JP2019214465A - Cargo handling device, control device thereof, control method, and program - Google Patents

Abstract

To provide a cargo handling device that allows operators to perform carry-in work of a cargo even during cargo handling work, in order not to reduce the work efficiency of a picking robot while ensuring the operators' safety.SOLUTION: The cargo handling device includes: a picking part; a first sensor that detects the entry of a person into a first area; a second sensor that detects the entry of a person into a second area; a first blocking part that blocks the picking part and the second area; a second blocking part that blocks the picking part and the first area; and a control part that enables the first sensor and disables the second sensor when blocked by the first blocking part, allowing the picking part to activate in the first area, and enables the second sensor and disables the first sensor when blocked by the second blocking part, allowing the picking part to activate in the second area.SELECTED DRAWING: Figure 1

Description

  An embodiment of the present invention relates to a cargo handling device for a cargo handling operation including a load unloading operation (depalletizing) and a loading operation (palletizing), a control device thereof, a control method, and a program.

  2. Description of the Related Art Conventionally, in a distribution center or the like, a picking robot uses a picking robot to unload the cargo to a transport area provided with a belt conveyor or the like (depalletizing) or to load a box (palletizing). Cargo handling equipment has been introduced.

  In this type of cargo handling device, it is preferable that the operation of the picking robot is not discontinuous, in other words, that the picking robot always works, in order to improve the efficiency of the cargo handling operation. Patent Document 1 discloses a technique for improving the cargo handling work efficiency of a picking robot.

  For example, in the case of debaretizing, the cargo handled by the picking robot is carried into the cargo handling device by the operator entering the cargo handling device.

  However, if the operator enters the cargo handling device during the operation of the picking robot to carry in the cargo to be loaded and unloaded, there is a possibility that the operator may come into contact with the picking robot, and from the viewpoint of ensuring the safety of the operator. Is not preferred.

  Therefore, in the conventional cargo handling device, the operation of the picking robot is stopped during the loading operation of the load by the operator.

  However, stopping the operation of the picking robot causes a reduction in cargo handling efficiency.

Patent No. 3126826

  The problem to be solved by the present invention is that, even during the loading and unloading work by the picking robot, the operator can carry in the luggage while maintaining the safety of the operator. An object of the present invention is to provide a cargo handling device, a control device, a control method, and a program that do not cause a decrease in work efficiency.

  The cargo handling device according to the embodiment includes a picking unit used in a first area and a second area designated in advance for picking a load, and a first unit that detects a person entering the first area. A sensor, a second sensor for detecting entry of a person into the second area, and a first sensor for blocking the picking unit and the second area so that the operation of the picking unit does not extend to the second area. A blocking unit, a second blocking unit that blocks the picking unit and the first area so that the operation of the picking unit does not extend to the first area, and the picking unit is blocked by the first blocking unit, If not blocked by the second blocking unit, the first sensor is enabled, the second sensor is disabled, and operation of the picking unit in the first area is permitted, while the picking unit is in the second blocking state. Blocked by part Are, if not blocked by the first blocking portion, a second sensor to enable the first sensor to disable, and a control unit for permitting operation in the second area of the picking unit.

It is a top view showing an example of the layout of the cargo handling device of an embodiment of the present invention. FIG. 4 is a block diagram showing a part related to control by the control device. FIG. 2 is an enlarged plan view illustrating an example of a discharge area in FIG. 1. FIG. 4 is a front view of a discharge area viewed from a direction of an arrow shown in FIG. 3. It is a perspective view showing the example of composition of a storage basket. It is a sequence diagram for explaining the example of control at the time of exchange of a storage basket. It is a top view which shows the movable range of a robot arm in a loading completion state. It is a top view showing a movable range of a robot arm during exchange of a storage basket. It is a flowchart which shows the operation example at the time of the cargo handling work in a cargo handling apparatus. It is a flow chart which shows an example of operation at the time of exchange of a storage basket in a cargo handling device.

  Hereinafter, a cargo handling device according to an embodiment of the present invention will be described with reference to the drawings.

  FIG. 1 is a plan view showing an example of a layout of a cargo handling apparatus according to an embodiment of the present invention.

  The cargo handling device 10 includes a robot area 14, two picking areas 12 (# 1), 12 (# 2) symmetrically arranged around the robot area 14, and two picking areas 12 (# 1), 12 ( A transport area 16 and a discharge area 18 provided in common to # 2) are provided.

  In the robot area 14, a picking robot (hereinafter, simply referred to as a "robot") 20 for picking goods, such as parcels and parcels, is installed.

  The robot 20 is commonly used in the picking area 12 (# 1) and the picking area 12 (# 2) for cargo handling work, and performs the cargo handling work for the cargo carried into the picking area 12 (# 1). Upon completion, the cargo handling work is started in the picking area 12 (# 2). In the following description, an unloading operation (depalletizing) will be described as an example of the cargo handling operation performed by the robot 20. However, the robot 20 can perform not only the unloading operation (depalletizing) but also the loading operation (palletizing) as the cargo handling operation.

  The picking area 12 (# 1) includes a table 22 (# 1) on which a pallet (not shown) on which luggage to be picked by the robot 20 is loaded is placed. Similarly, the picking area 12 (# 2) is provided with a table 22 (# 2) for placing a similar pallet on which packages to be picked by the robot 20 are loaded.

  The transfer area 16 is an area for transferring the load unloaded from the picking area 12 (# 1) or the picking area 12 (# 2) to the downstream process by the robot 20, and is unloaded by the robot 20. It is provided with a belt conveyor 24 that conveys the loaded luggage in the direction of the arrow in the figure.

