JP2019104625A - Arrangement support system, arrangement support method and program - Google Patents

Abstract

To provide an arrangement support system, an arrangement support method and a program that can enhance workability of loading work.SOLUTION: The arrangement support system 1 includes a loading information calculation unit and an image display 20. The loading information calculation unit calculates loading information. The loading information includes at least information of the planned arrangement positions within an arrangement area A1 where a number of packages B1 planned to be positioned in the arrangement area A1 are each arranged. The image display 20 displays, on the position associated to the actual space, a directing image P1, which directs the planned arrangement position of a work object Bx, which is subject to the work, out of the number of packages B1 on the basis of the loading information.SELECTED DRAWING: Figure 1

Description

  The present disclosure relates to a deployment support system, a deployment support method, and a program. More specifically, the present disclosure relates to a placement support system, a placement support method, and a program that support loading work for loading a load.

  Conventionally, there has been a loading operation instruction system for instructing loading operation of transferring a load taken out of a warehouse to a transportation means (see, for example, Patent Document 1).

  In this loading operation instruction system, there are a plurality of berths on which a truck carrying a load stops. Adjacent to the plurality of berths, there is provided a loading work space for a truck that stops on each of the plurality of berths. Loads from the warehouse based on the shipping plan are placed on pallets. Loaded pallets are transported by a forklift to a loading work space corresponding to a loading destination truck. The loading operation instruction system converts the loading amount of each truck into the number of pallets, and assigns the location of the pallet to the loading work space for each truck. Then, the loading operation instruction system displays, by a display device provided in the loading operation space, which section the arrangement position where the pallet should be transported for each truck is.

JP 2001-301927 A

  In the loading operation instruction system described in Patent Document 1, when the pallet carrying the load is transported by a forklift, if the loading method is poor, the load collapses when the forklift is suddenly started or suddenly stopped. There was a possibility. If the load collapses, it is necessary to put the load on the pallet again, which causes a problem that the workability of the loading operation is deteriorated.

  An object of the present disclosure is to provide a placement support system, a placement support method, and a program capable of improving the workability of loading work.

  An arrangement support system according to an aspect of the present disclosure includes a loading information calculation unit and a video display unit. The loading information calculation unit calculates loading information including at least an arrangement planned position at which each of a plurality of packages to be arranged in the arrangement area is arranged in the arrangement area. The video display unit displays an instruction video indicating the planned arrangement position of the work object, which is a work object of the plurality of packages, on the position associated with the real space based on the loading information. .

  The arrangement support method according to an aspect of the present disclosure includes a calculation step and a display step. In the calculation step, packing information including at least a planned arrangement position at which each of a plurality of packages to be arranged in the arrangement area is arranged in the arrangement area is calculated. In the display step, based on the loading information, an instruction video indicating an arrangement planned position of a work object which is a work object of the plurality of packages is displayed at a position associated with the real space.

  A program according to an aspect of the present disclosure is a program for causing a computer system to execute a calculation step and a display control step. In the calculation step, packing information including at least a planned arrangement position at which each of a plurality of packages to be arranged in the arrangement area is arranged in the arrangement area is calculated. In the display control step, based on the loading information, a position where an instruction video for instructing an arrangement planned position of a work object which is a load to be worked among the plurality of packages is associated with the real space by the video display unit Display on.

  According to the present disclosure, it is possible to provide a placement support system, a placement support method, and a program capable of improving the workability of loading work.

FIG. 1 is an explanatory view of a case where a placement support system according to a first embodiment of the present disclosure supports loading work onto a truck. FIG. 2 is an explanatory view of a case where the arrangement support system of the same supports the loading operation onto a truck. FIG. 3 is a block diagram of the above arrangement support system. FIG. 4 is a flow chart showing the operation of the above arrangement support system. FIG. 5 is an explanatory view of an instruction video projected by the video display unit of the placement assistance system according to the modification of the first embodiment of the present disclosure. FIG. 6 is an explanatory diagram of a case where the arrangement support system according to the modification of the first embodiment of the present disclosure supports loading work onto a pallet.

(Embodiment 1)
(1) Overview In the placement support system 1 according to the first embodiment, the placement area of the luggage is a truck bed, and the task of placing the luggage on the truck bed is supported.

  As shown in FIGS. 1 and 2, the placement support system 1 supports loading work in which the worker 300 loads the load B1 on the loading platform 110 of the truck 100, for example, at the loading station 201 of the facility 200 such as a warehouse. . The worker 300 is, for example, a driver of the truck 100 or the like. The package B1 is, for example, a cardboard box containing articles. Identification information is given to each of the plurality of packages B1. For example, a barcode C1 (one-dimensional barcode or two-dimensional barcode) is displayed as identification information on the side surface of the package B1, that is, the side surface of the cardboard box. Here, the barcode C1 may be printed on the side of the cardboard box, or a seal on which the barcode C1 is printed may be attached to the side of the cardboard box.

  In the facility 200, belt conveyors 210 and 211 for transporting the luggage B1 in the warehouse to the loading platform 110 of the truck 100 are installed. The belt conveyor 210 transports the luggage B1 in the warehouse to the loading station 201. A part of the belt conveyor 211 extends into the bed 110 of the truck 100, and the belt conveyor 211 transports the luggage B 1 transported by the belt conveyor 210 to the bed 110 of the truck 100. The worker 300 performs an operation of loading a plurality of packages B <b> 1 transported to the loading platform 110 by the belt conveyor 211 onto the loading platform 110.

  The arrangement support system 1 of the present embodiment, as shown in FIG. 3, includes a loading information calculation unit 14 and a video display unit 20.

  The loading information calculation unit 14 calculates loading information. The loading information includes at least information on an arrangement planned position at which each of a plurality of packages B1 to be arranged in the arrangement area A1 (in the present embodiment, an inner space of the box-shaped loading platform 110) is arranged in the arrangement area A1.

  The image display unit 20 displays the instruction image P1 indicating the planned arrangement position of the work object Bx, which is the work object of the plurality of packages B1, based on the loading information, at the position associated with the real space. .

  Thereby, the worker who performs the work of arranging the work object Bx in the arrangement area A1 can perform the work while seeing the instruction image P1 displayed at the position associated with the real space, and arranges the work object Bx Since it is difficult to make an incorrect position, it is possible to improve the workability of the loading operation. In addition, since the loading information calculation unit 14 calculates loading information including the planned placement positions of the plurality of packages B1, the burden on the operator can be reduced, and the workability of the loading operation can be improved. .

