JP7341713B2 - Loading system with transfer device - Google Patents

Description

The present invention relates to a loading system having a transfer device that holds and transfers articles.

Transfer devices are used, for example, at airports. Passengers boarding an airplane check their baggage at the check-in counter in the airport's terminal building. Baggage is conveyed from the counter to the make conveyor in the backyard. The make conveyor is a loop-shaped conveyor, and baggage is loaded from the make conveyor into a container by a transfer device.

Patent Document 1 discloses, for example, a conveyance device that grasps and unloads a large number of articles loaded in a truck compartment one by one, which is filed by the applicant of the present invention. According to this conveyance device, the robot arm can be controlled using image information of a large number of articles obtained by the image processing means to unload the cargo from the truck compartment, thereby saving labor in this type of unloading work. Can be done.

JP2017-206318A

Conventional loading systems require multiple size conveyors to efficiently load cargo into containers. However, since airports have small and limited spaces, there is a desire to make the system smaller by eliminating the need to install multiple conveyors of different sizes. Alternatively, there is a desire to make the system simpler.

According to one aspect of the disclosure, a loading system for loading articles from a conveyor into a container has a conveyor that conveys the articles in a loop and a drive mechanism that drives the conveyor. The position of the article relative to the conveyor is sensed by a position sensor. Information on each shape of the article relative to the conveyor is stored by the storage means. The position of the article and the shape information of the article are linked by a linking circuit. The state within the container is recognized by the recognition means. A selection circuit selects a selected article to be loaded into the container from a plurality of articles on the conveyor based on the condition within the container and the shape of each article. The position of the selected article on the conveyor is acquired by the position acquisition circuit based on the information obtained from the selected article and the linking circuit. A transfer device is located above a lifting area that is an area of the conveyor. The transfer device lifts the selected article from the conveyor when the selected article is located in the lifting area for transfer toward the container based on the position obtained from the position acquisition circuit.

Therefore, the transfer device waits for the article moving in a loop to reach the lifting area and then lifts the article. In this way, the area in which the article is lifted is limited to the lifting area, and the movement range can be reduced, so that the transfer device can be made smaller. For example, the transfer device can be made smaller compared to a transfer device that moves over the entire area above a loop-shaped conveyor or a transfer device that moves over the entire area above the area where articles are stocked. Conventionally, articles may be stocked by size, and the articles by size may be transferred to each conveyor. In contrast, the present loading system can lift selected items directly from the conveyor without having to stock items by size. This allows the loading system to be made smaller or simpler.

According to another feature of the disclosure, a transfer device loads selected items lifted from the conveyor into a container. The loading system is thus able to load articles lifted from the conveyor directly into the container without the use of a loading device. This allows the loading system to be made smaller or simpler.

According to another feature of the disclosure, a loading system includes a transfer conveyor and a loading device. The transport conveyor is located downstream of the transfer device in the transport path and receives selected articles from the transfer device. A loading device loads selected articles from the transport conveyor into the container. Therefore, even if the conveyor position and the container position are far apart, the selected articles can be loaded into the container by using the transport conveyor and the loading device.

According to another feature of the disclosure, the loading system has article recognition means for recognizing articles from above the conveyor. The article recognition means obtains shape information of the article and transmits it to the storage means. Therefore, even if shape information of the article is not obtained in advance before the article is conveyed onto the conveyor, the shape of the article can be obtained on the conveyor. The position detector includes an encoder provided on the drive mechanism to detect the position of the conveyor. Therefore, the position detector can detect the position of the conveyor by counting the pulses output from the encoder. Based on the count of pulses and the position of the article on the conveyor recognized by the article recognition means, the position of the article on the conveyor can be obtained.

According to the feature of the present disclosure, the transfer device can take out articles of an appropriate size for loading directly from the conveyor based on the shape information of the articles (baggage) recognized on the conveyor. This eliminates the need to install a conveyor. Since the shape information of all the articles on the conveyor and the position of each article on the conveyor are known, the loading system determines the order in which all the articles on the conveyor are selected and taken out based on this information. be able to. The loading system can efficiently load items because the items are removed from the conveyor based on the order of removal.

