JP7244104B2 - Stacking device and crate sorting device - Google Patents

Description

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

Patent Literature 1 discloses a device for recognizing the display of an object to be carried, which comprehensively judges an image of an identification mark displayed on the object by an image processing device and recognizes and reads the identification mark. . Based on the read identification symbols, the transported objects can be transported to a predetermined storage location and sorted.

JP-A-10-055432

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

In view of the above problems, the object of the present disclosure is to provide a stacking device, a crate sorting device, a control method, and a program that can sort crates of various sizes and stably stack the sorted crates. It is to be.

A stacking device according to the present disclosure includes:
assigned to each type of crate, stacking the assigned crates for each type;
A receiving unit that receives the assigned crates for each of the types,
The receptacle comprises movable guides for adjusting the inner width of the receptacle according to the width of the allotted crate.
A crate sorting apparatus according to the present disclosure includes:
a plurality of stacking devices that are assigned to each type of a plurality of crates and stack the assigned crates for each of the types;
a conveying device that conveys the plurality of crates to the plurality of stacking devices assigned to each of the crates according to the type of the crates;
The stacking device includes a receiving unit that receives the assigned crates for each of the types,
The receptacle includes movable guides for adjusting the inner width of the receptacle according to the width of each of the assigned crates.

A method for controlling a stacking device according to the present disclosure includes:
a step of measuring the height of a plurality of crates that are assigned to each type of crates, and that the crates that are assigned to each type are stacked;
lowering the lift holding the stacked crates by one crate height when the height of the stacked crates exceeds a first height.

The program according to the present disclosure is
A computer acting as a stacking device,
a step of measuring the height of a plurality of crates that are assigned to each type of crates, and that the crates that are assigned to each type are stacked;
lowering the lift holding the stacked crates by one crate height when the height of the stacked crates exceeds a first height;
let it run.
The program according to the present disclosure is
A computer that operates as a crate sorting device that is assigned to each type of a plurality of crates and has a plurality of stacking devices for stacking the crates that are assigned to each type,
a step of conveying the plurality of crates to the plurality of assigned stacking devices according to the type of the crates;
let it run.

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

1 is a perspective view showing a crate sorting device according to a first embodiment; FIG. 1 is a perspective view showing a main part of a crate sorting device according to Embodiment 1; FIG. 1 is a top view showing a main part of a crate sorting device according to Embodiment 1; FIG. 1 is a block diagram showing a system configuration of a crate sorting device according to Embodiment 1; FIG. 4 is a perspective view showing an operation example of the crate sorting device according to the first embodiment; FIG. Fig. 2 is a flow chart showing the sorting steps in an exemplary crate sorting method; FIG. 4 is a flow chart showing the stacking steps in an exemplary crate sorting method; FIG. FIG. 7 is a block diagram showing a system configuration of a stacking device according to a second embodiment; FIG. It is a figure which shows an example of the hardware constitutions contained in a stacking apparatus or a crate sorting apparatus.

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

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

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

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

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

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

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

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

The image recognition processing unit 2c collects and identifies this captured image. For example, the image recognition processing unit 2c extracts a density gradient from a pre-registered master image of the side of the crate and the color of the crate C1 in the collected grayscale images and the characters written on the crate C1. The image recognition processing unit 2c compares the master image with the feature point group, identifies the crate, and generates image identification information.

The reverse switching unit 1d acquires a reverse command signal from the control device 40, which will be described later. Based on the acquired reversal command signal, the reverse switching unit 1d changes the transport direction of the crate C1 to the direction in which the transport unit 1a extends (here, the x-axis plus side) or the direction toward the reversing unit 1b (here, , y-axis minus side). If the conveying direction of the crate C1 is the direction in which the conveying section 1a extends, the crate C1 continues on the conveying section 1a. If the transport direction of the crate C1 is the direction toward the reversing section 1b, the crate C1 advances to the reversing section 1b.

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

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

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

The first branch portion 1e rotates around the one end portion 1e1. Based on a control signal from the control device 40, the other end 1e2 of the first branch portion 1e is tilted downward (here, the z-axis minus side) or returned to the same height as the route switching portion 1c. to rotate.

Similarly to the first branched portion 1e, the second branched portion 1f, the third branched portion 1g, and the fourth branched portion 1h rotate around the ends 1f1, 1g1, and 1h1, respectively. . The second to fourth branched portions 1f, 1g, and 1h have one end portions 1f1, 1g1, and 1h1 inclined downward (here, the z-axis minus side) based on a control signal from the control device 40. or return to the same height as the route switching portion 1c.

