Patent Description:
In recent years, picking assistance systems arranged to automatically transport a rack that stores items or parts to a worker (the worker is not limited to a human being but may be a robot arm) via an automatic transport vehicle and allow the worker to retrieve the items or the parts from a rack in a hub have been operated and further various ideas have been proposed.

For example, a method for fulfilling inventory requests, the method including a step of receiving an inventory request requesting an inventory item and a step of selecting the requested inventory item from an inventory holder, and further including a step of storing the requested inventory item in an order holder associated with the inventory request and moving the order holder to a storage space, is proposed (Patent Literature <NUM>).

More specifically, Patent Literature <NUM> discloses a method for fulfilling inventory requests, the method including a step of receiving an inventory request requesting an inventory item, a step of selecting the requested inventory item from an inventory holder, a step of storing the requested inventory item in an order holder associated with the inventory request, a step of moving the order holder to a storage space, a step of detecting a trigger event and a step of, in response to the step of detecting the trigger event, retrieving the order holder from the storage space.

Also, a picking assistance system configured to enable enhancement in work efficiency is proposed (Patent Literature <NUM>).

In other words, Patent Literature <NUM> discloses a picking assistance system for supporting picking work, the picking assistance system including a plurality of racks that are movable and capable of storing at least one item and a control device that controls movement of each of the racks, in which the control device makes a predetermined processing sequence of moving a sorting rack selected from the racks to a workspace selected from a plurality of workspaces and moving an item from a storage rack disposed in the selected workspace to the sorting rack via picking work be repeatedly performed with the workspace changed from one to another until the sorting rack stores predetermined items.

Also, a technique that enhances item storage efficiency via an increase in area of a site in which storage racks for items can be disposed is proposed (Patent Literature <NUM>).

In other words, Patent Literature <NUM> discloses an operation management system in which layout information including information of a position of each storage rack, a direction of each storage rack and a position of a transport vehicle is held, based on the layout information, if a direction of a movement-target storage rack at a current location and a direction expected at a destination do not agree with each other, a rotation direction and a rotation angle for changing the direction of the movement-target storage rack from the direction at the current location to the direction expected at the destination are determined, a pathway of movement from the current location to the destination is searched for in such a manner that at least one grid that allows rotation, around which there is no obstacle that hinders rotation of the storage rack, and a transport vehicle is controlled in such a manner as to transport the movement-target storage rack from the current location to the destination through the path searched for and rotate by the determined rotation angle in the determined rotation direction in the grid that allows rotation.

However, even in view of the above conventional techniques, there are still expectations for further improvement of systems or the like that enable cost reduction via, e.g., reduction of passages in a work area and enable efficiently moving related items.

The above problems are solved by the subject matter of the independent claims. Examples mentioned in the following description that do not fall under the scope of the present invention are useful for understanding the invention. Enabling disclosure can be in particular found with reference to <FIG> and <FIG>.

Therefore, a picking assistance system according to an example of the present invention is a picking assistance system for assisting in picking from one or more storage racks that store a necessary item, by moving the storage racks that store a necessary item from among a plurality of storage racks stored in a storage area to another location, wherein: in the storage area, the plurality of storage racks are disposed in longitudinal and lateral directions; the system includes a control device for moving the storage racks; and the control device performs control in such a manner that one or more vacant rows are formed in the longitudinal or lateral direction by movement of the storage racks, and further performs control in such a manner to, when a necessary storage rack is moved from a row adjacent to one of the vacant rows to the other location, make a storage rack that is currently necessary remain in the adjacent row by moving an unnecessary storage rack in the adjacent row to the vacant row, and move all of storage racks that are currently necessary, the storage racks remaining in the adjacent row, in one group to the other location.

Also, when a necessary storage rack is moved from a row adjacent to one of the vacant rows to the other location, the storage rack in the adjacent row, the storage rack being moved to the vacant row, is a storage rack that is smaller in number than the necessary storage rack or the unnecessary storage rack in the adjacent row.

A picking assistance system or the like according to an example of the present invention exerts advantageous effects such as enabling cost reduction via, e.g., reduction of passages in a work area and enabling efficiently moving related items.

A picking assistance system or the like according to an example of the present invention will be described in detail below with reference to the drawing.

<FIG> schematically illustrates an appearance of a logistics facility or a plant facility to which a picking assistance system according to an example of the present invention has been introduced. Typical examples of the logistics facility or the plant facility include a logistics facility for shipping commodities or the like and a plant facility for assembling products. In the following, for simplicity of description, the description will be given mainly taking a logistics facility as an example.