  Among the packages to be unloaded by the robot 20, there may be packages that do not conform to the standards that can be handled by the cargo handling device 10, such as packages of a non-standard size. The robot 20 includes an image sensor (not shown), and this image sensor can detect a nonstandard baggage. When the nonstandard baggage is detected, the detected nonstandard baggage is discharged to the discharge area 18. That is, the discharge area 18 is an area for discharging nonstandard luggage by the robot 20, and a storage basket 26 for storing the nonstandard luggage discharged by the robot 20 is installed.

  The storage basket 26 is configured to be attachable to and detachable from the discharge area 18. When a predetermined amount of nonstandard baggage is stored, the storage basket 26 is taken out of the discharge area 18 to be replaced with an empty storage basket 26. Thereafter, an empty storage bin 26 is carried into the discharge area 18 and installed.

  According to the cargo handling device 10, for example, while the robot 20 is performing the cargo handling work of the luggage placed on the table 22 (# 1) of the picking area 12 (# 1), the operator operates the picking area 12 (# 1). When a new package is placed on the table 22 (# 2) of # 2) and the robot 20 completes the cargo handling work of all the packages on the table 22 (# 1) of the picking area 12 (# 1), the picking is performed. A seamless transition is made to the cargo handling work of the luggage already placed on the table 22 (# 2) in the area 12 (# 2).

  On the other hand, the operator places new luggage on the table 22 (# 1) of the picking area 12 (# 1) during the cargo handling operation by the robot 20 in the picking area 12 (# 2). With this, when the robot 20 completes the cargo handling work of all the packages on the table 22 (# 2) of the picking area 12 (# 2), the robot 20 completes the cargo on the table 22 (# 1) of the picking area 12 (# 1). The loading and unloading device 10 is designed to allow the robot 20 to continuously operate, for example, a seamless transition to the unloading operation.

  In order to achieve such a continuous operation of the robot 20 while ensuring the safety of the operator who loads the cargo, the cargo handling device 10 includes various sensors S1 to S6, L1 to L5, M1 to M3 ( A control device 50 (not shown in FIG. 1) that performs control according to output signals from the safety fences F1 and F2, the sensors S1 to S6, L1 to L5, and the safety fences F1 and F2. ) Realizes an interlock mechanism as described below.

  FIG. 2 is a block diagram showing parts related to control by the control device 50. FIG. 2 shows the connections between the sensors S1 to S6, L1 to L5, M1 to M3, the safety fences F1 and F2, and the connection between the robot 20 and the control device 50.

  The sensor S1 is, for example, a laser scanner, and is provided in the picking area 12 (# 1) in order to detect an operator entering the picking area 12 (# 1). The sensor S1 outputs a detection signal to the control device 50 when detecting the entry of the operator.

  The sensor S2 is, for example, a laser scanner, and is provided in the picking area 12 (# 2) in order to detect entry of an operator into the picking area 12 (# 2). The sensor S <b> 2 outputs a detection signal to the control device 50 when detecting the entry of the operator.

  The sensor S3 is, for example, a laser scanner, and is provided above the camera arm 13 (# 1) in the picking area 12 (# 1) to detect an abnormal operation of the robot 20 such as a runaway of the robot arm 21. It is fixed to # 1) and monitors the robot arm 21 vertically from above. The sensor S3 outputs a detection signal to the control device 50 when detecting an abnormality in the operation of the robot 20.

  The sensor S4 is, for example, a laser scanner, and is provided above the camera arm 13 (# 2) in the picking area 12 (# 2) in order to detect an abnormal operation of the robot 20 such as a runaway of the robot arm 21. The robot arm 21 is fixed to # 2) and monitors the robot arm 21 vertically from above. The sensor S <b> 4 outputs a detection signal to the control device 50 when detecting an abnormality in the operation of the robot 20.

  The sensor S5 is, for example, a laser scanner, and is fixed to a camera arm 15 (# 1) provided above in the picking area 12 (# 1), and allows the operator to enter the belt conveyor 24 vertically from above. To detect. The sensor S <b> 5 outputs a detection signal to the control device 50 when detecting the entry of the operator into the belt conveyor 24.

  The sensor S6 is, for example, a laser scanner, and is fixed to a camera arm 15 (# 2) provided above in the picking area 12 (# 2), and allows the operator to enter the belt conveyor 24 vertically from above. To detect. The sensor S <b> 6 outputs a detection signal to the control device 50 when detecting the operator's entry into the belt conveyor 24.

  The sensor L4 is a pair of light-emitting and light-receiving sensor units disposed to face left and right, and is provided at an entrance of the picking area 12 (# 1) in order to detect an operator entering the picking area 12 (# 1). A light curtain is formed at the entrance of the picking area 12 (# 1). When the operator enters the picking area 12 (# 1) from the entrance of the picking area 12 (# 1), the light curtain is blocked by the operator, so the sensor L4 detects the entry of the operator. The sensor L4 outputs a detection signal to the control device 50 when detecting the entry of the operator.

  Similarly to the sensor L4, the sensor L5 is a pair of light-emitting and light-receiving sensor units disposed to face left and right. The sensor L5 detects the operator's entry into the picking area 12 (# 2). The light curtain is provided at the entrance of the picking area 12 (# 2). When the operator enters the picking area 12 (# 2) from the entrance of the picking area 12 (# 2), the light curtain is blocked by the operator, so the sensor L5 detects the entry of the operator. The sensor L5 outputs a detection signal to the control device 50 when detecting the entry of the operator.

  When the robot 20 operates in the picking area 12 (# 1), the safety fence F1 connects the robot 20 and the picking area 12 (# 2) so that the operation of the robot 20 does not extend to the picking area 12 (# 2). It is an open / close fence to block out.