  Here, the work object Bx is a load to be worked among the plurality of loads B1, and is a load to be arranged next in the arrangement area A1 by the worker 300.

  Also, displaying the instruction video P1 at a position associated with the real space includes displaying the instruction video P1 directly at a certain position in the real space, and the image display unit 20 displays the coordinates of the position of the real space where the instruction video P1 is displayed. The display of the instruction video P1 at the position converted to the coordinates of the display area to be displayed is included. That is, the instruction video P1 may be directly displayed by the video display unit 20 at a certain position in the real space, or may be displayed on the display surface of the video display unit 20.

  When the video display unit 20 is a projection device that projects a video on an object in real space, the display area of the video display unit 20 is real space, and the instruction video P1 is directly displayed in real space. The video display unit 20 displays the instruction video P1 at a certain position in the real space as a position associated with the real space. Here, the video display unit 20 may project the instruction video P1 at a position where the coordinates of the projection position of the instruction video P1 in the real space are converted (coordinated) to the coordinates of the display area of the video display unit 20.

  The video display unit 20 may be a transmissive head mounted display corresponding to augmented reality (AR) in which the instruction video P1 is superimposed and displayed on the real space viewed through the transmissive display. In this case, the display area in which the video display unit 20 displays the instruction video P1 is the display surface of the head mounted display, and the instruction video P1 is displayed on the display surface. The video display unit 20 displays the instruction video P1 at a position where the coordinates of the virtual display position of the instruction video P1 in the real space are converted (coordinated) to the coordinates of the display surface of the head mounted display.

  Further, the video display unit 20 is, for example, a non-transmissive head mounted display or a tablet terminal that displays the instruction video P1 superimposed on an image of the real space created based on a video of the real space captured by a camera. May be an information terminal. In this case, the display area in which the video display unit 20 displays the instruction video P1 is the display surface of the non-transmissive head mounted display or the display of the information terminal, and the instruction video P1 is displayed on the head mounted display or the display of the information terminal . Then, the video display unit 20 converts the coordinates of the virtual display position of the instruction video P1 in the real space into the coordinates of the display surface of the head mounted display or the display of the information terminal (associates) with the instruction video P1. indicate.

  Note that the facility 200 of the present embodiment has a plurality of loading areas 201, and the placement support system 1 supports the task of loading the load B1 on the loading platform 110 of the truck 100 in each of the plurality of loading areas 201. it can. It is not essential that the placement support system 1 performs the task of placing the package B1 in the plurality of placement areas A1, and the placement area A1 may be one or two or more.

(2) Details (2.1) Configuration Hereinafter, the arrangement support system 1 according to the first embodiment will be described in detail with reference to the drawings.

  The arrangement support system 1 of the present embodiment, as shown in FIG. 3, includes a processing device 10, a video display unit 20, an arrangement detection unit 30, and an identification information detection unit 40.

  The video display unit 20 includes, for example, a projector (projector) 21 that displays an image by projecting the image on a projection plane (see FIG. 1). The image display unit 20 sets at least one of the inner surface (the floor surface 111 and the side surface 112) of the loading platform 110 constituting the arrangement area A1 of the plurality of packages B1 and the arranged packages disposed in the arrangement area A1 as a projection plane. . The image display unit 20 is attached to, for example, the ceiling 202 of the loading station 201. The video display unit 20 has a communication function of communicating with the processing device 10 via the network 50. In the present embodiment, the communication between the video display unit 20 and the processing device 10 is a wired communication method, but may be a wireless communication method.

  The image display unit 20 projects the image on the projection plane based on the image data received from the processing device 10 to display the instruction image P1 on the projection plane. The video display unit 20 projects the instruction video P1 to the position associated with the real space in the arrangement area A1 (that is, the position where the instruction video P1 is to be displayed). The operator 300 can perform the operation of arranging the work object Bx while looking at the instruction image P1 projected onto the object present in the arrangement area A1, and can improve the workability of the loading operation. . Further, the video display unit 20 is disposed on the outside of the box-shaped loading platform 110 whose internal space is the placement area A1, and projects the instruction video from the outside of the loading platform 110 toward the inside space of the loading platform 110. Therefore, since the video display unit 20 can be disposed on the outside of the loading platform 110, the individual tracks 100 do not need to be provided with the video display unit 20.

  The arrangement detection unit 30 includes, for example, a laser distance measurement type distance image sensor 31 (see FIG. 1) in which an area including at least the arrangement area A1 is an imaging area. The distance image sensor 31 is a TOF (Time of Flight) sensor. The distance image sensor 31 emits infrared light toward the placement area A1, and detects the flight time (time difference) of the light reflected by the object until the infrared light returns to the object Measure the distance of The placement detection unit 30 is attached to, for example, the ceiling 202 of the handling site 201 and is attached to the lower side of the image display unit 20. The placement detection unit 30 detects the placement state of the placed luggage B1 (including the work object Bx) placed in the placement area A1 among the plurality of luggage B1. In the present embodiment, the arrangement detection unit 30 measures the distance image data of the arrangement area A1 with the distance image sensor 31, thereby detecting the arrangement state of the arranged luggage B1 arranged in the arrangement area A1, and the distance image data Are sent to the processing device 10. In the present embodiment, the communication between the arrangement detection unit 30 and the processing device 10 is a wired communication method, but may be a wireless communication method.

  The identification information detection unit 40 detects identification information assigned to the work object Bx, which is a luggage to be worked, among a plurality of luggage B1. The identification information detection unit 40 includes a barcode reader 41 (see FIG. 1) that reads the barcode C1 displayed on the package B1. The identification information detection unit 40 is provided at a position where the barcode C1 displayed on the package B1 transported by the belt conveyor 211 can be read. The identification information detection unit 40 has a communication function of communicating with the processing device 10 via the network 50. The identification information detection unit 40 transmits, to the processing device 10, data including the identification information read from the work object Bx. In the present embodiment, the communication between the identification information detection unit 40 and the processing device 10 is a wired communication method, but may be a wireless communication method.

  The processing device 10 includes an arithmetic processing unit 11, a communication unit 12, and a storage unit 13.

  The communication unit 12 communicates, for example, by a wired communication method conforming to the Ethernet (registered trademark) standard. The communication unit 12 communicates with the video display unit 20, the arrangement detection unit 30, and the identification information detection unit 40 via the network 50. In the present embodiment, the communication method of the communication unit 12 is a wired communication method, but may be a wireless communication method.

