching of the types of items B1 to be sorted between each of the selected four delivery destinations. Then, the number of matching items is calculated for any two of the four selected delivery destinations, and the transport equipment 4 for the four delivery destinations with the largest total number is placed in the four delivery destination-specific temporary storage areas A41 to A44. This makes it possible to determine the transport equipment 4 to be placed in the multiple delivery destination-specific temporary storage areas, i.e., multiple delivery destinations corresponding to the multiple delivery destination-specific temporary storage areas, so as to minimize the distance of lateral movement in the lateral movement area A2.

The transport control system 7 may determine the placement of the transport equipment 4 in the multiple temporary storage areas for different delivery destinations such that the transport equipment 4 for a delivery destination with a higher number of matches for item B1 is placed in the nearby temporary storage areas for different delivery destinations A41 to A44. The transport control system 7 may also determine a combination of transport equipment 4 (i.e., a combination of delivery destinations) to be placed in the multiple temporary storage areas for different delivery destinations such that the matching rate of item B1 is higher in the multiple temporary storage areas for different delivery destinations. The transport control system 7 may also determine the transport equipment 4 to be placed in the multiple temporary storage areas for different delivery destinations by further taking into consideration the frequency of deliveries to each delivery destination, the frequency and quantity of item B1 delivered to each delivery destination, etc.

In addition, in the second transport process, the transport control system 7 determines the order of movement between two or more pick-up areas A21-A24 based on information about the item B1 contained in the transport target 3. That is, the transport control system 7 determines the order of movement so that the item B1 contained in the transport target 3 moves in order through the pick-up areas corresponding to the delivery destinations of the item B1. For example, in the lateral movement area A2, the transport control system 7 does not move the transport target 3 to all pick-up areas, but rather moves the transport target 3 only to the pick-up area corresponding to the delivery destination of the item B1.

In addition, when the number of shipments of the same type of item B1 is large, multiple transport objects 3 containing the same type of item B1 may be moved to the sorting area A3 at the same time, and multiple picking devices 2 may simultaneously sort the multiple transport objects 3 to the transport equipment 4 at the delivery destination. Here, moving multiple transport objects 3 to the sorting area A3 at the same time is not limited to moving them to the sorting area A3 at the same time. Moving multiple transport objects 3 to the sorting area A3 at the same time may include, for example, moving multiple transport objects 3 to the sorting area A3 so that multiple transport objects 3 are present in the sorting area A3 at a certain time.

For example, as shown in FIG. 6, two transport objects 3 may be moved to the sorting area A3 at the same time, and two picking devices 2A and 2B may simultaneously perform sorting work from the two transport objects 3 to the transport equipment 4 at the delivery destination. For example, the transport control system 7 causes two first transport devices 1 to move two transport objects 3 to two take-out areas A21 and A23, respectively, and causes the picking devices 2A and 2B to perform work to sort items B1 from the two transport objects 3 to the transport equipment 4A and 4C. When the sorting work to the transport equipment 4A is completed, the transport control system 7 causes the first transport device 1 to move the transport object 3 to the take-out area A22, and causes the picking device 2A to perform work to sort items B1 from the transport object 3 to the transport equipment 4B. Then, when the sorting work to the transport equipment 4B is completed, the transport control system 7 causes the first transport device 1 to move the transport object 3 to the storage area A1. Furthermore, when the sorting work for the transport equipment 4C is completed, the transport control system 7 causes the first transport device 1 to move the transport target 3 to the take-out area A24, and causes the picking device 2B to sort the items B1 from the transport target 3 to the transport equipment 4D. Then, when the sorting work for the transport equipment 4D is completed, the transport control system 7 causes the first transport device 1 to move the transport target 3 to the storage area A1.

In this way, when there are a large number of items B1 of the same type to be delivered to multiple transport devices 4A-4D, the task of sorting the items B1 to the multiple transport devices 4A-4D may be shared among multiple transport targets 3 that contain the same type of items B1. This can reduce the time required to sort the same type of items B1 to the multiple transport devices 4A-4D.

In other words, in this embodiment, the transport mode of the transport target 3 by the transport control system 7 includes a first transport mode and a second transport mode. The first transport mode is a transport mode in which one transport target 3 containing an item B1 is moved to two or more take-out areas A21 to A26, as shown in FIG. 4 and FIG. 5. The second transport mode is a transport mode in which each of the multiple transport targets 3 containing the item B1 is moved to the destination of two or more take-out areas A21 to A26, which are shared by the multiple transport targets 3, as shown in FIG. 6. And, at least in the first transport mode, the second transport process is performed. In this way, by performing the second transport process in the first transport mode in which one transport target 3 is moved to two or more take-out areas A21 to A26, the number of times the transport target 3 is moved back and forth between the storage area A1 and the sorting area A3 is reduced, which has the advantage of improving the efficiency of the sorting work. In addition, even in the second transport mode, the second transport process may be performed when at least one of the multiple transport objects 3 is moved to two or more destinations shared by the transport object 3, thereby reducing the number of times the transport object 3 is moved back and forth between the storage area A1 and the sorting area A3.