A characteristic of a facility to which a picking assistance system according to an example of the present invention has been introduced lies in that the facility is configured such that a multitude of storage racks are orderly stored inside and necessary storage racks are individually transported to a work area in order for workers or the like (which do not necessarily need to be human beings but robots may work. Hereinafter, they are referred to as "workers or the like") to perform sorting or packing.

In <FIG>, a facility <NUM> mainly includes a storage area <NUM> in which a plurality of storage racks <NUM> are disposed in an array, and a work area <NUM> for workers <NUM> or the like to sort or pack necessary commodities or parts in sorting boxes, package boxes, or the like. In an example, the storage racks <NUM> are disposed with almost no space among the storage racks <NUM>, and as an example, blocks such as a block 100B are formed (in the figure, other blocks can be seen). Passages that allow storage racks to pass through are formed among the blocks, and minimization of the passages enables an increase in number of storage racks that can be stored in the area <NUM> and thus enables reduction in management cost.

In an example, in the work area <NUM>, the workers or the like <NUM> each carrying a worker terminal <NUM> sort or pack necessary commodities or parts from storage racks transported to the work area <NUM>. The storage racks are transported from the storage area <NUM> by automatic transport robots <NUM>. Here, which storage racks are necessary for the workers or the like's work are managed by a non-illustrated management server or the like, and the management server or the like provides necessary instructions for transport, to the automatic transport robots <NUM>. Also, the management server or the like provides instructions regarding which commodities or parts in the storage racks transported to the work area should be sorted or packed, to the workers or the like via the respective worker terminals <NUM>.

In another example, where the workers or the like are robots (not illustrated in <FIG>), the worker terminals <NUM> are omitted and the management server or the like can provide instructions directly to the robots.

Also, a picking assistance system according to an example of the present invention can perform sales management of commodities or the like as necessary, which is, however, not necessarily essential. A picking assistance system according to an example of the present invention can be linked with a non-illustrated mail order (electronic commerce) system or shop POS register, enabling customer-by-customer management of sales performance via mail orders and sales performance in shops. As databases for such purpose, in an example, the following databases (D1) to (D4) are included in a management server, enabling making reference or update requests from various terminals as necessary.

A customer management database is a database in which entries relating to customers are registered, and personal information such as names, addresses, phone numbers, etc., of the customers and supplementary information such as held points and nearest hubs are registered in the database.

A commodity management database is a database in which entries relating to commodities are registered, and, e.g., commodity names and commodity codes associated with JAN codes are registered and managed in the database.

An inventory management database is a database for managing a commodity inventory in each logistics hub, from which a necessary table is derived and extracted through linkage with the commodity management database as appropriate.

A sales management database is an actual performance management database relating to commodities sold in each logistics hub or shop.

<FIG> illustrates an example overall configuration of a picking assistance system according to an example of the present invention.

As illustrated in <FIG>, a picking assistance system <NUM> includes, as a general configuration in an example thereof, a management server <NUM>, automatic transport robots <NUM> and <NUM> that transport storage racks, various information processing devices (a PC <NUM> and a mobile information terminal, a tablet terminal or a POS terminal <NUM> are illustrated as examples in the figure. Hereinafter, these devices may be collectively referred to as "worker terminals" or simply as "terminals") that workers or the like use, and storage racks <NUM> to <NUM>. In an example, the management server <NUM> and various terminals are connected in a mutually communicable manner via dedicated channels or public channels such as the Internet (<NUM> and <NUM> as wired channels) as illustrated in <FIG>.

Also, the channels may be wired or wireless ones, and where the channels are wireless ones, various terminals <NUM> and <NUM> and the storage racks <NUM> to <NUM> wirelessly access the Internet <NUM> via, e.g., a non-illustrated base station or access point, and further connected to the management server <NUM> via the channel <NUM> in a mutually communicable manner.

Here, an access point refers to a radio for mutually connecting wireless terminals such as PCs or smartphones or connecting such wireless terminals to another network. Typically, an access point is a device that operates according to communication protocols of Layer <NUM> (physical layer) and Layer <NUM> (data link layer) in the OSI reference model.

Note that the automatic transport robots <NUM> and <NUM> and the storage racks <NUM> to <NUM> do not necessarily need to communicate with the management server <NUM> via the Internet <NUM> and may be connected to the management server <NUM> via, e.g., wireless communication inside a facility.

