JP2022074734A - Luggage loading device and method - Google Patents

Abstract

To provide a luggage loading device and a method capable of securing a stable luggage loading rate in a container regardless of the luggage conveyance order.SOLUTION: A luggage loading device 1 has: a second luggage detection unit 29 for detecting dimensions of luggage 3 conveyed by a main conveyor 5; a loading robot 15 for loading, in a conveyance order, the luggage 3 conveyed by the main conveyor 5 into two containers 2; and a loading computation unit 33 and a loading control unit 38 that control the loading robot 15 to load in priority on the basis of the dimensions detected by the second luggage detection unit 29, of the luggage 3, the luggage 3 into the containers 2 different from one another for each dimension.SELECTED DRAWING: Figure 2

Description

The present invention relates to a luggage loading device and a method.

For example, Patent Document 1 describes a loading device for loading baggage into a container. The loading device described in Patent Document 1 separates a baggage identification device that identifies the shape and size of baggage loaded by a baggage loading conveyor and baggage identified by this baggage identification device by shape and size. A baggage sorting machine that stores in one of four robot loading stockers and one loading stocker, a payout device that dispenses baggage stored in the robot loading stocker and the loading stocker, and this payout. It is equipped with a robot that loads the baggage paid out by the device into the robot loading container.

Japanese Unexamined Patent Publication No. 5-246546

However, the above-mentioned prior art has the following problems. That is, after the baggage is sorted according to shape and size and temporarily stored in the loading stocker, the baggage is loaded into the robot loading container by the robot, so that not only does it take time to complete the loading of the baggage, but also The cost of loading baggage increases. Therefore, it is desired that the baggage carried by the conveyor is directly loaded into the container by the robot. However, when baggage is randomly transported regardless of its size, the baggage loading rate of the container changes depending on the baggage transport order. At this time, depending on the order in which the baggage is transported, the empty space in the container may increase, and a stable baggage loading rate may not be ensured in the container.

An object of the present invention is to provide a cargo loading device and a method capable of ensuring a stable cargo loading rate in a container regardless of the order in which the cargo is transported.

The cargo loading device according to one aspect of the present invention includes a cargo detection unit that detects the dimensions of cargo transported by the transport unit, and a loading unit that loads the cargo transported by the transport unit into a plurality of containers in the order of transport. It is provided with a control unit that controls a loading unit so that the cargo is preferentially loaded into a container different for each dimension based on the dimensions of the cargo detected by the cargo detection unit.

In such a load loading device, the load transported by the transport unit is loaded into a plurality of containers in the order of transport by the loading unit. At this time, the size of the load is detected, and the loading unit is controlled so that the load is preferentially loaded into a container different for each size. Therefore, even if the cargo is randomly transported regardless of the size, the cargo is preferentially loaded in an appropriate container according to the size. Therefore, the luggage is efficiently loaded in the container and the empty space in the container is reduced. As a result, a stable cargo loading rate is ensured in the container regardless of the order in which the cargo is transported.

One of the plurality of containers is the first container, the other one of the plurality of containers is the second container, and the control unit preferentially loads the first cargo in the first container. The loading unit may be controlled so as to be attached, and the loading unit may be controlled so that the second cargo having a size smaller than that of the first cargo is preferentially loaded in the second container. In such a configuration, even if the first cargo and the second cargo having different dimensions are randomly transported, the first cargo is preferentially and efficiently loaded in the first container, and the second cargo is preferentially and efficiently loaded in the second container. It is preferentially and efficiently loaded.

In the first container, a first back side storage area and a first front side storage area located on the front side of the first container from the first back side storage area are set, and in the second container. Is set with a second backside storage area and a second front side storage area located on the front side of the second container with respect to the second backside storage area, and the control unit sets the first luggage to the first. The loading unit is controlled so that the back storage area and the second front storage area are loaded in this order, and the second luggage is loaded in the order of the second back storage area and the first front storage area. You may control the unit. In such a configuration, for example, even if it is not possible to load the first load having a large size in two rows in the depth direction of the container, the first load and the second load are efficiently loaded into the first container and the second container. Be done.

A notch having a structure in which the lower corner of the container is cut out is provided on one of the left and right sides of the container, and the first inner storage area and the first inner storage area and the position corresponding to the notch in the first container are provided. The first front side storage area and the first auxiliary storage area adjacent to each other in the left-right direction of the first container are set, and the second back side storage area and the second are located at the positions corresponding to the notches in the second container. The front side storage area and the second auxiliary storage area adjacent to each other in the left-right direction of the second container are set, and the control unit sets the third luggage having a size smaller than that of the second luggage into the first auxiliary storage area and the second. The loading unit may be controlled to load in the auxiliary containment area. In such a configuration, even if the first baggage, the second baggage, and the third baggage having different dimensions are randomly transported, the first baggage, the second baggage, and the third baggage are efficiently transferred to the first container and the second container. Can be loaded.

