JP7243435B2 - Robot transfer system - Google Patents

Description

The present invention relates to a robot transfer system that transfers a load using a robot that holds the load.

Patent Literature 1 discloses a picking system that acquires identification information from an article attached with identification information using an ID reader provided in a picking robot.

WO2010/023795

In the technique of Patent Document 1, since the picking robot is provided with an ID reader, it may be difficult for the picking robot to acquire the identification information depending on the orientation of the article. For example, if the surface on which the identification information is attached faces down, it is difficult for the picking robot to acquire the identification information unless the orientation of the article is changed. Also, even if the picking robot is not placed so that the surface on which the identification information is attached faces down, it is necessary to hold the ID reader up toward that surface. It may take some time before the ID reader is held over. Thus, when the picking robot is used to acquire the identification information from the article, there is a problem that the efficiency of acquiring the identification information is low.

On the other hand, it is conceivable that the identification information of the package held by the picking robot is read by a reading device provided separately from the picking robot. However, when the picking robot holds the surface on which the identification information is attached, there is a problem that it is difficult for the reading device to read the identification information.

SUMMARY OF THE INVENTION Accordingly, it is an object of the present invention to provide a robot transfer system capable of efficiently reading package information of packages using a robot.

In order to achieve the above object, there is provided a robot according to one aspect of the present invention, which has a holding section for holding a load and transfers the load using the holding section; a first reading device capable of reading package information of the packages from the packages arranged in one space; a first transporting device connected to the sorting device so as to transport the packages to the sorting device; A second reading device capable of reading package information of the package from the package placed in a second space different from the space, a position in the second space, and a position on the upstream side of the first conveying device. a second conveying device capable of moving the load between them; and a controller, wherein the controller moves the first load held by the holding part to the first space, (i) when the first reading device reads the package information of the first package, the robot is caused to place the first package on the placement surface for being transported by the first conveying device; (ii) to a first location for causing the second reader to read the package information in the second space if the first reader fails to read the package information of the first package; The robot is controlled to place the first load.

According to this, the robot places the first package, which could not be read while being held by the holding part, at the first location for allowing the second reading device to read it in the second space. Therefore, when the robot places the first package on the first place, the package information of the first package can be read by the second reading device. In this way, the package information of the first package can be read by the two reading devices under different conditions, so that the package information of the first package can be read efficiently.

Further, when the second reading device reads the parcel information of the first parcel, the controller moves the first parcel to a position on the upstream side of the first conveying device. The device is controlled to move the first package to a second location different from the first location when the second reader fails to read the package information of the first package. 2 transport devices may be controlled.

According to this, even while the reading is being performed by the second reading device, the operation of moving the next second package by the robot is continued, so it takes time for the reading by the second reading device. It is possible to reduce the stagnation of luggage even if

Also, the controller moves a second package next to the first package to the first space while the second reader is reading the package information of the first package. You can control the robot.

According to this, when the reading by the second reading device fails, in order to move the package for which the reading failed to the second place, for example, the worker moves to the second place where the reading by the robot transfer system fails. Ability to process failed shipments.

Further, the controller is configured such that an operation of moving the first article by the second conveying device to a position on the upstream side of the first conveying device does not interfere with an operation of transferring the second article by the robot. It is determined whether or not it is the predetermined timing, and if it is not the predetermined timing, the operation of moving the first article to a position on the upstream side of the first conveying device is put on standby until the predetermined timing is reached. You may control a said 2nd conveying apparatus so that.

According to this, since the second conveying device is controlled so as not to hinder the movement of the cargo by the robot, collision between the cargo moved by the robot and the cargo moved by the second conveyor device is suppressed. can do. Therefore, the parcels for which the reading has been completed can be efficiently sent to the sorting device.

Further, if the first reader fails to read the package information of the first package after the robot moves the first package to the first space, the controller reads the package information of the first package. Controlling the robot to change the orientation of the first package within the first space before placing the package at the first location causes the first reader to re-read. , the second reading device may read a holding surface, which is a surface of the first package held by the robot.

According to this, by changing the direction of the first package in the first space by the robot, the package information of the package can be read by the first reading device from a surface other than the holding surface. In addition, since the second reading device performs reading on the holding surface, it is possible to efficiently read on all surfaces of the baggage. In addition, it is possible to reduce the number of parcels for which reading by the first reading device fails, thereby reducing the number of second reading devices. Therefore, the cost required for installation of the robot transfer system can be reduced.