Also, many of mobile information terminals and tablets at the time of filing of the present application have processing capabilities (e.g., a communication processing speed and image processing capability) that are equal to or higher than those of personal computers (PC) and are ones that should be regarded as small, high-performance computers.

Furthermore, a program or software necessary for carrying out the present invention is normally installed or stored in, e.g., an HDD or an SSD in a storage section of a PC or a mobile information terminal, and at the time of execution of the program or the software, an entirety or a part of the program or the software is read onto a memory in the storage section as necessary as a software module and arithmetic operation is performed in a CPU.

Alternatively, a browser-based computer or a mobile information terminal may be employed. In this case, a program is distributed from another server or computer to the terminal as necessary and the program is executed in the browser on the terminal.

Also, for a hardware configuration of the management server <NUM>, basically, a PC can be employed (which will be described later with reference to <FIG> just for confirmation). Note that the management server <NUM> can employ a configuration suitable for large-scale data processing by making a plurality of PCs (several tens to several tens of thousands of PCs as an example) operate in parallel, in order to improve hardware specifications of the management server <NUM> as necessary; however, the present invention is not limited to this example.

In <FIG>, the storage racks <NUM> to <NUM> are disclosed as being configured to be mutually communicable with the management server <NUM>, and in this case, the storage racks <NUM> to <NUM> may be each configured in such a manner as to selectively transmit information such as a position and a direction of the storage rack itself and whether or not there are stored items and types of the stored items to the management server <NUM>. However, this configuration is not essential to examples of the present invention and a configuration in which the storage racks <NUM> to <NUM> have no communication function can be employed.

<FIG> is a functional block diagram of a management server in a picking assistance system according to an example of the present invention. For illustrative purposes, operation of the management server is enabled by operation of each of hardware pieces described below and linked operation of software and these hardware pieces.

In <FIG>, a management server <NUM>, which is an entirety of hardware blocks, mainly includes a CPU <NUM> for performing various types of comparison/arithmetic processing, a storage section <NUM> including, e.g., a RAM, a ROM and/or a flash memory, an input section <NUM> including, e.g., a keyboard and/or a pointing device, an output section <NUM> including, e.g., a display and/or a speaker, a control section <NUM> for various types of signal control, a communication (interface) section <NUM> (whether wireless or wired), a timing section <NUM> for measuring, e.g., a time, and a power supply section <NUM>.

These modules are appropriately connected via a communication bus or power feeder wires (in <FIG>, for sake of simplicity, respective wires are collectively illustrated as an appropriately divided wire connection <NUM>) as necessary.

Also, a program or software necessary for carrying out examples of the present invention, which is executed on the management server <NUM>, is normally installed or stored in, e.g., a hard disk drive, an SSD (solid-state drive) or a flash memory included in the storage section <NUM>, and at the time of execution of the program or the software, an entirety or a part of the program or the software is read onto a memory in the storage section <NUM> as necessary as a software module and arithmetic operation is performed in the CPU <NUM>.

Not that the arithmetic operation does not necessarily need to be performed in a central processing section such as the CPU <NUM> and can be performed using an auxiliary arithmetic device such as a non-illustrated digital signal processor (DSP).

<FIG> is a functional block diagram of hardware pieces configuring a tablet terminal <NUM>, which serves as a worker terminal according to an example of the present invention. Operation of the tablet terminal <NUM> is enabled by operation of each of hardware pieces described below and linked operation of software and these hardware pieces.

In <FIG>, a tablet terminal <NUM>, which is an entirety of hardware blocks, mainly includes an input section <NUM> including, e.g., a hardware button, a multi-touch input panel provided on a display and a microphone, a storage section <NUM> including e.g., a hard disk, a RAM and/or a ROM for storing, e.g., programs and data, a central processing section <NUM> including a CPU that performs various numerical calculations and logical operations according to a program, a display section <NUM> including, e.g., a display, a control section <NUM> for performing control of a chip, an electrical system, etc., a communication interface section <NUM> including a slot for access to the Internet, a port for performing optical communication and a communication interface, an output section <NUM> including, e.g., a speaker, a vibrator and/or an infrared projector, a timing section <NUM> for measuring, e.g., a time, a sensor section <NUM> including, e.g., an image sensor such as CMOS, an infrared sensor and/or an inertial sensor, and a power supply section <NUM> for supplying power to the respective modules in the device, and these modules are appropriately connected via a communication bus or power feeder wires (in <FIG>, for sake of simplicity, the wires are collectively shown as an appropriately divided wire connection <NUM>) as necessary.