Here, the transport control system 7 simply switches the transport mode of the transport object 3 to either the first transport mode or the second transport mode based on information about the item B1 contained in the transport object 3.

For example, if the number of items B1 to be delivered to the transport equipment 4 is equal to or less than a predetermined reference value, the transport control system 7 sets the transport mode of the transport target 3 that contains the items B1 to the first transport mode, moves one transport target 3 to the multiple take-out areas A21 to A26, and performs sorting work. On the other hand, if the number of items B1 to be delivered to the transport equipment 4 is greater than the predetermined reference value, the transport control system 7 sets the transport mode of the transport target 3 that contains the items B1 to the second transport mode. The transport control system 7 assigns one or more take-out areas to each of the multiple transport targets 3 that contain the items B1, and shares the multiple take-out areas A21 to A26 among the multiple transport targets 3. Then, the transport control system 7 shares the multiple transport targets 3 and moves them to the multiple take-out areas A21 to A26, thereby efficiently sorting the items B1 among the multiple transport equipment 4.

In addition, when multiple transport objects 3 containing the same type of item B1 are moved to a sorting area A3 and the items B1 contained in the multiple transport objects 3 are sorted onto multiple transport devices 4, some of the multiple transport objects 3 may be used to sort the items B1 onto only one transport device 4.

As described above, in the sorting work support method according to this embodiment, the first conveying process, the second conveying process, the third conveying process, the sorting process, and the shipping process are executed to realize the shipping of the item B1 from the facility 100. As a result, the item B1 stored in the storage area A1 of the facility 100 is shipped from the facility 100 together with the transport equipment 4 to another facility.

(3.3) Flowchart The operation of the above-described conveyance system 10, that is, the sorting operation support method, is represented by the flowchart shown in FIG.

When the transport control system 7 receives, for example, shipping instruction information for the current day from the upper system 200 (S1), based on the shipping instruction information, the second transport device 5 moves the transport equipment 4 corresponding to multiple delivery destinations to the temporary storage areas A41 to A46 for each delivery destination.

The transport control system 7 also determines the order in which the transport objects 3 containing the items B1 to be shipped are moved based on the shipping instruction information (S2). The transport control system 7 determines the pick-up area to which the transport objects 3 are moved from among the multiple pick-up areas A21 to A26, and further determines the order in which the transport objects 3 are moved.

The transport control system 7 performs a first transport process in which the first transport device 1 moves the transport target 3 containing the item B1 to be delivered from the storage area A1 to the sorting area A3 (S3). When the transport target 3 arrives at the removal area, the transport control system 7 causes the picking device 2 to perform a sorting operation in which the item B1 is removed from the transport target 3 in the sorting area A3 and loaded onto the transport equipment 4 (S4).

The transport control system 7 determines whether sorting of item B1 to all delivery destinations has been completed (S5).

If sorting of item B1 to all delivery destinations has not been completed (S5: No), the transport control system 7 performs a second transport process in which the transport object 3 is moved to the next pick-up area in the lateral movement area A2 (S6), and causes the picking device 2 to load item B1 onto the transport equipment 4.

When sorting of the item B1 to all delivery destinations is completed (S5: Yes), the transport control system 7 performs a third transport process to move the item 3 to be transported from the sorting area A3 to the storage area A1 (S7), and stores the item 3 in the storage area A1. The item 3 returned to the storage area A1 is appropriately replenished with the item B1.

Furthermore, when loading of all items B1 onto the transport equipment 4 is completed, the transport control system 7 causes the second transport device 5 to move the transport equipment 4 to the shipping area A5 and loads the transport equipment 4 onto the truck 6. When loading of the transport equipment 4 is completed, the truck 6 transports the transport equipment 4 to the destination.

Note that the flowchart in Figure 7 is merely one example of a sorting work support method, and the order of the processes may be changed as appropriate, or any of the processes may be omitted as appropriate.

