JP2021038097A - Stacker, crate assorter, and program - Google Patents

Abstract

To provide a stacker allowing for stable stacking based on an assorted crate, a crate assorter, a control method, and a program.SOLUTION: A stacker 31 is assigned based on a type of a crate C1. The stacker 31 comprises a receiving part 31c to receive a crate assigned based on a type. The receiving part 31c comprises a movable guide 31d for adjusting an inner width of the receiving part 31c in accordance with respective widths of a plurality of crates C1-C4 assigned. A crate assorter 10 comprises a plurality of stackers 31-34 and a carrier 1 for transferring the plurality of crates C1-C4 to the plurality of stackers 31-34 assigned respectively in accordance with a crate type.SELECTED DRAWING: Figure 1

Description

The present invention relates to a stacking device, a crate sorting device, and a program.

Patent Document 1 discloses a display recognition device for a transported object, which comprehensively determines an image captured by capturing an identification symbol for display on the transported object by an image processing device, and recognizes and interprets the identification symbol. .. Based on this deciphered identification symbol, the transported object can be transported to a predetermined storage location and sorted.

Japanese Unexamined Patent Publication No. 10-055432

The inventors of the present application recalled applying such a display recognition device to a crate sorting device. A crate is a frame box for transportation and packing. In many cases, the crates are mainly made of plastic. The crate can be used, for example, in the field of logistics. However, in many cases, crates have various sizes and do not have a constant size. Therefore, it is difficult for the crate sorting device to sort crates of various sizes and stably stack each of the sorted crates.

An object of the present disclosure is to provide a stacking device, a crate sorting device, a control method, and a program capable of sorting crates of various sizes and stably stacking each of the sorted crates in view of the above-mentioned problems. It is to be.

The stacking device according to the present disclosure is
Allocated for each type of crate, and the assigned crate for each type is stacked.
Each type has a receiving part that accepts the assigned crate.
The receiving portion includes a movable guide that adjusts the inner width of the receiving portion according to the width of the assigned crate.
The crate sorting device according to the present disclosure is
A plurality of stacking devices that are assigned to each of a plurality of crate types and stack the assigned crates for each type.
A transport device for transporting the plurality of crates to the assigned stacking devices according to the type of the crate is provided.
The stacking device includes a receiving unit that receives the assigned crate for each type.
The receiving portion includes a movable guide that adjusts the inner width of the receiving portion according to the width of each of the plurality of assigned crates.

The control method of the stacking device according to the present disclosure is as follows.
A step of measuring the height of a crate that is assigned to each of a plurality of crate types and is a stack of the assigned crates for each type.
When the height of the stacked crates exceeds the first height, the step of lowering the lift holding the stacked crates by the height of one crate is included.

The program related to this disclosure is
For computers that operate as stacking devices
A step of measuring the height of a crate that is assigned to each of a plurality of crate types and is a stack of the assigned crates for each type.
When the height of the stacked crates exceeds the first height, a step of lowering the lift holding the stacked crates by the height of one crate is performed.
Let it run.
The program related to this disclosure is
A computer that is assigned to each of a plurality of crate types and operates as a crate sorting device including a plurality of stacking devices for stacking the assigned crates for each type.
A step of transporting the plurality of crates to the assigned plurality of stacking devices according to the type of the crate.
Let it run.

According to the present invention, it is possible to provide a crate sorting device, a control method, and a program capable of sorting crates of various sizes and stably stacking each of the sorted crates.

It is a perspective view which shows the crate sorting apparatus which concerns on Embodiment 1. FIG. It is a perspective view which shows the main part of the crate sorting apparatus which concerns on Embodiment 1. FIG. It is a top view which shows the main part of the crate sorting apparatus which concerns on Embodiment 1. FIG. It is a block diagram which shows the system structure of the crate sorting apparatus which concerns on Embodiment 1. FIG. It is a perspective view which shows one operation example of the crate sorting apparatus which concerns on Embodiment 1. FIG. It is a flowchart which shows the sorting step in an example of a crate sorting method. It is a flowchart which shows the stacking step in an example of a crate sorting method. It is a block diagram which shows the system structure of the stacking apparatus which concerns on Embodiment 2. FIG. It is a figure which shows an example of the hardware composition included in a stacking apparatus, or a crate sorting apparatus.