  When the robot 20 operates in the picking area 12 (# 2), the safety fence F2 connects the robot 20 and the picking area 12 (# 1) so that the operation of the robot 20 does not extend to the picking area 12 (# 1). It is an open / close fence to block out.

  The safety fence F1 opens and closes in response to, for example, an operation button pressed by an operator. FIG. 1 shows that the safety fence F1 is in a closed state (a state where the robot 20 and the picking area 12 (# 2) are blocked), and the safety fence F2 is in an opened state (the robot 20 and the picking area 12 (# 1)). It is in a state of not blocking.

  The safety fences F1 and F2 are provided with sensors (not shown) for detecting the closed state of the safety fences F1 and F2. These sensors (not shown) indicate the closed state when the closed state of the safety fence is detected. A closed state signal is output to the control device 50. In this specification, for simplicity, as shown in FIG. 2, a description will be given assuming that a closed state signal is transmitted to the control device 50 not from a sensor (not shown) but from the safety fences F1 and F2.

  When the closed state signal is output from the safety fence F1 and the closed state signal is not output from the safety fence F2, the control device 50 activates the sensors S1, L4, S4, and S6, and activates the sensors S2, L5, S3, and S5. And the operation of the robot 20 in the picking area 12 (# 1) is permitted.

  On the other hand, when the closed state signal is output from the safety fence F2 and the closed state signal is not output from the safety fence F1, the control device 50 activates the sensors S2, L5, S3, and S5, and activates the sensors S1, L4, and S4. , S5 are invalidated, and the operation of the robot 20 in the picking area 12 (# 2) is permitted.

  The robot 20 lifts the packages placed on the table 22 one by one in the picking area 12 permitted to operate, rotates the robot arm 21 to the transport area 16, and then places the packages on the belt conveyor 24. Place on.

  The belt conveyor 24 conveys the load to a downstream process by moving in the direction of the arrow in the figure.

  A sensor L1 is provided downstream of the belt conveyor 24. When an operator enters from the belt conveyor 24 side, the sensor L1 detects the operator's entry and outputs a detection signal to the control device 50.

  Further, as described above, among the packages to be unloaded by the robot 20, there may be packages that do not conform to the standards that can be handled by the cargo handling device 10, such as packages of a nonstandard size. When the robot 20 detects such a nonstandard baggage using an image sensor (not shown), the robot 20 rotates the robot arm 21 to the discharge area 18 while lifting the nonstandard baggage, and then discharges the baggage to the discharge area 18.

  In this way, when the robot 20 completes the unloading work of all the luggage in the one picking area 12 to which the operation is permitted, the control device 50 sets the picking area 12 where the robot 20 operates in accordance with the operation of the operator. Is performed, and the operation of the robot 20 in the other picking area 12 is permitted. Thereafter, the robot 20 performs the cargo handling operation as described above in the permitted picking area 12.

  For example, when the picking area 12 in which the robot 20 operates is switched from the picking area 12 (# 1) to the picking area 12 (# 2), the safety fence F1 is opened according to the operation button pressed by the operator, and the safety fence F1 is opened. When the closed state signal is no longer output from F1, the control device 50 enables the sensors S2 and L5 and disables the sensors S4 and S6. Thereafter, in response to the operator pressing the operation button, the safety fence F2 is closed, and when the closed state signal is output from the safety fence F2, the control device 50 enables the sensors S3 and S5 and disables the sensors S1 and L4. Become

  Conversely, when the picking area 12 in which the robot 20 operates is switched from the picking area 12 (# 2) to the picking area 12 (# 1), the safety fence F2 is opened according to the pressing of the operation button by the operator, and the safety fence is opened. When the closed state signal is no longer output from the fence F2, the control device 50 enables the sensors S1 and L4 and disables the sensors S3 and S5. Thereafter, in response to the operator pressing the operation button, the safety fence F1 is closed, and when a closed state signal is output from the safety fence F1, the control device 50 enables the sensors S4 and S6 and disables the sensors S2 and L5. Become

  The control device 50 does not permit the operation of the robot 20 when a detection signal is output from any of the enabled sensors among the sensors S1 to S6 and L4 to L5. In particular, if a detection signal is output from any of the enabled sensors among the sensors S1 to S6 and L4 to L5 during the operation of the robot 20, the operation of the robot 20 is stopped.

  Such control enables the operator to carry in the luggage while ensuring the safety of the operator even during the cargo handling operation by the robot 20.

  Next, replacement of the storage basket 26 in the discharge area 18 will be described. As described above, the discharge area 18 is an area for discharging the non-standardized baggage. Therefore, the timing at which the non-standardized baggage is discharged to the discharge area 18 and a predetermined amount of the discharged non-standardized baggage are stored. The timing at which the stored baskets 26 are exchanged is both irregular, and does not always interlock with the timing of switching the picking area 12 described above.

  FIG. 3 is an enlarged plan view showing an example of the discharge area 18 in FIG.

  FIG. 4 is a front view of the discharge area 18 viewed from the direction of the arrow shown in FIG.

  In the discharge area 18, a storage basket 26 for storing non-standardized luggage discharged by the robot 20 is installed.

  FIG. 5 is a perspective view illustrating a configuration example of the storage basket 26. The arrow direction shown in the figure corresponds to the arrow direction in FIG.

  The discharge area 18 includes a fence 27 on the front surface, and further includes sensors L2, L3, and M1 to M3 inside.

  The fence 27 is opened when loading the storage basket 26 into the discharge area 18 and when unloading the storage basket 26 from the discharge area 18, and is closed in other cases.

