Patent Application
20230092793
This application claims priority to Japanese Patent Application No. 2021-151820 filed on Sep. 17, 2021, the entire contents of which are incorporated by reference herein.
The present disclosure relates to an article search device and an article search method.
Conventionally, for example, a system described in Japanese Unexamined Patent Publication No. 2020-079149 is known as a system for transporting articles. This system carries in articles and stores the articles at a prescribed storage position in a storage unit. This system transports the articles stored in the storage unit from the storage position and retrieves the articles in accordance with retrieval information and the like.
Here, a large number of articles are stored in a storage unit. Thus, when a system identifies a desired article from the storage unit and transports the article from the storage unit for retrieval, it is necessary to perform a search associated with an efficient retrieval operation from a large number of candidates for the retrieval operation. However, this search associated with the retrieval operation has a problem that the load of calculation becomes enormous.
Therefore, an objective of the present disclosure is to provide an article search device and an article search method capable of reducing the load of calculation and retrieving articles.
According to an aspect of the present disclosure, there is provided an article search device, which performs a search associated with an article retrieval operation and includes a storage unit configured to store articles at a storage position, a transport machine configured to transport the articles from the storage unit for retrieval, and a control unit configured to control the storage unit and the transport machine, wherein the control unit includes a retrieval target article identification unit configured to identify a retrieval target article from among the articles stored in the storage unit on the basis of retrieval information indicating a retrieval completion state; a reverse sequential operation calculation unit configured to calculate a reverse sequential operation when it is assumed that the retrieval target article is moved to the storage position in the storage unit in a reverse sequence from the retrieval completion state; and a retrieval operation calculation unit configured to calculate a retrieval operation in which the retrieval target article is moved from the storage position in the storage unit and is in the retrieval completion state by reproducing the reverse sequential operation in reverse.
In the article search device, the retrieval target identification unit identifies the retrieval target article from among the articles stored in the storage unit on the basis of the retrieval information indicating the retrieval completion state. Thus, the retrieval target article identification unit can identify an appropriate article from among a large number of articles stored in the storage unit on the basis of the retrieval information indicating the retrieval completion state. Also, the reverse sequential operation calculation unit calculates the reverse sequential operation when it is assumed that the retrieval target article is moved to the storage position in the storage unit in a reverse sequence from the retrieval completion state. The retrieval completion state is a state in which the articles are arranged rather than a state in which the articles are stored in the storage unit. Accordingly, when the reverse sequential operation calculation unit calculates the reverse sequential operation starting from the retrieval completion state, the calculation can be performed in a state in which the load is limited as compared with the retrieval operation for setting the retrieval completion state from the storage unit. On the other hand, the retrieval operation calculation unit can calculate the retrieval operation in which the retrieval target article is moved from the storage position in the storage unit and is in the retrieval completion state by reproducing the reverse sequential operation in reverse. That is, the retrieval operation calculation unit can calculate the retrieval operation in a simple process of simply reproducing the reverse sequential operation in reverse. Accordingly, the article search device can perform a search associated with the article retrieval operation in a state in which the load of calculation is reduced. Also, it can be assumed that the reverse sequential operation calculation unit allows the operation to be started from an ideal state desired for retrieval. Accordingly, the article search device can perform a search associated with the operation after confirming that a retrieval sequence has been optimized. From the above, it is possible to reduce the load of calculation and retrieve the articles.
The retrieval target article identification unit may assign a number to the retrieval target article stored in the storage unit in correspondence with a retrieval sequence of a plurality of articles in the retrieval completion state. In this case, the retrieval target article identification unit can clarify a corresponding relationship between the retrieval target article within the storage unit and the article of the retrieval completion state. Accordingly, the reverse sequential operation calculation unit can easily calculate the reverse sequential operation on the basis of the corresponding relationship.
The storage unit may include a storage shelf arranged at the storage position of the articles; a transport shelf arranged in alignment with the storage shelf and configured to transport the articles to the transport machine; and a transfer unit arranged in parallel with the storage shelf and configured to move the articles to the storage position and transfer the articles between the storage position and the transport shelf. The reverse operation calculation unit may be set such that the transfer unit is operated to perform a transfer to the storage shelf in a sequence in which a number of the retrieval target article of the transport shelf and a number of the storage position of the storage shelf are aligned. In this case, because the reverse sequential operation calculation unit can provide the operation principle of the retrieval target article within the storage unit, the load of calculation can be reduced by following the operation principle.
