JP2022074742A - Luggage loading system - Google Patents

Abstract

To provide a luggage loading system that can reduce manual work of workers and improve reliability of loading luggage into a container.SOLUTION: A luggage loading system comprises: a loading robot 15 that has a robot hand for holding luggage, and loads the luggage into a container; a tag information acquisition unit 27 for acquiring a tag ID of the luggage; a first luggage detection unit 28 and a second luggage detection unit 29 that detect the luggage; a loading computation unit 33 and the loading control unit 38 that control the robot 15 to load, on the basis of data detected by the first luggage detection unit 28 and the second luggage detection unit 29, the luggage onto a position corresponding to the detected data, in the container; and a tag information updating unit 34 for associating loading data including the luggage loading position, with the tag ID acquired by the tag information acquisition unit 27.SELECTED DRAWING: Figure 2

Description

The present invention relates to a luggage loading system.

For example, Patent Document 1 describes an automatic baggage processing device in which a user opens an opening / closing gate of a baggage loading section and accepts baggage with a baggage tag attached. The baggage loaded by the baggage loading section is sent to the security gate by the transport conveyor, and after a safety check is performed at the security gate, it is sent out to the aircraft of the loaded flight by the storage conveyor and the sorting conveyor.

Japanese Unexamined Patent Publication No. 9-118428

Baggage carried by the conveyor is loaded into a container for the aircraft. However, the loading of baggage into the container is done manually by the worker. For example, the worker reads the baggage tag with a barcode reader before loading the baggage and confirms whether or not the baggage can be loaded. For this reason, work man-hours are required, and there is a possibility that incorrect loading will be performed. Also, after loading the baggage, the worker removes the baggage tag sticker and attaches the baggage tag sticker to the container list near the container. Therefore, it takes a lot of work man-hours, and there is a possibility that erroneous pasting is performed. As a result, the reliability of loading baggage into the container is reduced.

It is an object of the present invention to provide a baggage loading system capable of reducing the manual work of an operator and improving the reliability of loading a load into a container.

The luggage loading system according to one aspect of the present invention has a transport unit for transporting the luggage toward the container and a holding portion for holding the luggage transported by the transport unit, and the luggage is loaded in the container. Based on the unit, the tag information acquisition unit that acquires the tag information of the luggage, the luggage detection unit that detects the luggage, and the detection data of the luggage detection unit, the luggage should be loaded in the container at the position corresponding to the detection data. It is provided with a loading control unit that controls the loading unit and a tag information updating unit that associates the tag information acquired by the tag information acquisition unit with the loading data including the loading position of the load.

In such a load loading system, the load is automatically loaded into the container by the loading unit while the load transported toward the container by the transport unit is held by the holding unit of the loading unit. .. At this time, the tag information of the package is acquired from the host system and the package is detected. Then, the loading unit is controlled so that the package is loaded at the position corresponding to the detection data in the container. In addition, the loading data including the loading position of the package is associated with the tag information. By acquiring the tag information of the package when the package is transported toward the container by the transport unit in this way, the worker can use the barcode reader or the like to load the package before loading the package into the container. There is no need to read the tag information of. Further, by associating the loading data including the loading position of the luggage with the tag information, it is not necessary for the worker, for example, to attach the tag sticker to the container list after the luggage is loaded into the container. As a result, the manual work of the worker is reduced. Therefore, since the work error of the worker is suppressed, the reliability of loading the load into the container is improved.

An address is set in advance in the container, and the tag information update unit may associate the loading data including the address of the loading position of the cargo with the tag information. In such a configuration, the loading data including the address of the loading position of the package loaded in the container is associated with the tag information. Therefore, from the tag information of the package, it is easy to know where in the container the package was loaded.

In the container, a plurality of storage areas are set according to the dimensions of the cargo, the address is set for each storage area, the luggage detection unit detects the dimensions of the luggage, and the loading control unit , The loading unit may be controlled to load the cargo in the accommodation area corresponding to the dimensions of the cargo in the container. In such a configuration, even if packages having different dimensions are randomly transported by the transport unit, the packages are loaded in an appropriate position in the container according to the dimensions of the packages. Therefore, since it is not necessary to rearrange the luggage according to the dimensions of the luggage, the manual work of the operator is further reduced.