  The sensor L2 is a pair of light-emitting and light-receiving sensor units disposed to face each other on the left and right sides. The sensor L2 is configured to detect the storage basket 26 that is carried into the discharge area 18 or discharged from the discharge area 18. It is arranged to form a light curtain over its height. Accordingly, when the storage basket 26 is carried into the discharge area 18 and unloaded from the discharge area 18 at an unintended timing, the light curtain is blocked, and the sensor L2 detects the detection signal accordingly. Is output to the control device 50.

  The sensor L3 is also a pair of light-emitting and light-receiving sensor units disposed to face each other in the left and right directions, and forms a light curtain at a position higher than the sensor L2 so as to detect an operator's entry into the discharge area 18. Are arranged as follows. Accordingly, when an operator enters the discharge area 18 at an unintended timing, the light curtain is blocked, and the sensor L3 outputs a detection signal to the control device 50 accordingly.

  The sensor M <b> 1 is, for example, a light reflection sensor, and is provided at a lower right portion in front of the discharge area 18, and outputs a detection signal to the control device 50 when detecting light reflection from the storage basket 26.

  The sensor M <b> 2 is, for example, a light reflection sensor, and is provided at a lower left portion in front of the discharge area 18, and outputs a detection signal to the control device 50 when detecting light reflection from the storage basket 26.

  The sensor M <b> 3 is, for example, a light reflection sensor, and is provided at a lower left portion behind the discharge area 18, and outputs a detection signal to the control device 50 when detecting light reflection from the storage basket 26.

  The storage basket 26 has a substantially rectangular parallelepiped shape, and has a rectangular bottom 32 raised by projections 31 (# 1 to # 4) at four corners, and is fixed to each of four sides of the bottom 32 so as to stand upright. The non-standard package is stored in a space formed by the four side portions 33 (# 1 to # 4) and surrounded by the four side portions 33 (# 1 to # 4). The left side portion 33 (# 4) is loaded with non-standard loads from the picking area 12 (# 1) by the robot arm 21, and the right side portion 33 (# 3) is picked up by the robot arm 21 with the picking area 12 (##). Since non-standard load is carried from 2), it is lower than the front side portion 33 (# 1) and the back side portion 33 (# 2).

  Further, reinforcing plates 34 (# 1 to # 4) having a predetermined shape are provided at predetermined positions at four corners of the bottom 32. The reinforcing plates 34 (# 1 to # 4) ensure the strength of the storage basket 26 and also function as reflectors that reflect light from the sensors M1 to M3 that are light reflection sensors.

  The storage basket 26 is set in the discharge area 18 by loading the storage basket 26 jacked up outside the discharge area 18 into the discharge area 18, moving the storage basket 26 to the vicinity of the fixing groove provided in the discharge area 18, and fixing the storage basket 26. This is performed by jacking down so that the four protrusions 31 (# 1 to # 4) are fitted into the grooves.

  When the storage basket 26 is moved to the vicinity of the fixed groove in the discharge area 18, the sensors M1 and M2 detect light reflection from the reinforcing plates 34 (# 1) and (# 2) and control the detection signal. Output to 50.

  When the protrusions 31 (# 1 to # 4) of the storage basket 26 are fitted into the fixed grooves in the discharge area 18, the sensor M3 detects light reflection from the reinforcing plate 34 (# 3) and detects the light. The signal is output to the control device 50.

  As described above, the storage basket 26 is configured to be detachable from the discharge area 18. When a predetermined amount of nonstandard baggage discharged from the robot 20 is stored in the discharge area 18, the storage basket 26 is replaced with an empty storage basket 26. To be discharged from the discharge area 18. Thereafter, an empty storage bin 26 is carried into and installed in the discharge area 18. Thus, the storage basket 26 is replaced in the discharge area 18.

  Control performed by the control device 50 for exchanging the storage basket 26 in the discharge area 18 will be described below.

  FIG. 6 is a sequence diagram for explaining a control example when the storage basket 26 is replaced.

  The carrying-in completion state T1 shown in FIG. 6 corresponds to a state where the storage basket 26 is correctly set in the discharge area 18. When the loading completion state T1 is reached, the control device 50 enables the sensor L2 and disables the sensor L3. When the loading completion state T1 is reached, all of the sensors M1 to M3 output detection signals to the control device 50.

  FIG. 7 is a plan view showing the movable range R of the robot arm 21 in the loading completion state T1.

  FIG. 8 is a plan view showing the movable range R of the robot arm 21 during the replacement of the storage basket 26.

  For example, when the robot 20 is operating in the picking area 12 (# 1), when the carrying-in completion state T1 is reached, as shown in FIG. Then, the robot arm 21 is rotated toward the discharge area 18 to discharge the nonstandard package into the storage basket 26. As described above, the robot arm 21 can unload the lifted baggage onto the belt conveyor 24 if it is within the standard and discharge it to the storage basket 26 if it is out of the standard. Can be rotated inside.

  In the unloading start state T2 in which a predetermined amount of non-standardized luggage is stored in the storage basket 26, the control device 50 disables the sensor L3 in response to an operator operation in order to carry out the storage basket 26 from the discharge area 18. The sensor L2 is invalidated as it is. In addition, the timing which carries out the storage container 26 from the discharge area 18 is made by operator judgment, for example. Therefore, the unloading start state T2 is not necessarily a state where the storage bag 26 is fully loaded with nonstandard luggage. The control device 50 further restricts the movable range R of the robot arm 21 as shown in FIG. 8 so that the operation of the robot arm 21 does not reach the discharge area 18 during the unloading of the storage basket 26 from the discharge area 18. To

  When the storage basket 26 is carried out of the discharge area 18, first, the storage basket 26 installed in the discharge area 18 is jacked up, as opposed to when the storage basket 26 is set in the discharge area 18, so that the protrusions are formed. The fitting of the fixing grooves 31 (# 1 to # 4) to the fixing grooves is released. As a result, no detection signal is output from the sensor M3 to the control device 50. On the other hand, even if the fitting of the protrusions 31 (# 1 to # 4) into the fixing groove is released, as long as the storage basket 26 is near the fixing groove, the detection signals from the sensors M1 and M2 continue to the control device 50. Is output.