Note that the sensor section <NUM> may include a GPS sensor module for identifying a position of the tablet terminal <NUM> (<NUM>). Also, signals detected by, e.g., the image sensor such as CMOS and/or the infrared sensor included in the sensor section <NUM> can be processed as input information in the input section <NUM>.

Also, a program or software necessary for carrying out the examples of the present invention, which is executed on the tablet terminal <NUM>, is normally installed or stored in, e.g., a hard disk drive, an SSD (solid-state drive) or a flash memory included in the storage section <NUM>, and at the time of execution of the program or the software, an entirety or a part of the program or the software is read onto a memory in the storage section <NUM> as necessary as a software module, and arithmetic operation is performed in the CPU <NUM>.

Note that the arithmetic operation does not necessarily need to be performed in the central processing section <NUM> such as the CPU and can be performed using an auxiliary arithmetic device such as a non-illustrated digital signal processor (DSP).

<FIG> illustrates outer appearance configurations of an automatic transport robot (A) and a storage rack (B) in a picking assistance system according to an example of the present invention. In <FIG>, an automatic transport robot <NUM> includes a non-illustrated pair of wheels at a bottom portion of a body <NUM>, and moves on a floor surface inside a facility via motor driving. In an example, the wheels can separately rotate normally and reversely, and for example, when the wheels rotate in a same direction, the automatic transport robot go straight forward or backward, and when the wheels are rotated in respective directions opposite to each other, the automatic transport robot turns. The automatic transport robot is self-driven by computer control. Also, in order to stabilize, e.g., driving of the automatic transport robot, non-illustrated castors may be provided in addition to the pair of wheels.

In an example, a height of the automatic transport robot <NUM> is around <NUM> to <NUM>, and a liftable rack support portion <NUM> is provided at a top of the automatic transport robot <NUM>. The automatic transport robot <NUM> can enter lower space formed by leg portions of a storage rack such as one illustrated in <FIG>. The automatic transport robot <NUM> can lift up a storage rack located on an upper portion thereof by raising the rack support portion <NUM> at the lower space of the storage rack, and furthermore, can move with the storage rack lifted up. Consequently, the storage rack can freely be moved inside the facility. Upon the storage rack lifted up by the automatic transport robot being moved to a target location, the rack support portion is lowered and the storage rack is placed at the location. The automatic transport robot can further move to another location to transport another storage rack.

<FIG> illustrates an exemplary storage rack. A storage rack <NUM> includes four leg portions 451a to 451d (451d is not illustrated in the figure) that are slightly higher than the height of the automatic transport robot, and includes three shelf portions 452a to 452c above the leg portions 451a to 451d. In each shelf portion, e.g., commodities or parts are stored, and an identification number (e.g., an ID) of the rack, an identification number of commodities or parts (e.g., a JAN code in the case of commodities) currently stored in the rack are updated as occasion arises and managed in a management server. In an example, the automatic transport robot enters the space part formed by the four leg portions 451a to 451d, in response to an instruction from the management server and moves the rack <NUM> to another location.

As with the storage rack <NUM>, a storage rack <NUM> includes four leg portions 461a to 461d (461d is not shown in the figure) that are slightly higher than the height of the automatic transport robot, and as illustrated in <FIG>, includes a mount on which commodities or parts can be mounted, above the leg portions 461a to 461d. In this case, it can be understood that there is a lot of flexibility in shape, etc., of commodities or parts that can be mounted on the mount in comparison with those that can be stored in the storage rack <NUM>. In an example, the automatic transport robot enters a space part formed by the four leg portions 461a to 461d, in response to an instruction from the management server and moves the rack <NUM> to another location.

<FIG> illustrates a functional block configuration of hardware configuring an automatic transport robot according to an example of the present invention. In <FIG>, an automatic transport robot <NUM>, which is an entirety of hardware blocks, mainly includes a drive section <NUM> such as a motor for driving wheels, a storage section <NUM> including, e.g., a hard disk, a RAM and/or a ROM for storing, e.g., programs and data, a central processing section <NUM> including a CPU that performs various numerical calculations and logical operations according to a program, a lifting mechanism section <NUM> that lifts a rack up and down, a control section <NUM> for performing control of, e.g., a chip and/or an electrical system, a communication interface section <NUM> including a slot for access to a network, a port for performing near-field wireless communication and a communication interface, an output section <NUM> including, e.g., a speaker, a sensor section <NUM> including, e.g., an image sensor such as CMOS, an infrared sensor and/or an inertial sensor, and a power supply section <NUM> for supplying power to the respective modules in the device, and these modules are appropriately connected via a communication bus or power feeder wires (in <FIG>, for sake of simplicity, the wires are collectively shown as an appropriately divided wire connection <NUM>) as necessary.