The retrieval target article identification unit may set a higher priority level of a retrieval sequence for the retrieval target article stored at the storage position at an earlier time. In this case, the article search device can limit interference between retrieval target articles to be retrieved from the storage position and the like and can smoothly retrieve the articles.
The retrieval target article identification unit may set a higher priority level of a retrieval sequence for the retrieval target article stored at a position closer to the transport machine for performing the retrieval among storage positions. In this case, the movement time required for retrieving the retrieval target articles can be shortened and the articles can be retrieved at a higher speed.
The retrieval target article identification unit may identify the retrieval target article using a pattern table in which a sequence pattern when a plurality of articles are transported to the storage unit is prepared in advance. In this case, the retrieval target article identification unit can reduce the load of calculation and the calculation time using the pattern table prepared in advance.
According to an aspect of the present disclosure, there is provided an article search method of performing a search associated with an article retrieval operation in an article search device including a storage unit configured to store articles at a storage position and a transport machine configured to transport the articles from the storage unit for retrieval, the article search method including: a retrieval target article identification step of identifying a retrieval target article from among the articles stored in the storage unit on the basis of retrieval information indicating a retrieval completion state; a reverse sequential operation calculation step of calculating a reverse sequential operation when it is assumed that the retrieval target article is moved to the storage position in the storage unit in a reverse sequence from the retrieval completion state; and a retrieval operation calculation step of calculating a retrieval operation in which the retrieval target article is moved from the storage position in the storage unit and is in the retrieval completion state by reproducing the reverse sequential operation in reverse.
According to the article search method, it is possible to obtain operations and effects similar to those of the above-described article search device.
According to the present disclosure, it is possible to provide an article search device and an article search method capable of reducing the load of calculation and retrieving articles.
Hereinafter, embodiments of the present disclosure will be described in detail with reference to the drawings.
The transport machine 22 is a device including a horizontal moving means (for example, a conveyor) and a vertical moving means, and configured to move the articles 150 in vertical and horizontal directions. Thereby, the transport machine 22 can receive each article 150 from each floor in the retrieval transfer passage 103 and transport the received article 150 to the retrieval lane 21. In the drawings, a number “n” is attached to the article 150 arranged on an “nth floor” in the storage state in the automated warehouse 100. The same is also true for the following drawings. Also, in the following description, the article 150 stored on the nth floor may be referred to as an “article of the nth floor.”
The transport machine 22 is an alternating operation type elevating device and has a transport shelf 22A on the retrieval lane 21 side and a transport shelf 22B on the conveyor 23 side. In the present embodiment, the transport shelves 22A and 22B each have an accommodating area CE for the number of stages for “the number of floors of the automated warehouse + one floor.” Also, the transport shelves 22A and 22B each have continuous transport boxes 22a with the number of stages (here, four stages) corresponding to the “number of floors of the automated warehouse.” The continuous transport boxes 22a move upward and downward at the same time. When the continuous transport boxes 22a move downward, each transport box 22a is arranged in accommodating areas CE of first to fourth stages in order from the bottom. When the continuous transport boxes 22a move upward, the transport boxes 22a are arranged in accommodating areas CE of second to fifth stages in order from the bottom. In the following description, when the stage number is simply described, the stage number counted from the bottom is indicated unless otherwise specified. Also, the transport box 22a of the transport shelf 22A and the transport box 22a of the transport shelf 22B alternately move upward and downward. That is, the transport box 22a of the transport shelf 22B moves downward when the transport box 22a of the transport shelf 22A moves upward, and the transport box 22a of the transport shelf 22B moves upward when the transport box 22a of the transport shelf 22A moves downward. Also, in the same stage number, the articles 150 can be moved in a horizontal direction between the transport box 22a of the transport shelf 22A and the transport box 22a of the transport shelf 22B and the articles 150 can be delivered and received therebetween. Also, the transport shelves 22A and 22B may each have the accommodating areas CE of the number of stages for “the number of stages of the automated warehouse.”
In the present embodiment, the retrieval lane 21 is provided for the accommodating area CE of the second stage from the bottom and four conveyors 23 are provided for the accommodating areas CE of the first to fourth stages from the bottom. Also, in
In the following description, the article search device 1 may be modeled and shown as shown in
Here,
As shown in
Next, a block configuration of the article search device 1 will be described with reference to
The operation control unit 11 is a unit for controlling an operation of the transport system 2 such that each article 150 is transported in accordance with the retrieval operation calculated by the retrieval operation calculation unit 14. The operation control unit 11 allows drive units to operate by transmitting control signals to the drive units of the retrieval lane 21, the transport machine 22, and the conveyor 23 of the transport system 2.