When loading the first baggage into the first back side storage area and the second front side storage area, the control unit is a loading unit so as to load the first baggage from the opposite side of the notch portion toward the notch portion side. When loading the second luggage into the second back storage area and the first front storage area, the loading unit is loaded so that the second luggage is loaded from the opposite side of the notch toward the notch side. May be controlled. In such a configuration, the third baggage is first assisted before the first baggage and the second baggage are loaded in the vicinity of the first auxiliary storage area in the first back side accommodation area and the first front side accommodation area. The third baggage is loaded into the storage area, and the third baggage is loaded into the second baggage before the first baggage and the second baggage are loaded in the vicinity of the second auxiliary storage area in the second back side storage area and the second front side storage area. It can be loaded in the auxiliary storage area. Therefore, even when the third cargo is loaded into the first container and the second container together with the first cargo and the second cargo, the third cargo can be reliably loaded in the first container and the second container.

The load loading method according to another aspect of the present invention uses a detection step for detecting the dimensions of the load transported by the transport unit and a loading unit to transport the load transported by the transport unit to a plurality of containers. Including the loading process of sequentially loading, in the loading process, the packages are preferentially loaded into different containers for each dimension based on the dimensions of the packages detected in the detection process.

In such a baggage loading method, the baggage transported by the transport unit is loaded into a plurality of containers in the order of transport by the loading unit. At this time, the dimensions of the luggage are detected, and the luggage is preferentially loaded into a container different for each dimension. Therefore, even if the cargo is randomly transported regardless of the size, the cargo is preferentially loaded in an appropriate container according to the size. Therefore, the luggage is efficiently loaded in the container and the empty space in the container is reduced. As a result, a stable cargo loading rate is ensured in the container regardless of the order in which the cargo is transported.

According to the present invention, a stable cargo loading rate can be ensured in the container regardless of the order in which the cargo is transported.

It is a schematic block diagram which shows the baggage loading apparatus which concerns on one Embodiment of this invention. It is a control system block diagram of the baggage loading apparatus shown in FIG. It is a figure which shows a plurality of storage areas set in a container with an example of the loading order of baggage. It is a figure which shows the address set in a container together with the accommodation area. It is a flowchart which shows the detail of the procedure of the loading operation processing executed by the loading operation unit shown in FIG.

Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings.

FIG. 1 is a schematic configuration diagram showing a luggage loading device according to an embodiment of the present invention. In FIG. 1, the luggage loading device 1 of the present embodiment is installed, for example, in a backyard loading area at an airport. The cargo loading device 1 is a device for loading a passenger's baggage 3 (cargo) into a plurality of containers 2 loaded on an aircraft. Here, the baggage 3 loaded in the container 2 is a suitcase.

The container 2 is mounted on a plurality of (here, two) trolleys 4 towed by a towing tractor (not shown). A coupler 4a is provided at the front end and the rear end of the carriage 4. The carriages 4 are connected to each other by a coupler 4a.

The luggage loading device 1 simultaneously loads the baggage 3 into a plurality of (here, two front and rear) containers 2. A door (not shown) is provided on one side of the container 2. The cargo loading device 1 loads the baggage 3 into the container 2 from the side of the container 2 with the door of the container 2 open. The container 2 located on the front side of the towing tractor is referred to as a front container 2A (first container), and the container 2 located on the rear side of the towing tractor is referred to as a rear container 2B (second container). The front container 2A and the rear container 2B are arranged side by side.

The luggage loading device 1 includes a main conveyor 5, a sorting conveyor 6, a retracting conveyor 7, a receiving conveyor 8, a pusher 9, a turntable 10, a pusher 11, a buffer conveyor 12, a pusher 13, and a pusher. A 14 and a loading robot 15 are provided.

The main conveyor 5, the sorting conveyor 6, and the evacuation conveyor 7 are arranged in the arrangement direction (X-axis direction) of each container 2. The consignment conveyor 8, the turntable 10, and the buffer conveyor 12 are arranged in the X-axis direction at a position closer to the container 2 than the main conveyor 5 in the direction perpendicular to the X-axis direction (Y-axis direction). The buffer conveyor 12 is arranged at a position closer to the container 2 than the load receiving conveyor 8 in the X-axis direction.

The main conveyor 5 is a transport unit that transports the baggage 3 received from the airport side conveyor 16 toward the container 2. The airport-side conveyor 16 transports the baggage 3 from the boarding procedure counter installed in the terminal building of the airport to the loading area in the backyard. The main conveyor 5 is composed of a plurality of (here, five) progressive conveyors 17 that sequentially feed the baggage 3 one by one.

