JP5177122B2 - Conveyor system - Google Patents

Description

  The present invention relates to a conveyor system that distributes a plurality of packages supplied from upstream to a plurality of conveyors that sort packages using different sorting methods.

  2. Description of the Related Art Conventionally, there is a sorting conveyor that sorts a plurality of packages according to their destinations.

  For example, one or more branch conveyors are connected to the sorting conveyor, and each of a plurality of packages conveyed by the sorting conveyor is sent out to the branch conveyors according to their destinations. As a result, the plurality of packages are sorted.

  Such sorting conveyors are classified into a plurality of types according to the sorting method employed.

  For example, an automatic sorting conveyor that includes a direction changing machine as a sorting device, and sends the package to the branch conveyor by changing the direction of the package with the direction changing machine, and a manual sorting conveyor that manually sends the package to the branch conveyor There is.

  From the viewpoint of the sorting method, automatic sorting conveyors, such as those that change the direction to the sorting destination by pushing the side of the baggage, and those that change the direction to the sorting destination by rotating while supporting the baggage at the bottom Are also classified variously.

  There is also a conveyor system that includes two sorting conveyors that sort by different sorting methods, and distributes each of the packages supplied from the upstream to one of the two sorting conveyors.

  For example, a technique related to a conveyor system including an automatic sorting conveyor and a manual sorting conveyor is also disclosed (see, for example, Patent Document 1).

  According to the technique described in Patent Document 1, the distribution destination of each package (either an automatic sorting conveyor or a manual sorting conveyor) is automatically determined based on the weight and size of each package conveyed from upstream. Determine. Furthermore, each package is sent out to a distribution destination indicated in the determination result.

  For example, if the size and weight of a certain baggage are both within a predetermined range, the baggage is distributed to an automatic sorting conveyor, and otherwise, it is distributed to a manual sorting conveyor.

  As described above, the technology described in Patent Document 1 automates the determination of whether the package sorting destination should be an automatic sorting conveyor or a manual sorting conveyor, thereby improving the efficiency of the entire sorting operation for a plurality of packages. It is a technique to try.

JP 2006-290511 A

  However, in the above conventional technique, there is a case where the determination of the package distribution destination is not sufficient.

  For example, a diverter, which is a type of sorting device, pushes a side of a package and sends the package to a branch conveyor. Therefore, from the viewpoint of certainty of delivery, it is suitable for sorting packages having a plane with a certain area on the side surface like a cardboard box.

  However, even if the weight and size (length, width, height) of a certain load are all within a predetermined range, if the side surface is formed of a curved surface that protrudes outward or inward, for example, a diverter Then, there is a possibility that it cannot be fed in the direction of the branch conveyor accurately.

  Similarly, in the case of a pusher type sorting device that linearly pushes a load to a branch conveyor, similarly, there is a possibility that a sort error will occur without the branch conveyor accurately sending out such a small shape of the load. is there.

  Therefore, conventionally, in order to prevent the occurrence of such sorting errors, it has not been possible to put a plurality of packages having various shapes into the conveyor system.

  The present invention is a conveyor system including a plurality of conveyors that perform sorting according to different sorting methods in consideration of the above-described conventional problems, and when distributing a load supplied from upstream to any of these conveyors, It is an object of the present invention to provide a conveyor system that can accurately determine a distribution destination.

  In order to solve the above-described conventional problems, a conveyor system according to the present invention includes a first conveyor that performs sorting of packages by a first sorting method, and a second sorting method that is different from the first sorting method. A conveyor system comprising a second conveyor that performs sorting, acquiring information indicating a shape of a package sent to the first conveyor or the second conveyor, and from the acquired information, the shape of the package and a predetermined shape Based on the regularity calculated by the regularity calculator, a regularity calculator that calculates the regularity indicating the degree of proximity to the shape, the luggage is placed in either the first conveyor or the second conveyor A branch control unit that determines whether to send out, and a branching device that sends out the cargo to one of the first conveyor and the second conveyor according to a determination result of the branch control unit; Provided.

  According to this configuration, the regularity of the parcel to be sorted is obtained, and is distributed to one of the first conveyor and the second conveyor having different sorting methods according to the regularity.

  Therefore, for example, even if the overall shape is a cylindrical, conical, pyramidal, or spherical baggage, or a baggage that has a small protruding portion on the side, the baggage is It is distributed to the corresponding sorting conveyor (first conveyor or second conveyor).

  In other words, even when such low-size packages are mixed in a plurality of packages, the plurality of packages can be safely put into the conveyor system. Moreover, the conveyor system can execute an efficient sorting operation for the plurality of loads.

  In addition, the regularity calculation unit includes a first detector that optically detects a top view of the luggage that is information indicating the shape of the luggage, and a side view of the luggage that is information indicating the shape of the luggage. A second detector that detects optically, a top view area ratio that is a ratio of an area of the top view in a minimum rectangle circumscribing the top view detected by the first detector, and the second detector An area ratio calculation unit that calculates at least one of the side view area ratios, which is a ratio of the area of the side view in the smallest rectangle circumscribing the side view detected by the side view area ratio and the side view area At least one of the ratios may be calculated as the regularity.

  According to this configuration, the regularity of the luggage is calculated based on the top view and the side view of the luggage. The top view and the side view of these packages can be detected by, for example, an inexpensive sensor such as an area sensor, and the regularity can be obtained by a simple process.

  Further, the first sorting method is a method in which the sorting device makes sorting by abutting against the package and pushing it to the sorting destination, and the area ratio calculation unit is a part of the smallest rectangle circumscribing the side view. The ratio of the side view in a partial range is calculated as the side view area ratio, and the partial range is a range in which the sorting device contacts the load when the load is sent to the first conveyor. It may be.