The retrieval target article identification unit 12 is a unit for identifying the retrieval target article 150A from the articles 150 stored in the warehouse body unit 101 on the basis of retrieval information indicating the retrieval completion state. The retrieval information is information for estimating what type of articles 150 are aligned in the retrieval lane 21 in what sequence in the retrieval completion state, such as information such as a retrieval plan. In the retrieval completion state, a number indicating a retrieval sequence is assigned to each article 150. For example, in the examples of
The reverse sequential operation calculation unit 13 is a unit for calculating a reverse sequential operation when it is assumed that the retrieval target article 150A is moved to the storage position SP in the warehouse body unit 101 in a reverse sequence from the retrieval completion state. The reverse sequential operation calculation unit 13 calculates the reverse sequential operation by searching for a path for transporting the retrieval target article 150A from the retrieval completion state to the retrieval start state. That is, the reverse sequential operation calculation unit 13 searches for a path along which the retrieval target article 150A located on the retrieval lane 21 is moved to the storage position SP where the retrieval target article 150A was originally located in reverse. The reverse sequential operation calculation unit 13 searches for reverse sequential paths of a plurality of patterns and adopts a reverse sequential path along which transportation can be performed efficiently. The reverse sequential operation calculation unit 13 adopts a reverse sequential operation such that a plurality of retrieval target articles 150A can continue to flow without gaps and stops and can reach a target position in the shortest time. Also, the reverse sequential operation calculation unit 13 may search for a reverse sequential path of one pattern without searching for the reverse sequential paths of a plurality of patterns such that it is possible to decide on a reverse sequential operation in which a plurality of retrieval target articles 150A can continue to flow without gaps and stops and can reach a target position in the shortest time.
Specifically, the reverse sequential operation calculation unit 13 searches for a reverse sequential path VL4 for transporting a “fourth” retrieval target article 150A of the retrieval lane 21 to a storage position SP where there is a retrieval target article 150A to which the number “4” associated with the second floor is assigned. The reverse sequential operation calculation unit 13 searches for a reverse sequential path VL3 for transporting a “third” retrieval target article 150A of the retrieval lane 21 to a storage position SP where there is a retrieval target article 150A to which the number “3” associated with the third floor is assigned. The reverse sequential operation calculation unit 13 searches for a reverse sequential path VL2 for transporting a “second” retrieval target article 150A of the retrieval lane 21 to a storage position SP where there is a retrieval target article 150A to which the number “2” associated with the first floor is assigned. The reverse sequential operation calculation unit 13 searches for a reverse sequential path VL1 for transporting a “first” retrieval target article 150A of the retrieval lane 21 to a storage position SP where there is a retrieval target article 150A to which the number “1” associated with the fourth floor is assigned.
The article search device 1 simultaneously performs horizontal movement and vertical movement of each retrieval target article 150A between the retrieval completion state and the retrieval start state and transports each retrieval target article 150A to a destination by combining operations. At this time, the article search device 1 allows the retrieval target articles 150A to be moved such that the retrieval target articles 150A can be sorted quickly without interfering with each other under operation restrictions of the transport machine 22 and the warehouse body unit 101. At this time, the reverse sequential operation calculation unit 13 calculates a type of reverse sequential path through which each retrieval target article 150A reaches a destination storage position SP within the transport machine 22 and the warehouse body unit 101.
The reverse sequential operation calculation unit 13 searches for a reverse sequential path of each retrieval target article 150A by designating at least each part of the transport machine 22 and the warehouse body unit 101 as a search node and using a shortest path search method. For example, the reverse sequential operation calculation unit 13 may use an A-star algorithm (an A* algorithm) as the shortest path search method.