The luggage loading system is arranged on the downstream side of the transport unit, and has a rotary table on which baggage is placed, a first drive unit that moves the baggage transported by the transport unit to the rotary table, and a first drive unit. It further includes a movement control unit to control and a rotation control unit to control the rotation of the rotary table. The luggage detection unit detects the direction of the luggage placed on the rotary table, and the rotation control unit detects the luggage. The rotary table may be controlled so that the orientation of the load is constant based on the detection data of the unit. In such a configuration, when the load is transported by the transport unit, the direction of the load is constant on the rotary table even if the directions of the load are different. Therefore, even if the load is not transported so that the direction of the load is always constant, the load is loaded in the container in the same direction by the loading unit. This further reduces the manual work of the operator.

The luggage loading system is arranged on the downstream side of the rotary table, and is mounted on a mounting section where the load is placed, a second drive section for moving the load from the rotary table to the loading section, and a loading section. After the rotary table is controlled so that the orientation of the load is constant, the position of the positioning section that positions the loaded load in the direction perpendicular to the arrangement direction of the rotary table and the mounting section, and then the load is loaded in the loading section. A second drive unit and a position control unit that controls the positioning unit may be further provided so as to be positioned. In such a configuration, the load is held in the holding portion of the loading unit in a state where the load placed on the mounting section is positioned with respect to the direction perpendicular to the arrangement direction of the rotary table and the mounting section. To. Therefore, it is possible to simplify the control until the load is held by the holding unit.

When the cargo detection unit detects the type of cargo and the movement control unit determines that the cargo is a loading target to be loaded in the container by the loading unit based on the detection data of the cargo detection unit. In addition, the first drive unit may be controlled so that the cargo moves to the rotary table. In such a configuration, the cargo is not supplied to the rotary table when the cargo is not to be loaded into the container by the loading unit. Therefore, it is prevented at an early stage that packages that are not subject to loading are loaded into the container.

According to the present invention, it is possible to reduce the manual work of the operator and improve the reliability of loading the load into the container.

It is a schematic block diagram which shows the baggage loading system which concerns on one Embodiment of this invention. It is a control system block diagram of the baggage loading system shown in FIG. It is a flowchart which shows the procedure of the control processing executed by the loading processing unit 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 stacking control calculation process 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 system according to an embodiment of the present invention. In FIG. 1, the luggage loading system 1 of the present embodiment is installed, for example, in a backyard loading area at an airport. The cargo loading system 1 is a system for loading a passenger's baggage 3 (cargo) into a container 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 baggage loading system 1 loads baggage 3 into two front and rear containers 2. The container 2 located on the front side of the towing tractor is referred to as the front container 2A, and the container 2 located on the rear side of the towing tractor is referred to as the rear container 2B.

The luggage loading system 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 turntable 10 is a rotary table on which the baggage 3 to be loaded is placed. The pusher 11 pushes the baggage 3 to be loaded from the receiving conveyor 8 toward the turntable 10 and moves it. The pushers 9 and 11 form a first drive unit that moves the baggage 3 conveyed by the main conveyor 5 to the turntable 10.

The buffer conveyor 12 is arranged on the downstream side of the turntable 10. The buffer conveyor 12 is a loading unit on which the baggage 3 to be loaded is placed. 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 13 constitutes a second drive unit for moving the baggage 3 from the turntable 10 to the buffer conveyor 12.

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 are positioned to 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. It constitutes a part.

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 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 which is a holding portion 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 system 1. In FIG. 2, the luggage loading system 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. Further, the loading processing unit 25 acquires the tag ID (described later) of the baggage 3 from the control panel 26, executes a predetermined process, and updates the tag ID.

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 is connected to the airport controller 35, which is a higher-level system. The airport controller 35 is installed in the terminal building of the airport. The airport controller 35 sends the tag ID of the baggage 3 to the control panel 26.

The control panel 26 acquires the tag ID of the baggage 3 from the airport controller 35, and based on the detection data and the control signal from the loading processing unit 25, the pushers 9, 11, the turntable 10, the pushers 13, 14 and Controls the loading robot 15.

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 and size of the 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 constitutes a baggage detection unit that detects 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 constitutes a baggage detection unit that detects baggage 3 in cooperation with the downstream camera 24.

Based on the detection data of the second baggage detection unit 29, the loading calculation unit 33 requests a control signal for loading the baggage 3 at a position corresponding to the detection data in the container 2. At this time, the loading calculation unit 33 requests a control signal for loading the baggage 3 in the storage area (described later) corresponding to the size of the baggage 3 in the container 2.