  The storage unit 13 includes, for example, a non-volatile memory such as an electrically rewritable EEPROM (Electrically Erasable Programmable Read-Only Memory). The storage unit 13 stores attribute information of the package B1 to be loaded onto the truck 100 in association with identification information of the package B1.

  Here, the attribute information includes information on the external dimensions (the vertical, horizontal, and height dimensions) and the weight of the package B1. In the present embodiment, the attribute information includes information on precautions when handling the package B1 (for example, broken objects, the posture of the package B1 when arranged in the arrangement area A1, the direction of the package B1, etc.). Further, in the present embodiment, the attribute information includes information on the order of removal in which each of the plurality of packages B1 is removed from the loading platform 110. For example, when there are two or more delivery destinations of a plurality of packages B1 loaded on the truck 100, the storage unit 13 stores the order of unloading the packages B1 in the storage unit 13 in each of the plurality of packages B1.

  The storage unit 13 may include an auxiliary storage device such as a hard disk drive. In addition, the storage unit 13 may be provided outside the processing device 10, or may be provided in a server device that communicates with the processing device 10 via the network 50.

  The arithmetic processing unit 11 is configured by, for example, a microcomputer having a processor and a memory. That is, the arithmetic processing unit 11 is realized by a computer system having a processor and a memory. The processor executes an appropriate program, whereby the computer system functions as the arithmetic processing unit 11. The program may be pre-recorded in a memory, or may be provided through a telecommunication line such as the Internet or in a non-transitory recording medium such as a memory card. The arithmetic processing unit 11 of the present embodiment includes the functions of a loading information calculation unit 14, a display control unit 15, a determination unit 16, an acquisition unit 17, and an output unit 18.

  The loading information calculation unit 14 calculates loading information for each of a plurality of packages B1 scheduled to be disposed in the placement area A1, that is, to be loaded onto the loading platform 110 of the truck 100. The loading information includes at least an arrangement planned position at which each of a plurality of packages B1 scheduled to be arranged in the arrangement area A1 (in the present embodiment, the loading platform 110 of the truck 100) is arranged in the arrangement area A1. Specifically, the loading information calculation unit 14 acquires, from the storage unit 13, attribute information of a plurality of packages B <b> 1 to be loaded onto the loading platform 110 of the truck 100. The loading information calculation unit 14 calculates loading information including a planned arrangement position at which each of the plurality of packages B1 is arranged in the arrangement area A1, based on the attribute information of the plurality of packages B1. That is, the loading information calculation unit 14 calculates a stacking method (planned arrangement position) for arranging the plurality of packages B1 in the arrangement area A1. For example, the loading information calculation unit 14 calculates the planned arrangement position so as to arrange the heavy-duty luggage B1 among the plurality of luggage B1 on the lower side. Thus, the loading information calculation unit 14 calculates loading information based on the attribute information of the plurality of packages B1 scheduled to be disposed in the placement area A1, and the loading information calculation unit 14 calculates the loading information according to the number and type of packages B1 to be disposed. Thus, it is possible to determine the optimum planned placement position. In addition, the attribute information includes information on the order of removal, and the loading information calculation unit 14 may calculate loading information including planned arrangement positions of the plurality of packages B1 based on the order of extraction of the plurality of packages B1. it can. For example, the loading information calculation unit 14 calculates the planned arrangement position so as to arrange the luggage B1 having the later removal order among the plurality of luggage B1 at a position far from the entrance 113 in the arrangement area A1. The loading information calculation unit 14 calculates the planned arrangement position so as to arrange the package B1 having the earlier removal order among the plurality of packages B1 at a position closer to the entrance 113 in the arrangement area A1. Therefore, the loading information calculation unit 14 can calculate the planned arrangement position so that the work of taking out the plurality of packages (B1) can be easily performed.

  The acquisition unit 17 acquires the identification information of the work object Bx transmitted from the identification information detection unit 40. The acquisition unit 17 outputs the acquired identification information to the display control unit 15.

  The display control unit 15 associates the instruction video P1 indicating the planned arrangement position of the work object Bx, which is the work object of the plurality of packages B1, based on the loading information, with the image display unit 20 in the real space Display on position. Specifically, the display control unit 15 arranges the work object Bx based on the loading information calculated by the loading information calculation unit 14 and the identification information of the work object Bx acquired by the acquisition unit 17. The image data of the instruction video P1 indicating the planned position is created. The display control unit 15 transmits the image data of the created instruction video P1 to the video display unit 20. When the image display unit 20 receives the image data, the image display unit 20 projects the image created based on the image data on the projection plane to display the instruction image P1 on the projection plane.

  The determination unit 16 determines the suitability of the arrangement of the work object Bx arranged in the arrangement area A1 based on the detection result of the arrangement detection unit 30. The determination unit 16 obtains the arrangement state of the package B1 in the arrangement area A1 based on the image data of the distance image transmitted from the arrangement detection unit 30 to the processing device 10. The determination unit 16 is based on the loading information calculated by the loading information calculation unit 14, the planned placement position of the package B1 calculated by the loading information calculation unit 14, and the actual arrangement position of the work object Bx. Find out if there is an error in

  For example, when the error between the planned arrangement position of the package B1 and the arrangement position of the work object Bx calculated by the loading information calculation unit 14 is equal to or less than a threshold, the determination unit 16 determines that the arrangement position of the work object Bx is appropriate It is determined that If the error between the planned arrangement position of the package B1 calculated by the loading information calculation unit 14 and the actual arrangement position of the work object Bx is larger than the threshold, the determination unit 16 determines that the arrangement position of the work object Bx is not Determine that it is appropriate. As described above, the determination unit 16 determines whether the arrangement of the work object Bx arranged in the arrangement area A1 is appropriate or not based on the detection result of the arrangement detection unit 30, and the determination result of the It can be used to modify the arrangement of the object Bx or the placed package B1.

  The output unit 18 outputs the arrangement state of the plurality of packages B1 detected by the arrangement detection unit 30. The output unit 18 outputs electronic data indicating an arrangement state of the plurality of packages B1 to, for example, a portable terminal held by the worker 300. Thus, the output unit 18 outputs the detection result of the arrangement detection unit 30, and the detection result of the arrangement detection unit 30 can be used, for example, when moving the package B1 from the arrangement area A1. Here, the aspect of the output is not limited to the output of the electronic data indicating the arrangement state of the plurality of packages B1, and a list indicating the arrangement state of the plurality of packages B1 may be printed out (printed).

(Operation)
The operation of the arrangement support system 1 according to the first embodiment will be described with reference to FIG.