It should be noted that these general or specific aspects may be realized by methods, integrated circuits, computer programs, or recording media such as computer-readable CD-ROMs. Any combination may be used.

According to the robot transfer system of the present invention, it is possible to efficiently read package information of packages using a robot.

FIG. 1 is a plan view showing a schematic configuration of a robot transfer system according to an embodiment. FIG. 2 is a block diagram showing an example of the configuration of the robot transfer system according to the embodiment. FIG. 3 is for explaining a schematic configuration of the first reading device according to the embodiment. FIG. 4 is for explaining a schematic configuration of the second reading device according to the embodiment. FIG. 5 is a flowchart for explaining an example of transfer control of the robot transfer system according to the embodiment.

Hereinafter, a robot transfer system according to one aspect of the present invention will be specifically described with reference to the drawings.

It should be noted that each of the embodiments described below is a specific example of the present invention. Numerical values, shapes, materials, components, arrangement positions and connection forms of components, steps, order of steps, and the like shown in the following embodiments are examples and are not intended to limit the present invention. In addition, among the constituent elements in the following embodiments, constituent elements that are not described in independent claims representing the highest concept will be described as arbitrary constituent elements.

Each figure is a schematic diagram and is not necessarily strictly illustrated. Moreover, in each figure, the same code|symbol is attached|subjected with respect to substantially the same structure, and the overlapping description may be abbreviate|omitted or simplified.

(Embodiment)
[composition]
The configuration of the robot transfer system according to the embodiment will be described with reference to FIG.

FIG. 1 is a plan view showing a schematic configuration of a robot transfer system according to an embodiment. FIG. 2 is a block diagram showing an example of the configuration of the robot transfer system according to the embodiment.

A robot transfer system 1 according to the present embodiment is a system for efficiently reading package information of packages 11 using a robot 100 having a holding unit 110 that holds packages 11 . The robot transfer system 1 includes a robot 100 , a first reader 210 , a second reader 220 , a first carrier 310 , a second carrier 320 , and a controller 400 . The robot transfer system 1 may further include loading devices 130 and 140 and a sorting device 500 .

The carry-in devices 130 and 140 are devices that transport the container 10 containing a plurality of packages 11 picked by total picking in another area to the picking area 150 by the robot 100 . The carry-in devices 130 and 140 are configured by conveyors such as belt conveyors and roller conveyors, for example. In this embodiment, the carrying-in device 140 forming one transfer line is branched into two carrying-in devices 130 forming two transfer lines. A container 10 is provided. Therefore, in the picking area 150 , the robot 100 picks a plurality of packages 11 stored in two containers 10 . Note that the containers 10 may not be supplied to the picking area 150 from two carrying-in devices 130 , and the containers 10 may be supplied from one carrying-in device 130 .

Since the container 10 contains a plurality of parcels 11 picked by total picking according to a plurality of orders, the plurality of parcels 11 includes parcels of different types. Here, for example, one total picking is associated with one or more containers 10, so by referring to a plurality of orders in the total picking, one or more containers associated with the total picking 10 can be identified, as well as the number of packages of each type. In the robot transfer system 1, a robot 100 takes out packages 11 one by one from a container 10 in which packages of different types are mixed by total picking, and the first reader reads package information of the packages 11 taken out. 210 or the second reader 220 . As a result, the package information of each of the packages 11 contained in the container 10 can be read, so that the packages 11 can be sorted by order. For example, the parcels 11 whose parcel information is specified by reading are sorted by order by the sorting device 500 according to the specified parcel information.

The parcel information is, for example, information indicated by a barcode provided on the side of the parcel 11 . The parcel information is not limited to being indicated by a bar code, but may be indicated by a two-dimensional code or another optical reading code. Package information indicated by such an optical reading code is, for example, an identifier for identifying the corresponding package 11 . Also, the package information may include information indicating the type of the corresponding package 11 .

In the picking area 150 , two cameras 120 are arranged above each carrying-in device 130 to photograph the inside of the container 10 placed on each carrying-in device 130 from above. The images captured by the two cameras 120 are used by the robot 100 to identify the positions of the packages 11 inside the container 10 during the picking operation. The two cameras 120 do not have to be arranged above each loading device 130 . For example, one camera may be arranged at the tip of the holding part 110 of the robot 100 .