The sorting conveyor 6 is arranged on the downstream side of the main conveyor 5. The sorting conveyor 6 sends out the baggage 3 not to be loaded, that is, the baggage 3 other than the suitcase, which cannot be loaded into the container 2 by the loading robot 15 described later, toward the evacuation conveyor 7. The evacuation conveyor 7 transports the baggage 3 that is not subject to loading to the designated place.

The consignment conveyor 8 is branched and arranged with respect to the evacuation conveyor 7 on the downstream side of the sorting conveyor 6. The baggage 3 (suitcase) to be loaded to be loaded into the container 2 by the loading robot 15 is placed on the receiving conveyor 8. The pusher 9 pushes the baggage 3 to be loaded from the sorting conveyor 6 toward the receiving conveyor 8 and moves it.

The turntable 10 is arranged on the downstream side of the load receiving conveyor 8. The baggage 3 to be loaded is placed on the turntable 10. The pusher 11 pushes the baggage 3 to be loaded from the receiving conveyor 8 toward the turntable 10 and moves it. Pushers 9 and 11 move the baggage 3 carried by the main conveyor 5 to the turntable 10.

The buffer conveyor 12 is arranged on the downstream side of the turntable 10. The baggage 3 to be loaded is placed on the buffer conveyor 12. A wall portion 18 for positioning is provided at the end portion of the buffer conveyor 12 on the container 2 side in the Y-axis direction. The pusher 13 pushes the baggage 3 to be loaded from the turntable 10 toward the buffer conveyor 12 and moves it.

The pusher 14 presses the baggage 3 to be loaded placed on the buffer conveyor 12 against the wall portion 18. The pusher 14 and the wall portion 18 position the baggage 3 placed on the buffer conveyor 12 in a direction (Y-axis direction) perpendicular to the arrangement direction (X-axis direction) of the turntable 10 and the buffer conveyor 12.

The loading robot 15 is a loading unit that loads the baggage 3 to be loaded into the container 2. The loading robot 15 has a traveling carriage 19 and a robot arm 20 attached to the traveling carriage 19.

The traveling carriage 19 travels along a rail 21 extending in parallel with the arrangement direction (X-axis direction) of each container 2. The rail 21 is installed on the front side (door side) of each container 2. That is, the rail 21 is arranged between each container 2 and the main conveyor 5.

The robot arm 20 is movable in the three-axis (XYZ-axis) direction and is rotatable around the three axes. The Z-axis direction is a height direction perpendicular to the X-axis direction and the Y-axis direction. At the tip of the robot arm 20, a robot hand 22 for holding the baggage 3 to be loaded mounted on the buffer conveyor 12 is provided.

FIG. 2 is a control system configuration diagram of the cargo loading device 1. In FIG. 2, the luggage loading device 1 includes an upstream camera 23, a downstream camera 24, a loading processing unit 25, and a control panel 26.

The upstream camera 23 is arranged above the progressive conveyor 17 located on the most upstream side of the main conveyor 5. The upstream camera 23 takes an image of the baggage 3 placed on the main conveyor 5 and acquires a captured image of the baggage 3. The downstream camera 24 is located above the turntable 10. The downstream camera 24 takes an image of the baggage 3 placed on the turntable 10 and acquires a captured image of the baggage 3.

The loading processing unit 25 is composed of a CPU, RAM, ROM, an input / output interface, and the like. The loading processing unit 25 acquires the captured images of the baggage 3 obtained by the upstream camera 23 and the downstream camera 24, executes a predetermined process, and outputs the detection data and the control signal to the control panel 26.

The loading processing unit 25 has a first baggage detection unit 28, a second baggage detection unit 29, and a loading calculation unit 33.

The first baggage detection unit 28 detects the type of baggage 3 carried by the main conveyor 5 based on the captured image of the baggage 3 acquired by the upstream camera 23. The first baggage detection unit 28 detects the type of baggage 3 in cooperation with the upstream camera 23.

The second baggage detection unit 29 detects the dimensions and orientation of the baggage 3 placed on the turntable 10 based on the captured image of the baggage 3 acquired by the downstream camera 24. The second baggage detection unit 29 cooperates with the downstream camera 24 to detect the dimensions and orientation of the baggage 3. The downstream camera 24 and the second baggage detection unit 29 constitute a baggage detection unit that detects the dimensions of the baggage 3 conveyed by the main conveyor 5.

The loading calculation unit 33 requests a control signal for preferentially loading the baggage 3 into a container 2 different for each dimension based on the size of the baggage 3 detected by the second baggage detection unit 29. At this time, the loading calculation unit 33 preferentially loads the large-sized baggage 3A (see FIG. 3) in the front container 2A and preferentially loads the medium-sized baggage 3B (see FIG. 3) in the rear container 2B. Find a control signal to attach.