  First, attribute information and identification information of a plurality of packages B1 scheduled to be disposed on the loading platform 110 of the truck 100, which is the placement area, are to be loaded into the loading platform 110 into the processing device 10 (S1). The user (such as the worker 300) may directly input the attribute information and identification information of the package B1 into the processing apparatus 10, or the processing apparatus 10 may identify the attribute information and identification of the package B1 from another computer connected to the network 50. Information may be acquired.

  When the loading information calculation unit 14 of the processing device 10 acquires attribute information and identification information of a plurality of packages B1 scheduled to be loaded on the loading platform 110, loading including an arrangement planned position for placing each of the plurality of packages B1 on the loading platform 110 Product information is calculated (S2).

  After that, when the package B1 (the work object Bx) is transported to the loading platform 110 of the truck 100 by the belt conveyors 210 and 211, the identification information detection unit 40 detects the identification information displayed on the work object Bx (S3) : Yes). The identification information detection unit 40 transmits the detection result of the identification information to the processing device 10.

  When the acquisition unit 17 of the processing device 10 receives the identification information transmitted from the identification information detection unit 40, the display control unit 15 operates the package B1 corresponding to the identification information acquired by the acquisition unit 17 among the plurality of packages B1. The object Bx. Then, the display control unit 15 obtains the planned arrangement position of the work object Bx based on the loading information, and displays the image data for displaying the instruction video indicating the planned arrangement position at the position associated with the real space. The communication unit 12 causes the video display unit 20 to transmit. Thereby, the video display unit 20 displays the instruction video P1 indicating the planned arrangement position of the work object Bx corresponding to the identification information acquired by the acquisition unit 17 among the plurality of packages B1 at the position associated with the real space Do.

  When the image display unit 20 receives image data from the processing device 10, the image display unit 20 projects an image created based on the image data on a projection plane (S4), and displays the instruction image P1 on the projection plane. In the example of FIG. 1 and FIG. 2, the instruction image P1 is a rectangular mark indicating the place to place the work object Bx (for example, the upper surface of the placed baggage B1), and the image display unit 20 has the instruction image P1 already disposed. Project on the top surface of the package B1. As described above, when the upper surface of the placed luggage B1 disposed in the placement area A1 among the plurality of luggage B1 is the planned placement position of the work object Bx, the video display unit 20 instructs the placed luggage B1. Project the picture P1. In the example of FIG. 1 and FIG. 2, the instruction | indication image P1 is displayed on the upper surface of the luggage | load B1 on which the work object Bx is placed. Therefore, the worker 300 can easily understand the place where the work object Bx is to be placed based on the instruction image P1, and can improve the workability of the loading operation for placing the package B1. Further, the video display unit 20 obtains a projection plane on which the instruction video P1 is to be projected based on the detection result of the arrangement detection unit 30, and projects the instruction video P1 on the projection plane. Therefore, the image display unit 20 can determine the projection plane on which the instruction image P1 is to be projected, in consideration of the arranged baggage B1 arranged in the arrangement area A1.

  The arrangement detection unit 30 intermittently captures a distance image of the arrangement area A1 and transmits image data of the distance image to the processing device 10. The determination unit 16 obtains the difference between the image data received from the arrangement detection unit 30 and the image data received from the arrangement detection unit 30 before that, and compares the difference with the reference value (S5).

  If the difference is equal to or less than the reference value (S5: No), the determination unit 16 waits for reception of the image data from the arrangement detection unit 30, and repeats the process of step S5 when the image data is received from the arrangement detection unit 30. .

  On the other hand, when the difference exceeds the reference value (S5: Yes), the determination unit 16 determines that a new package B1 has been placed in the placement area A1, and determines whether or not the package B1 to be placed in the placement area A1 remains. It judges (S6).

  If no package B1 to be placed in the placement area A1 remains in the determination process of step S6 (S6: No), the processing device 10 ends the process for supporting the placement of the package B1.

  If the luggage B1 to be disposed in the placement area A1 remains in the determination process of step S6 (S6: Yes), the determination unit 16 determines the placement state of the luggage B1 in the placement area A1 based on the detection result of the placement detection unit 30 Ask for Then, the determination unit 16 determines whether the arrangement of the work object Bx arranged in the arrangement area A1 is appropriate or not based on the arrangement state of the package B1 in the arrangement area A1. That is, the determination unit 16 determines the difference between the arrangement state of the package B1 obtained from the detection result of the arrangement detection unit 30 and the loading information (that is, the layout of the plurality of packages B1) calculated by the loading information calculation unit 14. Ask.

  If the error between the arrangement state of the package B1 and the loading information is equal to or less than the threshold (S7: No), the determination unit 16 determines that the arrangement of the work object Bx is appropriate, and the process proceeds to step S3. Perform processing to support the placement of the package B1.

  On the other hand, if the error between the arrangement state of the package B1 and the loading information exceeds the threshold (S7: Yes), the determination unit 16 determines that the arrangement of the work object Bx is inappropriate, and the process proceeds to step S2. Then, the loading information calculation unit 14 calculates loading information again. That is, when the worker 300 places the work object Bx at a position different from the planned placement position, the loading information calculation unit 14 calculates the planned placement B 1 based on the current placement state of the luggage B 1 in the placement area A 1. Calculate the planned placement position of. Therefore, even if the work object Bx is not properly placed or the worker 300 intentionally places the work object Bx at a position different from the planned placement position, based on the current placement state of the luggage B1, The arrangement position of the remaining luggage B1 can be determined.

  If the determination unit 16 determines that the arrangement of the work object Bx is inappropriate, the display control unit 15 displays an image indicating that the arrangement of the work object Bx in the arrangement area A1 is not appropriate. It may be displayed on the part 20. For example, the display control unit 15 projects an image (a mark, a character, or the like) indicating that the arrangement is incorrect on the work object Bx placed at an inappropriate position. As a result, the placement support system 1 can make the worker 300 notice that the placement of the work object Bx is inappropriate. If the determination unit 16 determines that the arrangement of the work object Bx is inappropriate, the arrangement support system 1 may output a warning by voice or the like, and the work object Bx may be output to the worker 300. It can be noticed that the placement of the

  Further, when the determination unit 16 determines that the arrangement of the work object Bx is inappropriate, the display control unit 15 causes the video display unit 20 to display an instruction video indicating an appropriate arrangement planned position of the work object Bx. May be As a result, the placement support system 1 can present the worker 300 with the correct planned placement position of the work object Bx.

