JP2017210302A - Loading procedure determination apparatus and loading procedure determination program - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a loading procedure determination apparatus and a loading procedure determination program capable of accurately determining a series of loading procedures.SOLUTION: An acquisition unit of the loading procedure determination apparatus acquires information on a loading object to be loaded into a container. A loading procedure candidate derivation unit derives candidates for a series of loading procedures to be used to load the loading objects on which information has been acquired by the acquisition unit into the container. An evaluation value calculation unit references information on past loading procedures stored in a storage unit and calculates an evaluation value for each of the candidates for a series of loading procedures derived by the loading procedure candidate derivation unit, the evaluation value being calculated in such a manner that the evaluation becomes higher as the candidate contains more procedures matching past loading procedures. A selection unit selects the candidates for a series of loading procedure for which a high evaluation value has been calculated by the evaluation value calculation unit as a series of loading procedures to be used to load the loading objects detected by a detection unit into the container.SELECTED DRAWING: Figure 2

Description

  Embodiments described herein relate generally to a loading procedure determination device and a loading procedure determination program.

  Conventionally, in distribution centers and factories, research has been conducted on a technique for automatically determining the procedure for loading a load (such as a delivery object) or a cardboard box packed with various items into a container. . However, with the conventional technology, there are cases where a series of loading procedures cannot be determined with high accuracy.

JP 2003-2325 A

  The problem to be solved by the present invention is to provide a loading procedure determination device and a loading procedure determination program capable of accurately determining a series of loading procedures.

  The loading procedure determination device according to the embodiment includes an acquisition unit, a loading procedure candidate determination unit, an evaluation value calculation unit, and a selection unit. The acquisition unit acquires information related to a load object to be loaded on the container. The loading procedure candidate determination unit derives a series of loading procedure candidates for loading the loading object whose information has been acquired by the acquisition unit into the container. The evaluation value calculation unit refers to the information regarding the past loading procedure stored in the storage unit, and matches each of the series of loading procedure candidates derived by the loading procedure candidate deriving unit with the past loading procedure. The evaluation value is calculated with a tendency that the evaluation becomes higher as more procedures are performed. The selection unit selects a series of loading procedure candidates for which a high evaluation value has been calculated by the evaluation value calculation unit as a series of loading procedures for loading the loading object detected by the detection unit onto the container.

The figure which shows the use environment of the loading procedure determination apparatus 100 which concerns on 1st Embodiment. The function block diagram of the loading procedure determination apparatus 100. FIG. 5 is a flowchart showing an example of a flow of processing executed by the loading procedure determination device 100. The figure which shows an example of the content of the delivery information 186. FIG. The figure which shows the series loading procedure candidate 188 notionally. The figure which shows an example of the content of the past loading procedure information 182. The figure which shows the coordinate system virtually set with respect to container CT. The figure which shows an example of the attitude | position of the package OB. The figure which shows a mode that the notification of a loading procedure is performed. The functional block diagram of 100 A of loading procedure determination apparatuses of 2nd Embodiment. The flowchart which shows an example of the flow of the process performed by 100 A of loading procedure determination apparatuses of 2nd Embodiment. The figure which shows the use environment of the loading procedure determination apparatus 100B which concerns on 3rd Embodiment. The functional block diagram of the loading procedure determination apparatus 100B which concerns on 3rd Embodiment. The flowchart which shows an example of the flow of the process performed by the loading procedure determination apparatus 100B of 3rd Embodiment. The figure for demonstrating the process of the modeling part 120 which concerns on 4th Embodiment.

  Hereinafter, a loading procedure determination device and a loading procedure determination program according to an embodiment will be described with reference to the drawings. In each of the following embodiments, the loading procedure determination device is described as a part of a distribution system installed in a distribution center, and the load target is a package (delivery target). However, this is only an example. It is. The loading object is an object to be loaded on the container and may be any object as long as the shape can be recognized.

(First embodiment)
FIG. 1 is a diagram illustrating a usage environment of the loading procedure determination device 100 according to the first embodiment. The loading procedure determination device 100 is used in, for example, a distribution center that classifies sent packages OB for each delivery destination, loads them in a container CT, and loads the container CT into a truck or the like for shipment. The loading procedure determination device 100 does not need to be installed in the distribution center, and may be a cloud server that communicates with the distribution center via a network.