1 is a schematic diagram of a loading system with a transfer device; FIG. FIG. 2 is a schematic side view of the loading system including the transfer device as viewed from direction II in FIG. 1. FIG. It is a side view of an article holding mechanism. It is a side view of the loading device from the IV direction of FIG. FIG. 2 is a schematic side view of the loading system including article recognition means as viewed from direction V in FIG. 1. FIG. FIG. 3 is a diagram illustrating the relationship between input and output of a control circuit. It is a flowchart of article recognition and linking processing. It is a flowchart of selection processing of a selected article. It is a flowchart of loading processing of selected articles into a container.

An example of this embodiment will be described using FIGS. 1 to 9. As shown in FIG. 1, the loading system 1 has an upstream transport route 1a and a downstream transport route 1b provided at the airport. The upstream conveyance path 1a has a conveyor 11 and a make conveyor (conveyor) 2. The conveyor 11 conveys articles (baggage) from the check-in counter of the terminal building to the make conveyor 2. The conveyor 11 is, for example, a belt conveyor arranged in parallel in the conveyance direction. The conveyance path is moved in the conveyance direction by a motor M5 or the like (see FIG. 5), and conveys the article 5 placed on the belt. Articles 5 are dropped from the end of the conveyor 11 onto the make conveyor 2.

As shown in FIG. 1, the makeup conveyor 2 is a conveyor having, for example, a plurality of plate members arranged in a loop shape. The plate member is moved in a loop by a motor (drive mechanism) 2a or the like, and conveys the article 5 on the conveyance path in a loop. The makeup conveyor 2 is provided with a position detector 14. The position detector 14 includes an encoder 14a that is provided on the motor 2a and detects the position of the makeup conveyor 2. The encoder 14a outputs pulses corresponding to the rotation of the motor 2a. The X direction in the figure is parallel to the longitudinal direction of the makeup conveyor 2. The Z direction is perpendicular to the ground, and the Y direction is orthogonal to the X and Z directions.

As shown in FIG. 5, a holding frame 7a is erected near the make conveyor 2 and the transport conveyor 11. An article recognition means 7 is attached to the holding frame 7a so as to be located above the makeup conveyor 2. As shown in FIG. 1, the article recognition means 7 is arranged upstream of the transfer device 10 and detects the article 5 from above the make conveyor 2. The article recognition means 7 includes, for example, a 2D or 3D camera, and an outer shape detection circuit that processes images from the camera to detect the outer shape of the article. Therefore, as shown in FIG. 6, the article recognition means 7 obtains the shape information of the article 5 and transmits it to the storage means 44.

As shown in FIGS. 1 and 2, the upstream conveyance path 1a includes a transfer device 10 that grips the article 5 on the make conveyor 2, and a movement that moves an article holding mechanism 16 provided in the transfer device 10 and changes the angle. It has a mechanism 6. The moving mechanism 6 includes an X-direction moving mechanism 6a, a Y-direction moving mechanism 6b, and a lifting mechanism 6c.

As shown in FIGS. 1 and 2, the X-direction moving mechanism 6a has left and right frames 6a1 and 6a2 extending along the X direction. The left frame 6a1 extends in the X direction at the center of the makeup conveyor 2. The right frame 6a2 extends in the X direction on the right side of the make conveyor 2, that is, on the downstream conveyance path 1b side. A Y-direction moving mechanism 6b is provided to bridge the left and right frames 6a1 and 6a2. The left and right frames 6a1 and 6a2 are provided with a drive source for moving the Y-direction moving mechanism 6b in the X direction, for example, a motor M1 and a screw shaft rotated by the motor M1.

As shown in FIGS. 1 and 2, the Y-direction moving mechanism 6b has front and rear frames 6b1 and 6b2 that bridge the left and right frames 6a1 and 6a2 of the X-direction moving mechanism 6a. The front and rear frames 6b1 and 6b2 are arranged in parallel in the X direction. A moving portion 6c1 of the elevating mechanism 6c is provided so as to bridge the front and rear frames 6b1 and 6b2. The front and rear frames 6b1 and 6b2 are provided with a drive source for moving the moving part 6c1 in the Y direction, for example, a motor M2 and a screw shaft rotated by the motor M2.