  As described above, when the determination unit 16 determines that the arrangement of the work object Bx is inappropriate, the video display unit 20 performs the first process. The first process is a process in which the video display unit 20 displays at least one of a video indicating that the arrangement of the work object Bx in the arrangement area A1 is not appropriate and a designation image indicating an appropriate arrangement planned position. is there. By the video display unit 15 performing the first process, it is possible to present the worker 300 that the arrangement of the work object Bx is inappropriate or an appropriate planned arrangement position of the work object Bx. .

  When it is determined in step S6 that there is no remaining luggage B1, the determination unit 16 determines the arrangement state of the luggage B1 in the arrangement area A1 based on the detection result of the arrangement detection unit 30, and sets the arrangement area A1. The propriety of the arrangement of the arranged work objects Bx may be determined. For example, the determination unit 16 determines the arrangement state of the package B1 obtained from the detection result of the arrangement detection unit 30, and the loading information calculated by the loading information calculation unit 14 (that is, the planned placement position of the plurality of packages B1). Find the error. If the error between the arrangement state of the package B1 and the planned arrangement position is equal to or less than the threshold, the determination unit 16 determines that the arrangement of the work object Bx is appropriate, and ends the process. On the other hand, when the error between the arrangement state of the package B1 and the planned arrangement position exceeds the threshold, the determination unit 16 determines that the arrangement of the work object Bx is inappropriate. Then, when the determination unit 16 determines that the arrangement of the work object Bx is inappropriate, the video display unit 20 displays an image indicating that the arrangement of the work object Bx in the arrangement area A1 is not appropriate; It is sufficient to display at least one of an instruction video indicating an appropriate planned arrangement position.

(3) Modifications The above embodiment is only one of various embodiments of the present disclosure. The above embodiment can be variously modified according to the design and the like as long as the object of the present disclosure can be achieved. In addition, the same function as the arrangement support system 1 may be embodied by an arrangement support method, a computer program, or a non-temporary recording medium recording the program. The arrangement support method according to an aspect includes a calculation step and a display step. In the calculation step, packing information including at least a planned arrangement position at which each of a plurality of packages B1 scheduled to be arranged in the arrangement area A1 is arranged in the arrangement area A1 is calculated. In the display step, based on the loading information, the instruction image P1 indicating the planned arrangement position of the work object Bx, which is the work object of the plurality of packages B1, is displayed at the position associated with the real space.

  Further, a program according to an aspect is a program for causing a computer system to execute a calculation step and a display control step. In the calculation step, packing information including at least a planned arrangement position at which each of a plurality of packages B1 scheduled to be arranged in the arrangement area A1 is arranged in the arrangement area A1 is calculated. In the display control step, the instruction display images P1 to P3 indicating the planned arrangement position of the work object Bx, which is the work object of the plurality of packages B1, are placed in the real space by the image display unit 20 based on the loading information. Display at the associated position.

  According to the arrangement support method and program according to one aspect, it is possible to improve the workability of the loading operation.

  Hereinafter, modifications of the above embodiment will be listed. The modifications described below can be applied in combination as appropriate.

  The execution subject of the arrangement support system or the arrangement support method in the present disclosure includes a computer system. The computer system mainly includes a processor and memory as hardware. The processor executes the program recorded in the memory of the computer system to implement a function as an execution subject of the arrangement support system or the arrangement support method in the present disclosure. The program may be pre-recorded in the memory of the computer system, but may be provided through a telecommunication line or may be recorded and provided in a non-transitory recording medium readable by the computer system. Non-transitory recording media readable by the computer system are memory cards, optical disks, hard disk drives and the like. A processor of a computer system is configured of one or more electronic circuits including a semiconductor integrated circuit (IC) or a large scale integrated circuit (LSI). The plurality of electronic circuits may be integrated into one chip or may be distributed to a plurality of chips. The plurality of chips may be integrated into one device or may be distributed to a plurality of devices.

  The arrangement support system 1 of the first embodiment includes a processing device 10 having functions of a loading information calculation unit 14, a display control unit 15, a determination unit 16, an acquisition unit 17, and an output unit 18, an image display unit 20, and an arrangement. Although realized by the detection unit 30 and the identification information detection unit 40, the present invention is not limited to this configuration. The functions of the loading information calculation unit 14, the display control unit 15, the determination unit 16, the acquisition unit 17, the output unit 18, the video display unit 20, the arrangement detection unit 30, and the identification information detection unit 40 are integrated into one system, It may be realized by one device which fits in one case. In addition, the functions of the loading information calculation unit 14, the display control unit 15, the determination unit 16, the acquisition unit 17, the output unit 18, the video display unit 20, the arrangement detection unit 30, and the identification information detection unit 40 have two or more functions. It may be realized by a system. That is, a system having two or more functions of the loading information calculation unit 14, the display control unit 15, the determination unit 16, the acquisition unit 17, the output unit 18, the video display unit 20, the arrangement detection unit 30, and the identification information detection unit 40 Alternatively, they may be distributed to the device. Also, the functions of the arrangement support system 1 may be distributed to a plurality of systems. Also, at least part of the functions of the deployment assistance system 1 may be realized by, for example, a cloud (cloud computing).

  In the arrangement support system 1 of the first embodiment, the packing information calculation unit 14 may calculate packing information including the arrangement order and the planned arrangement position in which each of the plurality of packages B1 is arranged in the arrangement area A1. In this case, the loading information includes information on the placement order and the planned placement position, and the arithmetic processing unit 11 determines that the placement order of the work object Bx is different from the placement order included in the loading information. An image notifying that effect may be displayed on the image display unit 20. For example, when the arrangement order of the work object Bx is later than the current order, the arithmetic processing unit 11 displays a video notifying that effect on the video display unit 20, and the worker 300 operates the work object Bx. Placement can be delayed.

  In the first embodiment, when the package B1 is arranged in the arrangement area A1, the loading information calculation unit 14 is arranged in the arrangement area A1 based on the arrangement state of the arranged baggage B1 detected by the arrangement detection unit 30. The planned arrangement position of the package B1 which is not present may be calculated again. Thereby, the loading information calculation unit 14 can recalculate the planned arrangement position of the luggage B1 not disposed in the placement area A1 among the plurality of luggage B1 in consideration of the disposition state of the disposed luggage B1. .

  In the first embodiment, in the comparison of binary values of measurement data and the like, the “larger” may be “above”. That is, in the comparison of the binary comparison, whether the two values are equal or not can be arbitrarily changed depending on the setting of the reference value etc. Therefore, the technical difference is "bigger" or "greater than" Absent. Similarly, the place referred to as "below" may be "less than".