The control panel 26 has a tag information acquisition unit 27, a movement control unit 30, a rotation control unit 31, a position control unit 32, and a loading control unit 38.

The tag information acquisition unit 27 acquires the tag ID (tag information) of the baggage 3 sent from the airport controller 35. The tag ID is issued when the boarding pass is issued at the check-in counter. Information on the passenger, boarding flight, baggage 3, and the like is recorded in the tag ID.

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.

At this time, the movement control unit 30 first controls the pusher 9 so as to move the baggage 3 from the sorting conveyor 6 to the receiving conveyor 8. Then, the movement control unit 30 controls the pusher 11 so as to move the baggage 3 from the load receiving conveyor 8 to the turntable 10.

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 detection data of the second baggage detection unit 29.

Specifically, in the rotation control unit 31, the handle 3a (see FIG. 1) of the baggage 3 is on the downstream side (buffer conveyor 12 side) of the baggage 3 based on the orientation of the baggage 3 placed on the turntable 10. The rotation direction and the rotation amount of the turntable 10 so as to face the above are calculated. Then, the rotation control unit 31 controls to rotate the turntable 10 according to the rotation direction and the amount of rotation of the turntable 10.

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.

At this time, the position control unit 32 first controls the pusher 13 so as to move the baggage 3 from the turntable 10 to the buffer conveyor 12. Then, the position control unit 32 controls the pusher 14 so as to position the baggage 3 placed on the buffer conveyor 12 with respect to the container 2 side in the Y-axis direction. The Y-axis direction corresponds to the left-right direction as viewed from the loading robot 15 when the baggage 3 is held by the robot hand 22 of the loading robot 15.

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 cooperates with the loading calculation unit 33 to load the baggage 3 in the container 2 at a position corresponding to the detection data based on the detection data of the second baggage detection unit 29. Controls the attached robot 15.

Further, the loading processing unit 25 has a tag information updating unit 34. The tag information update unit 34 associates the tag ID acquired by the tag information acquisition unit 27 with the loading data including the loading position of the baggage 3. At this time, the tag information updating unit 34 associates the loading data including the address (described later) of the loading position of the baggage 3 with the tag ID.

FIG. 3 is a flowchart showing a procedure of the loading process executed by the loading process unit 25. This processing shows the processing procedure for each baggage 3. As shown in FIG. 4, the baggage 3 is randomly transported by the airport side conveyor 16 regardless of the dimensions. The loading processing unit 25 executes processing such as loading the baggage 3 into the container 2 in the order of transportation.

In FIG. 3, the loading processing unit 25 first acquires the tag ID of the baggage 3 from the tag information acquisition unit 27 (procedure S101). Further, the loading processing unit 25 acquires an image captured by the baggage 3 by the upstream camera 23 (procedure S102). Then, the loading processing unit 25 detects the type and size of the baggage 3 based on the captured image of the baggage 3 by the upstream camera 23 (procedure S103).

Then, the loading processing unit 25 determines whether or not the baggage 3 is a loading target (suitcase) based on the type of the baggage 3 (procedure S104). When the loading processing unit 25 determines that the baggage 3 is the loading target, the loading processing unit 25 associates the tag ID of the baggage 3 with the loading target flag (procedure S105).

Subsequently, the loading processing unit 25 acquires a captured image of the baggage 3 by the downstream camera 24 (procedure S106). Then, the loading processing unit 25 detects the dimensions and orientation of the baggage 3 based on the captured image of the baggage 3 by the downstream camera 24 (procedure S107). Then, the loading processing unit 25 determines whether or not the dimension of the baggage 3 is equal to the dimension detected in the procedure S103 (procedure S108). When the loading processing unit 25 determines that the dimensions of the baggage 3 are not equal, the loading processing unit 25 issues an alarm (procedure S109).

When the loading processing unit 25 determines that the dimensions of the baggage 3 are the same, the loading robot 15 sends a control signal for sequentially loading the baggage 3 into the storage area corresponding to the dimensions of the baggage 3 in the container 2. Perform the desired loading control calculation process (procedure S110). The loading control calculation process in the procedure S110 will be described in detail later.