The robot 100 has a holding portion 110 that holds the load 11 and an arm portion 111 that has the holding portion 110 disposed at its tip and moves the holding portion 110 . The holding part 110 may be configured by a suction pad that adsorbs the load 11 by vacuum action, or may be configured by a clamp claw that grips the load 11 . Arm portion 111 is configured by connecting a plurality of links. The arm part 111 has actuators at its joints, and by using the actuators to change the angles of the joints or the orientation of one link in the joint with respect to the other link, the holding part 110 can move in the three-dimensional space. can be changed, that is, the holding part 110 can be moved. The arm portion 111 may have a configuration in which a plurality of links are connected in series or a configuration in which a plurality of links are connected in parallel.

The robot 100 picks one package 11 out of the plurality of packages 11 stored in the container 10 supplied to the picking area 150 by the carry-in device 130, and transmits package information of the picked package 11 to the first reader. 210 performs an operation for reading. Specifically, the robot 100 uses object recognition results from images captured by the two cameras 120 to identify the positions of the plurality of packages 11 stored in the container 10 . The robot 100 uses the arm section 111 to move the holding section 110 to the position of one of the plurality of packages 11 . The robot 100 holds the load 11 using the holding part 110 and moves the holding part 110 holding the load 11 using the arm part 111, thereby moving the load 11 from the container 10 to another position. Transfer to location. For example, the robot 100 moves the holding unit 110 holding the package 11 to a first space 213 (see below) in the first reading device 210, and according to the reading result of the first reading device 210, performs the first transport. Transfer onto device 310 or to first location 321 (see below).

The first space 213 is a space in the middle of the route along which the robot 100 conveys the packages 11 from the container 10 supplied to the picking area 150 to the first conveying device 310 connected to the sorting device 500. . A first reader 210 is arranged near the first space 213 .

A first place 321 is a place on the second transport device 320 and a place where the load 11 can be placed by the robot 100 . Also, the first location 321 is a location for allowing the second reading device 220 to read the package information of the package 11 in the second space 223 .

The first reading device 210 is a device that is arranged near the robot 100 and reads the parcel information of the parcel 11 placed in the first space 213 from the parcel 11 . The first reading device 210 is, for example, a barcode reader that reads barcodes provided on at least one surface of the package 11 .

Here, FIG. 3 is a diagram for explaining a schematic configuration of the first reading device 210. As shown in FIG. As shown in FIG. 3, the first reading device 210 includes a support base 211 arranged to surround the first space 213 from three sides, and three scanning devices arranged on the support base 211 for photographing the first space 213 from three directions. and a camera 212 .

The support table 211 includes, for example, an upper portion 211a arranged above the first space 213, a lower portion 211b arranged below the first space 213, and arranged laterally of the first space 213, and It is a substantially C-shaped member composed of an upper portion 211a and a side portion 211c connecting the lower portion 211b. The support base 211 is made of resin, metal, or the like, for example.

The three cameras 212 are arranged in each of an upper portion 211a, a lower portion 211b, and a side portion 211c that constitute the support base 211 so as to photograph the first space 213. As shown in FIG. Note that the support base 211 may be provided with a light source that irradiates the first space 213 with light having a specific wavelength. In this case, the three cameras 212 receive light having specific wavelengths reflected by the surface of the package 11 .

Although the first reading device 210 is configured to capture images of the first space 213 from three directions using the three cameras 212, it is not limited to the configuration capturing images from three directions, and may be configured to capture images from one direction using one camera 212. Alternatively, two cameras 212 may be used to photograph from two directions.

The second reading device 220 is a device that reads package information of packages 11 placed in a second space 223 different from the first space 213 . The second reader 220 is, for example, a barcode reader that reads a barcode provided on at least one surface of the package 11, like the first reader 210. FIG.

Here, FIG. 4 is a diagram for explaining a schematic configuration of the second reading device 220. As shown in FIG. As shown in FIG. 4, the second reading device 220 includes a support base 221 arranged to surround the second space 223 from three sides, and three scanning devices arranged on the support base 221 for photographing the second space 223 from three directions. and a camera 222 . A second space 223 is a space above the second transport device 320 .

The support table 221 includes, for example, a first side portion 221a and a second side portion 221b arranged on both sides when viewed from the conveying direction of the second conveying device 320, and an upper portion of the first side portion 221a. and an upper portion 221c connecting the upper portions of the second side portions 221b. That is, the support table 221 is arranged so as to straddle the second transport device 320 with the second space 223 therebetween. The support base 221 is made of resin, metal, or the like, for example.