  In the first embodiment, the instruction video P1 is a rectangular mark that represents the place where the work object Bx is to be placed in a predetermined color, but the shape of the instruction video P1 can be changed as appropriate. The instruction video P1 may include information on the posture of the work object Bx when the work object Bx is arranged in the arrangement area A1. For example, when the posture for placing the work object Bx is determined, the display control unit 15 may cause the video display unit 20 to display an instruction video P1 including information on the posture of the work object Bx. The work object Bx can be arranged in the posture.

  Moreover, although the site | part which projects instruction | indication image P1 was the upper surface of the luggage | load B1 in which the operation target object Bx is mounted, it is not limited to it. As shown in FIG. 5, the display control unit 15 may cause the image display unit 20 to display an instruction video P3 formed of an upward arrow on the side surface of the package B1 on which the work object Bx is disposed. In addition, the display control unit 15 may cause the image display unit 20 to display an instruction video P2 formed of a downward arrow on the rear side of the planned placement position of the work object Bx on the side surface 112 of the loading platform 110. Although three instruction videos P1 to P3 are projected in the example of FIG. 5, at least one of the three instruction videos P1 to P3 may be projected.

  In addition, the display control unit 15 may cause the video display unit 20 to display an instruction video including information on notes when handling the work object Bx based on the attribute information of the work object Bx. The information on the method of handling the work object Bx includes, for example, information indicating that the work object Bx is a broken object such as a glass product, information indicating the placement direction when the work object Bx is placed in a restricted direction, Etc.

  In the first embodiment and the above-described modification, the video display unit 20 is the projector 21 (projector) that directly displays the instruction videos P1 to P3 at a position in the real space, but the video display unit 20 is not limited to the projector .

  The image display unit 20 may be other than the projector 21 as long as it can display the instruction images P1 to P3 at a position associated with the real space (in the above embodiment, the internal space of the loading platform 110). The video display unit 20 may be a transmissive head mounted display corresponding to augmented reality (AR) in which the instruction video P1 is superimposed and displayed on the real space viewed through the transmissive display. When the video display unit 20 is a transmissive head mounted display, the display area where the video display unit 20 displays the instruction images P1 to P3 is the display surface of the head mount display, and the instruction images P1 to P3 are displayed on this display surface. Be done. The image display unit 20 displays the instruction images P1 to P3 at positions obtained by converting (associating) the coordinates of the virtual display position of the instruction images P1 to P3 in the real space into the coordinates of the display surface of the head mount display.

  The video display unit 20 may be, for example, a non-transmissive head mount display that displays the instruction videos P1 to P3 superimposed on an image in real space. Here, the image of the real space may be an image of the real space photographed by a camera, or an image of the state of the real space created by computer graphics based on the image of the real space photographed by the camera. In this case, the display area in which the video display unit 20 displays the instruction videos P1 to P3 is the display surface of the non-transmission type head mounted display, and the instruction video P1 is displayed on the head mounted display. The video display unit 20 displays the instruction video P1 at a position where the coordinates of the virtual display position of the instruction video P1 in the real space are converted (coordinated) to the coordinates of the display surface of the head mounted display. In addition, the video display unit 20 may be an information terminal such as a tablet terminal that displays the instruction videos P1 to P3 superimposed on the image of the real space captured by the built-in camera.

  In the first embodiment, the arrangement detection unit 30 includes the distance image sensor 31, but the arrangement detection unit 30 is not limited to the arrangement including the distance image sensor 31. The placement detection unit 30 may be provided with a distance measurement sensor that measures the distance to the object by ultrasonic waves, radio waves, light, etc., or by scanning the inside of the placement area A1 to measure the distance to the object The arrangement state of may be detected.

  Further, the identification information detection unit 40 is not limited to one provided with the barcode reader 41, and may be a reader that reads identification information from an RF (Radio Frequency) tag attached to the package B1 without contact.

  In the first embodiment, the loading space 110 of the truck 100 is the placement area A1 of the luggage B1. However, the placement area of the luggage B1 is not limited to the loading space 110 of the truck 100. Further, as shown in FIG. 6, the pallet 400 on which the package B1 is placed may be set as the arrangement area A2. Further, the placement area of the luggage B1 may be a railway vehicle or a container transported by a ship.

  In the above embodiment, the packages B1 are carried by the belt conveyors 210 and 211 to the placement area A1, but the worker 300 may manually carry a plurality of packages B1 in the facility 200 to the placement area A1. In this case, when the worker 300 causes the identification information detection unit 40 to detect the identification information displayed on the package B1 (the work object Bx), the display control unit 15 instructs the planned arrangement position of the work object Bx. The image P1 is displayed by the image display unit 20 at a position associated with the real space. As a result, the worker 300 can easily understand the planned arrangement position where the work object Bx is to be arranged, and the workability of the arrangement operation can be improved.

(Summary)
As described above, the arrangement support system (1) according to the first aspect includes the loading information calculation unit (14) and the video display unit (20). The loading information calculation unit (14) is a loading including at least a planned arrangement position at which each of a plurality of packages (B1) to be arranged in the arrangement area (A1, A2) is arranged in the arrangement area (A1, A2) Calculate information. The video display unit (20) is configured to instruct the planned arrangement position of the work object (Bx), which is the work object package (B1) among the plurality of packages (B1), based on the loading information. Display P2, P3) at a position associated with the real space.

  According to this aspect, the worker looks at the instruction video P1 displayed at the position associated with the real space, and can work the work object (Bx) in the arrangement area (A1). Since it becomes difficult to make a mistake in the position where (Bx) is arranged, it is possible to improve the workability of the loading operation. In addition, since the loading information calculation unit (14) calculates loading information including planned placement positions of a plurality of packages (B1), the burden on the operator can be reduced, and the workability of loading operation can be improved. Can be

  The arrangement support system (1) according to the second aspect further includes, in the first aspect, an arrangement detection unit (30) and a determination unit (16). The placement detection unit (30) detects the placement state of the placed luggage (B1) placed in the placement area (A1, A2) among the plurality of packages (B1). The determination unit (16) determines the suitability of the arrangement of the work object (Bx) arranged in the arrangement area (A1, A2) based on the detection result of the arrangement detection unit (30).

  According to this aspect, the determination unit (16) can determine the disposition of the arranged luggage (B1) arranged in the arrangement area (A1, A2), and the determination result of the determination unit (16) can be arranged luggage It can be used to correct the arrangement of (B1).