Here, the reverse sequential operation calculation unit 13 may search for the reverse sequential path in accordance with an operation principle in the warehouse body unit 101. For example, as shown in
The reverse sequential operation calculation unit 13 is set such that the transfer device 111 is operated to perform a transfer to the storage shelf 31 in the order in which the numbers of the retrieval target articles 150A from the transport shelves 32 and the numbers of the storage positions SP of the storage shelves 31 are aligned. Thereby, in the case where the reverse sequential operation is reproduced in reverse to be described below, the retrieval target article 150A is pushed out from the storage shelf 31 by the transfer device 111 and moved to the transport shelf 32. For example, as shown in the drawing of “time t” in
Here, in relation to the operation of the transfer device 111, it is unclear which retrieval target article 150A first reaches a row corresponding to a target storage position SP and whether the transfer device 111 is called. Also, if the transfer device 111 starts to move after the retrieval target article 150A reaches a target row, the efficiency will decrease. Accordingly, when the transfer device 111 is not working, the reverse sequential operation calculation unit 13 accumulates the indefinite operation time as an indefinite state of the transfer device 111. When the retrieval target article 150A has reached the target row, the reverse sequential operation calculation unit 13 performs calculations under the assumption that the transfer device 111 has been operating in advance by an amount of indefinite operation time.
Returning to
Here, the retrieval target article identification unit 12 identifies the retrieval target article 150A using a pattern table in which a sequence pattern when a plurality of articles 150 are transported to the warehouse body unit 101 is prepared in advance. As shown in
On the other hand, as shown in
Here, the number of patterns becomes enormous as the number of articles 150 increases. When optimum paths are calculated for all these patterns, the processing time becomes enormous. Accordingly, the retrieval target article identification unit 12 decides on an optimum pattern on the basis of the pattern table prepared in advance. For example, as shown in
Next, the pattern table will be described with reference to
When “reference number = 10,” the number of articles 150 for which the pattern is created is between 1 and 10 as shown in the drawing of the “carry-in pattern” on the upper left of
Hence, for example, a pattern table as shown in
Next, control content when the retrieval target article identification unit 12 decides on a carry-in sequence of the articles 150 greater in number than or equal in number to the reference number will be described. In this case, the retrieval target article identification unit 12 divides articles 150 into a plurality of groups such that the number of articles is less than or equal to the reference number per group. The retrieval target article identification unit 12 decides on the carry-in sequence of the articles 150 of the group on the basis of the pattern table. The retrieval target article identification unit 12 divides the articles 150 into a plurality of groups using the linear programming method. The linear programming method is a mathematical method of obtaining a solution that satisfies the constraints expressed by some linear equations and optimizes (maximizes/minimizes) an objective function expressed by a linear equation. The linear programming method is a method used when the best use of limited resources is desired or when the purpose is desired to be achieved at the lowest cost, i.e., when the optimum resources are allocated. When the floor number-specific distribution of articles to be carried in is given, the retrieval target article identification unit 12 performs grouping such that the total transport time is minimized.
An example of a procedure for dividing into groups will be described with reference to
Specifically, as shown in the drawing on the left side of
The retrieval target article identification unit 12 calculates the formula on the right side of
As shown in
Also, when the optimum carry-in sequence is obtained for the floor number-specific distribution associated with the reference number or more by performing the grouping as described above, a degree of freedom remains even after the grouping. For example, as shown in
Even in a case where an extended pattern table is created, it may be difficult to calculate and save all patterns in advance if the number increases excessively. For example, the retrieval target article identification unit 12 may divide 32 or more articles 150 into 32 or fewer groups using the extended pattern table. At this time, because each division group has a plurality of optimum carry-in sequences, it is necessary to decide which of the optimum carry-in sequences is to be adopted.
On the other hand, when a plurality of carry-in sequences (i.e., a plurality of optimum carry-in sequences) evaluated at the same ratio have been acquired in one group, the retrieval target article identification unit 12 extracts a sequence pattern at the end of the carry-in sequence and creates a concatenation sequence pattern by concatenating the extracted sequence pattern with a sequence pattern of another group. Also, the retrieval target article identification unit 12 decides on a carry-in sequence in one group by comparing the concatenation sequence pattern with data of the pattern table. Also, in the following description, the number of equal ratio-specific solutions is the number of optimum carry-in sequences registered in the data table. A degree of matching between the concatenation sequence pattern and the data in the pattern table is evaluated. An ideal sequence list or the like may be retained and the concatenation sequence pattern may be compared with the ideal sequence list.