  According to this configuration, for example, the overall shape of the luggage has a small regularity, but the luggage that can be safely sorted by the sorting device provided in the first conveyor is sent to the first conveyor.

  That is, it is possible to prevent a baggage that can be automatically sorted by the sorting device but has a small degree of normality from being automatically sorted. As a result, the efficiency of the entire sorting operation for a plurality of packages can be further improved.

  Further, the first sorting method is a method having a higher number of sortable per unit time than the second sorting method, the branch control unit performs a comparison between the regularity and a predetermined threshold, When the regularity is equal to or greater than the predetermined threshold, it is determined that the cargo is sent out to the first conveyor, and when the regularity is smaller than the predetermined threshold, it is determined that the cargo is sent out to the second conveyor. It is good.

  With this configuration, it is possible to accurately deliver a small-sized baggage to, for example, a second conveyor that is manually sorted, and a large-sized baggage to, for example, a first conveyor that performs high-speed sorting by a sorting device. The determination of an appropriate distribution destination is realized by a simple process of comparing the degree of normality with a threshold value.

  In addition, the conveyor system of the present invention further includes a size measuring unit that measures the size of the luggage, and the branch control unit sets a larger value as the predetermined threshold value as the size measured by the size measuring unit is larger. It may be used for the comparison.

  In addition, the conveyor system of the present invention further includes a size measuring unit that measures the size of the luggage, and the branch control unit is configured to measure the size when the size measured by the size measuring unit is larger than a predetermined size. The comparison may be performed using a larger value than the predetermined size as the predetermined threshold value.

  As described above, the threshold for the regularity may be changed according to the size of the package.

  For example, a baggage with a large size such as vertical width or horizontal width, even if the regularity is relatively large, because the size is large, the sorting device does not reliably send it to the sorting destination, and a sorting error occurs. there's a possibility that.

  Therefore, in the conveyor system according to one aspect of the present invention, when the luggage is large, the threshold for the regularity is increased, and it is difficult to determine that the distribution destination of the luggage is the first conveyor. Thereby, the occurrence of a sorting error due to the size of the package in the sorting device is suppressed, and the efficiency of the entire sorting operation for a plurality of packages can be further improved.

  The present invention can also be realized as a package sorting method including characteristic operation steps in the conveyor system of the present invention. Moreover, it can also be realized as a control program for causing the conveyor system to execute these steps.

  According to the conveyor system of the present invention, it is possible to determine whether the distribution destination of the package is the first conveyor or the second conveyor according to the regularity of the package based on a predetermined shape. That is, this invention can provide the conveyor system which can determine a sorting destination exactly.

  For example, the first conveyor is a conveyor that employs a sorting method capable of sorting large-sized packages at high speed, and the second conveyor can sort safely without being bound by the shape of the package. The case where the conveyor adopts the method is assumed.

  In this case, according to the conveyor system of the present invention, it is possible to accurately sort a plurality of parcels having a relatively small regularity to the second conveyor and a relatively large regularity to the first conveyor. Therefore, the sorting operation for a large number of packages having various shapes is executed safely and efficiently.

It is a figure which shows the outline | summary of the conveyor system of embodiment of this invention. It is a block diagram which shows the main structures of the conveyor system of embodiment. It is a perspective view which shows the example of arrangement | positioning of the top view detector and side view detector in embodiment. (A) is an upper surface schematic diagram showing a top view detector and a load to be detected in the embodiment, and (B) is a diagram for explaining a top view area ratio of the load. (A) is a side surface schematic diagram showing a side view detector and a load A to be detected in the embodiment, and (B) is a diagram for explaining a side view area ratio of the load. It is a flowchart which shows the flow of a basic operation | movement of the conveyor system in embodiment. (A) is a figure which shows an example of the small package of the regularity appropriately distributed by the conveyor system of embodiment, (B) is a figure which shows the side view of the said luggage, (C) is It is a figure which shows the upper surface view of the said load. (A) is a figure which shows another example of the small package of the regularity appropriately distributed by the conveyor system of embodiment, (B) is a figure which shows the original top view of the said luggage, (C) It is a figure which shows the actual top view of the said load. (A) is a figure which shows an example of the relationship of the magnitude | size of the diverter and load in embodiment, (B) is a figure for demonstrating the side view area ratio in a partial range. It is a figure which shows the outline | summary of the conveyor system in the modification of embodiment.

  A conveyor system 10 according to an embodiment of the present invention will be described with reference to the drawings.

  First, the structure of the conveyor system 10 of embodiment is demonstrated using FIG. 1 and FIG.

  FIG. 1 is a diagram showing an outline of a conveyor system 10 according to an embodiment of the present invention.

  FIG. 2 is a block diagram illustrating a main configuration of the conveyor system 10 according to the embodiment of this invention. In FIG. 2, solid arrows indicate the flow of information, and dotted arrows indicate the movement of the luggage.

  The conveyor system 10 according to the present embodiment measures the weight or the like of the load conveyed by the feeding conveyor 15 from the upstream by the measuring device 20, and according to the measurement result, the load is transferred to the first conveyor 50 or the second by the branching device 45. This is a system for distributing to the conveyor 60.

  The packages distributed to the first conveyor 50 and the packages distributed to the second conveyor 60 are sorted by the first conveyor 50 and the second conveyor 60 according to the destination of the packages.

  As shown in FIGS. 1 and 2, the conveyor system 10 includes a feeding conveyor 15, a measuring device 20, a main conveyor 30, a branch control unit 40, a branching device 45, a first conveyor 50, and a second conveyor. 60.

  A branch conveyor 55 is connected to the first conveyor 50, and a package having the branch conveyor 55 as a sorting destination is sent to the branch conveyor 55 by a diverter 52.