  Thereafter, by pulling out the storage basket 26 from the discharge area 18 with the storage basket 26 being jacked up, the carry-out of the storage basket 26 from the discharge area 18 is completed. As a result, no detection signal is output from the sensors M1 and M2 to the control device 50. This state is referred to as an unloading completion state T3. When the carry-out completion state T3 is reached, the control device 50 activates the sensors L2 and L3 in response to the detection signals not being output from the sensors M1 and M2. In practice, as shown in FIG. 6, the timing at which the detection signals from the sensors M1 and M2 are not output to the control device 50 may not match between the sensor M1 and the sensor M2. Therefore, at the timing when the detection signal is no longer output from one of the sensor M1 and the sensor M2, the control device 50 determines that the state is the transport completion state T3, and activates the sensors L2 and L3.

  Next, at a stage where the empty storage basket 26 is ready to be loaded into the discharge area 18, the sensors L2 and L3 are invalidated by an operator operation, and the empty storage basket 26 is loaded into the discharge area 18. Start state T4.

  In the loading start state T4, since the sensors L2 and L3 are disabled, the operator loads the empty storage basket 26 into the discharge area 18 in a jack-up state and is provided in the discharge area 18. Can be moved to the vicinity of the fixed groove. Accordingly, the sensors M1 and M2 detect reflection from the reinforcing plates 34 (# 1) and (# 2), and output detection signals to the control device 50. In practice, as shown in FIG. 6, the timing at which detection signals start to be output from the sensors M1 and M2 to the control device 50 may not match between the sensor M1 and the sensor M2. Therefore, the control device 50 determines that the loading start completion state T4 has been reached at the timing when the detection signals are output from both the sensors M1 and M2.

  Thereafter, the operator jacks down the empty storage basket 26 and fits the four protrusions 31 (# 1 to # 4) into the fixing grooves in the discharge area 18. Accordingly, the sensor M3 detects reflection from the reinforcing plate 34 (# 3), and outputs a detection signal to the control device 50. In response, the control device 50 activates the sensor L2 while disabling the sensor L3. As a result, the carry-in completion state T1 described above is obtained. When the loading completion state T1 is reached, the control device 50 releases the restriction on the movable range R of the robot arm 21, and the movable range R becomes as shown in FIG.

  By repeating the states T1 to T4 described above, the cargo handling device 10 performs the replacement of the storage basket 26 while ensuring the safety of the operator.

  Next, an operation example of the cargo handling device according to the embodiment of the present invention configured as described above will be described.

  FIG. 9 is a flowchart showing an operation example of the cargo handling device 10 at the time of cargo handling work.

  In the flowchart shown in FIG. 9, a package has already been carried into one picking area 12, and while the robot 20 is performing a cargo handling operation in the picking area 12, a package is carried into another picking area 12. When the robot 20 completes the cargo handling work in one picking area 12, the operation is shifted to the cargo handling work in the other picking area 12.

  For example, a pallet (not shown) loaded with luggage is placed on the table 22 (# 1) of the picking area 12 (# 1), so that the luggage is loaded into the picking area 12 (# 1). (ST1).

  The operation of the robot 20 in the picking area 12 (# 1) is permitted by the control device 50. Therefore, the load loaded on the pallet placed on the table 22 (# 1) is lifted by the robot 20, and the robot arm 21 is rotated toward the transfer area 16, and onto the belt conveyor 24 in the transfer area 16. The unloading work to be unloaded, that is, the unloading work (depalletizing) is performed (ST2).

  In this state, the sensors S3 to S6 are disabled, but the sensors S1, S2, L4, and L5 on the entrance side of the picking area 12 are enabled, and the operator selects the picking area 12 (# 1), ( When an attempt is made to enter # 2), it is detected by any of the sensors S1, S2, L4, and L5, and a detection signal is output to the control device 50. In this case, the operation of the robot 20 is stopped by the control device 50.

  While the robot 20 is performing the cargo handling work in the picking area 12 (# 1), the operator presses an operation button (not shown) in order to carry the load into the picking area 12 (# 2). Then, the safety fence F1 is closed (ST3). In response to this, a closed state signal is output from the safety fence F <b> 1 to the control device 50.

  In response, the control device 50 enables the sensors S4 and S6 and disables the sensors S2 and L5 (ST4). By disabling the sensors S2 and L5, the operator can enter the picking area 12 (# 2). Accordingly, during this time, the operator enters the picking area 12 (# 2) and places a pallet (not shown) on which the load is loaded on the table 22 (# 2), thereby picking the area 12 (#). 2) Carry in the package (ST5).

  During this time, the robot 20 still continues the cargo handling work in the picking area 12 (# 1), but the operation of the robot 20 may not reach the picking area 12 (# 2) because the safety fence F1 is closed. Since there is no contact accident between the operator carrying the luggage into the picking area 12 (# 2) and the robot 20, the safety of the operator is ensured.

  Further, even if there is an abnormality in the operation of the robot 20, such as a runaway of the robot arm 21, the sensor S4 is enabled, so that the abnormality in the operation of the robot 20 is detected by the sensor S4. , A detection signal is output from the sensor S4 to the control device 50. When the detection signal is output from the sensor S4 to the control device 50, the operation of the robot 20 is stopped by the control device 50, so that the safety of the operator is ensured.