  In the distribution center, the luggage OB is carried by a belt conveyor VC or the like. At that time, various types of information on the package OB are acquired by the cameras CM-1, CM-2 (the number of cameras is arbitrary, hereinafter collectively referred to as camera CM), the communication device CI, and the like. For example, by analyzing an image captured by the camera CM in the loading procedure determination apparatus 100, information such as the size (vertical, horizontal, height) of the package OB and the delivery destination is acquired. The delivery destination information is encoded in, for example, a QR code (registered trademark) or a bar code attached to a form pasted on the package OB. Further, when the communication tag TG is attached to the package OB, the communication device CI acquires the same information from the communication tag TG. Note that there is no particular limitation on the method of acquiring information related to the package OB. For example, detection means such as an infrared sensor, a laser radar, an ultrasonic sensor, or a pressure sensor may be used, or information is input by a human operation. May be.

  The luggage OB carried by the belt conveyor VC is temporarily loaded in the buffer area BA by the worker ST. Then, a series of loading procedures determined by the loading procedure determination device 100 is transmitted to the worker ST by the procedure notification device 200, and the worker loads the cargo OB on the container CT according to this. This working mode is merely an example, and one or both of temporary loading on the buffer area BA and loading on the container CT may be automatically performed by a transport mechanism, a robot, or the like. In this case, the procedure notification device 200 is not necessary, and the loading procedure determination device 100 may output a signal for notifying a series of loading procedures to the transport mechanism and the robot.

  FIG. 2 is a functional configuration diagram of the loading procedure determination device 100. The loading procedure determination apparatus 100 includes an information acquisition unit 110, a modeling unit 120, a loading procedure candidate derivation unit 130, an evaluation value calculation unit 140, a selection unit 150, an output control unit 160, and a storage unit 180. Although it may include, it is not limited to this. Some or all of the components other than the storage unit are realized by a processor such as a CPU (Central Processing Unit) executing a program. The program may be stored in advance in the storage unit 180, may be downloaded via a network such as the Internet, or the program stored in the portable storage medium is a drive device (not configured) of the loading procedure determination device 100. And may be installed in the storage unit 180. Also, some or all of the functional units may be realized by hardware such as LSI (Large Scale Integration), ASIC (Application Specific Integrated Circuit), and FPGA (Field-Programmable Gate Array).

  The storage unit 180 is realized by a ROM (Read Only Memory), a RAM (Random Access Memory), an HDD (Hard Disk Drive), a flash memory, or the like. The storage unit 180 stores information such as past loading procedure information 182, appearance frequency information 184, carry-in information 186, and a series of loading procedure candidates 188.

  The information acquisition unit 110 acquires information from the camera CM, the communication device CI, and the like, performs image analysis as necessary, acquires information on at least the size of the package OB, and stores the information as carry-in information 186 in the storage unit 180. Remember.

  The modeling unit 120 creates (models) a shape model of the package OB based on the size of each package OB included in the carry-in information 186, for example. The modeling unit 120 creates a model of the container CT having a known size in advance.

  The loading procedure candidate derivation unit 130 derives a series of loading procedure candidates for loading the package OB on the container CT, and stores the candidate as a series loading procedure candidate 188 in the storage unit 180. The evaluation value calculation unit 140 refers to the past stacking procedure information 182 and the appearance frequency information 184 stored in the storage unit 180, and calculates an evaluation value SC for each of the series stacking procedure candidates 188. The selection unit 150 selects the series of loading procedure candidates 188 for which the high evaluation value SC has been calculated by the evaluation value calculation unit 160 as a series of loading procedures for loading the package OB on the container CT. The output control unit 160 transmits information for causing the procedure notification device 200 to output a series of stacking procedures selected by the selection unit 150 to the procedure notification device 200. The functions of these functional units will be described using a flowchart.

  FIG. 3 is a flowchart illustrating an example of a flow of processing executed by the loading procedure determination apparatus 100. The processing of this flowchart is repeatedly executed at a predetermined cycle, for example.

  First, the information acquisition unit 110 waits until it acquires information (detection information) about the package OB from the camera CM or the communication device CI (step S100). When the detection information is received, the information acquisition unit 110 performs necessary processing such as image analysis and registers it in the carry-in information 186 (step S102).