(Embodiment 1)
Hereinafter, the first embodiment will be described with reference to the drawings. FIG. 1 is a perspective view showing a crate sorting apparatus according to the first embodiment. FIG. 2 is a perspective view showing a main part of the crate sorting apparatus according to the first embodiment. FIG. 2 shows a first stacking device 31 which is a main part of the crate sorting device shown in FIG. FIG. 3 is a top view showing a main part of the crate sorting apparatus according to the first embodiment. FIG. 3 shows the upper surface of the first stacking device 31 shown in FIG.

As shown in FIG. 1, the crate sorting device 10 includes a roller conveyor 1, an image recognition unit 2, a first stacking device 31, a second stacking device 32, and a third stacking device 33. And a fourth stacking device 34.

The roller conveyor 1 includes a transport unit 1a, a reversing unit 1b, and a route switching unit 1c. The roller conveyor 1 is a conveyor that conveys crates such as crates C1 to C4 to any of the first to fourth stacking devices 31 to 34.

The transport portion 1a extends in a predetermined direction (here, the x-axis direction). One end 1a1 of the transport unit 1a receives the crate C1 from the worker H1. The other end 1a2 of the transport portion 1a is continuous with the route switching portion 1c. The transport unit 1a transports crates such as crates C1 to C4 from one end 1a1 to the other end 1a2. The crates such as crates C1 to C4 may have a wide variety of sizes or may have different sizes.

An image recognition unit 2 and an inversion switching unit 1d are provided in this order from one end 1a1 to the other end 1a2 of the transport unit 1a. The reversing section 1b branches from a portion of the transport section 1a where the reversing switching section 1d is provided. Further, the reversing portion 1b extends in a substantially semicircular shape and joins the conveying portion 1a.

The captured image recognition unit 2 includes a camera 2a, a gate 2b, and an image recognition processing unit 2c shown in FIG.

The gate 2b rises from one end of the transport portion 1a in the width direction, crosses the transport portion 1a, and connects to the other end of the transport portion 1a in the width direction.

The camera 2a is provided above the gate 2b so as to face a predetermined direction in which the transport unit 1a can image the crate C1 transported. The camera 2a captures the crate C1 transported by the transport unit 1a and generates captured image information. The captured image information includes, for example, an image showing the side surface of the crate C1.

The image recognition processing unit 2c collects and identifies the captured image. For example, the image recognition processing unit 2c extracts the density gradient from the master image of the crate side surface registered in advance, the color of the crate C1 of the collected grayscale image, and the characters described in the crate C1. The image recognition processing unit 2c collates the master image with the feature point cloud to identify the crate, and generates image identification information.

The inverting switching unit 1d acquires the inverting command signal from the control device 40 described later. Based on the acquired inversion command signal, the inversion switching unit 1d extends the transport direction of the crate C1 in the direction in which the transport unit 1a extends (here, the x-axis plus side) or the direction toward the inversion unit 1b (here, in this case). , Y-axis minus side). If the transport direction of the crate C1 is the extending direction of the transport portion 1a, the crate C1 proceeds as it is on the transport portion 1a. If the transport direction of the crate C1 is toward the reversing portion 1b, the crate C1 proceeds to the reversing portion 1b.

The reversing unit 1b receives the crate C1 from the transport unit 1a and reverses it while transporting it. Then, the reversing section 1b returns the crate C1 to the transport section 1a.