The control panel 26 is installed in the loading area of the backyard. The control panel 26 is composed of a CPU, RAM, ROM, an input / output interface, and the like. The control panel 26 controls the pushers 9, 11, the turntable 10, the pushers 13, 14 and the loading robot 15 based on the detection data and the control signal from the loading processing unit 25.

The control panel 26 has a movement control unit 30, a rotation control unit 31, a position control unit 32, and a loading control unit 38.

The movement control unit 30 is a pusher to move the baggage 3 to the turntable 10 when it is determined that the baggage 3 is a loading target (suitcase) based on the detection data of the first baggage detection unit 28. 9 and 11 are controlled.

The rotation control unit 31 controls the turntable 10 so that the orientation of the baggage 3 placed on the turntable 10 is constant based on the orientation of the baggage 3 detected by the second baggage detection unit 29. At this time, the rotation control unit 31 obtains the rotation direction and rotation amount of the turntable 10 so that the handle 3a (see FIG. 1) of the baggage 3 faces the downstream side (buffer conveyor 12 side) of the turntable 10, and the rotation thereof. The turntable 10 is controlled to rotate according to the direction and the amount of rotation.

The position control unit 32 controls the pushers 13 and 14 so as to position the baggage 3 in the Y-axis direction on the buffer conveyor 12 after the turntable 10 is controlled so that the orientation of the baggage 3 is constant.

The loading control unit 38 controls the loading robot 15 according to the control signal obtained by the loading calculation unit 33. The loading control unit 38, in cooperation with the loading calculation unit 33, constitutes a control unit that controls the loading robot 15 so that the baggage 3 is preferentially loaded into different containers 2 for each dimension.

In the luggage loading device 1 configured as described above, a luggage loading method for loading the baggage 3 into the container 2 will be specifically described.

As shown in FIG. 3, a notch 2f is provided on one of the left and right sides (here, the left side) of the container 2 when viewed from the door side (not shown) of the container 2. The cutout portion 2f has a structure in which the lower corner portion of the container 2 is cut out in a tapered shape. In the container 2, a plurality of (here, three) storage areas are set according to the dimensions of the baggage 3.

Specifically, in the front container 2A, the back side storage area Sa1 (first back side storage area) located on the back side of the main area of the front container 2A and the front side of the main area of the front container 2A are located. The front side storage area Sa2 (first front side storage area) and the auxiliary storage area Sa3 (first auxiliary storage area) located in the area corresponding to the notch 2f in the front container 2A are set.

The main region of the front container 2A is a region excluding the region corresponding to the notch 2f in the front container 2A. The front side storage area Sa2 is located on the front side of the front container 2A with respect to the back side storage area Sa1. The auxiliary storage area Sa3 is adjacent to the back side storage area Sa1 and the front side storage area Sa2 in the left-right direction of the front container 2A. The auxiliary storage area Sa3 is provided with an auxiliary table 36 on which the baggage 3 is placed (see FIG. 4).

Large-sized baggage 3A is loaded in the back storage area Sa1. Medium-sized baggage 3B is loaded in the front storage area Sa2. The auxiliary storage area Sa3 is mainly loaded with small baggage 3C. Here, the auxiliary storage area Sa3 is loaded with a small-sized baggage 3C and a large-sized baggage 3A.

In the rear container 2B, the back side storage area Sb1 (second back side storage area) located on the back side of the main area of the rear container 2B and the front side storage area located on the front side of the main area of the rear container 2B. Sb2 (second front side accommodating area) and auxiliary accommodating area Sb3 (second auxiliary accommodating area) located in the area corresponding to the notch 2f in the rear container 2B are set.

The main area of the rear container 2B is an area excluding the area corresponding to the notch 2f in the rear container 2B. The front side storage area Sb2 is located on the front side of the rear container 2B with respect to the back side storage area Sb1. The auxiliary storage area Sb3 is adjacent to the back side storage area Sb1 and the front side storage area Sb2 in the left-right direction of the rear container 2B. The auxiliary storage area Sb3 is provided with an auxiliary table 36 on which the baggage 3 is placed (see FIG. 4).

Medium-sized baggage 3B is loaded in the back storage area Sb1. Large-sized baggage 3A is loaded in the front storage area Sb2. The auxiliary storage area Sb3 is mainly loaded with small baggage 3C. Here, the auxiliary storage area Sb3 is loaded with a small-sized baggage 3C and a large-sized baggage 3A.

The large baggage 3A is the first baggage. The medium size baggage 3B is a second piece of baggage having a smaller size than the baggage 3A. The small baggage 3C is a third baggage having a size smaller than that of the baggage 3A and 3B. Baggage 3A to 3C are divided according to the size range of baggage 3. The dimension of the baggage 3 may be, for example, the volume or the surface area of the baggage 3, or the total length, width and height of the baggage 3.