  In the arrangement support system (1) according to the third aspect, in the second aspect, in the video display unit (20), the determination unit (16) determines the arrangement area (A1, A2) of the work object (Bx). If it is determined that the arrangement is not appropriate, the first process is performed. In the first processing, an image showing that the arrangement of the work object (Bx) in the arrangement area (A1, A2) is not appropriate and an instruction image (P1, P2, P3) showing an appropriate arrangement planned position It is a process of displaying at least one.

  According to this aspect, the worker (300) can notice that the arrangement of the work object (Bx) is not appropriate based on the video displayed by the video display unit (20), and the work target It is possible to take measures such as correcting the arrangement of the object (Bx).

  In the arrangement support system (1) according to the fourth aspect, in any one of the first to third aspects, the loading information calculation unit (14) is based on the attribute information of each of the plurality of packages (B1) Calculate the loading information.

  According to this aspect, the loading information calculation unit (14) can calculate the optimum planned arrangement position according to the attribute information of the package (B1) to be arranged in the arrangement area (A1, A2).

  In the arrangement support system (1) according to the fifth aspect, in the fourth aspect, the attribute information includes information on the extraction order in which each of the plurality of packages (B1) is taken out from the arrangement area (A1, A2).

  According to this aspect, the loading information calculation unit (14) can calculate loading information including planned arrangement positions of the plurality of packages (B1) based on the order of removal of the plurality of packages (B1). Therefore, the loading information calculation unit (14) can calculate the planned arrangement position so that the work of taking out the plurality of packages (B1) can be easily performed.

  In the arrangement support system (1) according to the sixth aspect, in any of the first to fifth aspects, the instruction video (P1, P2, P3) is a work object (Bx) in the arrangement area (A1, A2). ) Is an image including information on the posture of the work object (Bx) when it is arranged.

  According to this aspect, the worker (300) arranges the work object (Bx) in a posture corresponding to the information included in the instruction video (P1, P2, P3), whereby the work object Bx can be appropriately selected. It can be arranged in posture.

  In the arrangement support system (1) according to the seventh aspect, in any of the first to sixth aspects, the loading information calculation unit (14) arranges each of the plurality of packages (B1) in the arrangement area (A1, A2). The loading information including the arrangement order and the planned arrangement position to be arranged in A2) is calculated.

  According to this aspect, the worker (300) arranges the plurality of packages (B1) based on the arrangement order and the planned arrangement position calculated by the loading information calculation unit (14), whereby a plurality of packages are processed. (B1) can be appropriately arranged in the arrangement area (A1).

  In the arrangement support system (1) according to the eighth aspect, in any one of the first to seventh aspects, identification information is given to each of the plurality of packages (B1). The arrangement support system (1) further includes an acquisition unit (17). The acquisition unit (17) acquires identification information of the work object (Bx) from an identification information detection unit (40) that detects the identification information attached to the work object (Bx). The video display unit (20) is an instruction video (P1, P2, P3) indicating a planned arrangement position of the work object (Bx) corresponding to the identification information acquired by the acquisition unit (17) among the plurality of packages (B1) ) Is displayed at the position associated with the real space.

  According to this aspect, based on a result of the identification information detection unit (40) detecting the identification information given to the work object (Bx), an instruction video (not shown) for instructing the planned arrangement position of the work object (Bx) P1, P2, P3) can be displayed at a position associated with the real space.

  In the arrangement support system (1) according to the ninth aspect, in any one of the first to eighth aspects, the video display unit (20) instructs video at a position associated with the real space in the layout area (A1, A2). Project (P1, P2, P3).

  According to this aspect, the worker (300) arranges the work object (Bx) while looking at the instruction video (P1, P2, P3) projected onto the object present in the arrangement area (A1, A2). The work can be performed, and the workability of the loading work can be improved.

  In the arrangement support system (1) according to the tenth aspect, in the ninth aspect, the image display unit (20) is provided outside the box-like loading platform (110) whose internal space is the arrangement area (A1, A2). Be placed. The image display unit (20) projects the instruction image (P1, P2, P3) from the outside of the loading platform (110) toward the internal space of the loading platform (110).

  According to this aspect, the video display unit (20) can be disposed outside the loading platform (110).

  The arrangement support system (1) according to the eleventh aspect further includes an arrangement detection unit (30) in the ninth or tenth aspect. The placement detection unit (30) detects the placement state of the placed luggage (B1) placed in the placement area (A1, A2) among the plurality of packages (B1). The image display unit (20) obtains a projection plane on which the instruction image (P1, P2, P3) is projected based on the detection result of the arrangement detection unit (30), and the instruction image (P1, P2, P3) on the projection plane Project

  According to this aspect, it is possible to determine the projection plane on which the instruction image (P1, P2, P3) is projected in consideration of the arranged baggage (B1) arranged in the arrangement area (A1, A2).

  In the arrangement support system (1) according to the twelfth aspect, in any of the ninth to eleventh aspects, the video display unit (20) performs the second process. The second process is arranged when the upper surface of the arranged luggage (B1) arranged in the arrangement area (A1, A2) among the plurality of packages (B1) is the planned arrangement position of the work object (Bx) This is processing for projecting the instruction video (P1, P3) onto the package (B1).

  According to this aspect, the worker (300) plans to arrange the work object (Bx) by projecting the instruction image (P1, P3) onto the arranged baggage (B1) on which the work object (Bx) is placed. It becomes easy to understand the position.

  The arrangement support system (1) according to the thirteenth aspect further includes an arrangement detection unit (30) in any of the first to twelfth aspects. The placement detection unit (30) detects the placement state of the placed luggage (B1) placed in the placement area (A1, A2) among the plurality of packages (B1). The loading information calculation unit (14) is arranged in the arrangement area (A1, A2) among the plurality of packages (B1) based on the arrangement state of the arranged packages (B1) detected by the arrangement detection unit (30) The arrangement planned position of the package (B1) which is not being calculated is calculated again.

  According to this aspect, the arrangement planned position of the package (B1) not arranged in the arrangement area (A1, A2) among the plurality of packages (B1) is calculated in consideration of the arrangement state of the arranged package (B1). It can be done again.

  The arrangement support system (1) according to the fourteenth aspect further includes an arrangement detection unit (30) and an output unit (18) in any of the first to thirteenth aspects. The placement detection unit (30) detects the placement state of the placed luggage (B1) placed in the placement area (A1, A2) among the plurality of packages (B1). The output unit (18) outputs the detection result of the arrangement detection unit (30).

  According to this aspect, since the output unit (18) outputs the detection result of the placement detection unit (30), the detection result of the placement detection unit (30) can be displayed from the placement area (A1, A2) of the package (B1). It can be used when moving.