The route switching unit 1c is continuous with the transport unit 1a. The route switching portion 1c extends in a predetermined direction (here, the x-axis plus side) from the other end portion 1a2 of the transport portion 1a. The route switching portion 1c includes a first branch portion 1e, a second branch portion 1f, a third branch portion 1g, and a fourth branch portion 1h. The first branch portion 1e, the second branch portion 1f, the third branch portion 1g, and the fourth branch portion 1h are arranged in this order from one end portion 1a1 toward the other end portion 1a2. There is.

The first branch portion 1e, the second branch portion 1f, the third branch portion 1g, and the fourth branch portion 1h are continuous with each other. The other end portion 1a2 of the transport portion 1a and the one end portion 1e1 of the first branch portion 1e are butted against each other. The other end 1e2 of the first branch 1e and the one end 1f1 of the second branch 1f are butted against each other. The other end 1f2 of the second branch 1f and the one end 1g1 of the third branch 1g are butted against each other. The other end 1g2 of the third branch 1g and the one end 1h1 of the fourth branch 1h are butted against each other. An example of one end 1e1 of the first branch 1e shown in FIG. 1 corresponds to one end 1c1 of the route switching portion 1c. An example of the other end 1h2 of the fourth branch 1h shown in FIG. 1 corresponds to the other end 1c2 of the route switching portion 1c.

The first branch portion 1e rotates about one end portion 1e1. In the first branch portion 1e, the other end portion 1e2 is inclined downward (here, the z-axis minus side) based on the control signal from the control device 40, or returns to the same height as the route switching portion 1c. It rotates so that it does.

Similar to the first branch portion 1e, the second branch portion 1f, the third branch portion 1g, and the fourth branch portion 1h rotate about one end portions 1f1, 1g1, and 1h1, respectively. .. With respect to the second to fourth branch portions 1f, 1g, and 1h, one end portions 1f1, 1g1, and 1h1 are inclined downward (here, the z-axis minus side), respectively, based on the control signal from the control device 40. Or, it rotates so as to return to the same height as the route switching unit 1c.

The first stacking device 31, the second stacking device 32, the third stacking device 33, and the fourth stacking device 34 are located below the route switching unit 1c (here, the z-axis minus). It is located on the side). The first stacking device 31, the second stacking device 32, the third stacking device 33, and the fourth stacking device 34 are arranged in a predetermined direction. Depending on the type of crate, the crate to be sorted is previously divided into a first stacking device 31, a second stacking device 32, a third stacking device 33, and a fourth stacking device 34. Assigned. The first stacking device 31, the second stacking device 32, and the third stacking device 33 are approximately the second branch portion 1f, the third branch portion 1g, and the fourth, respectively. It is arranged below the branch portion 1h.

When the first branch portion 1e rotates and the other end portion 1e2 is tilted downward, the other end portion 1e2 is located near the upper portion of the first stacking device 31.

Similar to the first branch portion 1e, the second branch portion 1f is located near the upper portion of the second stacking device 32 when the other end portion 1f2 is inclined downward.

Similar to the first branch portion 1e, the third branch portion 1g is located near the upper portion of the third stacking device 33 when the other end portion 1g2 is inclined downward.

Similar to the first branch portion 1e, the fourth branch portion 1h is located near the upper portion of the fourth stacking device 34 when the other end portion 1h2 is inclined downward.

As shown in FIG. 2, the first stacking device 31 includes a main body 31a, a lift 31b, a crate receiving portion 31c, and a movable guide 31d.

The main body 31a includes a plurality of pillars rising from a horizontal plane (here, an xy plane). The height of the main body 31a may be appropriately changed according to the height of the crate stacked by the first stacking device 31. The lift 31b is held by the main body 31a so as to be movable in the vertical direction (here, the z-axis direction). The crate receiving portion 31c is arranged above the main body 31a. The crate receiving portion 31c is, for example, a frame body, and mechanically connects four pillars included in the main body 31a. The crate receiving unit 31c is provided with a size so that the crate C1 can be received. The movable guide 31d is provided in the crate receiving portion 31c. A photoelectric sensor may be attached to at least one of the main body 31a and the receiving portion 31c. The photoelectric sensor generates crate stack height information for determining the height of stacked crates depending on whether or not light is incident and the incident light is received.