Subsequently, the loading processing unit 25 associates the tag ID of the baggage 3 with the address of the loading position (described later) (procedure S111). Subsequently, the loading processing unit 25 stores the tag ID associated with the loading data including the loading target flag and the address of the loading position in the memory (procedure S112). At this time, the loading processing unit 25 stores the tag ID in the memory of the loading processing unit 25, and also sends the tag ID to the airport controller 35 and stores it in the memory of the airport controller 35.

When the loading processing unit 25 determines in the procedure S104 that the baggage 3 is not the loading target, the loading processing unit 25 associates the tag ID of the baggage 3 with the non-loading target flag (procedure S113). Subsequently, the loading processing unit 25 stores the tag ID associated with the non-loading target flag in the memory (procedure S112).

In the above, the first baggage detection unit 28 executes the procedures S102 and S103. The second baggage detection unit 29 executes the procedures S106 and S107. The loading calculation unit 33 executes the procedure S110. The tag information update unit 34 executes the procedures S101, S104, S105, and S111 to S113.

Next, a method of loading the baggage 3 to be loaded into the container 2 will be described. As shown in FIG. 4, a notch 2a is provided on one of the left and right sides (here, the left side) of the aircraft container 2. The cutout portion 2a 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 container 2, the back side storage area S1 located on the back side of the main area of the container 2, the front side storage area S2 located on the front side of the main area of the container 2, and the container 2 An auxiliary accommodating area S3 located on the notch 2a side is set. The main area of the container 2 is an area excluding the area on the notch 2a side in the container 2. The auxiliary storage area S3 is provided with an auxiliary table 36 on which the baggage 3 is placed (see FIG. 5).

Large-sized baggage 3A is loaded in the back storage area S1 of the front container 2A. Medium-sized baggage 3B is loaded in the front storage area S2 of the front container 2A. Small-sized baggage 3C is mainly loaded in the auxiliary storage area S3 of the front container 2A. Here, the small-sized baggage 3C and the large-sized baggage 3A are loaded in the auxiliary storage area S3 of the front container 2A.

Medium-sized baggage 3B is loaded in the rear storage area S1 of the rear container 2B. Large-sized baggage 3A is loaded in the front storage area S2 of the rear container 2B. Small-sized baggage 3C is mainly loaded in the auxiliary storage area S3 of the rear container 2B. Here, the small-sized baggage 3C and the large-sized baggage 3A are loaded in the auxiliary storage area S3 of the rear container 2B.

Further, as shown in FIG. 5, an address for designating the loading position of the baggage 3 is preset in the container 2. Inside the container 2, the 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 S1 and the front side storage area S2 of the container 2, the addresses are set in order from the right side (opposite side of the auxiliary storage area S3) to the left side (auxiliary storage area S3 side). ..

FIG. 6 is a flowchart showing the details of the procedure S110 shown in FIG. In FIG. 6, the loading processing unit 25 determines whether or not the size of the baggage 3 detected in the above procedure S107 is large (procedure S131).

When the loading processing unit 25 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 baggage 3 (procedure S132). When the loading processing unit 25 determines that the front container 2A has a space for accommodating the baggage 3, it sends a control signal for loading the baggage 3 in the rear accommodating area S1 and the auxiliary accommodating area S3 of the front container 2A. Obtain (procedure S133). At this time, the loading processing unit 25 requests a control signal for loading the baggage 3 according to the address order set in the back storage area S1 and the auxiliary storage area S3.

When the loading processing unit 25 determines that there is no space for accommodating the baggage 3 in the front container 2A, the loading processing unit 25 determines whether or not the baggage 3 can be loaded in the auxiliary accommodating area S3 of the rear container 2B (). Procedure S134). When there is no space for accommodating a large-sized baggage 3A in the auxiliary accommodating area S3 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 S3 in the rear storage area S1 of the rear container 2B, the large-sized baggage 3A is loaded in the auxiliary storage area S3 of the rear container 2B. It may not be possible.

When the loading processing unit 25 determines that the baggage 3 can be loaded in the auxiliary storage area S3 of the rear container 2B, a control signal for loading the baggage 3 in the auxiliary storage area S3 of the rear container 2B. (Procedure S135). At this time, the loading processing unit 25 requests a control signal for loading the baggage 3 according to the address order set in the auxiliary storage area S3.

When the loading processing unit 25 determines that it is impossible to load the baggage 3 in the auxiliary storage area S3 of the rear container 2B, the loading processing unit 25 may load the baggage 3 in the front storage area S2 of the rear container 2B. Obtain a control signal (procedure S136). At this time, the loading processing unit 25 requests a control signal for loading the baggage 3 according to the address order set in the front side accommodation area S2.