The three cameras 222 are arranged so as to photograph the second space 223 in each of the first side portion 221a, the second side portion 112b, and the upper portion 221c that constitute the support base 221. As shown in FIG. Note that the support table 221 may be provided with a light source for irradiating the second space 223 with light having a specific wavelength, as in the case of the first reading device 210 . In this case, the three cameras 222 receive light having specific wavelengths reflected by the surface of the package 11 .

Although the second reading device 220 is configured to capture images of the second space 223 from three directions with the three cameras 222, it is not limited to the configuration of capturing images from three directions. Alternatively, two cameras 222 may be used to photograph from two directions.

The first conveying device 310 is a device connected to the sorting device 500 so as to convey the packages 11 to the sorting device 500 . The first conveying device 310 has a downstream end connected to the sorting device 500 and moves the articles 11 toward the sorting device 500 . The first conveying device 310 may be configured by a belt conveyor or may be configured by a roller conveyor.

The second conveying device 320 is a device that moves the cargo 11 between a position within the second space 223 and a position on the upstream side of the first conveying device 310 . Specifically, the second conveying device 320 moves the load 11 placed at the first location 321 outside the second space 223 to the second space 223 . Also, the second conveying device 320 is connected to the upstream end of the first conveying device 310 , and transfers the package 11 whose package information has been read by the second reading device 220 to a position on the upstream side of the first conveying device 310 . move to That is, the second conveying device 320 can move the load 11 from the second space 223 to a position on the upstream side of the first conveying device 310 . In this way, the second conveying device 320 is a device capable of moving the load placed at the first location 321 to the second space 223 or in the opposite direction. The second conveying device 320 may be configured by a conveyor such as a belt conveyor or a roller conveyor.

One of the first conveying device 310 and the second conveying device 320 may be composed of a loading surface and a pusher mechanism (pusher) that pushes and moves the load 11 on the loading surface from behind. When the first conveying device 310 is composed of a push-out mechanism, the first conveying device 310 pushes out the packages 11 placed on the placement surface from the side opposite to the sorting device 500 to move the packages 11 to the sorting device 500 . In addition, when the second conveying device 320 is configured by a pushing mechanism, a pushing mechanism for moving the load arranged at the first location 321 to the second space 223 and a pushing mechanism on the upstream side of the first conveying device 310 It may consist of two pushing mechanisms, one for moving the load 11 into position. Such a push-out mechanism is composed of, for example, a gas cylinder, a hydraulic cylinder, an electric cylinder, or the like.

In this embodiment, one robot 100 is provided with one set of the first reading device 210, the second reading device 220, the first conveying device 310, and the second conveying device 320. However, it is not limited to this, and a plurality of sets may be provided.

The controller 400 is a controller that controls the operation of the robot transfer system 1 . The controller 400 is a host computer, and acquires information on a plurality of packages 11 contained in containers 10 carried into the picking area 150 by exchanging information with the carrying-in devices 130 and 140, for example. The information of the plurality of packages 11 acquired here includes the plurality of orders based on one total picking. Next, the controller 400 controls the operations of the robot 100, the first reading device 210, the second reading device 220, and the second conveying device 320, thereby performing the operation of reading the package information of the package 11 and reading the package 11. Transfer control for transferring to the sorting device 500 is performed. Details of the transfer control will be described later with reference to FIG.

The sorting apparatus 500 sorts the packages 11 whose package information has been completely read by the first reader 210 or the second reader 220 and whose package information has been specified. The sorting device 500 sorts the packages 11 for each order. The sorting device 500 is configured by, for example, a cross belt sorter.

[motion]
Transfer control, which is the operation of the robot transfer system 1, will be described below with reference to FIG. FIG. 5 is a flowchart for explaining an example of transfer control of the robot transfer system according to the embodiment.

The controller 400 controls the robot 100 to move the package 11 held by the holder 110 of the robot 100 to the first space 213 of the first reader 210 (S1). By moving the package 11 to the first space 213 , the first reading device 210 is caused to read the package information of the package 11 . When the package information of the package 11 is successfully read, the first reader 210 transmits completion information indicating that the reading is completed to the controller 400 . Note that the completion information may include package information.