  The diverter 52 operates according to an instruction indicating which package should be sent to the branch conveyor 55. This instruction is sent to the diverter 52 from a control device (not shown) that controls the entire conveyor system 10 based on the package destination information read by the measuring device 20, for example.

  Further, a branch conveyor 65 is connected to the second conveyor 60, and packages to be sent to the branch conveyor 65 are sent to the branch conveyor 65 by hand. For example, when a lamp (not shown) installed near the branch conveyor 65 is turned on, the operator determines which package should be sent to the branch conveyor 65.

  As described above, the first conveyor 50 is an automatic sorting conveyor that automatically and quickly sorts packages by the diverter 52, and the second conveyor 60 is a manual sorting conveyor that manually sorts packages.

  The branch control unit 40 determines whether a certain package is distributed to the first conveyor 50 or the second conveyor 60 based on the measurement result by the measurement device 20.

  The branching device 45 is a device that distributes each of the packages conveyed by the main conveyor 30 to one of the first conveyor 50 and the second conveyor 60 in accordance with an instruction from the branch control unit 40.

  In the present embodiment, a turn roller type direction change machine in which a plurality of rollers change the direction of the load by changing the load carrying direction is adopted as the branching device 45.

  That is, the branching device 45 employs a mechanism that transports the load toward the sorting destination while supporting the load on the bottom surface. For this reason, safe and reliable sorting is possible even for packages that are difficult or impossible to automatically sort by a direction changing machine that abuts on a package such as the diverter 52 and pushes it to a sorting destination.

  The main conveyor 30 may be omitted, and the package may be directly sent from the measuring device 20 to the branching device 45.

  The branch control unit 40 receives the measurement result for each package from the measurement device 20, and transmits an instruction for a distribution destination for each package to the branch device 45.

  The measuring device 20 measures the weight and size of the load supplied from the upstream feeding conveyor 15 and calculates the regularity of the load.

  As shown in FIG. 2, the measurement device 20 includes a weight measurement unit 21, a size measurement unit 22, and a regularity calculation unit 25.

  The regularity calculation unit 25 includes a top view detector 26, a side view detector 27, and an area ratio calculation unit 28.

  The weight measuring unit 21 is a component that measures the weight of each of the plurality of packages, and the size measuring unit 22 is a component that measures the size (vertical, horizontal, and height) of each of the plurality of packages.

  For example, the size measuring unit 22 acquires data indicating the shape of a package from a top view detector 26 and a side view detector 27 described later, and obtains the size of the package from the acquired data.

  The regularity calculator 25 is a component that calculates the regularity of each of a plurality of packages. The regularity of the load is information indicating the degree of closeness between the shape of the load and a predetermined shape. For example, when the rectangular parallelepiped has a predetermined shape, the columnar box has a smaller degree of formality between a box with eight rounded corners and a columnar box.

  Hereinafter, a method for calculating the regularity by the regularity calculation unit 25 will be described with reference to FIGS.

  FIG. 3 is a perspective view showing an arrangement example of the top view detector 26 and the side view detector 27 in the embodiment.

  The top view detector 26 is an example of a first detector in the conveyor system of the present invention, and the side view detector 27 is an example of a second detector in the conveyor system of the present invention.

  In the present embodiment, each of the top view detector 26 and the side view detector 27 is an area sensor that can detect the presence or absence using a plurality of optical axes.

  The top view detector 26 has a projector 26a and a light receiver 26b, and the side view detector 27 has a projector 27a and a light receiver 27b.

  The top view detector 26 and the side view detector 27 are arranged as shown in FIG. 3, for example, and by passing a load in a rectangular region formed by the top view detector 26 and the side view detector 27, A top view and a side view of the luggage are detected.

  Specifically, in the top view detector 26, light emitters are arranged in the projector 26a at predetermined intervals. The light receiver 26b has a light receiving portion disposed at a position facing the light emitting portions.

  Thereby, the optical axis for every said space | interval is formed between the light projector 26a and the light receiver 26b. The interval is, for example, 5 mm, and in this case, the optical axis pitch is expressed as 5 mm.

  The top view detector 26 detects the top view of the package based on whether or not each of these optical axes is blocked every predetermined time when the package passes between the projector 26a and the light receiver 26b.

  Similarly to the top view detector 26, the side view detector 27 detects the side view of the package based on whether or not each of the optical axes formed between the light projector 27a and the light receiver 27b is blocked.

  For example, the processing of the regularity calculation unit 25 when detecting the top view and the side view of the luggage A shown in FIG. 3 will be described with reference to FIGS. 4 (A) to 5 (B).

  FIG. 4A is a schematic top view showing the top view detector 26 and the load A to be detected.

  FIG. 4B is a diagram for explaining a top view area ratio of the luggage A.

  As shown in FIG. 4A, the cargo A is conveyed by the feeding conveyor 15, passes between the light projector 26 a and the light receiver 26 b of the top view detector 26, and is further conveyed downstream by the main conveyor 30. The

  During this passage, the top view detector 26 detects the top view of the luggage A.

  Specifically, which optical axis is interrupted (or which optical axis reaches the light receiver 26b) at a certain timing while the load A passes between the light projector 26a and the light receiver 26b. ) Is detected, the horizontal position (Y-axis direction in FIG. 4A) of the portion located between the light projector 26a and the light receiver 26b of the load A at the timing is a line having one or more lines. Detected as minutes.

  In other words, the existence position of the cut surface when the cut surface when the load A is cut by a plane including a plurality of optical axes formed in the top view detector 26 is viewed from above is detected as one or more line segments. Is done.

  The top view detector 26 performs this detection process at predetermined time intervals. Furthermore, a plurality of line segments detected thereby are arranged in the order of detection timing at a distance interval corresponding to the time interval and the passing speed of the load A, so that a top view of the load A can be obtained.