  On the other hand, since there is no spatial barrier such as the safety fence F1 between the picking area 12 (# 2) and the transport area 16, the operator who has entered the picking area 12 (# 2) is It is possible to enter 16. However, since the sensor S6 is activated, when the operator enters the transfer area 16, the detection is performed by the sensor S6, and a detection signal is output from the sensor S6 to the control device 50. When the detection signal is output from the sensor S6 to the control device 50, the operation of the robot 20 is stopped by the control device 50, so that the safety of the operator is ensured.

  When loading of the luggage into the picking area 12 (# 2) is completed, the operator exits the picking area 12 (# 2) and opens the safety fence F1 by pressing an operation button (not shown) (ST6). Accordingly, the closed state signal is not output from the safety fence F1 to the control device 50.

  In response, the control device 50 enables the sensors S2 and L5 and disables the sensors S4 and S6 (ST7). In addition to the sensors S1 and L4 being already activated, the sensors S2 and L5 are also activated, so that even if the operator tries to enter the picking areas 12 (# 1) and (# 2), the sensor Detection is performed by any one of S1, S2, L4, and L5, and a detection signal is output to the control device 50. When a detection signal is output from any of the sensors S1, S2, L4, and L5, the operation of the robot 20 is stopped by the control device 50.

  When the cargo handling operation by the robot 20 in the picking area 12 (# 1) is completed (ST8), the operation of the robot 20 in the picking area 12 (# 2) is permitted by the control device 50 according to the operator's operation (ST9). ), Returning to the operation of step ST2, the load loaded on the pallet placed on the table 22 (# 2) is lifted by the robot 20, the robot arm 21 is rotated toward the transfer area 16, and the belt conveyor is moved. By unloading the cargo onto the cargo 24, cargo handling work is performed.

  When the operation of the robot 20 in the picking area 12 (# 2) is permitted, the safety fence F1 in the description of step ST2 to step ST9 described above is used as the sensor fence S2, L5, S4, and S6 as the safety fence F2. Are to be understood as being replaced by sensors S1, L4, S3, and S5, respectively.

  As described above, according to the cargo handling device 10, while the cargo handling operation is being performed by the robot 20 in one picking area 12, the loading operation of the operator into the other picking area 12 by the operator can be performed with the safety of the operator. It is possible to implement while securing. That is, the cargo handling apparatus 10 can achieve both high work efficiency and high safety.

  On the other hand, among the packages lifted by the robot 20, there may be packages not conforming to the standards that can be handled by the cargo handling device 10, such as packages of a nonstandard size. The robot 20 is provided with an image sensor (not shown). When a nonstandard baggage is detected by the image sensor, the robot arm 21 is rotated to the discharge area 18 side, and the storage basket 26 installed in the discharge area 18 is out of specification. Discharge the package. Thus, when a predetermined amount of nonstandard baggage is stored in the storage basket 26, the storage basket 26 is carried out from the discharge area 18, and the empty storage basket 26 is installed in the discharge area 18, thereby replacing the storage basket 26. There is a need.

  The operation of replacing the storage basket 26 will be described.

  FIG. 10 is a flowchart illustrating an operation example when the storage basket is replaced in the cargo handling device 10.

  The replacement operation of the storage basket 26 as shown in FIG. 10 does not interlock with the operation shown in FIG.

  In the replacement operation of the storage basket 26, first, the sensors L2 and L3 are invalidated by an operator operation in order to install an empty storage basket 26 in the discharge area 18. Further, the movable range R of the robot arm 21 is limited by the control device 50 as shown in FIG. 8 (ST11). This state corresponds to the carry-in start state T4 in FIG.

  Next, with the storage basket 26 being jacked up outside the discharge area 18, the storage basket 26 is carried into the discharge area 18 and moved to the vicinity of a fixed groove provided in the discharge area 18 (ST12). Then, light reflection from the reinforcing plates 34 (# 1) and (# 2) is detected by the sensors M1 and M2, and a detection signal is output to the control device 50 (ST13).

  Thereafter, the storage basket 26 is jacked down so that the four protrusions 31 (# 1 to # 4) are fitted into the fixing grooves in the discharge area 18. Thus, the installation of the storage basket 26 in the discharge area 18 is completed, the light reflection from the reinforcing plate 34 (# 3) is detected by the sensor M3, and a detection signal is output to the control device 50 (ST14).

  In response to this detection signal, the control device 50 activates the sensor L2 and releases the restriction on the movable range R of the robot arm 21 as shown in FIG. 7 (ST15). This corresponds to the loading completion state T1 in FIG. 6, and when the robot 20 detects a nonstandard baggage, the robot arm 21 can be rotated to the discharge area 18 side and the nonstandard baggage can be discharged to the storage bin 26. .

  When the nonstandard baggage discharged to the storage basket 26 reaches the predetermined amount and the state becomes the unloading start state T2 shown in FIG. 6, the sensor L2 is invalidated by an operator operation (ST16). In response, the movable range R of the robot arm 21 is limited by the control device 50 as shown in FIG. 8, and the storage basket 26 can be carried out of the discharge area 18 (ST17).

  The procedure for unloading the storage basket 26 from the discharge area 18 is the reverse of the procedure for installing the storage basket 26 in the discharge area 18. That is, by jacking up the storage basket 26 installed in the discharge area 18, the fitting of the projections 31 (# 1 to # 4) into the fixing groove is released. As a result, the detection signal from the sensor M3 is not output to the control device 50. On the other hand, even if the fitting of the protrusions 31 (# 1 to # 4) into the fixing groove is released, as long as the storage basket 26 is near the fixing groove, the detection signals from the sensors M1 and M2 continue to be output from the control device. 50 (ST18).