As shown in FIG. 3, the movable guide 31d can reciprocate in the width direction inside the crate receiving portion 31c (here, in the y-axis direction), and the width inside the crate receiving portion 31c can be adjusted. .. The position of the movable guide 31d is appropriately changed according to the width of the crate C1 to be stacked by the first stacking device 31. Therefore, the crate C1 fits into the receiving portion 31c or is placed on the lift 31b.

The second stacking device 32, the third stacking device 33, and the fourth stacking device 34 have the same configuration as the first stacking device 31. The second stacking device 32, the third stacking device 33, and the fourth stacking device 34 appropriately adjust the positions of the movable guides 31d and the like according to the size of the crate to be stacked. You may change it.

<System configuration>
Next, with reference to FIG. 4, the system configuration of the crate sorting apparatus according to the first embodiment will be described. FIG. 4 is a block diagram showing a system configuration of the crate sorting apparatus according to the first embodiment.

As shown in FIG. 4, the control device 40 includes an image identification information acquisition unit 41, an inversion control unit 42, a route switching control unit 43, a crate stack height information determination unit 44, and a stack device control unit 45. And a communication unit 46.

The image identification information acquisition unit 41 acquires the image identification information generated by the image recognition processing unit 2c of the captured image recognition unit 2.

The inversion control unit 42 determines whether to invert the orientation of the crate C1 or keep the orientation of the crate C1 as it is, based on the image identification information. A plurality of crates stacked on the same stacking device may all have the same orientation. Further, the method of stacking a plurality of crates to be stacked on the same stacking device may be nesting, that is, a nesting structure in which the orientations are staggered. In other words, by stacking the crates so that their orientations are staggered, the plurality of crates stacked on the same stacking device may be staggered in their orientation. When the direction of the crate C1 is inverted, the inversion control unit 42 generates an inversion command signal and sends it to the inversion switching unit 1d.

Based on the image identification information, the route switching control unit 43 switches the route to the stacking device to which the crate indicated by the image identification information is assigned. For example, when the crate C1 is assigned to the first stacking device 31, as shown in FIG. 1, the first branch portion 1e rotates and the other end portion 1e2 is the first stacking device 31. Located near the top. Further, when the crate C1 is assigned to the third stacking device 33, as shown in FIG. 3, the third branch portion 1g rotates and the other end portion 1g2 is the third stacking device 33. Located near the top.

In the crate stack height information determination unit 44, the first stack device 31, the second stack device 32, the third stack device 33, and the fourth stack device 34 are stacked, respectively. Acquires crate stack height information indicating the height of the crate. The crate stack height information can be acquired, for example, by generating a photoelectric sensor attached to the receiving portion 31c. In the crate stacking height information determination unit 44, the first stacking device 31, the second stacking device 32, the third stacking device 33, and the fourth stacking device 34 are stacked. It is determined whether the height of the crate exceeds the first and second heights. The first and second heights can be changed in advance according to various conditions. The first height is, for example, a height at which the first to fourth stacking devices 31 to 34 cannot stack by adding the crate C1. Further, the first height is, for example, the maximum height of the upper end of the stacked crates when the first to fourth stacking devices 31 to 34 can stack by adding one crate C1. That's right. Further, the first height is, for example, when the first to fourth stacking devices 31 to 34 add one crate C1 and stack it, the additionally stacked crate C1 is above the main body 31a. It may be high enough to squeeze out. Further, the first height is, for example, when the first to fourth stacking devices 31 to 34 add one crate C1 and stack it, the additionally stacked crate C1 is the upper end of the main body 31a. It may be a height located above. The second height is the height of the stacked crates C1 when the first to fourth stacking devices 31 to 34 are filled with the stacked crates C1 and the like. The second height is, for example, the height of the stacked crates when the first to fourth stacking devices 31 to 34 stack the crates to the maximum extent. Specifically, the height of the stacked crates is the height from the lower end to the upper end of the stacked crates.