(4) Modifications The above embodiment is merely one of various embodiments of the present disclosure. The above embodiment can be modified in various ways depending on the design, etc., as long as the object of the present disclosure can be achieved. In addition, a function similar to that of the conveying control system 7 may be embodied in a sorting operation support method, a computer program, or a non-transitory recording medium on which a program is recorded, etc. The sorting operation support method according to one aspect includes the above-mentioned first conveying process, second conveying process, and third conveying process. The (computer) program according to one aspect is a program for causing one or more processors to execute the above-mentioned sorting operation support method (the first conveying process, the second conveying process, and the third conveying process).

Below, we list some variations of the above embodiment. The variations described below can be combined as appropriate.

The transport control system 7, the first transport device (transport device) 1, the picking device 2, and the second transport device 5 in the present disclosure include a computer system. The computer system is mainly composed of a processor and a memory as hardware. The processor executes a program recorded in the memory of the computer system to realize the functions of the transport control system 7, the first transport device 1, the picking device 2, and the second transport device 5 in the present disclosure. The program may be pre-recorded in the memory of the computer system, may be provided through an electric communication line, or may be recorded and provided in a non-transitory recording medium such as a memory card, an optical disk, or a hard disk drive that can be read by the computer system. The processor of the computer system is composed of one or more electronic circuits including a semiconductor integrated circuit (IC) or a large-scale integrated circuit (LSI). The integrated circuits such as IC or LSI here are called by different names depending on the degree of integration, and include integrated circuits called system LSI, VLSI (Very Large Scale Integration), or ULSI (Ultra Large Scale Integration). Furthermore, a field-programmable gate array (FPGA) that is programmed after the manufacture of an LSI, or a logic device that allows reconfiguration of the connection relationship within the LSI or reconfiguration of the circuit partition within the LSI, can also be adopted as a processor. The electronic circuits may be integrated into one chip, or may be distributed among multiple chips. The chips may be integrated into one device, or may be distributed among multiple devices. The computer system referred to here includes a microcontroller having one or more processors and one or more memories. Therefore, the microcontroller is also composed of one or more electronic circuits including a semiconductor integrated circuit or a large-scale integrated circuit.

In addition, it is not essential for the transport control system 7, the first transport device 1, the picking device 2, and the second transport device 5 that multiple functions of the transport control system 7, the first transport device 1, the picking device 2, and the second transport device 5 are concentrated in one housing, and the components of the transport control system 7, the first transport device 1, the picking device 2, and the second transport device 5 may be distributed across multiple housings. Furthermore, at least some of the functions of the transport control system 7, the first transport device 1, the picking device 2, and the second transport device 5 may be realized by the cloud (cloud computing) or the like.

In the above embodiment, the object to be transported 3 is a movable shelf that stores multiple items B1, but the object to be transported 3 may be a self-propelled shelf that stores multiple items B1. In other words, the object to be transported 3 may have the function of a transport device that transports items B1.

(summary)
As described above, the sorting operation support method of the first aspect includes a first conveying process, a second conveying process, and a third conveying process. In the first conveying process, the object to be conveyed (3) is conveyed from a storage area (A1) in which the object to be conveyed (3) is stored to a sorting area (A3). The object to be conveyed (3) contains a plurality of items (B1). The sorting area (A3) is an area in which a sorting operation is performed to sort the items (B1) into a plurality of temporary storage areas (A41 to A46) for each delivery destination that are arranged in a predetermined arrangement direction (DR1) corresponding to each of a plurality of delivery destinations. In the second conveying process, the object to be conveyed (3) is conveyed in a lateral movement area (A2) so as to move between two or more take-out areas (A21 to A26). The lateral movement area (A2) includes the sorting area (A3) and at least a part of the intermediate area between the storage area (A1) and the sorting area (A3), and is an area in which the transport object (3) can be transported along the arrangement direction (DR1). The two or more take-out areas (A21-A26) correspond to the two or more temporary storage areas (A41-A46) for different delivery destinations, among the multiple temporary storage areas for different delivery destinations (A41-A46), which correspond to the delivery destinations of the items (B1) contained in the transport object (3) being transported. In the third transport process, after a sorting operation for sorting the items (B1) is performed in the two or more take-out areas (A21-A26), the transport object (3) is transported from the lateral movement area (A2) to the storage area (A1).

According to this aspect, the efficiency of the sorting work of sorting items (B1) to multiple delivery destinations can be improved.

In the second aspect of the sorting work support method, there are multiple workers (2) performing the sorting work in the first aspect. In the second transport process, the transport object (3) is transported so that the transport object (3) moves between multiple removal areas (A21 to A26) where the multiple workers (2) perform the sorting work.

According to this aspect, the efficiency of the sorting work of sorting items (B1) to multiple delivery destinations can be improved.