Note that in an example, the sensor section <NUM> may include a GPS sensor module for identifying a position of the automatic transport robot <NUM> (<NUM> and <NUM>). Also, signals detected by, e.g., the image sensor such as CMOS and/or the infrared sensor included in the sensor section <NUM> can be processed as input information in a non-illustrated input section.

Also, a program or software necessary for carrying out the examples of the present invention, which is executed on the automatic transport robot <NUM>, is normally installed or stored in, e.g., a hard disk drive, an SSD (solid-state drive) or a flash memory included in the storage section <NUM>, and at the time of execution of the program or the software, an entirety or a part of the program or the software is read onto a memory in the storage section <NUM> as necessary as a software module, and arithmetic operation is performed in the CPU <NUM>.

<FIG> illustrates example configurations of a control section, processing sections, devices, etc., in a picking assistance system according to an example of the present invention. In <FIG>, a system <NUM> includes a warehouse management system (WMS) <NUM>, an order management section <NUM> and an operation management section <NUM> that can be communicably connected to one another, one or more worker terminals <NUM> to <NUM> connected to the order management section <NUM> via a network <NUM>, and a plurality of automatic transport robots <NUM> to <NUM> connected to the operation management section <NUM> by a network <NUM>.

The warehouse management system (WMS) <NUM>, the order management section <NUM> and the operation management section <NUM> are ones resulting from the management server <NUM> in <FIG> being sectioned in terms of function in an example. Also, each of the networks <NUM> and <NUM> may be wired or wireless. The number of worker terminals <NUM> to <NUM> and the number of automatic transport robots <NUM> to <NUM> are not limited.

In an example, the warehouse management system <NUM> controls the order management section <NUM>. For example, the warehouse management system <NUM> transmits, e.g., order information and storage rack data to the order management section <NUM>. Here, an order is information including an item name (and/or identification information) of, e.g., an item that should be sorted or packed, the number of such items and a shipping address. Also, storage rack data is data relating to a storage rack in which items are stored. In an example, the order management section <NUM> gives an instruction relating to storage rack movement, to the operation management section <NUM>. More specifically, the order management section <NUM> provides a list of storage racks in which items or the like that should be sorted or packed to the operation management section <NUM> or further gives a more specific instruction regarding which storage racks should be moved to the work area. Also, upon reception of notification of completion of movement of the storage racks and completion of work such as packing in the work area from the operation management section <NUM>, the order management section <NUM> gives an instruction to move the storage racks moved to the work area to another location, to the operation management section <NUM>.

<FIG> illustrates a processing flow in a picking assistance system according to an example of the present invention. In <FIG>, e.g., a flow of linked operation of the warehouse management system (WMS) <NUM>, the order management section <NUM> and the operation management section <NUM> and a general flow of the operation management section <NUM> controlling automatic transport robots are illustrated.

When processing is started in step S601, the processing proceeds to step S602 and an instruction is given from the WMS <NUM> to the order management section. In an example, this instruction includes, e.g., order information and storage rack data.

In step S603, in the order management section, a schedule for sorting or packing is created from the order information, etc. In an example, this schedule is created based on the order information and/or the storage rack data. More specifically, items or the like to be sorted or packed are extracted from the order information and the storage rack data is searched to determine which storage rack the extracted items or the like are stored in and list a target storage rack.

Here, if there are a plurality of storage racks listed, storage racks close to each other may be selected or a combination of storage racks that makes a movement cost small may be selected. Alternatively, a part or an entirety of the selection processing may be performed in step S604.

In step S604, an instruction to operate the automatic transport robots is given from the order management section to the operation management section. In an example, it is assumed that several to several tens or more of automatic transport robots are operated. Also, operation of the automatic transport robots includes transport of a storage rack picked up or selected in the preceding step to the work area.

In step S605, operation control of automatic transport robots by the operation management section is performed. The operation management section recognizes respective current positions of the automatic transport robots in the facility, and in order to efficiently move a storage rack necessary for certain order processing to the work area, performs sequential control of which automatic transport robot to be slid into a lower portion of the storage rack, a procedure for the sliding and a procedure for transport of the storage rack to the work area. Storage rack transport for such purpose may be one-time transport of one storage rack or may be multiple-time transport of many storage racks. Determination of whether or not preparation necessary for the certain order processing has been completed is made in a next step.