The stacking device control unit 45 has a first stacking device 31, a second stacking device 32, a third stacking device 33, and a fourth stacking device 33 based on the crate stacking height information. The lift 31b with the device 34 is lowered or raised, respectively. When the height of the crate stacked by the first stacking device 31 exceeds the first height, the stacking device control unit 45 lowers the lift 31b by one crate. Similarly, even when the height of the crate stacked by the second to fourth stacking devices 32 to 34 exceeds the first height, the stacking device control unit 45 may perform the second to fourth stages. The lifts 31b of the stacking devices 32 to 34 are lowered by one crate.

The communication unit 46 transmits and receives various information to and from the communication unit 52 of the crate carrier 50. The control unit 51 of the crate transfer device 50 has a first stacking device 31, a second stacking device 32, a third stacking device 33, and a fourth stacking device 31 based on the information acquired by the communication unit 52. The stacking device 34 and the stacking device 34 may be controlled to take out the stacked crates. Further, the crate transport device 50 may transport the taken out crate to another crate storage location.

(Crate sorting method)
Next, the crate sorting method according to the first embodiment will be described with reference to FIGS. 6 and 7. The crate sorting method can be performed using the crate sorting device 10 shown in FIG. Here, the crate C1 is sorted by using the crate sorting method, but other crates such as crates C2 to C4 can also be sorted.

<Type sorting step>
Sort crate C1 by type (type sorting step ST11)

Specifically, first, the identification image information of the crate C1 is acquired (crate identification image information acquisition step ST1). The captured image recognition unit 2 images the crate C1 to be sorted and generates identification image information.

Subsequently, based on the identification image information of the crate C1, it is determined whether or not the direction of the crate C1 is reversed (reversal necessity determination step ST2).

When the direction of the crate C1 is reversed (reversal necessity determination step ST2: YES), the crate C1 is conveyed to the reversing section 1b and the direction of the crate C1 is reversed (crate reversing step ST3).

On the other hand, when the orientation of the crate C1 is maintained (reversal necessity determination step ST2: NO), the crate C1 is conveyed as it is by the conveying unit 1a, and the orientation of the crate C1 is maintained.

Subsequently, it is determined whether or not to switch the route based on the identification image information of the crate C1 (route switching necessity determination step ST4).

When switching routes (route switching necessity determination step ST4: YES), the routes are switched and the crate C1 is transported by the switched routes (route switching step ST5). Finally, the crate C1 is conveyed to the stacking device at the route to which the crate is switched, and stacked (crate stacking step ST6). For example, the first branch portion 1e is rotated to raise the other end portion 1e2 to the same height as the one end portion 1f1 of the second branch portion 1f, and the third branch portion 1g is rotated. The other end 1g2 is lowered. The crate C1 is dropped onto the receiving portion 31c of the third stacking device 33. The crate C1 is stacked on the third stacking device 33.

On the other hand, when the route is maintained (reversal necessity determination step ST2: NO), the crate C1 is conveyed by the maintained route. Finally, the crate C1 is transported to the stacking device at the route to which the crate C1 is maintained and stacked (crate stacking step ST6). For example, the crate is directly conveyed to the first branching portion 1e and dropped onto the receiving portion 31c of the first stacking device 31. The lift 31b receives and holds the crate. The crate C1 is stacked on the first stacking device 31.

From the above, the crate C1 is sorted by type (type sorting step ST11).

<Stacking step>
Subsequently, the type sorting step ST11 is repeated until the height of the crate sorted and stacked in the type sorting step ST11 exceeds the first height (first crate height determination step ST12: NO).

When the height of the sorted and stacked crate exceeds the first height (first crate height determination step ST12: YES), the movable guide 31d is lowered by one crate (lift lowering step ST13). .. One crate may be, for example, a value obtained in advance based on an average value of measured values of a plurality of crate heights or captured image information.