  Upon receiving the top view data indicating the top view of the luggage A from the top view detector 26, the area ratio calculation unit 28 calculates the top view area and the minimum rectangle circumscribing the top view.

  The area ratio calculation unit 28 further calculates a top view area ratio that is a ratio of the top view area to the rectangular area thus calculated.

  As shown in FIG. 4B, when the length of the long side of this rectangle is L, the length of the short side is W, and the top view area is S1, the top view area ratio of the luggage A is “S1”. / WL ".

  When the smallest rectangle is a square, there is no distinction between the long side and the short side, and W and L have the same value (the length of one side of the square).

  Further, the area ratio calculation unit 28 calculates the side view area ratio of the luggage A in the same procedure as the top view area ratio.

  FIG. 5A is a schematic side view showing the side view detector 27 and the load A to be detected.

  FIG. 5B is a diagram for explaining a side view area ratio of the luggage A.

  As shown in FIG. 5A, the load A is transported by the feeding conveyor 15, and passes through between the light projector 26a and the light receiver 26b of the top view detector 26, and then the light projector of the side view detector 27. It also passes between 27a and the light receiver 27b.

  During this passage, the side view detector 27 detects the side view of the luggage A.

  The detection method is the same as that in the above-described top view detection, which optical axis is cut off among the optical axes formed between the light projector 27a and the light receiver 27b (or which optical axis is the light receiver). The side view of the load A can be obtained from the detection result of whether or not it has reached 27b), the detection time interval and the passing speed of the load A.

  When receiving the side view data indicating the side view of the luggage A from the side view detector 27, the area ratio calculating unit 28 calculates the area of the side view and the minimum rectangle circumscribing the side view.

  As shown in FIG. 5B, when the length of the long side of this rectangle is H, the length of the short side is R, and the side view area is S2, the side view area ratio of the luggage A is “S2 / HR ".

  When the minimum rectangle is a square, there is no distinction between the long side and the short side, and H and R have the same value (the length of one side of the square).

  At least one of the thus obtained top view area ratio and side view area ratio is treated as a value indicating the regularity of the luggage A. That is, in the present embodiment, the regularity of the luggage A is a value indicating the degree of proximity to the predetermined shape in at least one of the top view or the side view of the luggage A.

  For example, when either the top view area ratio or the side view area ratio is smaller than “0.8”, the branch control unit 40 determines that the regularity of the load A is smaller than the threshold value.

  In order to calculate such regularity, the regularity calculation unit 25 determines, for example, the smaller one of the top view area ratio and the side view area ratio as the regularity of the luggage A.

  For example, when the top view area ratio of the package A is “0.6” and the side view area ratio is “0.9”, the regularity calculation unit 25 sets “0.6” as the regularity of the package A. To decide.

  The branch control unit 40 receives information indicating “0.6” which is the regularity of the package A, and compares it with “0.8” which is a threshold value. As a result, since “0.6” is smaller than “0.8”, the branching device 45 is instructed to send the package A to the second conveyor 60 which is a manual sorting conveyor.

  That is, there is a possibility that a baggage with a small fixed degree may cause a problem such as a diverter 52 or the like sorting device that pushes the baggage from the side, and the direction cannot be changed in an accurate direction.

  Therefore, the branching control unit 40 controls the branching device 45 so that such packages are distributed to the second conveyor 60 where the sorting operation is performed manually.

  Note that the top view area ratio, the side view area ratio, and the regularity need only have a positive correlation. Therefore, for example, a value obtained by multiplying at least one of the top view area ratio and the side view area ratio by a coefficient may be used as the regularity.

  For example, the regularity calculation unit 25 may store a regularity table in which the range of the area ratio and the regularity are associated in advance. In this case, for example, information “0 <area ratio <0.8: normality = 0, 0.8 ≦ area ratio ≦ 1: normality = 1” is recorded in the regularity table.

  The regularity calculation unit 25 calculates the top view area ratio and the side view area ratio of the luggage A as described above, and determines the smaller one of these as the area ratio representing the luggage A. Further, the regularity calculation unit 25 refers to the regularity table to determine the regularity corresponding to the area ratio, that is, “1” or “0”. That is, the regularity is also calculated by processing using the regularity table.

  Further, the branch control unit 40 receives information indicating the regularity from the regularity calculation unit 25 and compares it with a threshold value “0.5”. That is, if the regularity is “1”, the regularity is larger than the threshold value, and therefore the branch control unit 40 controls the branching device 45 so as to distribute the luggage A to the first conveyor 50. On the other hand, if the regularity is “0”, the regularity is smaller than the threshold value. Therefore, the branch control unit 40 controls the branching device 45 to distribute the luggage A to the second conveyor 60.

  In the above description, the distribution destination determination process has been described with a focus on the regularity that is a feature of the present invention. However, specifically, the branch control unit 40 determines the distribution destination in consideration of not only the regularity of the package but also attributes such as the weight of the package.

  Hereinafter, the basic operation flow of the conveyor system 10 of the present embodiment will be described with reference to FIG.

  FIG. 6 is a flowchart showing a basic operation flow of the conveyor system 10 according to the embodiment.

  When the parcel to be sorted is put into the conveyor system 10, the parcel is conveyed to the measuring device 20 by the feeding conveyor 15.

  The weight measuring unit 21 of the measuring device 20 measures the weight of the load (S10), and the size measuring unit 22 of the measuring device 20 measures the size (length, width, height) of the load (S11).

  Further, the regularity calculation unit 25 of the measuring device 20 calculates the regularity of the package by the above-described processing (S12).