In step S606, if it is determined that preparation such as movement of storage racks necessary for the certain order processing has been completed so that sorting or packing in the work area can be started (Yes in step S606), the processing proceeds to step S607, and if not (No), the processing returns to step S605 and movement of necessary storage racks (that is, operation control of the automatic transport robots) is continued.

In step S607, an instruction for sorting or packing is transmitted from the order management section (or the operation management section) to a worker terminal. In an example, a worker can sort or pack necessary commodities or parts based on the instruction transmitted to the worker terminal.

Note that although in the above step, the worker is made to start work if it is determined in step S606 that preparation such as movement of storage racks necessary for the certain order processing has been completed so that sorting or packing in the work area can be started, the present invention is not limited to this example. For example, it is possible to perform control to give an instruction to start sorting or packing in the work area ahead without waiting for completion of movement of all of the storage racks necessary for the certain order processing to the work area.

<FIG> illustrates a detailed processing flow in a picking assistance system according to an example of the present invention. The processing flow illustrated in <FIG> corresponds to a detailed flow of step S604 and/or step S605 in the processing flow illustrated in <FIG>.

Upon start of processing in the present flow in step S631, the processing proceeds to step S632, and a block is identified and a specific row of storage racks included in the block is determined. This row may be a longitudinal row or a lateral row of storage racks included in the block. Also, typically, this row is often a row at an edge of the block but is not necessarily limited to a row at an end of the block.

Next, the processing proceeds to step S633 and whether or not there are one or more vacant rows adjacent to the target row is confirmed, and if not, a vacant row is secured (storage racks remaining in that row are moved to another location). In the present step, if one or more vacant rows adjacent to the target row already exist, no storage rack movement for securing a vacant row may take place.

Then, an inspection of storage racks in the target row is started. In an example, this inspection is an inspection for confirming whether or not commodities or parts that are currently necessary are stored in the storage racks. Also, in another example, this inspection is an inspection for confirming whether or not commodities or parts that are currently necessary are stored in the storage racks and whether or not the storage racks are those that should be moved in a group, which will be described later.

Next, the processing proceeds to step S634 and whether or not a target storage rack in the target row is unnecessary for the order processing this time is determined, and in the case of Yes, the processing proceeds to step S635 and in the case of No, the processing proceeds to step S636.

In step S635, which is processing for a storage rack determined as unnecessary for the order processing this time, in an example, this storage rack is moved to a vacant row. Alternatively, in another example, the storage rack is not moved at this point of time and a flag for control and management may be set so that the storage rack is to be moved later.

In step S636, whether or not an inspection-target storage rack still remains in the target row and if an inspection-target storage rack still remains, the processing returns to step S634 and if no inspection-target storage rack remains, the processing proceeds to step S637.

In step S637, storage racks determined as necessary for the order processing this time, which remain in the target row, are moved at one time or moved in a group. A manner of the one-time movement or the movement in a group in an example of the present invention is also called as group movement because the storage racks are aligned and moved sequentially or in order.

In other words, the "movement in a group" or "group movement" mentioned here includes not only moving storage racks at one time but also sequentially moving storage racks aligned and also separately moving storage racks in order, and there may be a certain time difference (for example, a time difference of around one to several seconds from one another) among respective movement start times.

Next, the processing proceeds to step S638 and the unnecessary storage racks moved to the vacant row adjacent to the target row are moved for reorganization as necessary, and the processing proceeds to step S639 and the present flow ends.

<FIG> illustrate manners of storage and movement of storage racks where the processing flow illustrated in <FIG> and <FIG> is favorably executed, on a time-series basis.

<FIG> illustrates a manner of storage of storage racks in a facility. In <FIG>, storage racks <NUM> to <NUM> are orderly disposed in three longitudinal rows and two lateral rows. In <FIG>, each of respective areas in which the storage racks <NUM> to <NUM> are disposed is called "grid (cell)" (rectangular area surrounded by alternate long and short dash lines in the figure). Also, types (for example, identification numbers and rack types) of the storage racks <NUM> to <NUM> and/or types, counts and stored positions (e.g., what number shelf) of commodities or parts stored in each storage rack are managed by the management server <NUM> (in an example, such types, etc., can be managed by, e.g., the warehouse management system <NUM> or the order management section <NUM>).

Although in <FIG>, the storage racks <NUM> to <NUM> disposed in three longitudinal rows and two lateral rows configure one block, the present invention is not limited to this example and any counts of longitudinal and lateral rows can configure one block.