  FIG. 4 is a diagram showing an example of the contents of the carry-in information 186. As shown in FIG. The carry-in information 186 is, for example, a case where the “size / shape” represented by the horizontal, vertical, and height dimensions and the size are known with respect to the package ID which is the identification information of the package (for example, a distribution center) The information is associated with the “type” assigned to the cardboard or the like of the shipping company that manages When the “size” is already known, the information acquisition unit 110 assigns the corresponding “type” and registers it in the carry-in information 186.

  Next, the loading procedure candidate deriving unit 130 refers to the carry-in information 186 and determines whether or not the number of packages OB in the buffer area BA is equal to or greater than the threshold Th1 (step S104). The package information registered in the carry-in information 186 is sequentially deleted when loaded in the container CT, for example. In this case, the number of package IDs registered in the carry-in information 186 can be regarded as the number of packages OB in the buffer area BA. When the number of packages OB in the buffer area BA is less than the threshold Th1, the loading procedure determination device 100 returns the process to step S100.

  When the number of packages OB in the buffer area BA is equal to or greater than the threshold Th1, the loading procedure candidate deriving unit 130 derives a series of loading procedure candidates for loading the packages OB into the container CT (step S106). The loading procedure candidate 188 is stored in the storage unit 180. Then, the evaluation value calculation unit 140 calculates an evaluation value SC for each of the series loading procedure candidates 188 (step S108).

  FIG. 5 is a diagram conceptually showing a series of stacking procedure candidates 188. As shown in the drawing, the series loading procedure candidate 188 sequentially loads the packages OB loaded in the buffer area BA at that time from the initial state of the container CT (in the figure, five packages OB are loaded). The loading procedure (loading pattern, loading path, loading path) is comprehensively obtained. In the drawing, one series of stacking procedure candidates 188 is shown surrounded by a frame as a representative. Each series loading procedure candidate 188 is completed when there is no room for loading the package OB remaining in the buffer area BA. Note that it is not necessary to comprehensively obtain all the loading patterns, and some narrowing processing may be performed.

  In FIG. 5, “30%” or the like represents the filling rate of the container. As described above, since each package OB and container CT are modeled and expressed by data that can be processed on a computer, the filling rate at each stage can also be calculated. In addition, the notation “k layer”, “k + 1 layer”, and “k + 2 layer” indicate how many packages OB are loaded from the starting point.

The evaluation value calculation unit 140 calculates the evaluation value SC with the following tendency, for example, for each series of loading procedure candidates 188. Some of these tendencies may be omitted, or another trend may be added.
(1) The evaluation value SC is calculated such that the evaluation increases as the number of procedures that match the past loading procedure included in the past loading procedure information 182 increases.
(2) The evaluation value SC is calculated with a tendency to increase as the filling rate of the load OB into the container CT increases.
(3) The evaluation value SC is calculated with a tendency to increase as the number of loads OB loaded on the container CT increases.
(4) The evaluation value SC is calculated such that the higher the appearance frequency for each type of package OB, the higher the appearance frequency.

The evaluation value calculation unit 140 calculates the evaluation value SC based on, for example, the formula (1).

  In Expression (1), p is the appearance frequency for each type of package OB. As shown in FIG. 4, the luggage OB may include a certain amount of items having a predetermined size and shape. The appearance frequency p for each type of package OB is statistically derived in advance based on, for example, the package OB carried to the distribution center. From equation (1), the higher the appearance frequency p, the higher the evaluation value SC. As a result, the evaluation value SC becomes higher as a larger number of loads OB of a type to be carried are loaded. As will be described later, since a series of loading procedures having the highest evaluation value is selected, a large number of types can be obtained by giving a high evaluation to the procedure for loading a large number of packages OB having a high appearance frequency p as described above. It is possible to quickly process a package OB which is a group, and an efficient operation is possible.

Further, in the equation (1), k indicates how loaded with any number of baggage OB from the origin, r _k is the fill factor of the time loaded with the k-th luggage OB. Exceptionally, r ₀ is set to 1. From equation (1), the derivation of the evaluation value _SC, term r n / _{r 0} or final filling rate appears. Therefore, a high score SC is calculated for a series of loading procedures with a high final filling rate. By adopting a loading procedure with a high final filling rate, the load OB can be carried out efficiently.

  Moreover, according to Formula (1), the evaluation value SC is calculated so large that n becomes large. As a result, a high evaluation value SC can be given to the loading procedure for loading a large number of loads OB, and the loads OB can be carried out efficiently.