  The branch control unit 40 receives attribute information such as the weight of the package measured or calculated by the measuring device 20, and determines a distribution destination of the package. Specifically, the following processing is performed.

  The branch control unit 40 determines whether or not the weight of the package is within a predetermined range. If the weight of the package is within the predetermined range (Yes in S13), it is determined whether or not the size of the package is within the predetermined range.

  If the size of the package is within a predetermined range (Yes in S14), it is determined whether or not the regularity of the package satisfies a predetermined condition. Here, the predetermined condition is a condition that the regularity is not less than a threshold value.

  For example, if the threshold is “0.8” and the regularity is “1”, the regularity satisfies a predetermined condition (Yes in S15), and the branch control unit 40 transfers the parcel to the first conveyor 50. It is determined to be sent to

  The branching device 45 sends the parcel to the first conveyor 50 according to the determination result (S16).

  When the weight of the package is not within the predetermined range (No at S13), when the size of the package is not within the predetermined range (No at S14), or when the regularity does not satisfy the predetermined condition (S15) No) determines that the branch control unit 40 sends the parcel to the second conveyor 60.

  The branching device 45 sends the package to the second conveyor 60 according to the determination result (S17).

  The conveyor system 10 according to the present embodiment performs the above processing flow for each of a plurality of packages to be sorted, so that these packages are sorted according to the respective attributes (the first conveyor 50 or the second conveyor). 60).

  As a result, the plurality of packages are transported to the sorting destination in a manner corresponding to each package. That is, the sorting operation for these plural packages is executed safely and efficiently.

  In FIG. 6, measurement or calculation is performed in the order of the weight, size, and regularity of the load, and comparison with a predetermined standard is performed in the order of the weight, size, and normality of the load. However, the order of these processes is not limited to this. If these comparison processes can be performed, the order of these processes can be arbitrarily determined.

  In addition, for example, a case is assumed in which it is known that the weights and sizes of the plurality of packages to be sorted are within a range in which sorting by the first conveyor 50 and the second conveyor 60 is possible. In this case, measurement of weight and size (S10, S11), and comparison of weight and size with predetermined ranges (S13, S14) may be omitted.

  As described above, the conveyor system 10 according to the present embodiment includes the first conveyor 50 and the second conveyor 60 that are two sorting conveyors having different sorting methods, and includes the first conveyor 50 and the second conveyor for a plurality of loads. Distribution to the second conveyor 60 is performed.

  Here, the conveyor system 10 uses the attribute of the above-described regularity of the load at the time of the sorting. Thereby, each of the plurality of packages is distributed to a sorting conveyor of a sorting method suitable for each shape. As a result, sorting for a plurality of packages can be performed more accurately than in the past.

  That is, for example, the weight and size are in a range that can be automatically sorted, but if there is a baggage whose shape is unsuitable for automatic sorting, the baggage is sorted to the second conveyor 60 that is manually sorted.

  FIG. 7A is a diagram illustrating an example of a small-sized baggage that is appropriately distributed by the conveyor system 10 according to the embodiment.

  For example, as shown in FIG. 7A, it is assumed that a cylindrical luggage B is a luggage to be sorted.

  In this case, the side view has the shape shown in FIG. 7B, and the top view has the shape shown in FIG. As an example of a luggage having a shape close to such a shape, for example, an automobile tire can be cited.

  Further, as shown in FIGS. 7B and 7C, the vertical width of the load B is L, the horizontal width is W, and the height is H. Since the load B has a cylindrical shape, R, L, and W in FIGS. 7B and 7C have the same value.

  In this assumption, when the vertical width L, the horizontal width W, and the height H are within a range that can be automatically sorted and the weight is also within a range that can be automatically sorted, conventionally, the weight is distributed to an automatic sorting conveyor. .

  However, when a direction changing machine of a type that presses the side surface such as a diverter is adopted for the automatic sorting conveyor, the side surface of the load B is as shown in FIGS. 7 (A) and 7 (C). Since it is a curved surface, when the side surface is pressed, for example, by rotating in the circumferential direction, the package B cannot be sent in the direction of the sorting destination, and a sorting error may occur.

  However, according to the conveyor system 10 of this Embodiment, generation | occurrence | production of such an error can be suppressed.

  Specifically, since the load B has the shape shown in FIGS. 7B and 7C in the side view and the top view, the regularity calculation unit 25 sets “1” as the side view area ratio, “Π / 4” is calculated as the top view area ratio.

  The regularity calculation unit 25 determines the smaller one of the side view area ratio and the top view area ratio, that is, “π / 4” as the regularity of the package B, and transmits it to the branch control unit 40.

  In the branch control unit 40, for example, a threshold is set to “0.8”, and the regularity “π / 4” is smaller than this threshold. Therefore, the branch control unit 40 determines to send the package B to the second conveyor 60.

  That is, according to the conveyor system 10 of the present embodiment, it is determined that the package B has a small degree of normality, and therefore, the second conveyor 60 that is a manual sorting conveyor is used instead of the first conveyor 50 that is an automatic sorting conveyor. Sorted. As a result, the package B is safely and reliably conveyed to the sorting destination.

  In addition, even if the original shape is a package whose shape is not small, such as a rectangular parallelepiped or a shape close to a rectangular parallelepiped, the conventional conveyor system automatically sorts the package because of insufficient packaging. An error may occur on the conveyor.

  However, according to the conveyor system 10 of the present embodiment, such an unexpected situation can be dealt with by using the attribute of the regularity of the luggage.

  FIG. 8A is a diagram illustrating another example of a small-sized baggage that is appropriately distributed by the conveyor system 10 according to the embodiment.

  A load C shown in FIG. 8A has a shape close to a rectangle when viewed from above. Although not shown, the side view is similarly a rectangle.