Also, in <FIG>, a circle is drawn in the inside of each of the storage racks <NUM> and <NUM> and the circle indicates that an automatic transport robot has slid into a lower portion of the rack. Each of the storage racks <NUM> and <NUM> can be moved by a robot sliding into the lower portion of the storage rack and lifting the storage rack up. In the following, a circle drawn inside a storage rack indicates that an automatic transport robot has slid under the storage rack and can move the storage rack.

In an example of the present invention, a two-dimensional barcode or an IC tag is attached to a center portion (intersection part between dashed lines in <FIG>) of each grid (cell) on a floor surface inside the facility, and when an automatic transport robot enters a lower portion of a rack, the robot can be made to determine whether or not the robot has reached an intended position or whether or not the robot has delivered the transported storage rack to a correct position, by reading information attached to the floor surface.

<FIG> indicates a state in which the flow in steps S632 to S636 (No in S636) has been executed. In other words, in <FIG>, in storage racks 711a to 718a forming a target row in a particular block <NUM>, storage racks 711a, 713a and 717a that are currently unnecessary and storage racks 712a, 714a to 716a and 718a that are currently necessary are distinguished from each other. Note that an alternate long and short dash line 709a may be an actual wall in the facility or may be an invisible boundary in space. The alternate long and short dash line 709a enables confirmation of a vacant row adjacent to the storage racks 711a to 718a forming the target row (row of grid cells in which no storage rack is disposed). Note that here, if no vacant row adjacent to the storage racks 711a to 718a forming the target row is secured (if one or more storage racks remain), the storage rack(s) are moved in advance to secure a vacant row.

A characteristic point in <FIG> lies in that individual automatic transport robots have entered under all of boxes of the storage racks 711a to 718a forming the target row. In another example, one automatic transport robot can perform transport of all of the storage racks 711a, 713a and 717a that are currently unnecessary, and three of fewer than eight automatic transport robots can enter lower portions of the storage racks 711a, 713a and 717a and evacuate the storage racks 711a, 713a and 717a to the vacant row. These other examples are also included in the basic idea of the present invention; however, in view of time efficiency, it is preferable to operate a larger number of automatic transport robots.

<FIG> illustrates an example control operation that comes next to <FIG>. In the block <NUM> in <FIG>, the storage racks 711b, 713b and 717b that are currently unnecessary have been evacuated to the vacant row, and the storage racks 712b, 714b, 715b, 716b and 718b that are currently necessary are moved at one time or sequentially to another location (group movement). In an example of the present invention, the other location is the work area; however, the present invention is not limited to this example. The movement to the other location can broadly be interpreted as movement to an area for a next step.

Note that storage racks 711a to 718a, 721a to 728a, 731a to 738a, 741a to 748a and 751a to 758a correspond to storage rack 711b to 718b, 721b to 728b, 731b to 738b, 741b to 748b and 751b to 758b, respectively. In the following, the index changes from a to f on a time-series basis.

<FIG> illustrates an example control operation coming next to <FIG>. In a block <NUM> in <FIG>, the target row has transitioned to 721c to 728c, and in the row, storage racks 722c, 723c and 728c that are currently unnecessary and storage rack 721c, 724c to 727c that are currently necessary are distinguished from each other. In an example, the storage racks 722c, 723c and 728c that are currently unnecessary are evacuated to a vacant row.

<FIG> illustrates an example control operation next to <FIG> (which is an example control operation corresponding to step S638). In a block <NUM> in <FIG>, storage racks 722d, 723d and 728d that are currently unnecessary have already been evacuated to the vacant row and storage racks 721c and 724c to 727c thar are currently necessary are moved at one time or sequentially to another location (group movement).

<FIG> illustrates an example control operation next to <FIG>. In a block <NUM> in <FIG>, storage racks 722e, 723e and 728e that are currently unnecessary are moved to vacant grid cells in a row further adjacent to the vacant row in which the storage racks 722e, 723e and 728e are currently located, and thus organized.

<FIG> illustrates an example control operation next to <FIG>. In a block <NUM> in <FIG>, storage racks 722e, 723e and 728e that are currently unnecessary are moved to vacant grid cells in a left edge row in <FIG> and thus organized, and in the left edge row, storage racks 711f, 722f, 713f, 723f, 717f and 728f are disposed. Also, as illustrated in <FIG>, two vacant rows have been generated at this point of time, and the control operations up to this point may be repeated to increase the number of vacant rows or all or some of storage rack 731f to 738f, 741f to 748f and 751f to 758f may be slid and moved at an appropriate timing in such a manner as to fill a current vacant row.