When the loading processing unit 25 determines in the procedure S131 that the size of the baggage 3 is not a large size, the loading processing unit 25 determines whether or not the size of the baggage 3 is a medium size (procedure S137). When the loading processing unit 25 determines that the size of the baggage 3 is medium size, the loading processing unit 25 determines whether or not there is a space for accommodating the baggage 3 in the rear container 2B (procedure S138).

When the loading processing unit 25 determines that the rear container 2B has a space for accommodating the baggage 3, the loading processing unit 25 requests a control signal for loading the baggage 3 in the rear accommodating area S1 of the rear container 2B (procedure S139). .. At this time, the loading processing unit 25 requests a control signal for loading the baggage 3 according to the address order set in the back storage area S1.

When the loading processing unit 25 determines that there is no space for accommodating the baggage 3 in the rear container 2B, the loading processing unit 25 requests a control signal for loading the baggage 3 in the front accommodating area S2 of the front container 2A (procedure S140). .. At this time, the loading processing unit 25 requests a control signal for loading the baggage 3 according to the address order set in the front side accommodation area S2.

When the loading processing unit 25 determines in the procedure S137 that the size of the baggage 3 is not a medium size, the loading processing unit 25 requests a control signal for loading the baggage 3 in the auxiliary storage area S3 of the front container 2A and the rear container 2B (procedure). S141). At this time, the loading processing unit 25 requests a control signal for loading the baggage 3 according to the address order set in the auxiliary storage area S3.

In the baggage loading system 1 as described above, the tag ID of the baggage 3 issued at the time of issuing the boarding pass is sent from the airport controller 35 to the control panel 26, and the baggage 3 is conveyed by the airport side conveyor 16. Then, the baggage 3 is delivered from the airport side conveyor 16 to the main conveyor 5, and the baggage 3 is conveyed toward the container 2 by the main conveyor 5.

When the baggage 3 is delivered to the main conveyor 5, 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 and size of the baggage 3 are detected based on the captured image of the baggage 3. At this time, the tag ID of the baggage 3 is tracked by the loading processing unit 25.

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. When the baggage 3 is not subject to loading, the baggage 3 not subject to loading moves from the sorting conveyor 6 to the evacuation conveyor 7.

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. At this time, the tag ID of the baggage 3 is tracked by the loading processing unit 25 together with the data of the type and size of the baggage 3.

When the size of the baggage 3 detected from the image captured by the downstream camera 24 is equal to the size of the baggage 3 detected from the image captured by the upstream camera 23, the handle 3a of the baggage 3 to be loaded faces the buffer conveyor 12 side. The turntable 10 rotates like this.

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.

At this time, the large-sized baggage 3A is first loaded in the back storage area S1 and the auxiliary storage area S3 of the front container 2A in the order of addresses, and then in the front storage area S2 of the rear container 2B in the order of addresses. The medium-sized baggage 3B is first loaded in the rear storage area S1 of the rear container 2B in order of address, and then in the front storage area S2 of the front container 2A in order of address. The small baggage 3C is loaded in the auxiliary storage area S3 of the front container 2A and 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 in the container 2 with the handle 3a facing the front side of the container 2. The loading operation of the baggage 3 by the loading robot 15 is performed in a state where the tag ID of the baggage 3 is taken over.

Then, the tag ID of the baggage 3 for which loading has been completed is associated with the loading data including the loading position of the baggage 3. The tag ID associated with the loading data is stored in the memory of the loading processing unit 25 and the airport controller 35.

As described above, in the present embodiment, the baggage 3 is held by the loading robot 15 in the state where the baggage 3 conveyed toward the container 2 by the main conveyor 5 is held by the robot hand 22 of the loading robot 15. It is automatically loaded in the container 2. At this time, the tag ID of the baggage 3 is acquired from the airport controller 35, which is a higher-level system, and the baggage 3 is detected. Then, the loading robot 15 is controlled so that the baggage 3 is loaded at a position corresponding to the detection data in the container 2. Further, the loading data including the loading position of the baggage 3 is associated with the tag ID. When the baggage 3 is conveyed toward the container 2 by the main conveyor 5 in this way, by acquiring the tag ID of the baggage 3, the worker can load the baggage 3 into the container 2 before the baggage 3 is loaded. There is no need to read the tag ID with a barcode reader or the like. Further, by associating the loading data including the loading position of the baggage 3 with the tag ID, it is necessary for the worker, for example, to attach the tag sticker to the container list after the baggage 3 is loaded into the container 2. not. As a result, the manual work of the worker is reduced. Therefore, since the worker's work mistake such as loading the baggage 3 into a different container 2 is suppressed, the reliability of loading the baggage 3 into the container 2 is improved.