Further, as shown in FIG. 4, an address for designating the loading position of the baggage 3 is preset in the container 2. Inside the container 2, addresses are set in order from the lower side to the upper side and from the back side to the front side. Further, in the back side storage area Sa1 and the front side storage area Sa2 of the front container 2A, addresses are set in order from the right side (opposite side of the auxiliary storage area Sa3) to the left side (auxiliary storage area Sa3 side). .. Addresses are set in order from the right side (opposite side of the auxiliary storage area Sb3) to the left side (auxiliary storage area Sb3 side) in the rear side storage area Sb1 and the front side storage area Sb2 of the rear container 2B.

The loading calculation unit 33 of the loading processing unit 25 has a control signal for loading large-sized baggage 3A in the order of the back storage area Sa1 of the front container 2A and the front storage area Sb2 of the rear container 2B, and a medium size. A control signal for loading the baggage 3B in the back storage area Sb1 of the rear container 2B and the front storage area Sa2 of the front container 2A in this order, and a small baggage 3C in the auxiliary storage area Sa3 and the rear container of the front container 2A. A control signal to be loaded in the auxiliary accommodation area Sb3 of 2B is obtained. Then, the loading control unit 38 of the control panel 26 controls the loading robot 15 according to the control signal obtained by the loading calculation unit 33.

FIG. 5 is a flowchart showing the details of the procedure of the loading calculation processing executed by the loading calculation unit 33. This processing shows the procedure of the calculation processing for each baggage 3. As shown in FIG. 3, the baggage 3 is randomly transported by the main conveyor 5 regardless of the dimensions. The loading calculation unit 33 executes a calculation process for loading the baggage 3 into the front container 2A and the rear container 2B in the order of transportation.

In FIG. 5, the loading calculation unit 33 first acquires the dimensional data of the baggage 3 detected by the second baggage detection unit 29 (procedure S130). Then, the loading calculation unit 33 determines whether or not the size of the baggage 3 is large (procedure S131).

When the loading calculation unit 33 determines that the size of the baggage 3 is large, it determines whether or not the front container 2A has a space for accommodating the large size baggage 3A (procedure S132). At this time, when the baggage 3A is already loaded at the 15th address (see FIG. 4) of the front container 2A, the loading calculation unit 33 determines that the front container 2A does not have a space for accommodating the baggage 3A. If the baggage 3A has not yet been loaded at the 15th address of the front container 2A, it is determined that the front container 2A has a space for accommodating the baggage 3A.

When the loading calculation unit 33 determines that the front container 2A has a space for accommodating the baggage 3A, the loading calculation unit 33 sends a control signal for loading the baggage 3A in the back accommodating area Sa1 and the auxiliary accommodating area Sa3 of the front container 2A. Obtain (procedure S133). At this time, the loading calculation unit 33 requests a control signal for loading the baggage 3A according to the address order (see FIG. 4) set in the back storage area Sa1 and the auxiliary storage area Sa3.

When the loading calculation unit 33 determines that there is no space for accommodating the baggage 3A in the front container 2A, the loading calculation unit 33 determines whether or not the baggage 3A can be loaded in the auxiliary accommodating area Sb3 of the rear container 2B (. Procedure S134). When there is no space for accommodating the baggage 3A in the auxiliary accommodating area Sb3 of the rear container 2B, the baggage 3A cannot be loaded. Further, depending on the loading situation of the medium-sized baggage 3B to the position close to the auxiliary storage area Sb3 in the rear storage area Sb1 of the rear container 2B, the large-sized baggage 3A cannot be loaded in the auxiliary storage area Sb3. There is also.

When the loading calculation unit 33 determines that the baggage 3A can be loaded in the auxiliary storage area Sb3 of the rear container 2B, a control signal for loading the baggage 3A in the auxiliary storage area Sb3 of the rear container 2B. (Procedure S135). At this time, the loading calculation unit 33 requests a control signal for loading the baggage 3A according to the address order set in the auxiliary storage area Sb3.

When the loading calculation unit 33 determines that it is impossible to load the baggage 3A in the auxiliary storage area Sb3 of the rear container 2B, the loading calculation unit 33 may load the baggage 3A in the front storage area Sb2 of the rear container 2B. Obtain a control signal (procedure S136). At this time, the loading calculation unit 33 requests a control signal for loading the baggage 3A according to the address order (see FIG. 4) set in the front side accommodation area Sb2.

When the loading calculation unit 33 determines in the procedure S131 that the size of the baggage 3 is not a large size, the loading calculation unit 33 determines whether the size of the baggage 3 is a medium size (procedure S137). When the loading calculation unit 33 determines that the size of the baggage 3 is medium size, the loading calculation unit 33 determines whether or not the rear container 2B has a space for accommodating the medium size baggage 3B (procedure S138). At this time, when the baggage 3B is already loaded at the 18th address (see FIG. 4) of the rear container 2B, the loading calculation unit 33 determines that the rear container 2B does not have a space for accommodating the baggage 3B. If the baggage 3B has not yet been loaded at the 18th address of the rear container 2B, it is determined that the rear container 2B has a space for accommodating the baggage 3B.