  Thereafter, by pulling out the storage basket 26 from the discharge area 18 with the storage basket 26 being jacked up, the carry-out of the storage basket 26 from the discharge area 18 is completed (ST19). As a result, no detection signal is output from the sensors M1 and M2 to the control device 50. This corresponds to the unloading completion state T3 in FIG. In the unloading completion state T3, the sensors L2 and L3 are enabled by the control device 50 in response to the detection signal not being output from the sensors M1 and M2.

  Next, when it is ready to carry the empty storage basket 26 into the discharge area 18, the process returns to step S11, and the empty storage basket 26 is carried into the discharge area 18 and installed as described above. In the above description, the case where the robot 20 operates in the picking area 12 (# 1) has been described as an example, but the case where the robot 20 operates in the picking area 12 (# 2) is also described in the same manner.

  By the above operation, the storage basket 26 is replaced during the cargo handling operation of the robot 20, so that the cargo handling device 10 can discharge the nonstandard baggage without lowering the working efficiency of the robot 20. Moreover, since the movable range R of the robot arm 21 is limited so that the operation of the robot arm 21 does not reach the discharge area 18 during the exchange of the storage rod 26, the operator's safety can be ensured.

  As described above, according to the embodiment, even during the cargo handling operation by the robot 20, the safety of the operator is ensured, and the operator can carry in the cargo, thereby ensuring excellent safety, and Thus, it is possible to provide the cargo handling device 10, the control device 50 thereof, the control method and the program executed by the control device 50 without causing the reduction of the cargo handling efficiency.

  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.

  For example, in the embodiment, the unloading operation (depalletizing) has been described as an example of the unloading operation. However, the cargo handling apparatus 10 according to the embodiment is applicable not only to unloading work (depalletizing) but also to loading work (palletizing).

  10 ··· Unloading device, 12 ·· Picking area, 13 ·· Camera arm, 14 ·· Robot area, 15 ·· Camera arm, 16 ·· Transport area, 18 ··· Discharge area, 20 ·· Picking robot (robot) , 21..Robot arm, 22..Table, 24..Belt conveyor, 26..Storage basket, 27..Fence, 31..Protrusion, 32..Bottom, 33 (# 1) .. Front side , 33 (# 2) ··· back side, 33 (# 3) ··· right side, 33 (# 4) ··· left side, 34 ··· reinforcing plate, 50 ··· control device, S1 to S6, L1 L5, M1 to M3 ... sensors, F1, F2 ... safety fences.

Claims (18)