After moving the package 11 to the first space 213, the controller 400 determines whether the reading of the package information of the package 11 by the first reader 210 is completed (S2). The controller 400 determines that the reading is completed when the completion information is received, and when the completion information is not received even after the predetermined time has passed after the load is moved to the first space 213, the reading is not completed. I judge.

When the first reading device 210 cannot read the package information of the package 11 (No in S2), the controller 400 rotates the holding unit 110 as shown in FIG. (S3). For example, the orientation of the cargo 11 is changed by rotating the holding part 110 on two different rotation axes. When the first reader 210 has one camera 212 , the orientation of the package 11 is changed within the first space 213 so that the surface other than the holding surface faces the one camera 212 . This causes the first reading device 210 to re-read the parcel information of the parcel 11 .

The holding surface is the surface of the load 11 held by the holding unit 110 of the robot 100 . Specifically, when the holding portion 110 is a suction pad, the holding surface is a surface on which the suction pad is sucked, and when the holding portion 110 is a clamp claw, the clamp claw is in contact. and a surface facing the arm portion 111 to which the clamp claw is connected.

For example, after the controller 400 changes the orientation of the package 11 in the first space 213 so that the surface other than the holding surface faces the cameras 212 of the first reader 210 , the first reader 210 determines whether or not the reading of the package information of the package 11 has been completed (S4). In step S4, as in step S2, the controller 400 determines that the reading is completed when the completion information is received, and even if a predetermined time elapses after rotating the load 11 in the first space 213, the completion information is read. is not received, it is determined that reading is not completed.

Note that the controller 400 may make the determination in step S4 while causing the robot 100 to perform the operation in step S3. This is because if the reading by the first reading device 210 is completed while the robot 100 is operating in step S3, the next step S5 can be executed immediately. Thereby, the time required for steps S3 and S4 can be shortened.

When the first reader 210 has read the package information of the package 11 (Yes in S2 or Yes in S4), the controller 400 controls the robot 100 to place the package 11 on the first conveying device 310 (S5). ). That is, the controller 400 drives the arm portion 111 of the robot 100 to place the package 11 held by the holding portion 110 and for which the package information has been read, on the first conveying device 310 .

After causing the robot 100 to place the load 11 on the first transport device 310, the controller 400 drives the first transport device 310 to move the load 11 placed on the first transport device 310. Send to the sorting device 500 (S6).

When the first reader 210 cannot read the package information of the package 11 (No in S4), the controller 400 controls the robot 100 to place the package 11 on the first place 321 (S7). In this case, the robot 100 arranges the package 11 at the first location 321 so that the holding surface of the package 11 faces the camera 222 of the second reader 220 . Thereby, the second reading device 220 can read the holding surface of the package 11 .

Although steps S3 and S4 are performed after a negative determination is made in step S2, step S7 may be performed without performing steps S3 and S4.

After the load 11 is placed on the first place 321, the controller 400 drives the second conveying device 320 to move the load 11 to the second space 223 (S8). At this time, the controller 400 may control the second conveying device 320 to move the load 11 back and forth in the conveying direction of the second conveying device 320 within the second space 223 . This causes the second reading device 220 to read the package information of the package 11 . Note that the controller 400 may use an image captured by the camera 222 of the second reading device 220 to determine whether or not the package 11 is in the second space 223, or the object may be in the second space 223. If a sensor for detecting the existence of the space 223 is provided, the detection result of the sensor may be used.

By completing step S5 or step S7, the controller 400 allows the robot 100 to place the load 11 on the first transport device 310 or the first place 321, and then the remaining stored in the container 10. For the package 11, the robot 100 is caused to perform the operation of step S1. As a result, the controller 400 similarly performs the transfer control after step S2 for the next package 11 as well. In this way, the controller 400 repeats transfer control for each of the plurality of packages 11 accommodated in the container 10 .

Further, after step S7 is completed, the controller 400 causes the robot 100 to perform the operation of step S1, and simultaneously causes the second transport device 320 to perform the operation of step S8. In other words, while the second conveying device 320 moves the parcels 11 to the second space 223 and the second reading device 220 reads the parcel information of the parcels 11, the controller 400 controls the next of the remaining parcels 11. , the robot 100 is controlled to move the load 11 to the first space 213 .

In this way, even while the second reading device 220 is reading, the robot 100 continues the operation of moving the next package 11, so reading by the second reading device 220 takes time. However, it is possible to reduce the stagnation of the cargo 11.