  Therefore, the surface area ratio of the load C is essentially “S1 / WbLb” as shown in FIG. 8B, and this value is close to 1. Further, as described above, since the side view has a shape close to a rectangle, the load C is a load that should be determined to have a large regularity.

  However, as shown in FIG. 8 (A), for example, since the packing of the luggage C is insufficient, for example, surplus that is a part of the packing string hangs down from the luggage C from the main body of the luggage C. Is assumed.

  Under this assumption, if the load C is distributed to the first conveyor 50, and the diverter 52 tries to send the load C to the branch conveyor 55, this surplus is transferred between the diverter 52 and the first conveyor 50. There is a possibility that a sorting error may occur due to biting between the transfer surface and the transfer surface.

  However, in the conveyor system 10 of the present embodiment, such surplus is recognized by the regularity calculation unit 25, and the top view of the luggage C is detected as the shape shown in FIG.

  That is, the top view of the entire luggage C including the surplus is detected. The smallest rectangular area circumscribing the top view is “WcLc”.

  In this case, an increase in the area of the circumscribed rectangle (an increase from WbLb to WcLc) compared with an increase from the top view area S1 of the load C without surplus to the top view area S1 ′ of the load C with surplus. ) Is much larger.

  That is, the top surface area ratio (S1 ′ / WbLb) of the load C with surplus is a relatively small value. For example, when the top view area ratio in the case shown in FIG. 8C is “0.6”, the top view area ratio is smaller than the threshold value when the threshold value is “0.8”.

  Therefore, the branch control unit 40 determines to send the cargo C to the second conveyor 60.

  As described above, the conveyor system 10 according to the present embodiment calculates the normality from the actual shape of the package to be sorted.

  Therefore, not only inadequately packed luggage such as the above-mentioned luggage C, but also baggage with a handle or shoulder belt attached to it, or a luggage whose overall shape is not necessarily constant, or a large degree of formality when looking at only the main body Even if the packages to be judged are to be sorted, the regularity of these packages can be calculated appropriately.

  As a result, it is possible to suppress the occurrence of a sorting error caused by the fact that the shape of the package is easily changed and a sorting error caused by an erroneous determination due to the large regularity of the package body.

  In the present embodiment, the side view area ratio is the ratio of the side view to the entire smallest rectangle circumscribing the side view.

  However, the ratio of the side view in the partial range that is a part of the rectangle may be calculated as the side view area ratio.

  For example, when the diverter 52 is employed as a sorting device, the range in which the diverter 52 can come into contact with the load varies depending on the size of the diverter 52.

  Therefore, by calculating the side view area ratio so as to correspond to the contactable range, it is possible to more accurately determine the distribution destination using the regularity.

  FIG. 9A is a diagram illustrating an example of the relationship between the size of the diverter 52 and the luggage in the embodiment.

  As shown in FIG. 9A, it is assumed that the height of the upper side of the diverter 52 from the transport surface of the first conveyor 50 is h.

  In this case, the diverter 52 abuts on the side surface of the luggage A in the range from the bottom surface to the height h. Therefore, it can be said that the regularity of this range in the package A is an important factor as to whether the diverter 52 can reliably deliver the package A to the branch conveyor 55.

  Therefore, as shown in FIG. 9B, the area ratio calculation unit 28 calculates the area (hR) of the partial range from the bottom to h, which is a part of the smallest rectangle circumscribing the luggage A. The area ratio calculation unit 28 further obtains the side view area (S2 ′) in the partial range as the side view area ratio (S2 ′ / hR).

  The side view area ratio (S2 ′ / hR) in the partial range is larger than the side view area ratio (S2 / HR) considering the entire side view of the load A shown in FIG. . That is, it is possible to determine that the normality of the partial range is relatively large and automatic sorting by the diverter 52 is possible.

  In this way, considering the regularity of the overall shape of the luggage, even if it is determined that manual classification is better, automatic classification is possible if the regularity of the partial shape of the luggage is large. There is a case.

  Therefore, the regularity in the range where the diverter 52 abuts on the load is used for the determination of the distribution destination.

  As a result, even if the baggage has a small regularity as a whole, the baggage is sent to the first conveyor 50 by the branching device 45 if no problem occurs in the sorting operation for the baggage in the first conveyor 50. It is.

  That is, in the entire plurality of packages to be sorted, the ratio of the packages to be sorted to the first conveyor 50 having a higher sortable number per unit time than the second conveyor 60 is increased. As a result, the efficiency of the whole sorting operation of these plural packages is further improved.

  In addition, the conveyor system 10 according to the present embodiment includes the first conveyor 50 that performs sorting of packages by the diverter 52 and the second conveyor 60 that performs sorting of packages manually.

  However, the conveyor system 10 may include two automatic sorting conveyors as two conveyors having different sorting methods.

  FIG. 10 is a diagram showing an outline of the conveyor system 11 in a modification of the embodiment.

  The conveyor system 11 shown in FIG. 10 is different from the conveyor system 10 shown in FIG. 1 in that a turn roller type direction changer 62 is provided on the second conveyor 60. Other configurations are the same between the conveyor system 11 and the conveyor system 10.

  The direction changer 62 has a turn roller, and is a device that transports and changes the direction of goods on the bottom surface as described above. Although the number of units that can be sorted per unit time is inferior to that of the diverter 52, Even if it exists, it can send to the branch conveyor 65 safely and reliably.

  That is, like the conveyor system 10, the conveyor system 11 allows the first conveyor 50 to sort the large-sized baggage at high speed, and sorts the small-sized baggage by the second conveyor 60 that can be sorted safely and reliably. Can be performed.

  In the present embodiment, the regularity calculation unit 25 determines the smaller one of the top view area ratio and the side view area ratio for a certain package as the regularity of the package.