Subsequently, the type sorting step ST11 to the lift lowering step ST13 are repeated until the height of the sorted and stacked crate exceeds the second height (second crate height determination step ST14: NO).

When the height of the sorted and stacked crate exceeds the second height (second crate height determination step ST14: YES), the crate stacking information is notified to another configuration (notification step ST15). For example, when the crate transfer device 50 is notified of the crate stacking information, the stacked crates are taken out from the first to fourth stacking devices 31 to 34. Further, the first to fourth stacking devices 31 to 34 can stack the continuously sorted crates.

On the other hand, when the height of the sorted and stacked crate exceeds the second height (second crate height determination step ST14: YES), the route switching unit 1c is scheduled to be guided to one stacking device. Crate may be guided to one stacking device and another stacking device (notification step ST15). Further, the first to fourth stacking devices 31 to 34 can stack the continuously sorted crates.

From the above, the crates sorted by type can be stacked on the first to fourth stacking devices 31 to 34. The movable guide 31d adjusts the inner width of the first stacking device 31 for each type of crate. Since the first stacking device 31 has a width corresponding to the sorted crate C1, the crate C1 fits into the receiving portion 31c or is placed on the lift 31b. Therefore, the crate C1 can be stably stacked on the first stacking device 31.

Further, in the crate sorting method according to the present embodiment, when the stacked crates exceed the first height, the lift 31b is lowered by the height of one crate. Therefore, the stacked crate is lowered, an appropriate space is generated in the vicinity of the receiving portion 31c, and the stacking device can stably receive the crate. Therefore, the crate C1 can be stably stacked on the first stacking device 31.

Further, in the crate sorting method according to the present embodiment, when the stacked crate exceeds the second height, the control device 40 indicates that the stacked crate is full through the communication unit 46. Information is transmitted to the crate transfer device 50. Therefore, even if the stacked crate is full, it is taken out from the stacking device by the crate transfer device 50. The stacking device can stably accept other crates. Therefore, the crate C1 can be stably stacked on the first stacking device 31.

Further, in the crate sorting method according to the present embodiment, if the stacked crate exceeds the second height, the crate may be guided to another stacking device. In such a case, another stacking device stacks the crates, so that the crates can be stacked stably.

Further, the crate C1 falls from the route switching unit 1c and moves to the first stacking device 31. That is, the movement of the crate C1 to the first stacking device 31 uses gravity and therefore does not require any other power. Therefore, the configuration of the crate sorting device 10 is simple.

Further, the first to fourth stacking devices 31 to 4 according to the present embodiment are arranged side by side in a row, and are arranged directly below the route switching unit 1c. Therefore, it does not take up space on the horizontal plane. That is, it is excellent in space saving, and particularly excellent in space saving on a horizontal surface.

(Embodiment 2)
Next, the stacking device according to the second embodiment will be described. The stacking device according to the second embodiment has the same configuration as the first stacking device 31 shown in FIGS. 2 and 3. That is, in the present disclosure, for example, the first stacking device 31 may be used alone.

The first stacking device 31 is assigned to each type of crate. As shown in FIGS. 2 and 3, the receiving unit 31c of the first stacking device 31 receives the crates assigned to each of the predetermined types. The movable guide 31d of the receiving portion 31c adjusts the inner width of the receiving portion 31c according to the width of the assigned crate.

Here, the first stacking device 31 receives, for example, the crate assigned to each type of crate described above from a transport device such as a roller conveyor 1. The first stacking device 31 can stably stack the accepted crates in the same manner as the crate sorting device 10.

As shown in FIG. 8, the control device 60 of the first stacking device 31 includes the crate stacking height information determination unit 44, the stacking device control unit 45, and the stacking device control unit 45, similarly to the control device 40 shown in FIG. It includes a communication unit 46.

The first stacking device 31 can stack the crates sorted by type in the same manner as the crate sorting method described above.