When picking up the next package 11, the robot 100 picks up the package 11 from the container 10 different from the container 10 in which the previous package 11 was accommodated, out of the two containers 10 placed in the picking area 150. You can take it out.

After moving the package 11 to the second space 223, the controller 400 determines whether the reading of the package information of the package 11 by the second reader 220 is completed (S9). Also in step S9, similarly to steps S2 and S4, when the completion information is received, the controller 400 determines that the reading is completed, and after the load 11 is rotated in the first space 213, a predetermined time has elapsed. If the completion information is not received even after the completion, it is determined that the reading is not completed.

When the second reading device 220 reads the package information of the package 11 (Yes in S9), the controller 400 determines whether or not the robot 100 moves the next package 11 at a predetermined timing ( S10). The predetermined timing means that the operation of moving the load 11 by the second transport device 320 to a position on the upstream side of the first transport device 310 is the operation of transferring the next load 11 onto the first transport device 310 by the robot 100. It is a timing that does not interfere with

For example, when the second reading device 220 reads the package information of the package 11, the controller 400 reads the package information of the package 11 from the current time, after the second conveying device 320 places the package 11 on the first conveying device 310. estimates the end point of the period until the parcel 11 is handed over to the sorting device 500 . The controller 400 calculates the end time according to the speed at which the packages 11 are moved by the second conveying device 320 and the first conveying device 310 and the availability of the sorting device 500 . Then, the controller 400 determines whether or not there is a possibility that the robot 100 will place the load 11 on the first transport device 310 during the calculated period up to the end time. If there is a possibility that the robot 100 will place the package 11 on the first transport device 310 during this period, the controller 400 determines that it is not the predetermined timing, and the robot 100 will first transport the package during this period. If there is no possibility of placing it on the device 310, it is determined that it is the predetermined timing.

Then, the controller 400 drives the second conveying device 320 until the packages 11 held by the robot 100 are handed over to the sorting device 500, that is, the reading of the package information by the second reading device 220 is completed. The operation of moving the load 11 to the first conveying device 310 is put on standby. At this time, even after it is determined that the robot 100 may place the package 11 on the first conveying device 310 during the period, the first reading of the package 11 held by the robot 100 during the standby period is performed. If the device 210 fails to read, the controller 400 may determine that the predetermined timing has come.

When the controller 400 determines that it is the predetermined timing (Yes in S10), the controller 400 controls the second conveying device 320 to move the load 11 in the second space 223 to a position upstream of the first conveying device 310. (S11). On the other hand, when the controller 400 determines that it is not the predetermined timing (No in S10), the controller 400 returns to step S10. As a result, the controller 400 causes the operation of the second conveying device 320 to wait until the predetermined timing. In this manner, the controller 400 controls the second transport device 320 so as not to interfere with the movement of the load 11 by the robot 100 , so that the load 11 moved by the robot 100 and the load 11 moved by the second transport device 320 are controlled. Therefore, it is possible to suppress the collision with the cargo 11 that is moving. Therefore, it is possible to efficiently send the parcels 11 whose reading has been completed to the sorting device 500 .

It should be noted that step S10 is performed after it is determined as Yes in step S9, but step S11 may be performed without performing step S10. In this case, the movement of the robot 100 to transfer the package 11 to the first transport device 310 is performed by transferring the package 11 whose package information has been read by the second reader 220 to the first transport device 310 by the second transport device 320 . It may be made to wait until it is transported and handed over from the first transport device 310 to the sorting device 500 .

The reason why the operation of the second conveying device 320 or the operation of the robot 100 is put on standby in this manner is to limit the number of packages 11 simultaneously placed on the first conveying device 310 to one. . This is because the packages 11 placed on the first conveying device 310 are packages for which package information has been specified. This is for accurately performing control for associating an empty tray with the package information of the package 11 delivered to the one empty tray. As a result, the sorting device 500 can sort the packages 11 placed on the trays to which the package information is linked to the sorting destinations determined for each order according to the package information.

When step S11 ends, the process proceeds to step S6.

When the second reader 220 cannot read the package information of the package 11 (No in S9), the controller 400 causes the second reader 220 to move the package 11 to a second location 330 different from the first location 321 . The conveying device 320 is controlled (S12). The second place 330 is arranged, for example, in a region of the second conveying device 320 opposite to the side where the first conveying device 310 is arranged, and is arranged below the mounting surface of the second conveying device 320. A space within the container for containing unreadable packages 11 .