  However, for example, the regularity may be calculated using both the top view area ratio and the side view area ratio. Each of the top view area ratio and the side view area ratio of a certain load has a positive correlation with the regularity of the load. Therefore, for example, the normality may be calculated using a function in which the normality increases as the sum of the top view area ratio and the side view area ratio increases, or a table in which the sum and the normality are associated with each other. .

  Further, for example, attention may be paid to only one of the top view and the side view of the luggage, and the regularity of the one may be determined as the regularity of the luggage.

  For example, a case is assumed in which a plurality of specific types of packages are to be sorted, and there is substantially no problem in determining the sorting destination even when ignoring the top view area ratio.

  In this case, the regularity calculation unit 25 may obtain the regularity of each baggage by calculating only the side view area ratio of these packages. Thereby, for example, the processing load of the measuring device 20 is reduced.

  Further, the regularity may be calculated by the branch control unit 40 instead of the measuring device 20. For example, the branch control unit 40 receives the top view data and the side view data from the top view detector 26 and the side view detector 27, and further calculates the normality using these data.

  In other words, as long as the distribution destination of the package can be determined based on the regularity of the package to be sorted, a plurality of processing units that realize a plurality of functions for performing these series of processes can be combined in any way. Good.

  Further, the threshold for the regularity is not limited to a specific value. For example, the value “a” is set in the branch control unit 40 as a threshold for the regularity, and the conveyor system 10 is made to sort a plurality of packages as a test.

  As a result, when a load that can be safely sorted by the diverter 52 is distributed to the second conveyor 60, “a” is changed to a small value.

  On the other hand, if the first conveyor 50 distributes up to a load that causes a sorting error in the diverter 52 due to the size, the “a” is changed to a large value.

  In other words, an optimum value for the regularity may be obtained from the result of such a test. Further, it may be obtained from an empirical rule or a logical calculation.

  Further, the threshold for the regularity may be changed for each package. For example, the threshold value may be changed according to the size of the luggage.

  For example, in the case of a relatively large load, in order to reliably send this load from the transport path of the first conveyor 50 to the branch conveyor 55, it is necessary to change the direction of the load with high accuracy.

  Accordingly, the larger the size of the luggage, the larger the threshold for the regularity. That is, the threshold value is changed so as to be proportional to the size of the package.

  Alternatively, when the size of the parcel is larger than the predetermined size, a larger value than that when the parcel size is equal to or smaller than the predetermined size is set as the threshold for the regularity. That is, a plurality of different threshold values corresponding to the size of the luggage are determined in advance.

  That is, when the size of the package is large, it is difficult to determine that the distribution destination of the package is the first conveyor 50 by using a small value as a threshold value for the regularity.

  The “size of luggage” here is, for example, one of the vertical width, horizontal width, and height of the luggage, or the sum of two or more values of the vertical width, width, and height of the luggage. It is.

  That is, the branch control unit 40 may change the threshold for the regularity according to the size of the package, and determine the distribution destination of the package using the changed threshold.

  As a result, the possibility of an error that the package sent to the first conveyor 50 due to the high degree of formability is not sent to the sorting destination due to the large size is reduced.

  In the present embodiment, the conveyor system 10 includes two sorting conveyors, a first conveyor 50 and a second conveyor 60. However, the conveyor system 10 may include three or more sorting conveyors.

  Even when the conveyor system 10 is provided with three or more sorting conveyors, each of the plurality of packages is sent to the sorting conveyors corresponding to the respective normalities.

  For example, it is assumed that the sorting system including the direction changing machine 62 illustrated in FIG. 10 is further provided in the conveyor system 10 as a third conveyor.

  In this case, for example, the normality is divided into three stages of “large”, “medium”, and “small”. In addition, when the regularity is “Large”, the first conveyor 50 that performs high-speed automatic sorting is used for the first conveyor 50, and when the normality is “Medium”, the third conveyor that performs the low-speed automatic sorting is used. “Small” items are distributed to the second conveyor 60 where manual sorting is performed.

  By determining in this way, each of the plurality of packages is sent to a sorting conveyor suitable for each regularity, and the entire sorting operation is executed safely and efficiently.

  In addition, for example, when the normality is below a limit value, control may be performed so that it is not sent to either the first conveyor 50 or the second conveyor 60 and is excluded from the sorting target by the conveyor system 10.

  For example, when the branch control unit 40 detects that the regularity of a certain baggage output from the measuring device 20 falls below a limit value, the branch control unit 40 controls to stop the main conveyor 30 and the like upstream from the branch device 45. Thereby, the worker can take out the load from the main conveyor 30.

  By doing so, for example, since the degree of formality is too small, even the second conveyor 60 may not be able to be safely transported and sorted from the conveyor system 10.

  In addition, the conveyor system 10 uses the irregularity indicating the degree of difference between the shape of the luggage and the predetermined shape, instead of the regularity indicating the degree of proximity between the shape of the luggage and the predetermined shape, to determine the distribution destination. It may be used.

  In order to calculate such irregularity, the regularity calculation unit 25 calculates, for example, the reciprocals of the top view area ratio and the side view area ratio of the luggage A, for example. Further, the larger one of the two calculated reciprocals is determined as the degree of irregularity of the luggage A.

  For example, when the top view area ratio of the luggage A is “0.6” and the side view area ratio is “0.9”, the reciprocals of the respective cases are “1 / 0.6” and “1 / 0.9”. ". In this case, the regularity calculation unit 25 determines “1 / 0.6” as the irregularity of the package A.

  When the threshold for the regularity is “0.8”, the reciprocal “1.25” is set in the branch control unit 40 as the reciprocal for the irregularity.