In the third aspect of the sorting work support method, in the first or second aspect, in the second conveying process, the object to be conveyed (3) is moved in one direction along the arrangement direction (DR1) in the lateral movement area (A2).

According to this aspect, the efficiency of the sorting work of sorting items (B1) to multiple delivery destinations can be improved.

In the sorting work support method of the fourth aspect, in any of the first to third aspects, in the third conveying process, the object to be conveyed (3) is moved from the lateral movement area (A2) to the storage area (A1) through a second location (G2) different from the first location (G1). The first location (G1) is a location through which the object to be conveyed (3) passes when entering the lateral movement area (A2) from the storage area (A1).

According to this aspect, the efficiency of the sorting work of sorting items (B1) to multiple delivery destinations can be improved.

In the fifth aspect of the sorting work support method, in any one of the first to fourth aspects, there are multiple types of items (B1). The combinations of multiple delivery destinations corresponding to the multiple delivery destination-specific temporary storage areas (A41 to A46) are set based on information regarding the matching of the types of items (B1) to be sorted into the multiple delivery destination-specific temporary storage areas (A41 to A46).

According to this aspect, the efficiency of the sorting work of sorting items (B1) to multiple delivery destinations can be improved.

In the sixth aspect of the sorting support method, in any one of the first to fifth aspects, there are multiple types of items (B1). In the second conveying process, the order of movement between two or more removal areas (A21 to A26) is determined based on information about the items (B1) contained in the conveying target (3).

According to this aspect, the efficiency of the sorting work of sorting items (B1) to multiple delivery destinations can be improved.

In the seventh aspect of the sorting operation support method, in any of the first to sixth aspects, the transport mode of the transport object (3) includes a first transport mode and a second transport mode. The first transport mode is a transport mode in which one transport object (3) containing an item (B1) is moved to two or more take-out areas (A21 to A26). The second transport mode is a transport mode in which each of multiple transport objects (3) containing an item (B1) is moved to a destination of two or more take-out areas (A21 to A26) shared by the multiple transport objects (3). In at least the first transport mode, a second transport process is performed.

According to this aspect, the efficiency of the sorting work of sorting items (B1) to multiple delivery destinations can be improved.

In the sorting work support method of the eighth aspect, in the seventh aspect, the transport mode of the transport object (3) is switched to either the first transport mode or the second transport mode based on information regarding the item (B1) contained in the transport object (3).

According to this aspect, the efficiency of the sorting work of sorting items (B1) to multiple delivery destinations can be improved.

In the ninth aspect of the sorting work support method, in any one of the first to eighth aspects, the object to be transported (3) is transported by a transport device (1).

According to this aspect, the efficiency of the sorting work of sorting items (B1) to multiple delivery destinations can be improved.

The program of the tenth aspect is a program for causing one or more processors to execute the sorting work support method of any of the first to ninth aspects.

According to this aspect, the efficiency of the sorting work of sorting items (B1) to multiple delivery destinations can be improved.

The transport control system (7) of the eleventh aspect includes a control unit (72) that controls a transport device (1) that transports a transport target (3) that contains a plurality of items (B1). The control unit (72) causes the transport device (1) to execute a first transport process, a second transport process, and a third transport process. In the first transport process, the transport target (3) is transported from a storage area (A1) that stores the transport target (3) to a sorting area (A3). The sorting area (A3) is an area where a sorting operation is performed to sort the items (B1) into a plurality of temporary storage areas (A41 to A46) for each delivery destination that are arranged in a predetermined arrangement direction (DR1) corresponding to each of a plurality of delivery destinations. In the second transport process, the transport target (3) is transported in a lateral movement area (A2) so as to move between two or more take-out areas (A21 to A26). The lateral movement area (A2) includes the sorting area (A3) and at least a part of the intermediate area between the storage area (A1) and the sorting area (A3), and is an area in which the transport object (3) can be transported along the arrangement direction (DR1). The two or more take-out areas (A21-A26) correspond to the two or more temporary storage areas (A41-A46) for different delivery destinations, among the multiple temporary storage areas for different delivery destinations (A41-A46), which correspond to the delivery destinations of the items (B1) contained in the transport object (3) being transported. In the third transport process, after a sorting operation for sorting the items (B1) is performed in the two or more take-out areas (A21-A26), the transport object (3) is transported from the lateral movement area (A2) to the storage area (A1).

According to this aspect, the efficiency of the sorting work of sorting items (B1) to multiple delivery destinations can be improved.

The conveying system (10) of the 12th aspect comprises the conveying control system (7) of the 11th aspect and a conveying device (1) that conveys an object to be conveyed (3).