Further, when the stacked crates exceed the first height, the lift 31b is lowered by the height of one crate. Therefore, the stacked crate is lowered, an appropriate space is generated in the vicinity of the receiving portion 31c, and the first stacking device 31 can stably receive the crate.

When the stacked crate exceeds the second height, the control device 60 transmits full information indicating that the stacked crate is full to the crate transport device 50 through the communication unit 46. Therefore, even if the stacked crate is full, it is taken out from the first stacking device 31 by the crate transfer device 50. The first stacking device 31 can stably accept other crates.

From the above, the first stacking device 31 can stably stack the crate C1.

(Other embodiments, etc.)
In the above embodiment, the functions of each part of the crate sorting device 10 shown in FIGS. 1 to 5 and the stacking device 31 shown in FIGS. 2, 3 and 8 have been described, but the stacking device 31 or the stacking device 31 or It suffices if these functions can be realized as the crate sorting device 10.

Further, the stacking device 31 or the crate sorting device according to the above embodiment can be provided with the following hardware configuration. FIG. 9 is a diagram showing an example of a hardware configuration included in the stacking device or the crate sorting device.

The device 100 shown in FIG. 9 includes a processor 101 and a memory 102 together with the interface 103. The crate sorting device 10 described in the above-described embodiment is realized by the processor 101 reading and executing the program stored in the memory 102. That is, this program is a program for making the processor 101 function as the crate sorting device 10 or a part thereof. It can be said that this program is a program for executing processing in the crate sorting device 10 or a part thereof.

The programs described above are stored using various types of non-transitory computer readable media and can be supplied to a computer (a computer including an information notification device). Non-transitory computer-readable media include various types of tangible storage media. Examples of non-temporary computer-readable media include magnetic recording media (eg, flexible disks, magnetic tapes, hard disk drives), magneto-optical recording media (eg, magneto-optical disks). Further, this example includes a CD-ROM (Read Only Memory), a CD-R, and a CD-R / W. Further, this example includes semiconductor memories (eg, mask ROM, PROM, EPROM, flash ROM, RAM). The program may also be supplied to the computer by various types of transient computer readable media. Examples of temporary computer-readable media include electrical, optical, and electromagnetic waves. The temporary computer-readable medium can supply the program to the computer via a wired communication path such as an electric wire and an optical fiber, or a wireless communication path.

Further, as described in the various embodiments described above, the procedure of processing in the stacking device or the crate sorting device, the present disclosure may also take a form as a control method of the stacking device or the crate sorting device. .. An example of the control method of the stacking device or the crate sorting device includes the first and second steps.

In the first step, the height of a crate that is assigned to each of a plurality of crate types and the assigned crate is stacked for each type is measured.

The second step includes, when the height of the stacked crates exceeds the first height, a step of lowering the lift holding the stacked crates by the height of one crate.

Other examples are as described in the various embodiments described above. Further, it can be said that the above-mentioned program is a program for causing the crate sorting device to execute such a control method.

The present invention is not limited to the above embodiment, and can be appropriately modified without departing from the spirit. For example, an example of the crates C1, C2, C3, and C4 shown in FIG. 1 is a stack type crate, but the crates C1, C2, C3, and C4 may be a nesting type crate. Further, although the crate sorting device 10 includes the first to fourth stacking devices 31 to 34, the crate sorting device 10 may include 2, 3, 5 or more stacking devices having the same configuration as the first stacking device 31. Good. Further, the first to fourth stacking devices 31 to 34 measure the weight of the stacked crates, and when the weight of the stacked crates exceeds a predetermined value, the crate carrier is notified of full information. You may. The present disclosure may be carried out by appropriately combining embodiments and examples thereof.