Further, in the present embodiment, the loading data including the address of the loading position of the baggage 3 in the container 2 is associated with the tag ID of the baggage 3. Therefore, from the tag ID of the baggage 3, it is easy to know at which position in the container 2 the baggage 3 is loaded. Therefore, for example, it is possible to easily investigate the cause when the baggage 3 is damaged and track the case where the baggage 3 is missing. In addition, the location of the baggage 3 can be immediately notified to the passenger. Further, the tag ID can be used as advance data when loading and unloading the baggage 3.

Further, in the present embodiment, the baggage 3 is loaded in the storage area corresponding to the size of the baggage 3 in the container 2. Therefore, even if the baggage 3 having different dimensions is randomly transported by the main conveyor 5, the baggage 3 is loaded in the container 2 at an appropriate position according to the dimensions of the baggage 3. Therefore, since it is not necessary to rearrange the baggage 3 according to the dimensions of the baggage 3, the manual work of the operator is further reduced.

Further, in the present embodiment, when the baggage 3 is conveyed by the main conveyor 5, the direction of the baggage 3 is constant on the turntable 10 even if the directions of the baggage 3 are different. Therefore, even if the baggage 3 is not transported so that the orientation of the baggage 3 is always constant, the baggage 3 is loaded into the container 2 in the same direction by the loading robot 15. This further reduces the manual work of the operator. For example, the wholesale work of baggage 3 is reduced.

Further, in the present embodiment, the baggage 3 placed on the buffer conveyor 12 is positioned in a direction perpendicular to the arrangement direction of the turntable 10 and the buffer conveyor 12, and the robot hand 22 of the loading robot 15 is positioned. Baggage 3 is held in. Therefore, it is possible to simplify the control until the baggage 3 is held by the robot hand 22.

Further, in the present embodiment, when the baggage 3 is not a loading target to be loaded into the container 2 by the loading robot 15, the baggage 3 is not supplied to the turntable 10. Therefore, the baggage 3 that is not the target of loading is prevented from being loaded in the container 2 at an early stage.

Further, in the present embodiment, the large-sized baggage 3A is preferentially loaded from the back side of the front container 2A, and the medium-sized baggage 3B is preferentially loaded from the back side of the rear container 2B. Therefore, even if the large-sized baggage 3A and the medium-sized baggage 3B are randomly transported, the baggage 3A and 3B can be flexibly loaded.

The present invention is not limited to the above embodiment. For example, in the above embodiment, when the baggage 3 is to be loaded, the baggage 3 to be loaded is moved from the sorting conveyor 6 to the receiving conveyor 8, and then the baggage to be loaded is moved from the receiving conveyor 8 to the turntable 10. Although the 3 is moved, the form is not particularly limited, and for example, the baggage 3 to be loaded may be moved directly from the sorting conveyor 6 to the turntable 10 without the consignment conveyor 8.

Further, in the above embodiment, the control panel 26 has a tag information acquisition unit 27, a movement control unit 30, a rotation control unit 31, a position control unit 32, and a loading control unit 38. Not limited to. For example, when the control panel 26 is not installed, the tag information acquisition unit 27, the movement control unit 30, the rotation control unit 31, the position control unit 32, and the loading control unit 38 are provided in the loading processing unit 25. You may.

Further, in the above embodiment, the baggage 3 is moved by pressing the baggage 3 with the pushers 9, 11, 13, 14 but the baggage 3 is not particularly limited to that embodiment, and the baggage 3 is moved by using, for example, an electric actuator or the like. You may move it.

Further, in the above embodiment, the baggage 3 conveyed by the main conveyor 5 is imaged by the upstream camera 23, the type and size of the baggage 3 are detected based on the captured image, and the baggage 3 is placed on the turntable 10. The baggage 3 is imaged by the downstream camera 24, and the dimensions and orientation of the baggage 3 are detected based on the captured images, but the form is not particularly limited, and the dimensions of the baggage 3 are the upstream camera 23 or the downstream camera. Detection may be performed based only on the captured image obtained by imaging with 24.