According to this aspect, the efficiency of the sorting work of sorting items (B1) to multiple delivery destinations can be improved.

Without being limited to the above aspects, various configurations (including modified examples) of the conveying control system (7) according to the above embodiment can be embodied as a sorting operation support method performed by the conveying control system (7), a (computer) program, or a non-temporary recording medium on which a program is recorded, etc.

The configurations relating to the second to ninth aspects are not essential to the sorting work support method and can be omitted as appropriate.

1 First conveying device (conveying device)
2. Picking device (operational subject)
3 Transport object 7 Transport control system 10 Transport system A1 Storage area A2 Lateral movement area A3 Sorting area A4 Temporary storage area A21-A26 Take-out area A41-A46 Temporary storage area by delivery destination B1 Item DR1 Arrangement direction G1 First location G2 Second location

Claims (11)

a first conveying process for conveying the conveying object from a storage area for storing the conveying object containing a plurality of items to a sorting area for sorting the items into a plurality of temporary storage areas for delivery destinations arranged in a predetermined arrangement direction corresponding to each of a plurality of delivery destinations;
a second transport process for transporting the transport object so as to move between two or more removal areas corresponding to two or more temporary storage areas for specific delivery destinations corresponding to the delivery destinations of the items contained in the transport object during transport, among the plurality of temporary storage areas for specific delivery destinations, in a lateral movement area including at least a portion of the sorting area and an intermediate area between the storage area and the sorting area and capable of transporting the transport object along the arrangement direction;
a third conveying process of conveying the conveying object from the lateral movement area to the storage area after a sorting operation of sorting the object in the two or more take-out areas is performed ,
In the third transfer process, the transfer target is transferred from the lateral transfer area to the storage area through a second location different from a first location through which the transfer target passes when entering the lateral transfer area from the storage area,
There are two of the first locations and two of the second locations;
Methods for assisting sorting work. There are a plurality of workers performing the sorting work,
In the second transport process, the transport object is transported such that the transport object moves between the two or more take-out areas where the plurality of workers perform the sorting work.
The sorting operation support method according to claim 1 . In the second transport process, the transport object is moved in one direction along the arrangement direction in the lateral movement area.
The sorting operation support method according to claim 1 or 2. There are multiple types of the article,
A combination of a plurality of delivery destinations corresponding to the plurality of delivery destination-specific temporary storage areas is set based on information regarding a match of the types of the items to be sorted.
The sorting operation support method according to any one of claims 1 to 3. There are multiple types of the article,
In the second transport process, a moving order of the items to be transported between the two or more take-out areas is determined based on information about the items contained in the transport target.
The sorting operation support method according to any one of claims 1 to 4. The transport mode of the transport object is
a first transport mode in which one of the transport objects storing the article is moved to the two or more take-out areas;
a second transport mode in which each of the plurality of transport targets that respectively accommodate the items is moved to a destination in which the two or more take-out areas are shared by the plurality of transport targets;
The second transport process is performed at least in the first transport mode.
The sorting operation support method according to any one of claims 1 to 5. switching a transport mode of the transport object to either the first transport mode or the second transport mode based on information about the items contained in the transport object;
The sorting operation support method according to claim 6. The object to be transported is transported by a transport device.
The sorting operation support method according to any one of claims 1 to 7. A program for causing one or more processors to execute the sorting operation support method according to any one of claims 1 to 8. A control unit controls a conveying device that conveys a conveying target that accommodates a plurality of items,
The control unit is
a first conveying process for conveying the object from a storage area for storing the object to a sorting area for sorting the object into a plurality of temporary storage areas for delivery destinations arranged in a predetermined arrangement direction corresponding to each of a plurality of delivery destinations;
a second transport process for transporting the transport object so as to move between two or more removal areas corresponding to two or more temporary storage areas for specific delivery destinations corresponding to the delivery destinations of the items contained in the transport object during transport, among the plurality of temporary storage areas for specific delivery destinations, in a lateral movement area including at least a portion of the sorting area and an intermediate area between the storage area and the sorting area and capable of transporting the transport object along the arrangement direction;
a third conveyance process for conveying the object to be conveyed from the lateral movement area to the storage area after a sorting operation for sorting the object in the two or more take-out areas is performed by the conveyance device;
In the third transfer process, the transfer target is transferred from the lateral transfer area to the storage area through a second location different from a first location through which the transfer target passes when entering the lateral transfer area from the storage area,
There are two of the first locations and two of the second locations;
Transport control system. The transport control system according to claim 10;
The transport device transports the object to be transported.
Conveying system.

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