When the loading calculation unit 33 determines that the rear container 2B has a space for accommodating the baggage 3B, the loading calculation unit 33 requests a control signal for loading the baggage 3B in the rear accommodating area Sb1 of the rear container 2B (procedure S139). .. At this time, the loading calculation unit 33 requests a control signal for loading the baggage 3B according to the address order (see FIG. 4) set in the back accommodation area Sb1.

When the loading calculation unit 33 determines that there is no space for accommodating the baggage 3B in the rear container 2B, the loading calculation unit 33 requests a control signal for loading the baggage 3B in the front accommodating area Sa2 of the front container 2A (procedure S140). .. At this time, the loading calculation unit 33 requests a control signal for loading the baggage 3B according to the address order (see FIG. 4) set in the front side accommodation area Sa2.

When the loading calculation unit 33 determines in the procedure S137 that the size of the baggage 3 is not the medium size, the loading calculation unit 33 loads the small size baggage 3C into the auxiliary storage area Sa3 of the front container 2A and the auxiliary storage area Sb3 of the rear container 2B. Such a control signal is obtained (procedure S141). At this time, the loading calculation unit 33 requests a control signal for loading the baggage 3C according to the address order (see FIG. 4) set in the auxiliary storage areas Sa3 and Sb3.

In the baggage loading device 1 as described above, when the baggage 3 is delivered from the airport side conveyor 16 to the main conveyor 5, the baggage 3 is transported toward the container 2 by the main conveyor 5.

At this time, the baggage 3 placed on the progressive conveyor 17 on the most upstream side of the main conveyor 5 is imaged by the upstream camera 23. Then, the captured image of the baggage 3 acquired by the upstream camera 23 is sent to the loading processing unit 25, and the type of the baggage 3 is detected based on the captured image of the baggage 3.

When the baggage 3 is to be loaded, the pusher 9 moves the baggage 3 to be loaded from the sorting conveyor 6 to the consignment conveyor 8, and the pusher 11 further moves the baggage 3 to be loaded from the consignment conveyor 8 to the turntable 10. Baggage 3 moves.

Then, the baggage 3 to be loaded placed on the turntable 10 is imaged by the downstream camera 24. Then, the captured image of the baggage 3 acquired by the downstream camera 24 is sent to the loading processing unit 25, and the dimensions and orientation of the baggage 3 are detected based on the captured image of the baggage 3 (detection step).

Then, the turntable 10 rotates so that the handle 3a of the baggage 3 to be loaded faces the buffer conveyor 12 side. Then, the pusher 13 moves the baggage 3 to be loaded from the turntable 10 to the buffer conveyor 12. Then, the baggage 3 to be loaded is pressed against the wall portion 18 by the pusher 14, so that the baggage 3 is positioned with respect to the container 2 side in the Y-axis direction.

Then, the baggage 3 to be loaded is loaded into the container 2 by the loading robot 15. Specifically, in a state where the baggage 3 placed on the buffer conveyor 12 is held by the robot hand 22, the robot arm 20 moves in the three-axis direction and rotates around the three axes, whereby the baggage 3 is released. It is loaded in the storage area according to the size of the baggage 3 in the container 2 (loading process).

At this time, the large-sized baggage 3A is first loaded in the back storage area Sa1 and the auxiliary storage area Sa3 of the front container 2A in the order of the address, and then in the front storage area Sb2 of the rear container 2B in the order of the address. The medium-sized baggage 3B is first loaded in the rear storage area Sb1 of the rear container 2B in the order of the address, and then in the front storage area Sa2 of the front container 2A in the order of the address. The small baggage 3C is loaded in the auxiliary storage area Sa3 of the front container 2A and the auxiliary storage area Sb3 of the rear container 2B in the order of addresses.

When the baggage 3 is loaded into the front container 2A, the traveling carriage 19 remains stopped at a position in front of the front container 2A (see FIG. 1). When the baggage 3 is loaded on the rear container 2B, the traveling carriage 19 travels along the rail 21 to a position in front of the rear container 2B with the baggage 3 held by the robot hand 22. The baggage 3 is loaded into the container 2 with the handle 3a facing the front side of the container 2.

By the way, as described above, when the baggage 3 is randomly transported by the main conveyor 5 regardless of the dimensions, if the baggage 3 is loaded into one container 2 in the order of transport, the following problems occur.