Then, the controller 400 notifies the worker of information indicating that there is a package 11 that could not be read by the first reader 210 and the second reader 220 (S13). In this way, when the reading by the second reading device 220 fails, the unsuccessfully read package 11 is moved to the second location 330, and a notification is sent to the worker indicating that the unsuccessfully read package 11 has occurred. conduct. Therefore, after receiving the notification, the worker goes to the second location 330 to process the package 11 for which the robot transfer system 1 failed to read the package information. be able to. Specifically, the worker visually confirms the position of the package information of the package 11 for which the reading failed, and places the package 11 in a direction that is easy to read by the second reading device 220 . Device 220 may be caused to reread. In addition, the operator visually identifies the package information of the packages 11 for which the reading failed, performs an input to make the sorting device 500 recognize the packages 11 so that the packages 11 can be sorted according to the specified package information, and performs an input to make the sorting device 500 recognize the packages. 11 to the sorting device 500 may be performed.

As described above, the cargo 11 whose cargo information has been specified by the robot transfer system 1 is sent to the sorting device 500 . By controlling the sorting device 500, the controller 400 sorts the packages 11 for which the package information is specified, for each order.

[Effects, etc.]
According to the robot transfer system 1 according to the present embodiment, by placing the package 11 that could not be read by the first reader 210 at the first location 321 for reading by the second reader 220, A second reader 220 can be made to read. Specifically, the package information of the package 11 that could not be read while the robot 100 was holding the holding unit 110 can be read by the second reading device 220 while the robot 100 is separated from the holding unit 110 . . In this way, the two reading devices 210 and 220 can read the package information of the package 11 under different conditions, so that the package information of the package 11 can be read efficiently.

Further, in the robot transfer system 1 according to the present embodiment, the controller 400 determines that the first reader 210 cannot read the package information of the package 11 after the robot 100 moves the package 11 to the first space 213. In this case, by controlling the robot 100 to change the orientation of the package 11 in the first space 213 before placing the package 11 in the first location 321, the first reader 210 is instructed to reread the package. let it happen

In this way, the controller 400 can cause the first reader 210 to read the parcel information of the parcel 11 from a surface other than the holding surface by changing the orientation of the parcel 11 in the first space 213 with the robot 100 . In addition, since the second reading device 220 reads the holding surface, it is possible to efficiently read all the surfaces of the luggage 11 together with the reading performed by the first reading device 210 . In addition, since the number of parcels for which reading by the first reader 210 fails can be reduced, the number of the second readers 220 can be reduced. That is, for example, when a plurality of sets of the first reading device 210, the second reading device 220, the first conveying device 310, and the second conveying device 320 are provided for one robot 100, the second reading The number of devices 220 can be reduced. Therefore, the cost for installing the robot transfer system 1 can be reduced.

[Modification]
In the robot transfer system 1 according to the above embodiment, when the second reading device 220 cannot read the package information of the package 11, the package 11 is transferred to the side of the second transport device 320 where the first transport device 310 is arranged. Although the second conveying device 320 is controlled to move to the second location 330 on the opposite side, the present invention is not limited to this. In other words, the second location is not limited to the area on the opposite side of the second conveying device 320 from the side on which the first conveying device 310 is arranged. The second location may be the area to which the sorting device 500 sorts, that is, the NG chute where the parcels 11 whose reading fails are sorted. In this case, the second conveying device 320 sends the packages 11 for which reading by the second reading device 220 has failed to the first conveying device 310, and the first conveying device 310 sends the packages 11 to the sorting device 500 as packages for which reading has failed. , and the sorting device 500 conveys the packages 11 to the NG chute.

Further, in the robot transfer system 1 according to the above-described embodiment, when it is determined No in step S2, the orientation of the load 11 is changed by rotating the holding unit 110 of the robot 100, but the present invention is not limited to this. . For example, the position or orientation of the package 11 with respect to the first reader 210 may be changed by driving the arm section 111 of the robot 100 . Thereby, the distance between the holding part 110 and the first reading device 210 may be changed. Also, by rotating the first reader 210, the orientation of the package 11 relative to the first reader 210 may be changed.