  In Expression (1), α is a parameter whose value changes depending on whether or not it matches the past loading procedure included in the past loading procedure information 182. The parameter α is determined to be α1 if they match and α2 if they do not match. α1> α2, for example, α1 = 1 and α2 = 0.1.

  The past loading procedure information 182 is obtained by, for example, analyzing a loading procedure previously performed by a skilled worker, performing statistical processing, and extracting a representative loading procedure. FIG. 6 is a diagram showing an example of the contents of the past loading procedure information 182. As shown in FIG. As illustrated, the past loading procedure information 182 is information in which the loading position, the diagonal position, the type, and the posture are associated with each loading procedure for each of a plurality of series of loading procedures. The loading position is one apex of the luggage OB, and the diagonal position is the apex located at the diagonal of the loading position. Some of these pieces of information may be omitted.

  The loading position and the diagonal position are expressed by coordinates on a coordinate system virtually set for the container CT. FIG. 7 is a diagram showing a coordinate system virtually set for the container CT. As illustrated, one corner on the back side of the container CT is set to the origin (0, 0, 0). Further, it is defined as (X, Y, Z) = (horizontal, vertical, height). In procedure 1 in FIG. 6, the load OB1 shown in FIG. 7 is loaded, and in procedure 2, OB2 shown in FIG. 7 is loaded.

  The posture is information indicating what posture is loaded in the virtually set coordinate system. FIG. 8 is a diagram illustrating an example of the posture of the luggage OB. When it is assumed that the package OB is a rectangular parallelepiped having different horizontal, vertical, and height and is loaded along the coordinate axes of each side, there are six postures of the package OB. The posture of the past loading procedure information 182 is information indicating which of these postures is loaded.

  The evaluation value calculation unit 140, for one target loading procedure (k), the previous (k−1) loading state matches the information up to k−1 times in the past loading procedure information 182, and the loading procedure. If (k) matches the k times of information in the past loading procedure information 182, the parameter α is determined to α1 for the loading procedure (k). Note that the evaluation value calculation unit 140 may determine that these are in agreement with respect to a series of symmetrical loading procedures.

  Returning to FIG. 3, the selection unit 150 selects a series of stacking procedure candidates 188 having the highest evaluation value SC (step S110). Then, the output control unit 160 determines whether or not the filling rate in the selected series loading procedure candidate 188 is equal to or greater than the threshold value Th2 (step S112). When the filling rate is less than the threshold value Th2, the loading procedure determination device 100 returns the process to step S100.

  When the filling rate is equal to or greater than the threshold Th2, the output control unit 160 starts notification of a stacking procedure based on the series of stacking procedure candidates 188 selected in Step S110 (Step S114). Thereby, one routine of this flowchart is completed.

  FIG. 9 is a diagram illustrating how the loading procedure is notified. The procedure notification device 200 includes, for example, one or more laser pointers. The output control unit 160 of the loading procedure determination device 100 first points the cargo OB to be loaded with a laser pointer for each loading procedure included in the series of loading procedure candidates 188 selected in step S110, and then loads the cargo OB. One or more laser pointers are controlled so that the position in the container CT to be pointed to is indicated by the laser pointer. Thereby, the worker ST can load the luggage OB in the container CT according to the series of loading procedure candidates 188 selected in step S110. The procedure notification device 200 may be any HMI (Human Machine Interface) device such as a wearable glass or a speaker.

  According to the first embodiment described above, the information acquisition unit 110 that acquires information on the load OB to be loaded on the container CT, and the load OB on which the information is acquired by the information acquisition unit 110 are loaded on the container CT. Referring to the stacking procedure candidate derivation unit 130 for deriving a series of stacking procedure candidates 188 to be performed and the past stacking procedure information 182 stored in the storage unit 180, the series of stacking procedure candidates 188 derived by the stacking procedure candidate deriving unit 130. The evaluation value calculation unit 140 calculates the evaluation value SC with a tendency that the evaluation becomes higher as more procedures that match the past loading procedure information 182 are included, and the evaluation value calculation unit 140 calculates a higher evaluation value SC. And a selection unit 150 that selects the series of loading procedure candidates 188 as a series of loading procedures for loading the package OB into the container CT. Procedure can be accurately determined. Further, by storing information based on the loading procedure previously performed by the skilled worker as the past loading procedure information 182, the procedure of the skilled worker can be reproduced.