  The branching control unit 40 receives the information indicating “1 / 0.6” which is the irregularity degree of the package A, and compares it with “1.25” which is the threshold value. As a result, since “1 / 0.6” is larger than 1.25, the branch device 45 is instructed to send the package A to the second conveyor 60 which is a manual sorting conveyor.

  In the case of the above example, the irregularity is an attribute that is inversely proportional to the regularity. However, the irregularity may be negatively correlated with the regularity. For example, the larger one of “1-top view area ratio” and “1-side view area ratio” may be determined as the degree of irregularity.

  In this case, taking the larger one of the ratio of the area other than the top view in the smallest rectangle circumscribing the top view and the ratio of the area other than the side view in the smallest rectangle circumscribing the side view, Is equivalent.

  As described above, the irregularity is an attribute having a negative correlation with the regularity. Therefore, simply speaking, a package having a small regularity is distributed to the second conveyor 60, a package having a large regularity is distributed to the first conveyor 50, and a package having a large irregularity is distributed to the second conveyor 60 in some cases. This is equivalent to the process of distributing the small-shaped baggage to the first conveyor 50.

  Therefore, even when the irregularity is used for the determination of the distribution destination, it is possible to accurately determine the distribution destination as in the case where the regularity is used for the determination of the distribution destination.

  Further, the regularity calculation unit 25 may calculate the irregularity by referring to the irregularity table in which the area ratio range and the irregularity are associated with each other.

  Further, the degree of irregularity may be calculated by using both the surface area ratio and the side area ratio. For example, the degree of irregularity may be calculated using a function in which the degree of irregularity decreases as the sum of the top view area ratio and the side view area ratio increases, or a table in which the sum and the irregularity are associated with each other.

  Further, for example, attention may be paid to only one of the top view and the side view of the luggage, and the degree of irregularity of the one may be determined as the degree of irregularity of the luggage.

  In the present embodiment, each of the top view detector 26 and the side view detector 27 is an area sensor.

  However, each of the top view detector 26 and the side view detector 27 may be a camera, for example. That is, as long as the top view and the side view can be detected with the accuracy necessary for calculating the normality, the method and apparatus are not limited to a specific one.

  The embodiment of the present invention and various modifications have been described above. However, the present invention is not limited to the above-described embodiments and modifications.

  Unless it deviates from the meaning of the present invention, various modifications conceived by those skilled in the art are applied to the present embodiment, or forms constructed by combining a plurality of the above-described components are also within the scope of the present invention. included.

  The conveyor system of the present invention is a system including a plurality of conveyors that perform sorting by different sorting methods, and when determining which of the plurality of conveyors the package is to be distributed to, according to the regularity of the package. Can be determined. Therefore, it is useful as a conveyor system or the like for sorting on a physical distribution site where sorting of a wide variety of packages is required.

DESCRIPTION OF SYMBOLS 10, 11 Conveyor system 15 Feeding conveyor 20 Measuring device 21 Weight measuring part 22 Size measuring part 25 Shape measuring part 26 Top view detector 26a, 27a Light projector 26b, 27b Light receiver 27 Side view detector 28 Area ratio calculation part 30 Main conveyor 40 Branch controller 45 Branch device 50 First conveyor 52 Diverter 55, 65 Branch conveyor 60 Second conveyor 62 Direction changer

Claims (5)

A conveyor system comprising a first conveyor for sorting packages in a first sorting mode and a second conveyor for sorting packages in a second sorting mode different from the first sorting mode,
The regularity degree which acquires the information which shows the shape of the load sent to said 1st conveyor or said 2nd conveyor, and calculates the regularity which shows the degree of proximity of the shape of said load and a predetermined shape from the acquired information A calculation unit;
A branch control unit that determines whether the package is to be sent to the first conveyor or the second conveyor based on the form factor calculated by the form factor calculator;
According to the determination result of the branching control unit, comprising a branching device that sends the luggage to either the first conveyor or the second conveyor ,
The first sorting method is a method having a higher number of sortable per unit time than the second sorting method,
The branch control unit compares the regularity with a predetermined threshold, and when the regularity is equal to or greater than the predetermined threshold, determines that the parcel is sent to the first conveyor, and the regularity is When smaller than a predetermined threshold value, it is determined that the package is sent out to the second conveyor.
Conveyor system. The regularity calculation unit
A first detector for optically detecting a top view of the luggage which is information indicating the shape of the luggage;
A second detector for optically detecting a side view of the luggage which is information indicating the shape of the luggage;
The top view area ratio, which is the ratio of the top view area in the smallest rectangle circumscribing the top view detected by the first detector, and the minimum circumscribing the side view detected by the second detector An area ratio calculation unit that calculates at least one of the side view area ratios, which is a ratio of the area of the side view in a rectangle
The conveyor system according to claim 1, wherein at least one of the top view area ratio and the side view area ratio is calculated as the regularity. The first sorting method is a method in which sorting is performed by a sorting device abutting against a package and pushing it to a sorting destination,
The area ratio calculation unit calculates a ratio of the side view in a partial range that is a part of a minimum rectangle circumscribing the side view as the side view area ratio,
3. The conveyor system according to claim 2, wherein the partial range is a range in which the sorting device contacts the load when the load is sent to the first conveyor. Furthermore, a size measuring unit for measuring the size of the luggage is provided,
The conveyor system according to any one of claims 1 to 3, wherein the branch control unit uses a larger value as the predetermined threshold for the comparison as the size measured by the size measurement unit is larger. Furthermore, a size measuring unit for measuring the size of the luggage is provided,
When the size measured by the size measuring unit is larger than a predetermined size, the branch control unit uses a value larger than that when the measured size is equal to or smaller than the predetermined size as the predetermined threshold. The conveyor system according to claim 1, wherein the comparison is performed.

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