Further, in the above 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. Is not limited. For example, a storage area for a large size and a storage area for a medium size may be set in one container 2, and the baggage 3 may be loaded in the storage area according to the dimensions.

Further, in the above embodiment, the suitcase is loaded in the container 2 as the baggage 3, but the present invention is not particularly limited to this, and different types of baggage 3 may be loaded in one or a plurality of containers 2. .. In this case, a storage area corresponding to the type of baggage 3 is set in the container 2.

Further, in the above embodiment, the baggage 3 is loaded in the container 2 provided with the notch 2a at the lower left and right corners, but the present invention is not particularly limited to this, for example, the notch 2a is provided. It can also be applied to a luggage loading system that loads luggage into a non-cuboidal container. The present invention is also applicable to a luggage loading system for loading luggage in a container other than that for aircraft.

1 ... Luggage loading system, 2 ... Container, 3 ... Baggage (luggage), 5 ... Main conveyor (transport section), 9 ... Pusher (first drive section), 10 ... Turntable (turntable), 11 ... Pusher ( 1st drive unit), 12 ... buffer conveyor (mounting unit), 13 ... pusher (second drive unit), 14 ... pusher (positioning unit), 15 ... loading robot (loading unit), 18 ... wall unit ( Positioning unit), 22 ... Robot hand (holding unit), 23 ... Upstream camera (luggage detection unit), 24 ... Downstream camera (luggage detection unit), 27 ... Tag information acquisition unit, 28 ... First baggage detection unit (luggage detection unit) Unit), 29 ... 2nd baggage detection unit (baggage detection unit), 30 ... movement control unit, 31 ... rotation control unit, 32 ... position control unit, 33 ... loading calculation unit (loading control unit), 34 ... tag Information update unit, 38 ... Loading control unit, S1 ... Back side accommodation area (accommodation area), S2 ... Front side accommodation area (accommodation area), S3 ... Auxiliary accommodation area (accommodation area).

Claims (6)

A transport unit that transports packages toward the container,
A loading unit having a holding unit for holding the load transported by the transport unit and loading the load in the container.
The tag information acquisition unit that acquires the tag information of the package,
The baggage detection unit that detects the baggage and
A loading control unit that controls the loading unit so as to load the luggage at a position corresponding to the detection data in the container based on the detection data of the luggage detection unit.
A luggage loading system including a tag information updating unit that associates loading data including the loading position of the luggage with the tag information acquired by the tag information acquisition unit. An address is preset in the container,
The baggage loading system according to claim 1, wherein the tag information updating unit associates loading data including the address of the baggage loading position with the tag information. Within the container, a plurality of storage areas are set according to the dimensions of the luggage.
The address is set for each accommodation area, and the address is set for each accommodation area.
The baggage detection unit detects the size of the baggage and
The luggage loading system according to claim 2, wherein the loading control unit controls the loading unit so as to load the luggage in a storage area corresponding to the size of the luggage in the container. A rotary table located downstream of the transport unit and on which the load is placed,
A first drive unit that moves the load conveyed by the transfer unit to the rotary table, and
A movement control unit that controls the first drive unit,
Further provided with a rotation control unit that controls the rotation of the rotary table.
The baggage detection unit detects the direction of the baggage placed on the rotary table and detects the direction of the baggage.
The luggage loading system according to any one of claims 1 to 3, wherein the rotation control unit controls the rotary table so that the orientation of the luggage is constant based on the detection data of the luggage detection unit. A mounting portion located downstream of the rotary table and on which the luggage is placed,
A second drive unit that moves the load from the rotary table to the above-mentioned storage unit, and
A positioning unit that positions the load placed on the previously described mounting portion with respect to a direction perpendicular to the arrangement direction of the rotary table and the previously described mounting portion.
After the rotary table is controlled so that the orientation of the load is constant, the second drive unit and the position control unit that controls the positioning unit are further added so that the load is positioned in the above-mentioned placement unit. The luggage loading system according to claim 4. The baggage detection unit detects the type of the baggage and
When the movement control unit determines that the baggage is a loading target to be loaded in the container by the loading unit based on the detection data of the baggage detection unit, the baggage rotates. The luggage loading system according to claim 4 or 5, which controls the first drive unit so as to move to a table.

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