The first stacking device 31, the second stacking device 32, the third stacking device 33, and the fourth stacking device 34 are located below the route switching portion 1c (here, the z-axis minus side). The first stacking device 31, the second stacking device 32, the third stacking device 33, and the fourth stacking device 34 are arranged in a predetermined direction. The crates to be sorted are stored in advance in the first stacking device 31, the second stacking device 32, the third stacking device 33, and the fourth stacking device 34 according to the type of the crates. assigned. The first stacking device 31, the second stacking device 32, and the third stacking device 33 are located approximately at the second branch 1f, the third branch 1g, and the fourth branch 1g, respectively. It is arranged below the branch portion 1h.

When the first branch portion 1 e rotates and the other end portion 1 e 2 inclines downward, the other end portion 1 e 2 is positioned near the top of the first stacking device 31 .

As with the first branching portion 1e, the second branching portion 1f is positioned near the upper portion of the second stacking device 32 when the other end portion 1f2 is inclined downward.

As with the first branch portion 1e, the other end portion 1g2 of the third branch portion 1g is positioned near the top of the third stacking device 33 when the other end portion 1g2 is inclined downward.

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

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

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

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

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

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

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

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

The reversal control unit 42 determines whether to reverse the orientation of the crate C1 or leave the orientation of the crate C1 unchanged, based on the image identification information. A plurality of crates stacked on the same stacking device may all be oriented in the same direction. Moreover, the method of stacking a plurality of crates stacked on the same stacking device may be nesting, that is, a nested structure in which the directions of the crates are alternated. In other words, by stacking the crates in a staggered orientation, multiple crates stacked on the same stacking device may stagger in orientation. When reversing the orientation of the crate C1, the reversal control unit 42 generates a reversal command signal and sends it to the reversal switching unit 1d.

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

The crate stacking height information determination unit 44 determines whether the first stacking device 31, the second stacking device 32, the third stacking device 33, and the fourth stacking device 34 are stacked. Acquire crate stack height information that indicates the height of the crates. The crate stack height information can be obtained by being generated by, for example, a photoelectric sensor attached to the receiving portion 31c. The crate stacking height information determination unit 44 is configured by stacking the first stacking device 31, the second stacking device 32, the third stacking device 33, and the fourth stacking device 34. A determination is made as to whether the height of the crate exceeds the first and second heights. The first and second heights can be changed in advance according to various conditions. The first height is, for example, a height at which the first to fourth stacking devices 31 to 34 cannot stack the crate C1 additionally. The first height is, for example, the maximum height of the upper end of the stacked crates when the first to fourth stacking devices 31 to 34 can stack one additional crate C1. It is. Further, the first height is, for example, when the first to fourth stacking devices 31 to 34 stack one additional crate C1, the additionally stacked crate C1 is above the main body 31a. It may be so high that it sticks out. Further, the first height is, for example, when the first to fourth stacking devices 31 to 34 additionally stack one crate C1, the additionally stacked crate C1 is the upper end of the main body 31a. The height may be higher than the height. The second height is the height of the stacked crates C1 when the first to fourth stacking devices 31 to 34 are full of stacked crates C1 and the like. The second height is, for example, the height of the stacked crates when the first to fourth stacking devices 31 to 34 stack the crates to the maximum. Specifically, the height of the stacked crates is the height from the lower end to the upper end of the stacked crates.

The stacking device control unit 45 controls the first stacking device 31, the second stacking device 32, the third stacking device 33, and the fourth stacking device 33 based on the crate stacking height information. The lift 31b with the device 34 is lowered and raised respectively. When the height of the crates stacked by the first stacking device 31 exceeds the first height, the stacking device control section 45 lowers the lift 31b by one crate. Similarly, when the height of the crates stacked by the second to fourth stacking devices 32 to 34 respectively exceeds the first height, the stacking device control unit 45 The lifts 31b of the stacking devices 32-34 are lowered by one crate.

The communication unit 46 transmits and receives various information to and from the communication unit 52 of the crate transport device 50 . Based on the information acquired by the communication unit 52, the control unit 51 of the crate transport device 50 controls the first stacking device 31, the second stacking device 32, the third stacking device 33, and the fourth stacking device 33. , and the stacking device 34 may be controlled to take out the stacked crates. Furthermore, the crate transporter 50 may transport the retrieved crates to another crate storage location.

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

<Type sorting step>
Crate C1 is sorted by category (category sorting step ST11)

Specifically, first, the identification image information of the crate C1 is obtained (crate identification image information obtaining step ST1). The captured image recognition unit 2 captures an image of the crate C1 to be sorted and generates identification image information.

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

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

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

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

If the route is to be switched (route switching necessity determination step ST4: YES), the route is switched and the crate C1 is transported along the switched route (route switching step ST5). Finally, the crate C1 is conveyed to the stacking device of the switched route destination and stacked (crate stacking step ST6). For example, the first branched portion 1e is rotated to raise the other end portion 1e2 to the same height as the one end portion 1f1 of the second branched portion 1f, and the third branched portion 1g is rotated. The other end 1g2 is lowered. The crate C1 is dropped into the receiving portion 31c of the third stacking device 33. The crate C<b>1 is stacked on the third stacking device 33 .