As shown in FIG. 2, the elevating mechanism 6c includes a holding portion 6c2 extending downward from the moving portion 6c1, and a slider 6c8 that moves up and down along the holding portion 6c2. The holding portion 6c2 is provided with a guide rail 6c7 that guides the slider 6c8 in the vertical direction and adjusts the vertical angle of the slider 6c8. The guide rail 6c7 is bent toward the left as it goes upward. The slider 6c8 has a hanging member 6c6 that is slidably hung on the guide rail 6c7. The slider 6c8 has an arm 6c3 extending in the opposite direction to the hanging member 6c6.

Therefore, as shown in FIG. 2, when the slider 6c8 is in the lower position, the arm 6c3 is at an angle extending downward from the slider 6c8. In this way, the article holding mechanism 16 provided at the tip of the arm 6c3 becomes substantially parallel to the article 5 on the conveyance path of the makeup conveyor 2. When the slider 6c8 is in the upper position, the arm 6c3 extends approximately parallel to the slider 6c8. As a result, the article 5 held by the article holding mechanism 16 becomes substantially parallel to the conveyor 8. The conveyor 8 is located downstream of the transfer device 10 on the conveyance path and receives selected articles from the transfer device 10 .

As shown in FIGS. 2 and 3, an elevating portion 6c5 is connected to the arm 6c3. The elevating part 6c5 has a cylinder 12 and a bar 12A that moves in and out of the cylinder 12 depending on the hydraulic pressure or air pressure within the cylinder 12. An article holding mechanism 16 is attached to the tip of the bar 12A.

As shown in FIG. 3, the article holding mechanism 16 has a suction section 17 at the lower end for sucking and holding the article using negative pressure. A suction hose 19 is connected to the upper part of the article holding mechanism 16, and the suction hose 19 is connected to a vacuum pump VP shown in FIG. Air is sucked by the air compressor EC through the suction hose 19, negative pressure is generated in the suction section 17, and the article 5 is suctioned by the suction section 17. A suction pad 17a formed of an elastic member is attached to the outer periphery of the lower surface of the suction portion 17.

As shown in FIGS. 1 and 2, the downstream conveyance path 1b includes a loading device 9 and an It has a table 45. The XY table 45 has left and right frames 45a1 and 45a2 installed on the ground, and front and rear frames 45b1 and 45b2 movably mounted on the left and right frames 45a1 and 45a2. The left and right frames 45a1 and 45a2 are arranged in parallel in the Y direction between the makeup conveyor 2 and the container 3, and each extends in the X direction.

As shown in FIG. 1, the front and rear frames 45b1 and 45b2 are arranged in parallel in the X direction and extend in the Y direction. The front and rear frames 45b1 and 45b2 slide in the X direction along the left and right frames 45a1 and 45a2. The left and right frames 45a1 and 45a2 are provided with a drive source for moving the front and rear frames 45b1 and 45b2 in the X direction, for example, a motor M3 and a screw shaft rotated by the motor M3. A loading device 9 is attached to the front and rear frames 45b1 and 45b2 so as to be movable in the Y direction. The front and rear frames 45b1 and 45b2 are provided with a drive source for moving the loading device 9 in the Y direction, for example, a motor M4 and a screw shaft rotated by the motor M4.

As shown in FIG. 4, the loading device 9 is an articulated robot and has an arm 9c and a hand 9e. Arm 9c is connected to XY table 45 via rotating portion 9a. The rotating portion 9a is rotatably attached to the XY table 45 on a horizontal plane. An arm 9c is connected to the pivoting portion 9a through a first joint portion 9b so as to be rotatable in the front-rear direction. A hand 9e is connected to the tip of the arm 9c so as to be rotatable in the vertical direction by a second joint 9d. The hand 9e has an article holding mechanism similar to the transfer device 10 at its tip. The hand 9e holds the selected article 5S on the conveyor 8, moves along with the selected article 5S by the XY table 45, and the selected article 5S is loaded into the container 3.

As shown in FIG. 4, a recognition means 13 is provided at the tip of the hand 9e of the loading device 9. The recognition means 13 includes, for example, a 2D or 3D camera, and a shape detection circuit that processes images from the camera to detect the shape of the article. Therefore, the recognition means 13 recognizes the state inside the container 3 and transmits information to the control circuit 46. The condition inside the container 3 includes, for example, the condition of the loaded articles 5, the amount of the articles 5, and the presence or absence of a space in which the articles 5 can be loaded.