That is, for example, when the baggage 3 is loaded left-justified from the back side of the container 2, the baggage loading rate of the container 2 changes depending on the transport order of the baggage 3. The baggage loading ratio of the container 2 is the ratio of the volume of the baggage 3 to the volume of the container 2. At this time, depending on the transport order of the baggage 3, the empty space in the container 2 may increase, and a stable baggage loading rate may not be secured in the container 2. Further, when the baggage 3 having a large size is stacked on the baggage 3 having a small size, the baggage 3 is likely to collapse. In order to prevent the increase in the empty space in the container 2 and the collapse of the baggage 3, it is conceivable to rearrange the baggage 3 according to the dimensions, but not only the burden on the worker increases, but also the baggage 3 is evacuated. Space is needed.

In response to such a problem, in the present embodiment, the baggage 3 transported by the main conveyor 5 is loaded into the two containers 2 in the order of transport by the loading robot 15. At this time, the size of the baggage 3 is detected, and the loading robot 15 is controlled so that the baggage 3 is preferentially loaded into a container 2 different for each size. Therefore, even if the baggage 3 is randomly transported regardless of the size, the baggage 3 is preferentially loaded in the appropriate container 2 according to the size. Therefore, the baggage 3 is efficiently loaded in the container 2, and the empty space in the container 2 is reduced. As a result, a stable baggage loading rate is ensured in the container 2 regardless of the order in which the baggage 3 is transported. In addition, since the medium-sized baggage 3B and the large-sized baggage 3A are not loaded on the medium-sized baggage 3B, and the medium-sized baggage 3B and the large-sized baggage 3A are not loaded on the small-sized baggage 3C, the container is not used. The collapse of the baggage 3 in the 2 is prevented. As a result, it is not necessary to rearrange the baggage 3 according to the dimensions of the baggage 3 before loading the baggage 3 into the container 2. Therefore, the burden on the worker is reduced, and the evacuation space for the baggage 3 is not required.

Further, in the present embodiment, the large-sized baggage 3A is preferentially loaded in the front container 2A, and the medium-sized baggage 3B is preferentially loaded in the rear container 2B. Therefore, even if the baggage 3A and 3B having different dimensions are randomly transported, the baggage 3A is preferentially and efficiently loaded in the front container 2A, and the baggage 3B is preferentially and efficiently loaded in the rear container 2B. ..

Further, in the present embodiment, the large-sized baggage 3A is loaded in the order of the front storage area Sa1 of the front container 2A and the front storage area Sb2 of the rear container 2B, and the medium-sized baggage 3B is loaded in the back of the rear container 2B. The side storage area Sb1 and the front side storage area Sa2 of the front container 2A are stacked in this order. Therefore, for example, even when a large-sized baggage 3A cannot be loaded in two rows in the depth direction of the container 2, the baggage 3A and 3B can be efficiently loaded in the front container 2A and the rear container 2B.

Further, in the present embodiment, the small-sized baggage 3C is loaded in the auxiliary storage area Sa3 corresponding to the notch 2f in the front container 2A and the auxiliary storage area Sb3 corresponding to the notch 2f in the rear container 2B. Therefore, even if the baggage 3A to 3C having different dimensions are randomly transported, the baggage 3A to 3C are efficiently loaded in the front container 2A and the rear container 2B.

Further, in the present embodiment, when the large-sized baggage 3A is loaded into the back storage area Sa1 of the front container 2A and the front storage area Sb2 of the rear container 2B, it is moved from the opposite side of the notch 7f to the notch 7f side. When the baggage 3A is loaded toward the back and the medium-sized baggage 3B is loaded into the rear storage area Sb1 of the rear container 2B and the front storage area Sa2 of the front container 2A, the notch 2f is loaded from the opposite side of the notch 2f. Baggage 3B is loaded toward the side. Therefore, before the baggage 3A and 3B are loaded in the vicinity of the auxiliary storage area Sa3 in the back side storage area Sa1 and the front side storage area Sa2, the small size baggage 3C is loaded in the auxiliary storage area Sa3 and the baggage is loaded. Before the 3A and 3B are loaded in the vicinity of the auxiliary storage area Sb3 in the back side storage area Sb1 and the front side storage area Sb2, the baggage 3C can be loaded in the auxiliary storage area Sb3. Therefore, even when the baggage 3C is loaded into the front container 2A and the rear container 2B together with the baggage 3A and 3B, the baggage 3C can be reliably loaded into the front container 2A and the rear container 2B.

The present invention is not limited to the above embodiment. For example, in the above embodiment, the front container 2A and the rear container 2B are loaded with the large-sized baggage 3A, the medium-sized baggage 3B, and the small-sized baggage 3C, respectively, but the embodiment is particularly limited to such a form. not. For example, the front container 2A may be loaded with the large baggage 3A and the small baggage 3C, and the rear container 2B may be loaded with the medium size baggage 3B and the small baggage 3C.