<Second Embodiment>
Hereinafter, the second embodiment will be described. In the first embodiment, the description has been given focusing on the loading of the luggage OB in one container CT, but in the second embodiment, a scene in which a plurality of containers CT are prepared will be described. Since the basic functions of each component are the same as those in the first embodiment, description thereof will be omitted.

  FIG. 10 is a functional configuration diagram of the loading procedure determination device 100A according to the second embodiment. As illustrated, the loading procedure determination device 100A according to the second embodiment includes a container allocation unit 125 in addition to the functional configuration according to the first embodiment. The container assigning unit 125 assigns the package OB present in the buffer area BA to each of the plurality of containers CT. The allocation method by the container allocation unit 125 may be arbitrary, for example, a random allocation method.

  FIG. 11 is a flowchart illustrating an example of a flow of processing executed by the loading procedure determination device 100A according to the second embodiment.

  First, the information acquisition unit 110 waits until it acquires information (detection information) related to the package OB from the camera CM or the communication device CI (step S200). When the detection information is received, the information acquisition unit 110 performs necessary processing such as image analysis and registers it in the carry-in information 186 (step S202).

  Next, the loading procedure candidate deriving unit 130 refers to the carry-in information 186 and determines whether or not the number of packages OB in the buffer area BA is equal to or greater than the threshold Th3 (step S204). If the number of packages OB in the buffer area BA is less than the threshold value Th3, the loading procedure determination device 100 returns the process to step S100.

  If the number of packages OB in the buffer area BA is equal to or greater than the threshold value Th3, the container allocation unit 125 determines allocation of packages OB to each of the plurality of containers CT (step S206). Next, the loading procedure determining apparatus 100 performs processing for determining a series of loading procedures (step S208). The processing in step S208 is the same as the processing in steps S106 to S110 in FIG.

  When the process for determining a series of loading procedures is completed, the loading procedure determining apparatus 100 determines whether or not the filling rate of each container CT is equal to or greater than a threshold Th4 (step S210). When the filling rate of each container CT is less than the threshold value Th4, the loading procedure determination apparatus 100 returns the process to step S206, and the container assignment unit 125 changes the assignment of the load OB to the container CT, and performs the subsequent processes. Do.

  On the other hand, when the filling rate of each container CT is equal to or greater than the threshold Th4, the output control unit 160 starts notification of a loading procedure based on the series of loading procedure candidates 188 selected for each container CT (step S212).

  According to the second embodiment described above, the same effects as those of the first embodiment can be obtained, and in addition, the load OB can be favorably allocated to the container CT. The loading procedure can be determined with higher accuracy.

<Third Embodiment>
Hereinafter, a third embodiment will be described. FIG. 12 is a diagram illustrating a usage environment of the loading procedure determination device 100B according to the third embodiment. The loading procedure determination device 100B according to the third embodiment is applied to a system capable of changing the arrangement of the loads OB temporarily loaded in the buffer area BA.

  As an example, FIG. 12 shows a system including a sublane mechanism SL. The sublane mechanism SL has a slide shoe sorter SS provided in the gap of the main belt conveyor and a plurality of roller portions RL. The slide shoe sorter SS moves the load OB on the main belt conveyor onto the roller portion RL by protruding vertically upward from the gap between the conveyance belts of the main belt conveyor or retracting inside the conveyance belt. For example, a plurality of roller portions RL are provided in parallel, and in the roller portion RL, the plurality of rollers arranged in parallel are driven in both directions, so that the luggage OB can be retracted from the main belt conveyor to the back side, Send it to the main belt conveyor.

  In addition, the system to which the loading procedure determination device 100B is applied has a mechanism in which the load OB is temporarily retracted by an arm that is rotated in the horizontal direction or an arm that sucks the load OB instead of the sublane mechanism SL. You may have. The system to which the loading procedure determination device 100B is applied may have a robot mechanism that automatically changes the arrangement of the luggage OB in the buffer area BA.

  FIG. 13 is a functional configuration diagram of a loading procedure determination device 100B according to the third embodiment. The loading procedure determination device 100B according to the third embodiment includes a buffer arrangement control unit 155 in addition to the functional configuration of the first embodiment. The buffer arrangement control unit 155 controls the arrangement of the packages OB in the buffer area BA so that the high-scoring series of loading procedure candidates 188 selected by the loading procedure determination device 100B can be easily executed. As an example, the buffer arrangement control unit 155 controls the arrangement of the luggage OB in the buffer area BA by controlling the sublane mechanism SL.