As shown in FIG. 6, the control circuit 46 (for example, a circuit including a CPU, etc.) is electrically connected to the article recognition means 7, the recognition means 13, and the position detector 14, and receives information transmitted from these means. The moving mechanism 6, loading device 9, and article holding mechanism 16 are electrically connected to the control circuit 46, and the control circuit 46 sends signals for controlling these mechanisms.

As shown in FIG. 6, the control circuit 46 includes a linking circuit 40c. The linking circuit 40c links the position of the article 5 with respect to the makeup conveyor 2 and the shape information of the article 5. In this way, the shape information and the position with respect to the makeup conveyor 2 are linked to the article 5.

As shown in FIG. 6, the control circuit 46 includes a selection circuit 40a and a position acquisition circuit 40b. The selection circuit 40a selects a selected article 5S (see FIG. 1) to be loaded into the container 3 from the plurality of articles 5 on the make conveyor 2 based on the state inside the container 3 and the shape of each article 5 (see FIG. 1). For example, the largest article 5 that is smaller than the space inside the container 3 is selected as the selected article 5S. The position acquisition circuit 40b acquires the position of the selected article 5S on the makeup conveyor 2 based on the information obtained from the selected article and the linking circuit 40c.

The process of selecting the articles 5 on the make conveyor 2 and loading them into the container 3 will be explained using the flowcharts of FIGS. 7 to 9. As shown in FIG. 1, the articles 5 conveyed from the conveyor 11 onto the make conveyor 2 pass below the article recognition means 7 in order. Next, a process of recognizing and linking the article is performed (steps SA1 to SA4 in FIG. 7). For example, the control circuit 46 executes the process of recognizing and linking articles at predetermined intervals, for example, every several hundred milliseconds.

The article recognition means 7 recognizes the article 5 (step SA1). Based on the signal from the article recognition means 7, the control circuit 46 obtains shape information of the article 5 and transmits it to the storage means 44 (step SA2). The position detector 14 detects the position of the article 5 with respect to the makeup conveyor 2, and transmits position information to the control circuit 46 (step SA3). Specifically, the position detector 14 detects the position of the article 5 with respect to the make conveyor 2 based on the number of pulses from the encoder 14a and the amount of movement of the make conveyor 2 per pulse. Further, the position detector 14 detects the position of the recognized article 5 at predetermined intervals (for example, several 100 ms) and transmits position information to the control circuit 46. The position information of the article 5 thus recognized is updated.

The control circuit 46 links the position of the article 5 with respect to the makeup conveyor 2 and the shape information of the article 5 (step SA4). Specifically, the control circuit 46 has, for example, an article index in its memory indicating the storage location of the storage means 44 for each recognized article 5. The control circuit 46 assigns an article index to each recognized article 5. The control circuit 46 stores the position and shape information with respect to the make conveyor 2 in the storage means 44 at the location indicated by the article index.

Next, a selection process for the selected article is performed (steps SB1 to SB3 in FIG. 8). For example, the control circuit 46 executes the selection process of the selected article at predetermined intervals, for example, every several hundred ms. When the control circuit 46 determines that the shape information of the article is stored in the storage means 44 (step SB1) (Yes), the control circuit 46 recognizes the state inside the container 3 (step SB2). Specifically, the tip of the hand 9e of the loading device 9 is inserted into the container 3. The inside of the container 3 is recognized by the recognition means 13 provided at the tip of the hand 9e. When the control circuit 46 determines that the shape information of the article is not stored (No), the control circuit 46 ends the selection process of the selected article.

The control circuit 46 selects a selected article to be loaded into the container 3 from the plurality of articles 5 on the make conveyor 2 (step SB3). Specifically, the selection circuit 40a of the control circuit 46 has, for example, a selection index in its memory that stores the article index of the selected article. The selection circuit 40a detects the capacity that can be accommodated based on the size of the container 3 and the accommodation state of the articles. The selection circuit 40a refers to the shape information of each article 5 based on the capacity and selects the article 5 that can be accommodated. The selection circuit 40a stores the article index of the selected article 5 (selected article) in the storage means 44 as a selection index.