For example, as shown in the drawing of the upper side of
A method in which the retrieval target article identification unit 12 decides on one optimum carry-in sequence from a plurality of optimum carry-in sequences of each group will be described. First, the retrieval target article identification unit 12 selects an optimum carry-in sequence LA in a first row of a first group A and extracts a sequence pattern of four elements at a rear end of the optimum carry-in sequence LA. Subsequently, the retrieval target article identification unit 12 selects an optimum carry-in sequence LB in a first row of a second group B and extracts a sequence pattern of four elements at a front end of the optimum carry-in sequence LB. The retrieval target article identification unit 12 creates a concatenation sequence pattern PAB by concatenating the sequence pattern at the rear end of the optimum carry-in sequence LA and the sequence pattern at the front end of the optimum carry-in sequence LB. The retrieval target article identification unit 12 compares the concatenation sequence pattern PAB with 44 optimum carry-in sequences of group A and searches for the presence of the same sequence pattern. Because the retrieval target article identification unit 12 has found a sequence pattern that is the same as the concatenation sequence pattern PAB within the optimum carry-in sequence, the optimum carry-in sequence LA in the first row is decided on as the carry-in sequence of group A and the optimum carry-in sequence LB in the first row is decided on as the carry-in sequence of group B.
Subsequently, the retrieval target article identification unit 12 extracts a sequence pattern of four elements at the rear end of the decided optimum carry-in sequence LB of the first row with respect to the second group B. The retrieval target article identification unit 12 selects the optimum carry-in sequence LC in the first row of the third group C and extracts a sequence pattern of four elements at the front end of the optimum carry-in sequence LC. The retrieval target article identification unit 12 creates a concatenation sequence pattern PBC having a meaning that is the same as that described above and compares the concatenation sequence pattern PBC with the 44 optimum carry-in sequences of group A. Here, if the concatenation sequence pattern PBC has not been found, the retrieval target article identification unit 12 switches the row of the optimum carry-in sequence LC of group C and searches for a concatenation sequence pattern PBC of the optimum carry-in sequence LB of the first row and the optimum carry-in sequence LC of a second row. If the concatenation sequence pattern PBC has still not been found, the retrieval target article identification unit 12 switches the row of the optimum carry-in sequence LC of group C and searches for a concatenation sequence pattern PBC of the optimum carry-in sequence LB of the first row and the optimum carry-in sequence LC of a third row. In the example of
Next, the retrieval target article identification unit 12 extracts a sequence pattern of four elements at the rear end of the decided optimum carry-in sequence LC in the third row with respect to the third group C. The retrieval target article identification unit 12 selects an optimum carry-in sequence LD in the first row of the fourth group D and extracts a sequence pattern of four elements at the front end of the optimum carry-in sequence LD. The retrieval target article identification unit 12 creates a concatenation sequence pattern PCD having a meaning that is the same as that described above and compares the created concatenation sequence pattern PCD with the 44 optimum carry-in sequences of group A. Here, when the retrieval target article identification unit 12 does not find the concatenation sequence pattern PCD even if all optimum carry-in sequences LD of group D are switched, the number of elements of the sequence pattern at the end thereof is reduced by one, the number of elements within the concatenation sequence pattern is changed from eight to six, and a search condition is relaxed. The retrieval target article identification unit 12 performs a search using the relaxed concatenation sequence pattern PCD. When the retrieval target article identification unit 12 does not find the concatenation sequence pattern PCD even if all optimum carry-in sequences LD of group D are switched in a state in which a search condition is relaxed, the number of elements of the sequence pattern at the end thereof is further reduced by one, the number of elements within the concatenation sequence pattern is changed from six to four, and a search condition is further relaxed. The retrieval target article identification unit 12 performs a search using the further relaxed concatenation sequence pattern PCD. In the example of
Next, a process in which the retrieval target article identification unit 12 identifies the retrieval target article 150A using the pattern table as described above will be described in more detail with reference to
The article arrangement confirmation unit 16 is a unit for confirming the articles 150 arranged on the storage shelf 31 of each floor of the warehouse body unit 101. As shown in
The pattern table reference unit 17 refers to the pattern table prepared in advance from the storage unit 3 and acquires an optimum pattern for each floor number-specific distribution of the articles 150 of “group a,” the articles 150 of “group b,” and the articles 150 of “group c” using the pattern table. Also, the pattern table reference unit 17 acquires the optimum pattern using a method similar to that described with reference to
As shown in