A picking unit used in the first area and the second area designated in advance for picking the luggage;
A first sensor for detecting a person entering the first area;
A second sensor for detecting the entry of the person into the second area;
A first blocking unit that blocks the picking unit and the second area so that the operation of the picking unit does not extend to the second area;
A second blocking unit that blocks the picking unit and the first area so that the operation of the picking unit does not reach the first area;
If the picking portion is blocked by the first blocking portion and not blocked by the second blocking portion, the first sensor is enabled, the second sensor is disabled, and the picking portion is While permitting operation in the first area, if the picking part is blocked by the second blocking part and not blocked by the first blocking part, the second sensor is enabled and the first A control unit that invalidates the sensor and permits the operation of the picking unit in the second area. In order to switch the operation of the picking unit from the state permitted in the first area to the state permitted in the second area, the second blocking unit replaces the first blocking unit. By blocking the picking unit, the control unit enables the second sensor, disables the first sensor,
In order to switch the operation of the picking unit from the state permitted in the second area to the state permitted in the first area, the first blocking unit is used instead of the second blocking unit. The cargo handling device according to claim 1, wherein the picking unit is blocked by the control unit, and the control unit validates the first sensor and invalidates the second sensor. A third sensor for detecting an abnormal operation of the picking unit operating in the first area;
A fourth sensor that detects an abnormality in the operation of the picking unit that is operating in the second area;
The control unit enables the fourth sensor and disables the third sensor when the picking unit is blocked by the first blocking unit and is not blocked by the second blocking unit. On the other hand, when the picking portion is blocked by the second blocking portion and not blocked by the first blocking portion, the third sensor is enabled and the fourth sensor is disabled. The cargo handling apparatus according to claim 1. In order to switch the operation of the picking unit from the state permitted in the first area to the state permitted in the second area, the second blocking unit replaces the first blocking unit. By blocking the picking unit, the control unit enables the second and third sensors, disables the first and fourth sensors,
In order to switch the operation of the picking unit from the state permitted in the second area to the state permitted in the first area, the first blocking unit is used instead of the second blocking unit. The cargo handling device according to claim 3, wherein the picking unit is blocked by the control unit, and the control unit validates the first and fourth sensors and invalidates the second and third sensors. In the first area, a fifth sensor that detects the entry of the person into the transport area where the luggage is transported;
In the second area, further comprising a sixth sensor for detecting the entrance of the person to the transport area where the luggage is transported,
The control unit further enables the sixth sensor and disables the fifth sensor when the picking unit is blocked by the first blocking unit and not blocked by the second blocking unit. On the other hand, when the picking portion is blocked by the second blocking portion and not blocked by the first blocking portion, the fifth sensor is further enabled and the sixth sensor is disabled. The cargo handling apparatus according to claim 3. In order to switch the operation of the picking unit from the state permitted in the first area to the state permitted in the second area, the second blocking unit replaces the first blocking unit. By blocking the picking unit, the control unit to enable the second, third and fifth sensors, to disable the first, fourth and sixth sensors,
In order to switch the operation of the picking unit from the state permitted in the second area to the state permitted in the first area, the first blocking unit is used instead of the second blocking unit. The picking unit is blocked by the control unit, and the control unit enables the first, fourth, and sixth sensors and disables the second, third, and fifth sensors. The cargo handling device described in 1.   The cargo handling device according to any one of claims 1 to 6, wherein the control unit does not permit the operation of the picking unit when the detection is performed by any of the enabled sensors.   The control unit stops the operation of the picking unit when the detection is performed by any of the enabled sensors during the operation of the picking unit. A cargo handling device according to item 1. A control device for controlling the cargo handling device,
The cargo handling device is:
A picking unit used in the first area and the second area designated in advance for picking the luggage;
A first blocking unit that blocks the picking unit and the second area so that the operation of the picking unit does not extend to the second area;
The picking unit includes a second blocking unit that blocks the picking unit and the first area so that the operation of the picking unit does not extend to the first area,
The controller is
When the picking part is blocked by the first blocking part and not blocked by the second blocking part, a first sensor that detects a person entering the first area is enabled, Means for disabling the second sensor for detecting the entry of the person into the second area and permitting the operation of the picking unit in the first area;
If the picking portion is blocked by the second blocking portion and not blocked by the first blocking portion, the second sensor is enabled, the first sensor is disabled, and the picking portion is A control device comprising: means for permitting an operation in the second area. In order to switch the operation of the picking unit from the state permitted in the first area to the state permitted to the second area, the second blocking unit replaces the first blocking unit. Means for enabling the second sensor and disabling the first sensor when the picking portion is blocked by
In order to switch the operation of the picking unit from a state permitted in the second area to a state permitted to the first area, the first blocking unit replaces the second blocking unit. The control device according to claim 9, further comprising: means for enabling the first sensor and disabling the second sensor when the picking unit is blocked by.   In a case where the picking unit is blocked by the first blocking unit and not blocked by the second blocking unit, a fourth operation of detecting an abnormality in the operation of the picking unit in operation in the second area is performed. While enabling a sensor and disabling a third sensor that detects an abnormal operation of the picking unit during operation in the first area, the picking unit is blocked by the second blocking unit, The control device according to claim 9, further comprising: a unit that activates the third sensor and invalidates the fourth sensor when not interrupted by the first interruption unit. In order to switch the operation of the picking unit from a state permitted in the first area to a state permitted in the second area, the second blocking unit replaces the first blocking unit. Means for enabling the second and third sensors and disabling the first and fourth sensors when the picking portion is blocked by
In order to switch the operation of the picking unit from a state permitted in the second area to a state permitted in the first area, the first blocking unit replaces the second blocking unit. The control device according to claim 11, further comprising means for enabling the first and fourth sensors and disabling the second and third sensors when the picking portion is blocked by. .   In a case where the picking section is blocked by the first blocking section and not blocked by the second blocking section, further, in the second area, entry of the person into a transport area where the package is transported is prevented. While enabling the sixth sensor to be detected, and disabling the fifth sensor for detecting the entry of the person into the transport area where the package is transported in the first area, the picking unit detects 12. The apparatus according to claim 11, further comprising means for enabling the fifth sensor and disabling the sixth sensor when interrupted by the second interrupter and not interrupted by the first interrupter. The control device as described. In order to switch the operation of the picking unit from a state permitted in the first area to a state permitted in the second area, the second blocking unit is used instead of the first blocking unit. Means for enabling the second, third, and fifth sensors and disabling the first, fourth, and sixth sensors when the picking unit is blocked by
In order to switch the operation of the picking unit from a state permitted in the second area to a state permitted in the first area, the first blocking unit replaces the second blocking unit. Means for enabling the first, fourth, and sixth sensors and disabling the second, third, and fifth sensors when the picking portion is blocked by The control device according to claim 13.   The control device according to any one of claims 9 to 14, further comprising a unit that does not permit the operation of the picking unit when detection is performed by any of the enabled sensors.   The device according to any one of claims 9 to 14, further comprising a unit configured to stop the operation of the picking unit when detection is performed by any of the enabled sensors during the operation of the picking unit. The control device according to item 1. A control method for controlling a cargo handling device,
The cargo handling device is:
A picking unit used in the first area and the second area designated in advance for picking the luggage;
A first blocking unit that blocks the picking unit and the second area so that the operation of the picking unit does not extend to the second area;
The picking unit includes a second blocking unit that blocks the picking unit and the first area so that the operation of the picking unit does not extend to the first area,
The control method is:
When the picking part is blocked by the first blocking part and not blocked by the second blocking part, a first sensor that detects a person entering the first area is enabled, Disabling a second sensor that detects the entry of the person into the second area and permitting the operation of the picking unit in the first area;
If the picking portion is blocked by the second blocking portion and not blocked by the first blocking portion, the second sensor is enabled, the first sensor is disabled, and the picking portion is Allowing operation in the second area;
And a step of not permitting the operation of the picking unit when detection is made by any of the sensors that are enabled. A program for controlling a cargo handling device,
The cargo handling device is:
A picking unit used in the first area and the second area designated in advance for picking the luggage;
A first blocking unit that blocks the picking unit and the second area so that the operation of the picking unit does not extend to the second area;
The picking unit includes a second blocking unit that blocks the picking unit and the first area so that the operation of the picking unit does not extend to the first area,
The program is
When the picking unit is blocked by the first blocking unit and is not blocked by the second blocking unit, a first sensor that detects entry of a person into the first area is enabled, and A function for disabling a second sensor that detects the entry of the person into the area 2 and permitting the picking unit to operate in the first area;
If the picking section is blocked by the second blocking section and not blocked by the first blocking section, the second sensor is enabled, the first sensor is disabled, and the picking section is A function for permitting operation in the second area,
A function that does not permit the operation of the picking unit when detection is performed by any of the enabled sensors;
A program to make a computer realize.