Next, the selected articles are loaded into the container (steps SC1 to SC6 in FIG. 9). The control circuit 46 executes the process of loading the selected articles into the container at predetermined intervals, for example, every several hundred milliseconds. If the control circuit 46 determines that there is a selected article (step SC1) (Yes), it acquires the position of the selected article on the makeup conveyor 2 (step SC2). Specifically, the selection circuit 40a of the control circuit 46, for example, refers to the selection index and determines that there is a selected article if the article index is stored. The selection circuit 40a acquires the position of the article 5 indicated by the selection index on the makeup conveyor 2 from the position acquisition circuit 40b.

Next, the control circuit 46 determines whether the selected article is located in the lifting area 15 (step SC3). When the control circuit 46 determines that the selected article is located in the lifting area 15 (Yes), the selected article is lifted from the makeup conveyor 2 and transferred to the transport conveyor 8 (step SC4). If it is determined that the selected article is not located in the lifting area 15 (No), the process of loading the selected article into the container 3 is finished. Note that the lifting area 15 is an area of the makeup conveyor 2, and is an area for lifting selected articles.

The control circuit 46 drives the loading device 9 to load the selected articles from the conveyor 8 into the container 3 (step SC5). The control circuit 46 erases the shape information and the like of the loaded selected article from the storage means 44, and finishes the process of loading the selected article into the container 3 (step SC6). Specifically, the control circuit 46 erases the contents of the selected index. The container 3 loaded with the articles 5 is transported to the airplane 4 by a towing vehicle, and loaded into the cargo hold 4a of the airplane 4 by a loading device or the like.

As described above, the loading system 1 for loading the articles 5 shown in FIG. It has a mechanism (motor 2a). The position of the article 5 with respect to the conveyor (2) is detected by the position detector 14. Each shape information of the article 5 relative to the conveyor (2) is stored by the storage means 44. The position of the article 5 and the shape information of the article 5 are linked by the linking circuit 40c. The state inside the container 3 is recognized by the recognition means 13. Based on the state inside the container 3 and the shape of each article 5, the selection circuit 40a selects a selected article 5S from the plurality of articles 5 on the conveyor (2) to be loaded into the container 3. The position of the selected article 5S on the conveyor (2) is acquired by the position acquisition circuit 40b based on the information obtained from the selected article 5S and the linking circuit 40c. A transfer device 10 is located above a lifting area 15 that is an area of the conveyor (2). The transfer device 10 lifts the selected article 5S from the conveyor (2) when the selected article 5S is located in the lifting area 15 in order to transfer it toward the container 3 based on the position obtained from the position acquisition circuit 40b. .

Therefore, the transfer device 10 waits for the article 5 (selected article 5S) moving in a loop to reach the lifting area 15, and then lifts the selected article 5S. In this way, the region in which the article 5 (selected article 5S) is lifted is limited to the lifting region 15, and the moving range can be reduced, so that the transfer device 10 can be made smaller. For example, it is possible to make the transfer device 10 smaller than the transfer device 10 that moves the entire area above the loop-shaped conveyor (2) or the transfer device 10 that moves the entire area above the area where the articles 5 are stocked. can. Conventionally, articles 5 are sometimes stocked by size and transferred to each conveyor (2). In contrast, the present loading system 1 can directly lift selected articles 5S from the conveyor (2) without stocking articles 5 by size. This allows the loading system 1 to be made smaller or simpler.

As shown in FIG. 1, the loading system 1 includes a conveyor 8 and a loading device 9. The conveyor 8 is located downstream of the transfer device 10 on the conveyance path and receives the selected article 5S from the transfer device 10. The loading device 9 loads the selected articles 5S from the conveyor 8 into the container 3. Therefore, even if the position of the conveyor (make conveyor 2) and the position of the container 3 are far apart, the selected articles 5S can be loaded into the container 3 by using the transport conveyor 8 and the loading device 9.