  The arrangement support method according to a fifteenth aspect includes a calculation step and a display step. The calculation step calculates loading information including at least a planned arrangement position at which each of a plurality of packages (B1) to be arranged in the arrangement area (A1, A2) is arranged in the arrangement area (A1, A2). The display step is an instruction image (P1, P2, P3) indicating the planned arrangement position of the work object (Bx) which is the work object package (B1) among the plurality of packages (B1) based on the loading information Is displayed at the position associated with the real space.

  According to this aspect, the worker can work the work object (Bx) in the arrangement area (A1) by looking at the instruction video (P1) displayed at the position associated with the real space. Since the position at which the object (Bx) is to be arranged is not likely to be mistaken, the workability of the loading operation can be improved. In addition, since the loading information calculation unit (14) calculates loading information including planned placement positions of a plurality of packages (B1), the burden on the operator can be reduced, and the workability of loading operation can be improved. Can be

  A program according to a sixteenth aspect is a program for causing a computer system to execute a calculation step and a display control step. In the calculation step, packing information including at least a planned arrangement position at which each of a plurality of packages (B1) to be arranged in the arrangement area (A1, A2) is arranged in the arrangement area (A1, A2) is calculated. In the display control system, an instruction image (P1, P2, P3) indicating an arrangement planned position of the work object (Bx) which is the work object package (B1) among the plurality of packages (B1) based on the loading information. ) Is displayed at a position associated with the real space by the video display unit (20).

  According to this aspect, the worker can work the work object (Bx) in the arrangement area (A1) by looking at the instruction video (P1) displayed at the position associated with the real space. Since the position at which the object (Bx) is to be arranged is not likely to be mistaken, the workability of the loading operation can be improved. In addition, since the loading information calculation unit (14) calculates loading information including planned placement positions of a plurality of packages (B1), the burden on the operator can be reduced, and the workability of loading operation can be improved. Can be

  Not limited to the above aspect, various configurations (including modified examples) of the layout support system (1) according to the first embodiment may be a layout support method, a (computer) program, or a non-temporary recording medium recording the program. It can be embodied.

  The configurations according to the second to fourteenth aspects are not essential for the placement support system (1), and can be omitted as appropriate.

DESCRIPTION OF SYMBOLS 1 arrangement | positioning assistance system 14 loading information calculation part 15 display control part 16 determination part 17 acquisition part 18 output part 20 image display part 30 arrangement | positioning detection part 40 identification information detection part 110 loading platform A1, A2 arrangement area B1 package Bx work object P1 , P2, P3 instruction picture

Claims (16)

A loading information calculation unit that calculates loading information including at least a planned arrangement position at which each of a plurality of packages to be arranged in the arrangement area is arranged in the arrangement area;
A video display unit for displaying an instruction video indicating the planned arrangement position of the work object, which is a work object of the plurality of packages, based on the loading information, in a position associated with the real space; Deployment support system. A placement detection unit configured to detect a placement state of placed luggage placed in the placement area among the plurality of pieces of luggage;
The arrangement support system according to claim 1, further comprising: a determination unit that determines the suitability of the arrangement of the work object arranged in the arrangement area based on the detection result of the arrangement detection unit. The video display unit is a video indicating that the arrangement of the work object in the arrangement area is not appropriate when the determination unit determines that the arrangement of the work object in the arrangement area is not appropriate; The arrangement support system according to claim 2, wherein at least one of an instruction picture indicating the appropriate arrangement planned position is displayed. The arrangement support system according to any one of claims 1 to 3, wherein the loading information calculation unit calculates the loading information based on attribute information of each of the plurality of packages. The arrangement support system according to claim 4, wherein the attribute information includes information on an extraction order in which each of the plurality of packages is extracted from the arrangement area. The arrangement support system according to any one of claims 1 to 5, wherein the instruction image is an image including information on an attitude of the work object when the work object is arranged in the arrangement area. The loading information calculation unit calculates the loading information including an arrangement order of arranging each of the plurality of packages in the arrangement area and the planned arrangement position. Placement support system. Identification information is given to each of the plurality of packages,
It further comprises an acquisition unit for acquiring the identification information of the work object from an identification information detection unit that detects the identification information attached to the work object.
The image display unit displays the instruction image indicating the planned arrangement position of the work object corresponding to the identification information acquired by the acquisition unit among the plurality of packages at a position associated with the real space The arrangement | positioning assistance system of any one of Claims 1-7. The arrangement support system according to any one of claims 1 to 8, wherein the image display unit projects the instruction image at a position associated with a real space in the arrangement area. 10. The arrangement according to claim 9, wherein the image display unit is disposed on the outside of a box-shaped carrier whose inner space is the arrangement area, and projects the instruction image from the outside of the carrier to the inner space of the carrier. Support system. The apparatus further comprises an arrangement detection unit for detecting an arrangement state of arranged luggage arranged in the arrangement area among the plurality of packages.
The arrangement support system according to claim 9, wherein the video display unit obtains a projection plane on which the instruction video is projected based on a detection result of the arrangement detection unit, and projects the instruction video on the projection plane. The video display unit displays the instruction video to the arranged luggage when the upper surface of the arranged luggage arranged in the arrangement area among the plurality of packages is the planned arrangement position of the work object. The arrangement | positioning assistance system of any one of the Claims 9-11 to project. The apparatus further comprises an arrangement detection unit for detecting an arrangement state of arranged luggage arranged in the arrangement area among the plurality of packages.
The loading information calculation unit recalculates the planned arrangement position of a package not arranged in the arrangement area among the plurality of packages based on the arrangement state of the arranged luggage detected by the arrangement detection unit. The arrangement | positioning assistance system of any one of Claims 1-12. A placement detection unit configured to detect a placement state of placed luggage placed in the placement area among the plurality of pieces of luggage;
The arrangement support system according to any one of claims 1 to 13, further comprising: an output unit that outputs a detection result of the arrangement detection unit. Calculating the loading information including at least a planned arrangement position at which each of a plurality of packages to be arranged in the arrangement area is arranged in the arrangement area;
Displaying at a position associated with the actual space an instruction video indicating an arrangement planned position of the work object which is a work object among the plurality of packages, based on the loading information; Support method. Computer system,
Calculating the loading information including at least a planned arrangement position at which each of a plurality of packages to be arranged in the arrangement area is arranged in the arrangement area;
A display control step of displaying an instruction video for instructing an arrangement planned position of a work object which is a work object among the plurality of packages based on the loading information in a position associated with the real space by the video display unit And programs for running.

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