On the other hand, if the route is maintained (reversal necessity determination step ST2: NO), the crate C1 is transported along the maintained route. Finally, the crate C1 is transported to the stacking device at the destination of the maintained route and stacked (crate stacking step ST6). For example, the crate is conveyed as it is to the first branch portion 1 e and dropped into the receiving portion 31 c of the first stacking device 31 . The crate is received and held by the lift 31b. The crate C<b>1 is stacked on the first stacking device 31 .

From the above, the crates C1 are sorted by type (type sorting step ST11).

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

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

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

When the height of the sorted and stacked crates exceeds the second height (second crate height determination step ST14: YES), the crate stacking information is notified to other components (notification step ST15). For example, when the crate transporting device 50 is notified of the crate stacking information, it takes out the stacked crates from the first to fourth stacking devices 31 to 34 . Furthermore, the first to fourth stacking devices 31 to 34 can stack the continuously sorted crates.

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

As described above, the crates sorted by type can be stacked on the first to fourth stacking devices 31 to 34 . The movable guide 31d adjusts the inner width of the first stacking device 31 for each type of crate. Since the first stacking device 31 has a width corresponding to the sorted crates C1, the crates C1 fit in the receiving portion 31c or are placed on the lift 31b. Therefore, the crates C<b>1 can be stably stacked on the first stacking device 31 .

In addition, in the crate sorting method according to the present embodiment, when the stacked crates exceed the first height, the lift 31b descends by the height of one crate. As a result, the stacked crates descend, creating an appropriate space in the vicinity of the receiving portion 31c, so that the stacking device can stably receive the crates. Therefore, the crates C<b>1 can be stably stacked on the first stacking device 31 .

Further, in the crate sorting method according to the present embodiment, when the stacked crates exceed the second height, the control device 40 outputs a full crate indicating that the stacked crates are full through the communication unit 46 . Send the information to the crate transporter 50 . Therefore, even when the stacked crates become full, they are taken out from the stacking device by the crate conveying device 50 . The stacking device can stably receive other crates. Therefore, the crates C<b>1 can be stably stacked on the first stacking device 31 .

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

Further, the crate C<b>1 drops from the route switching portion 1 c and moves to the first stacking device 31 . In other words, since the movement of the crate C1 to the first stacking device 31 uses gravity, no other power is required. Therefore, the configuration of the crate sorting device 10 is simple.

In addition, the first to fourth stacking devices 31 to 34 according to the present embodiment are arranged in a row, and are arranged directly below the route switching section 1c. Therefore, it does not take up space on the horizontal plane. That is, it is excellent in space-saving property, and is particularly excellent in space-saving property on a horizontal plane.

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

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

Here, the first stacking device 31 receives, for example, the above-described crates assigned for each type of crates from a conveying device such as the roller conveyor 1 or the like. The first stacking device 31, like the crate sorting device 10, can stably stack the received crates.

As shown in FIG. 8, the control device 60 of the first stacking device 31 includes, like the control device 40 shown in FIG. and a communication unit 46 .

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

Further, when the stacked crates exceed the first height, the lift 31b descends by the height of one crate. As a result, the stacked crates descend, creating an appropriate space in the vicinity of the receiving portion 31c, so that the first stacking device 31 can stably receive the crates.

When the stacked crates exceed the second height, the control device 60 transmits full information indicating that the stacked crates are full to the crate transport device 50 via the communication unit 46 . Therefore, even if the stacked crates become full, they are taken out from the first stacking device 31 by the crate conveying device 50 . The first stacking device 31 can stably receive other crates.

As described above, the first stacking device 31 can stably stack the crates C1.

(Other embodiments, etc.)
In the above embodiment, the function of each part of the crate sorting device 10 shown in FIGS. 1 to 5 and the stacking device 31 shown in FIGS. It is sufficient that the crate sorting device 10 can realize these functions.

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

The device 100 shown in FIG. 9 comprises a processor 101 and a memory 102 together with an interface 103 . The crate sorting device 10 described in the above embodiment is implemented by the processor 101 reading and executing a program stored in the memory 102 . That is, this program is a program for causing the processor 101 to function as the crate sorting device 10 or a part thereof. This program can be said to be a program for executing processing in the crate sorting device 10 or a part thereof.