Further, in the robot transfer system 1 according to the above-described embodiment, the second transfer device 320 moves the load 11 placed on the first place 321 to the second space 223, but the present invention is not limited to this.

For example, the second reading device 220 may be configured to move to a position where the second space 223 of the second reading device 220 overlaps the first location 321 . In this case, the controller 400 controls the position of the second reader 220 so that the second reader 220 moves to a position where the second space 223 overlaps the first location 321 . Accordingly, when the second reading device 220 moves to a position where the second space 223 overlaps the first place 321 after the load 11 is placed on the first place 321, the second reading device 220 , the package information of the package 11 placed at the first location 321 can be read.

Further, for example, the support table 221 of the second reading device 220 is configured to surround not only the second transport device 320 but also the robot 100 from three sides when viewed from the transport direction of the second transport device 320. good too. In other words, the support table 221 in this case is positioned above, to the right, and to the left of the space occupied by the second transport device 320 and the robot 100 when viewed from the transport direction of the second transport device 320 . is configured to surround the Note that in this case, the first location 321 is arranged within the second space 223 . Also, the second space 223 is the space above the second conveying device 320 as in the embodiment. Thereby, when the robot 100 places the package 11 on the first place 321 in the second space 223 , the second reading device 220 can read the package information of the package 11 . That is, the second reading device 220 is arranged at a position for reading the package information of the package 11 placed on the first location 321 .

In the robot transfer system 1 according to the above embodiment, the first reading device 210 and the second reading device 220 perform image recognition processing for recognizing an optical reading code such as a bar code in an image captured by a camera. However, it is not limited to this, and may be configured to perform OCR for recognizing a character string in an image as image recognition processing, or may be an RFID reader that reads an RFID (Radio Frequency Identifier) tag.

Although the robot transfer system according to one or more aspects of the present invention has been described above based on the embodiments, the present invention is not limited to these embodiments. As long as it does not depart from the gist of the present invention, one or more modifications of the present embodiment that can be considered by those skilled in the art, or a form constructed by combining the components of different embodiments may be included within the scope of the embodiments.

INDUSTRIAL APPLICABILITY The present invention is useful as a robot transfer system or the like that can efficiently read package information of packages using a robot.

1 robot transfer system 10 container 11 cargo 100 robot 110 holding unit 111 arm unit 120 cameras 130, 140 loading device 150 picking area 210 first reading devices 211, 221 support bases 212, 222 camera 213 first space 220 second reading device 223 Second space 310 First transport device 320 Second transport device 321 First location 330 Second location 400 Controller 500 Sorting device

Claims (5)

a robot having a holding section for holding a load and transferring the load using the holding section;
a first reading device arranged near the robot and capable of reading package information of the package from the package placed in the first space;
a first conveying device connected to the sorting device for conveying packages to the sorting device;
a second reading device capable of reading package information of the package from the package placed in a second space different from the first space;
a second conveying device capable of moving the load between a position in the second space and a position upstream of the first conveying device;
a controller;
After moving the first package held by the holding unit to the first space, the controller (i) reads the package information of the first package by the first reader. (ii) controlling the robot to place the first package on a placement surface to be conveyed by the first conveying device; a robot transfer system for controlling the robot to place the first package at a first location for allowing the second reader to read the package information in the second space. The controller moves the second conveying device to move the first parcel to a position upstream of the first conveying device when the second reading device reads the parcel information of the first parcel. and controlling the second transport so as to move the first package to a second location different from the first location when the second reader fails to read the package information of the first package. The robot transfer system according to claim 1, which controls a device. The controller causes the robot to move a second package next to the first package to the first space while the second reader is reading package information of the first package. The robot transfer system according to claim 1 or 2, which controls. The controller controls the operation of moving the first article by the second conveying device to a position on the upstream side of the first conveying device in a predetermined manner so as not to interfere with the operation of transferring the second article by the robot. It is determined whether or not the timing is reached, and if the timing is not the predetermined timing, the operation of moving the first article to a position on the upstream side of the first conveying device is put on standby until the predetermined timing is reached. The robot transfer system according to claim 3, which controls the second transfer device. If the first reader fails to read the package information of the first package after the robot moves the first package to the first space, the controller reads the first package. causing the first reader to re-read by controlling the robot to change the orientation of the first package within the first space before placing it at the first location;
The robot transfer system according to any one of claims 1 to 4, wherein the second reading device reads a holding surface, which is a surface of the first load held by the robot.

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