  FIG. 14 is a flowchart illustrating an example of a flow of processing executed by the loading procedure determination device 100B according to the third embodiment.

  First, the information acquisition unit 110 waits until it acquires information (detection information) related to the package OB from the camera CM or the communication device CI (step S300). When the detection information is received, the information acquisition unit 110 performs necessary processing such as image analysis and registers it in the carry-in information 186 (step S302).

  Next, the loading procedure candidate deriving unit 130 refers to the carry-in information 186 and determines whether or not the number of registered packages OB is equal to or greater than the threshold Th5 (step S304). If the number of registered packages OB is less than the threshold Th5, the loading procedure determination device 100 returns the process to step S300.

  If the number of registered packages OB is equal to or greater than the threshold Th5, the loading procedure candidate deriving unit 130 derives a series of loading procedure candidates for loading the packages OB into the container CT (step S306), and a sequence of loading procedures. The candidate 188 is stored in the storage unit 180. Next, the evaluation value calculation unit 140 calculates an evaluation value SC for each of the series stacking procedure candidates 188 (step S308). Next, the selection unit 150 selects the series stacking procedure candidate 188 having the highest evaluation value SC (step S310). It should be noted that the processing up to step S310 is preferably completed before the package OB reaches the sublane mechanism SL.

  Then, the buffer arrangement control unit 155 controls the sublane mechanism SL so that the arrangement of the luggage OB in the buffer area BA is in the reverse order of the series of loading procedures selected in Step S310 (Step S312). The output control unit 160 sequentially executes a stacking procedure notification based on the series of stacking procedure candidates 188 selected in step S110 (step S314). Thereby, one routine of this flowchart is completed.

  According to the third embodiment described above, the same effects as those of the first embodiment can be obtained, and in addition, the arrangement of the loads OB in the buffer area BA is controlled in an order in which the containers CT can be easily loaded. Therefore, convenience can be improved.

<Fourth Embodiment>
Hereinafter, a fourth embodiment will be described. In the fourth embodiment, the modeling unit 120 models the shape of the package OB with a margin for information acquired by the camera CM and the communication device CI.

  FIG. 15 is a diagram for explaining the processing of the modeling unit 120 according to the fourth embodiment. As illustrated, when the size / shape based on the information acquired by the camera CM or the communication device CI is represented by (50, 70, 40), for example, the modeling unit 120 according to the fourth embodiment Modeling is performed by adding margins mX, mY, and mZ to (X), vertical (Y), and height (Z), respectively. The margins mX, mY, mZ may be determined based on characteristics of detection means such as the camera CM and the communication device CI. For example, when the height measurement using the camera CM is less accurate than the horizontal or vertical measurement, it is determined unbalanced such that mX = mY = 5 and mZ = 10. Further, the margins mX, mY, mZ may be determined based on a positional deviation when an operator or machine has loaded the luggage OB on the container CT in the past. The positional deviation may be a positional deviation from the target loading position in the above-described series of loading procedures, or may be a positional deviation from the target loading position given to the operator or the machine by another method. . The positional deviation can be obtained statistically from work records measured before the operation point.

  By adding a margin and modeling, when trying to execute the series of loading procedure information 188 selected by the selection unit 150, a situation may occur in which it is not possible to enter the package OB at the designated location. Can be suppressed. Such a situation occurs, for example, when the accuracy of detection means such as a camera CM or communication device CI is not sufficient and has an error. In the fourth embodiment, a model larger than the actual size of the luggage OB is created and processed so that this possible error can be absorbed in advance. As a result, it is possible to suppress the occurrence of a situation in which the load OB does not enter the container CT when loaded as instructed.

  According to the fourth embodiment described above, in addition to the effects similar to those of the first embodiment, there is a situation in which the load OB does not enter the container CT when loaded as instructed. It can be suppressed from occurring.

  The configurations and functions described in the second to fourth embodiments are not in an exclusive relationship, and the second embodiment and the third embodiment, and the second embodiment and the fourth embodiment. Form, 3rd Embodiment and 4th Embodiment, or 2nd Embodiment, 3rd Embodiment, and 4th Embodiment may be combined, respectively.