The numbering unit 19 identifies a retrieval target article 150A from the articles 150 within the storage shelf 31 on the basis of the optimum pattern decided on by the connection confirmation unit 18 and assigns a number corresponding to the retrieval sequence. Here, the optimum pattern decided on by the connection confirmation unit 18 is obtained by changing the arrangement from an arrangement of “group c,” “group b,” and “group a” to an arrangement of “group a,” “group b,” and “group c” in consideration of the reverse sequential operation. Accordingly, as shown in
As shown in
For example, the numbering unit 19 searches for the article 150 of “group a” from the third floor because a first retrieval target article is an article 150 of “group a” on the third floor. Because the article 150 of “group a” is located on the most retrieval side on the third floor, the numbering unit 19 identifies the article 150 as a first retrieval target article 150A and assigns the number “1” thereto. Because a second retrieval target article is an article 150 of “group a” on the second floor, the numbering unit 19 searches for the article 150 of “group a” from the second floor. Because the article 150 of “group a” is located on the most retrieval side on the second floor, the numbering unit 19 identifies the article 150 as a second retrieval target article 150A and assigns the number “2” thereto. Because a third retrieval target article is an article 150 of “group a” on the first floor, the numbering unit 19 searches for the article 150 of “group a” from the first floor. Because the article 150 of “group a” is located on the most retrieval side on the first floor, the numbering unit 19 identifies the article 150 as a third retrieval target article 150A and assigns the number “3” thereto. The numbering unit 19 assigns numbers in a similar method. Here, when the numbering unit 19 searches for the article 150 of “group a” as a fifth retrieval target article from the first floor, there are articles 150 of “group a” on the left and right storage shelves 31 at a second position from the retrieval side. At this time, the numbering unit 19 identifies the article 150 on the right side as a fifth retrieval target article 150A and assigns the number “5” thereto. Because a sixth retrieval target article is also the article 150 on the first floor, the numbering unit 19 identifies the article 150 on the left side as a sixth retrieval target article 150A. The numbering unit 19 identifies retrieval target articles 150A of “group b” from an eleventh retrieval target article in a similar method, identifies retrieval target articles 150A of “group c” from an eighteenth retrieval target article in a similar method, and assigns numbers thereto.
An example of processing content showing the article search method for use in the article search device 1 will be described with reference to
Next, the reverse sequential operation calculation unit 13 calculates a reverse sequential operation when it is assumed that the retrieval target articles 150A are moved to a storage position SP of the warehouse body unit 101 in a reverse sequence from the retrieval completion state (step S60). The retrieval operation calculation unit 14 calculates a retrieval operation in which the retrieval target article 150A moves from the storage position SP of the warehouse body unit 101 and is in the retrieval completion state by reproducing the reverse sequential operation in reverse (step S70). When step S70 ends, the process shown in
Next, the operations/effects of the article search device 1 and the article search method according to the present embodiment will be described.
In the article search device 1, the retrieval target article identification unit 12 identifies the retrieval target article 150A from the articles 150 stored in the warehouse body unit 101 on the basis of the retrieval information indicating the retrieval completion state. Thus, the retrieval target article identification unit 12 can identify an appropriate article 150 from a large number of articles 150 stored in the warehouse body unit 101 on the basis of the retrieval information indicating the retrieval completion state. Also, the reverse sequential operation calculation unit 13 calculates a reverse sequential operation when it is assumed that the retrieval target articles 150A are moved to a storage position SP in the warehouse body unit 101 in a reverse sequence from the retrieval completion state. The retrieval completion state is a state in which the articles 150 are arranged rather than a state in which the articles 150 are stored in the warehouse body unit 101. Accordingly, the reverse sequential operation calculation unit 13 can perform the calculation in a state in which the load is limited when the reverse sequential operation starting from the retrieval completion state is performed as compared with when the retrieval operation for setting the retrieval completion state from the warehouse body unit 101 is performed. On the other hand, the retrieval operation calculation unit 14 can calculate a retrieval operation in which the retrieval target article 150A moves from the storage position SP in the warehouse body unit 101 and is in the retrieval completion state by reproducing the reverse sequential operation in reverse. That is, the retrieval operation calculation unit 14 can calculate a retrieval operation in a simple process of simply reproducing the reverse sequential operation in reverse. Accordingly, the article search device 1 can perform a search associated with the retrieval operation of the articles 150 in a state in which the load of calculation is reduced. Also, it can be assumed that the reverse sequential operation calculation unit 13 starts the operation from an ideal state in which the articles are desired to be retrieved. Accordingly, the article search device 1 can perform a search associated with an operation after confirming that the retrieval sequence is optimized. From the above, the article 150 can be retrieved in a state in which the load of calculation is reduced.