The program described above can be stored using various types of non-transitory computer readable media and supplied to computers (computers including information notification devices). Non-transitory computer-readable media include various types of tangible storage media. Examples of non-transitory computer-readable media include magnetic recording media (eg, floppy disks, magnetic tapes, hard disk drives), magneto-optical recording media (eg, magneto-optical disks). Further examples include CD-ROM (Read Only Memory), CD-R, and CD-R/W. Further examples include semiconductor memory (eg, mask ROM, PROM, EPROM, flash ROM, RAM). The program may also be delivered to the computer on various types of transitory computer readable medium. Examples of transitory computer-readable media include electrical signals, optical signals, and electromagnetic waves. Transitory computer-readable media can deliver the program to the computer via wired channels, such as wires and optical fibers, or wireless channels.

Furthermore, as the procedure of processing in the stacking device or the crate sorting device has been described in the various embodiments described above, the present disclosure can also take the form of a control method for the stacking device or the crate sorting device. . An example of a method for controlling this stacking device or crate sorting device includes first and second steps.

In the first step, a plurality of crates are allocated for each type of crates, and the height of the crates in which the crates allocated for each type are stacked is measured.

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

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

It should be noted that the present invention is not limited to the above embodiments, and can be modified as appropriate without departing from the scope of the invention. For example, the crates C1, C2, C3, C4 shown in FIG. 1 are stacking crates, but the crates C1, C2, C3, C4 may be nesting crates. Further, although the crate sorting apparatus 10 includes the first to fourth stacking devices 31 to 34, two, three, five or more stacking devices having the same configuration as the first stacking device 31 may be provided. good. In addition, the first to fourth stacking devices 31 to 34 measure the weight of the stacked crates, and when the weight of the stacked crates exceeds a predetermined value, notify the crate conveying device of full information. You may The present disclosure may be implemented by appropriately combining the embodiments and examples thereof.

10 Crate sorting device 1 Roller conveyor
1a Conveyor
1a1 One end 1a2 Other end 1b Reversing part 1c Route switching part 1d Reversing switching part 1e First branching part
1e1 One end 1e2 Other end 1f Second branch 1f1 One end 1f2 Other end 1g Third branch 1g1 One end 1g2 Other end 1h Fourth branch 1h1 One end 1h2 Other end 2 Captured image recognition Unit 2a Camera 2b Gate 2c Image recognition processor 31 First stacking device 32 Second stacking device 33 Third stacking device 34 Fourth stacking device 31a Main body 31b Lift 31c Receiving part 31d Movable guide 40 Control Device
41 image identification information acquisition unit 42 inversion control unit 43 route switching control unit 44 crate stacking height information determination unit 45 stacking device control unit 46 communication unit 100 device 101 processor 102 memory 103 interface C1-C4 crate ST1 crate identification image information Acquisition step
ST11 Classification step
ST12 First crate height determination step ST13 Lift lowering step ST14 Second crate height determination step ST15 Notification step ST2 Reversal necessity determination step ST3 Crate reversal step ST4 Route switching necessity determination step ST5 Route switching step ST6 Crate stacking step

Claims (6)

In a stacking device, to which one type of crates is assigned among a plurality of types of crates, and to stack the assigned one type of crates,
with a receiving part,
The receiving part has a movable guide that adjusts the inner width of the receiving part according to the width of the assigned one type of crate,
The receiving unit receives the assigned one type of crate dropped from above the receiving unit;
stacking device. further comprising a lift for holding the stacked crates;
Defining the maximum height of the stacked crates when it is possible to add another crate to the stacked crates and stack them as a first height,
when the stacked crates exceed the first height, the lift is lowered by one crate height;
2. Stacking device according to claim 1. a controller;
a communication unit;
When the height of the stacked crates when the stacked crates are full is defined as a second height,
When the stacked crates exceed the second height, the control device transmits full information indicating that the stacked crates are full to the crate transport device through the communication unit.
3. A stacking device according to claim 1 or 2. a plurality of stacking devices that are assigned to each type of a plurality of crates and stack the assigned crates for each of the types;
a conveying device that conveys the plurality of crates to the plurality of stacking devices assigned to each of the crates according to the type of the crates;
The stacking device includes a receiving portion arranged below the conveying device,
the receiving part comprises a movable guide for adjusting the inner width of the receiving part according to the width of each of the assigned crates;
The receiving unit receives the crates assigned to each type, which are transported by dropping from the transport device.
Crate sorting equipment. When the height of the stacked crates when the stacked crates are full is defined as a second height,
In at least one stacking device of the plurality of stacking devices, when the stacked crates exceed the second height, the transport device is to be transported to the one stacking device. conveying the crates to the one stacking device and another stacking device;
5. A crate sorting apparatus according to claim 4. further comprising a crate image identification device that acquires crate type identification information indicating the type of the crate based on an image that indicates the plurality of crates loaded into the conveying device;
The transport device transports the plurality of crates to the plurality of assigned stacking devices according to the type of the crate based on the crate type identification information.
6. A crate sorting device according to claim 4 or 5.

Images