Further, in the above embodiment, the dimensions of the baggage 3 loaded in the container 2 are three types of large size, medium size and small size, but the size is not particularly limited to the large size and the small size 2. It may be a type. In this case, the large-sized baggage 3 is preferentially loaded on one of the front container 2A and the rear container 2B, and the small-sized baggage 3 is preferentially loaded on the other of the front container 2A and the rear container 2B.

Further, in the above embodiment, a plurality of types of baggage 3 having different dimensions are loaded in two containers 2 arranged side by side, but the present invention is not particularly limited to that form, and three or more types of baggage 3 arranged side by side are stacked. A plurality of types of baggage 3 having different dimensions may be loaded in the container 2.

Further, in the above embodiment, the control panel 26 has a movement control unit 30, a rotation control unit 31, a position control unit 32, and a loading control unit 38, but the present invention is not particularly limited to such a form. For example, when the control panel 26 is not installed, the movement control unit 30, the rotation control unit 31, the position control unit 32, and the loading control unit 38 may be provided in the loading processing unit 25.

Further, in the above embodiment, the baggage 3 is loaded in the container 2 provided with the notch 2f at the lower left and right corners, but the present invention is not particularly limited to that form, for example, the notch. It can also be applied to a luggage loading device for loading luggage in a rectangular parallelepiped container without 2f. The present invention is also applicable to a luggage loading device for loading luggage in a container other than that for an aircraft.

1 ... Luggage loading device, 2 ... Container, 2A ... Front container (1st container), 2B ... Rear container (2nd container), 2f ... Notch, 3 ... Baggage (luggage), 3A ... Baggage (1st baggage) ), 3B ... Baggage (second baggage), 3C ... Baggage (third baggage), 5 ... Main conveyor (transport section), 15 ... Loading robot (loading unit), 24 ... Downstream camera (luggage detection section), 29 ... 2nd baggage detection unit (baggage detection unit), 33 ... loading calculation unit (control unit), 38 ... loading control unit (control unit), Sa1 ... backside storage area (first backside storage area), Sa2 ... front side accommodation area (first front side accommodation area), Sa3 ... auxiliary accommodation area (first auxiliary accommodation area), Sb1 ... back side accommodation area (second back side accommodation area), Sb2 ... front side accommodation area ( 2nd front side accommodation area), Sb3 ... Auxiliary accommodation area (2nd auxiliary accommodation area).

Claims (6)

A baggage detection unit that detects the dimensions of the cargo transported by the transport unit,
A loading unit that loads the packages transported by the transport unit into a plurality of containers in the order of transport.
A luggage loading device including a control unit that controls the loading unit so that the luggage is preferentially loaded into a container different for each dimension based on the dimensions of the luggage detected by the luggage detection unit. One of the plurality of containers is the first container.
The other one of the plurality of containers is a second container.
The control unit controls the loading unit so that the first cargo is preferentially loaded in the first container, and the second cargo having a size smaller than that of the first cargo is given priority over the second container. The luggage loading device according to claim 1, wherein the loading unit is controlled so as to be specifically loaded. In the first container, a first backside storage area and a first front side storage area located on the front side of the first container with respect to the first backside storage area are set.
In the second container, a second back side storage area and a second front side storage area located on the front side of the second container with respect to the second back side storage area are set.
The control unit controls the loading unit so that the first load is loaded in the order of the first back side storage area and the second front side storage area, and the second load is loaded on the second back side. The luggage loading device according to claim 2, wherein the loading unit is controlled so that the storage area and the first front side storage area are loaded in this order. On one of the left and right sides of the container, a notch having a structure in which the lower corner of the container is cut out is provided.
At the position corresponding to the notch in the first container, the first back side storage area, the first front side storage area, and the first auxiliary storage area adjacent to each other in the left-right direction of the first container are set. And
At the position corresponding to the notch in the second container, the second back side storage area, the second front side storage area, and the second auxiliary storage area adjacent to each other in the left-right direction of the second container are set. And
The luggage according to claim 3, wherein the control unit controls the loading unit so that the third luggage having a size smaller than that of the second luggage is loaded in the first auxiliary storage area and the second auxiliary storage area. Loading device. When the control unit loads the first baggage in the first back side storage area and the second front side storage area, the control unit loads the first baggage from the opposite side of the notch portion toward the notch portion side. When the loading unit is controlled so as to be loaded and the second load is loaded into the second back side storage area and the first front side storage area, the side opposite to the notch portion to the notch portion side. The baggage loading device according to claim 4, wherein the loading unit is controlled so as to load the second baggage toward the user. A detection process that detects the dimensions of the package transported by the transport unit,
It includes a loading step of loading a load transported by the transport unit into a plurality of containers in the order of transport using a loading unit.
In the loading step, a baggage loading method in which the baggage is preferentially loaded into a container different for each size based on the size of the baggage detected in the detection step.

Images