<FIG> illustrates an example disposition of storage racks after repetition of the above-described control operations. In a block <NUM> in the figure, as a whole, the storage racks are brought close to a boundary <NUM> in the facility (which may be an actual wall or an invisible boundary in space) and at a right edge of the block, storage racks <NUM>, <NUM> and <NUM> are disposed as remaining storage racks not forming a row.

In an example of the present invention, this time, efficient group movement of storage racks can be continued by control operations symmetrical to those illustrated in <FIG> onwards being repeated for a boundary <NUM> on the right side of the block <NUM> (which may be an actual wall or an invisible boundary in space).

Although in an example of the present invention, for example, in steps S634 to S636, control operations are performed in such a manner that unnecessary storage racks in a target row are moved to a vacant row and storage racks that are currently necessary, which remain in the target row, are moved in a group to another location, the present invention is not limited to this example, and for example, control operations may be performed in such a manner that necessary storage racks in a target row are moved to a vacant row and the storage rack that are currently necessary, which have been moved to the vacant row, are moved in a group to another location.

In this case, the control operations in <FIG> are replaced by a mode in which control operations are performed in such a manner that unnecessary storage racks in a target row are moved to a vacant row and storage racks that are currently necessary, which remain in the target row, are moved in a group to another location.

Although examples of the picking assistance system or the like have been described based on specific examples, examples of the present invention may take a form of a storage medium with a program recorded (examples of the medium include an optical disk, a magnetooptical disk, a CD-ROM, a CD-R, a CD-RW, a magnetic tape, a hard disk and a memory card) in addition to a system, or a method or a program for implementing a device.

Also, a form of implementation of a program is not limited to application programs such as object code complied by a complier and program code executed by an interpreter but may be a form such as a program module incorporated in an operating system.

Furthermore, a program does not necessarily require all of processes to be performed only in a CPU on a control board but can be configured in such a manner as to allow some or all of processes to be performed by another processing unit (e.g., a DSP) mounted on an extension board or an extension unit added to the board as necessary.

Any combinations from all of elements described in, and/or all of steps in all of methods or processes disclosed in, the present description (including the claims, the abstract and the drawings) are possible except that such combinations are ones in which the relevant features are exclusive from each other.

Also, unless explicitly denied, each of the features described in the present description (including the claims, the abstract and the drawings) can be replaced with an alternative feature that serves for a same purpose, an equivalent purpose or a similar purpose. Therefore, unless explicitly denied, each of the disclosed features is a mere example in a comprehensive set of same or equivalent features.

Claim 1:
A picking assistance system (<NUM>) for assisting in picking from more target storage racks (711a to 718a) that store a plurality of necessary items in a target row of a target block, by moving the target storage racks (711a to 718a) that store the necessary items from among a plurality of storage racks (<NUM>) stored in a storage area (<NUM>) to another location (<NUM>), wherein:
in the storage area (<NUM>), the plurality of target storage racks (711a to 718a) in the target block (<NUM>) are disposed in longitudinal and lateral directions;
the system (<NUM>) includes a control device for moving the target storage racks (711a to 718a) in the target block (<NUM>); and
the control device performs control in such a manner that
a vacant row (709a) is formed in the longitudinal or lateral direction by movement of the storage racks (<NUM>), and
the system being characterised in that the control device further performs control in such a manner to confirm (S633) that there is the vacant row (709a) adjacent to the target row and inspecting the target storage racks (711a to 718a) in the target row,
confirm (S634) whether or not a target storage rack in the target row is a necessary target storage rack (712a, 714a to 716a, 718a) that stores one of the necessary items or is an unnecessary target storage rack (711a, 713a, 717a) that stores no necessary item,
when an unnecessary target storage rack (711a, 713a, 717a) is confirmed, move (S635) the unnecessary target storage rack (711a, 713a, 717a) from the target row to the vacant row (709a);
when the unnecessary target storage rack have been moved, the necessary target storage racks (712a, 714a to 716a, 718a) are moved (S637) from the target row adjacent to the vacant row to the other location (<NUM>),
so that the necessary storage racks that are currently necessary remain in the target row adjacent to the vacant row by moving the unnecessary target storage racks from the target row to the vacant row, and
move all of the necessary target storage racks that are currently necessary in one group to the other location (<NUM>).