10 Crate sorting device 1 Roller conveyor
1a Transport unit
1a1 One end 1a2 The other end 1b Reversing part 1c Route switching part 1d Reversing switching part 1e First branch part
1e1 one end 1e2 other end 1f second branch 1f1 one end 1f2 other end 1g third branch 1g1 one end 1g2 other end 1h fourth branch 1h1 one end 1h2 other end 2 image recognition Unit 2a Camera 2b Gate 2c Image recognition processing unit 31 First stacking device 32 Second stacking device 33 Third stacking device 34 Fourth stacking device 31a Main body 31b Lift 31c Receiving section 31d Movable guide 40 Control apparatus
41 Image identification information acquisition unit 42 Inversion control unit 43 Route switching control unit 44 Crate stack height information determination unit 45 Stacking device control unit 46 Communication unit 100 Device 101 Processor 102 Memory 103 Interface C1-C4 Crate ST1 Crate identification image information Acquisition step
ST11 type sorting step
ST12 1st crate height determination step ST13 Lift descent step ST14 2nd crate height determination step ST15 Notification step ST2 Reversal necessity determination step ST3 Crate reversal step ST4 Route switching necessity determination step ST5 Route switching step ST6 Crate stacking Step

Claims (9)

In a stacking device in which one type of crate is assigned among a plurality of types of crates and the assigned one type of crate is stacked.
Equipped with a receiving part
The receiving portion comprises a movable guide that adjusts the inner width of the receiving portion according to the width of the assigned one type of crate.
The receiving portion receives the assigned type of crate that has fallen from above the receiving portion.
Stacking device. Further equipped with a lift to hold the stacked crates,
The maximum height of the stacked crate in the case where another crate can be added to the stacked crate and stacked is defined as the first height.
When the stacked crates exceed the first height, the lift is lowered by the height of one crate.
The stacking device according to claim 1. Control device and
With a communication unit,
When the height of the stacked crate when the stacked crate is full is defined as the second height, it is defined as the second height.
When the stacked crate exceeds the second height, the control device transmits full information indicating that the stacked crate is full to the crate carrier through the communication unit.
The stacking device according to claim 1 or 2. A plurality of stacking devices that are assigned to each of a plurality of crate types and stack the assigned crates for each type.
A transport device for transporting the plurality of crates to the assigned stacking devices according to the type of the crate is provided.
The stacking device includes a receiving portion arranged below the transport device.
The receiving portion comprises a movable guide that adjusts the inner width of the receiving portion according to the width of each of the plurality of assigned crates.
The receiving portion receives the assigned crate for each type, which is conveyed by falling from the conveying device.
Crate sorting device. When the height of the stacked crate when the stacked crate is full is defined as the second height, it is defined as the second height.
In at least one stacking device of the plurality of stacking devices, when the stacked crate exceeds the second height, the transporting device is scheduled to be transported to the one stacking device. The crate is transported to the one stacking device and another stacking device.
The crate sorting apparatus according to claim 4. A crate image identification device for acquiring crate type identification information indicating the crate type based on images showing a plurality of crates input to the transport device is further provided.
Based on the crate type identification information, the transport device transports the plurality of crates to the assigned stacking device according to the type of the crate.
The crate sorting apparatus according to claim 4 or 5. A computer that is assigned to each of a plurality of crate types and operates as a crate sorting device including a plurality of stacking devices for stacking the assigned crates for each type.
A step of dropping the plurality of crates and transporting them to the assigned plurality of stacking devices according to the type of the crate.
The program to be executed. When the height of the stacked crate when the stacking device is full with the stacked crate is defined as a second height, it is defined as a second height.
In at least one stacking device of the plurality of stacking devices, when the stacked crate exceeds the second height, the crate to be conveyed to the one stacking device is transferred to the one stacking device. The step of transporting to a stacking device different from the stacking device,
The program according to claim 7, which is further executed. Depending on the type of the crate, the step of dropping the plurality of crates and transporting them to the assigned plurality of stacking devices, respectively, is a step.
A step of acquiring crate type identification information indicating the type of the crate based on the image showing the crate, and
A step of dropping the plurality of crates according to the type of the crate based on the crate type identification information and transporting the plurality of crates to the assigned plurality of stacking devices is included.
The program according to claim 7 or 8.

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