  According to at least one embodiment described above, the information obtaining unit 110 that acquires information about the load OB to be loaded on the container CT, and the load OB whose information is acquired by the information acquisition unit 110 are loaded on the container CT. Referring to the stacking procedure candidate derivation unit 130 for deriving a series of stacking procedure candidates 188 to be performed and the past stacking procedure information 182 stored in the storage unit 180, the series of stacking procedure candidates 188 derived by the stacking procedure candidate deriving unit 130. The evaluation value calculation unit 140 calculates the evaluation value SC with a tendency that the evaluation becomes higher as more procedures that match the past loading procedure information 182 are included, and the evaluation value calculation unit 140 calculates a higher evaluation value SC. By having the selection unit 150 that selects the series of loading procedure candidates 188 as a series of loading procedures for loading the package OB into the container CT, The procedure of loading communicating can be determined accurately.

  Although several embodiments of the present invention have been described, these embodiments are presented by way of example and are not intended to limit the scope of the invention. These embodiments can be implemented in various other forms, and various omissions, replacements, and changes can be made without departing from the spirit of the invention. These embodiments and their modifications are included in the scope and gist of the invention, and are also included in the invention described in the claims and the equivalents thereof.

DESCRIPTION OF SYMBOLS 100 ... Loading procedure determination apparatus, 110 ... Information acquisition part, 120 ... Modeling part, 125 ... Container allocation part, 130 ... Loading procedure candidate derivation part, 140 ... Evaluation value calculation part, 150 ... Selection part, 155 ... Buffer arrangement control 160, output control unit, 180 ... storage unit, 182 ... past loading procedure information, 184 ... appearance frequency information, 186 ... carry-in information, 188 ... a series of loading procedure candidates

Claims (7)

An acquisition unit for acquiring information related to a load object to be loaded on a container;
A loading procedure candidate derivation unit for deriving a series of loading procedure candidates for loading the loading object whose information has been acquired by the acquisition unit into the container;
With reference to information on past loading procedures stored in the storage unit, each of a series of loading procedure candidates derived by the loading procedure candidate deriving unit includes more procedures that match the past loading procedures. An evaluation value calculation unit for calculating an evaluation value with a tendency to increase the evaluation;
A selection unit that selects a series of loading procedure candidates for which a high evaluation value has been calculated by the evaluation value calculation unit, as a series of loading procedures for loading the load object detected by the detection unit onto the container;
A loading procedure determination device comprising: The evaluation value calculation unit calculates the evaluation value for each of a series of loading procedure candidates derived by the loading procedure candidate deriving unit with a tendency to increase as the filling rate of the loading object with respect to the container increases. To
The loading procedure determination device according to claim 1. The evaluation value calculation unit tends to increase as the number of objects to be loaded loaded on the container increases with respect to each of a series of loading procedure candidates derived by the loading procedure candidate deriving unit. To calculate,
The loading procedure determination device according to claim 1 or 2. The evaluation value calculation unit calculates the evaluation value with a tendency to increase as the appearance frequency for each type of the loading object increases with respect to each of a series of loading procedure candidates derived by the loading procedure candidate deriving unit. To
The loading procedure determination device according to any one of claims 1 to 3. Before the buffer area, the arrangement of the load object in the buffer area where the load object is loaded before being loaded on the container is in the reverse order of the series of selection procedures selected by the selection unit. Further comprising a buffer arrangement control unit for controlling a change mechanism capable of changing the arrangement of the delivery object.
The loading procedure determination device according to any one of claims 1 to 4. A modeling unit that provides the loading procedure candidate deriving unit with information modeled with a margin for the size of the delivery object derived based on the information acquired by the acquiring unit;
The loading procedure determination device according to any one of claims 1 to 5. On the computer,
A process of obtaining information about the load object to be loaded into the container;
A process of deriving a series of loading procedure candidates for loading the acquired object to be loaded into the container;
A process of deriving candidates for a series of loading procedures for loading the loading object detected by the detection unit for detecting the loading object to be loaded on the container into the container;
With reference to information on past loading procedures stored in the storage unit, the evaluation tends to be higher as more procedures that match the past loading procedures are included for each of the derived series of loading procedures. Processing to calculate an evaluation value;
A process of selecting a series of loading procedure candidates for which a high evaluation value is calculated as a series of loading procedures for loading the detected load object on the container;
Loading procedure determination program that executes

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