The retrieval target article identification unit 12 may number the retrieval target articles 150A stored in the warehouse body unit 101 in correspondence with the retrieval sequence of the plurality of articles 150 in the retrieval completion state. In this case, the retrieval target article identification unit 12 can clarify a corresponding relationship between the retrieval target articles 150A within the warehouse body unit 101 and the articles 150 in the retrieval completion state. Accordingly, the reverse sequential operation calculation unit 13 can easily calculate the reverse sequential operation on the basis of the corresponding relationship.
The warehouse body unit 101 includes the storage shelf 31 arranged at the storage position SP of the articles 150; the transport shelf 32 arranged in alignment with the storage shelf 31 and configured to transport the articles 150 to the transport machine 22; and the transfer device 111 arranged in parallel with the storage shelf 31 and configured to move the articles 150 to the storage position SP and transfer the articles 150 between the storage position SP and the transport shelf 32. The reverse sequential operation calculation unit 13 may be set such that the transfer device 111 is operated to perform a transfer to the storage shelf 31 in a sequence in which a number of the retrieval target article 150A of the transport shelf 32 and a number of the storage position SP of the storage shelf 31 are aligned. In this case, because the reverse sequential operation calculation unit 13 can provide the operation principle of the retrieval target article 150A within the warehouse body unit 101, the load of calculation can be reduced by following the operation principle.
The retrieval target article identification unit 12 may set a higher priority level of a retrieval sequence for the retrieval target article 150A stored at the storage position SP at an earlier time. In this case, the article search device 1 can limit interference between retrieval target articles 150A to be retrieved from the storage position SP and the like and smoothly retrieve the articles.
The retrieval target article identification unit 12 may identify the retrieval target article 150A using a pattern table in which a sequence pattern when a plurality of articles 150 are transported to the warehouse body unit 101 is prepared in advance. In this case, the retrieval target article identification unit 12 can reduce the load of calculation and the calculation time using the pattern table prepared in advance. Also, the retrieval capacity can be enhanced using the pattern table.
An article search method according to the present embodiment includes the retrieval target article identification step S10 of identifying a retrieval target article 150A from among the articles 150 stored in the warehouse body unit 101 on the basis of retrieval information indicating a retrieval completion state; the reverse sequential operation calculation step S60 of calculating a reverse sequential operation when it is assumed that the retrieval target article 150A is moved to the storage position SP in the warehouse body unit 101 in a reverse sequence from the retrieval completion state; and the retrieval operation calculation step 70 of calculating a retrieval operation when the retrieval target article 150A is moved from the storage position SP in the warehouse body unit 101 and is in the retrieval completion state by reproducing the reverse sequential operation in reverse.
According to the article search method, operations/effects similar to those of the article search device 1 described above can be obtained.
The present disclosure is not limited to the above-described embodiment.
For example, a system to which the sorting device is applied is not limited to the warehouse system shown in
The above-described article search device 1 sets a higher priority level of the retrieval sequence for the retrieval target article 150A stored at the storage position SP at an earlier time, but may set a higher priority level of the retrieval sequence for the retrieval target article 150A stored at a position closer to the transport machine (the retrieval elevator 105) for performing retrieval. Specifically, regardless of whether the retrieval target article 150A is first stored at the storage position SP, the numbering unit 19 is configured to assign a smaller number by setting a higher priority level of the retrieval sequence for a retrieval target article 150A closer to the left side (the retrieval side) at the storage position SP when there are retrieval target articles 150A in the same group on the same floor. Thereby, the movement time required for the retrieval target article 150A to be retrieved can be shortened and the article can be retrieved at a higher speed.
The above-described article search device uses an A-star algorithm or a pattern table to search for a reverse sequential path. However, a method in which the article search device searches for the reverse sequential path is not particularly limited, and for example, the reverse sequential path may be searched for in accordance with a prescribed rule.
The operation principle of articles in the warehouse body is not limited to that shown in
Although the linear programming method is used as the calculation method for dividing into groups, the method is not limited. For example, a division rule may be set in advance and a method such as division may be used according to a rule base. In this case, it is preferable to construct suitable rules empirically and/or statistically. [0077]
| Number | Date | Country | Kind |
|---|---|---|---|
| 2021-151820 | Sep 2021 | JP | national |