As shown in FIGS. 1 and 5, the loading system 1 includes article recognition means 7 that recognizes articles 5 from above the conveyor (make conveyor 2). The position detector 14 includes an encoder 14a that is provided on the drive mechanism (2a) and detects the position of the conveyor (2). Therefore, the position detector 14 can detect the position of the conveyor (2) by counting the pulses output from the encoder 14a. Based on the count of pulses and the position of the article 5 on the conveyor (2) recognized by the article recognition means 7, the position of the article 5 on the conveyor (2) can be obtained.

As shown in FIGS. 5 and 6, the article recognition means 7 obtains shape information of the article 5 and transmits it to the storage means 44. Therefore, even if the shape information of the article 5 is not obtained in advance before the article 5 is conveyed onto the conveyor (make conveyor 2), the shape of the article 5 can be obtained on the conveyor (2).

In another embodiment, a loading system loads selected items lifted by a transfer device into a container. Specifically, instead of the transfer device 10 shown in FIG. A moving mechanism is provided that allows articles 5S to be loaded from the conveyor (2) into the container 3. Therefore, the transfer device holds and moves the selected article 5S from the conveyor (2) and directly loads it into the container 3. The loading system can thus be made smaller or simpler.

As shown in FIG. 1, the transfer device 10 has an article holding mechanism 16 that holds the article, and changes the angle and speed of the holding mechanism in accordance with the angle and speed of the selected article 5S on the conveyor (make conveyor 2). A moving mechanism 6 is provided. Therefore, the angle of the article holding mechanism 16 is adjusted in accordance with the angles of the articles placed on the conveyor (2) at various angles with respect to the transport direction. The article holding mechanism 16 then moves in synchronization with the articles on the conveyor (2). In this way, the article holding mechanism 16) can reliably hold the selected article 5S.

As shown in FIG. 3, the article holding mechanism 16 includes a suction section 17 that sucks the article using negative pressure. Therefore, the article holding mechanism 16 can lift the article, depending on the weight of the article, but not depending on the size of the article.

The transfer device 10 in the above embodiment has an article holding mechanism 16 that utilizes negative pressure, as shown in FIG. Instead of this, a holding mechanism may be used that has a pair of hands and holds the article 5. The recognition means 13 shown in FIG. 4 in the above embodiment recognizes the container 3 using a 2D camera, a 3D camera, and a camera. Alternatively, the container 3 may be recognized using an ultrasonic sensor, a millimeter wave radar, or a laser scanner.

The article recognition means 7 shown in FIG. 1 in the above embodiment recognizes the article 5 using a 2D camera, a 3D camera, and a camera. Alternatively, the article 5 may be recognized using an ultrasonic sensor, a millimeter wave radar, or a laser scanner.

The loading system 1 including the transfer device 10 in the above embodiment is used in the backyard of an airport terminal building. Instead of this location, it may be used at a factory, distribution warehouse, or goods collection and distribution center.

Note that the process of recognizing and linking articles in the above embodiment (steps SA1 to SA4 in FIG. 7), the process of selecting selected articles (steps SB1 to SB3 of FIG. 8), and the process of loading selected articles into a container (Steps SC1 to SC6 in FIG. 9) are not limited to being performed independently. For example, if a new article is not recognized for a predetermined period of time after the article is first recognized and associated with the article conveyed to the make conveyor 2, it is assumed that the conveyance of the article to the make conveyor 2 has been completed. The selected items may be recognized, selected, and loaded into a container.

1 Loading system 2 Make conveyor (conveyor)
2a Motor (drive mechanism)
3, 3a, 3b, 3c Container 5 Article 5S Selected article 6 Moving mechanism 7 Article recognition means 8 Transport conveyor 9 Loading device 10 Transfer device 13 Recognition means 14 Position detector 14a Encoder 15 Lifting area 40a Selection circuit 40b Position acquisition Circuit 40c Linking circuit 44 Storage means 46 Control circuit

Claims (4)

In a loading system that loads goods from a conveyor into a container,
a conveyor that conveys the article in a loop;
a drive mechanism that drives the conveyor;
a position detector that detects the position of the conveyor with respect to the article ;
a storage means for storing each shape information of the article;
a linking circuit that links the position of the conveyor with respect to the article and shape information of the article;
recognition means for recognizing the state within the container;
a selection circuit that selects a selected article to be loaded into the container from the plurality of articles on the conveyor based on the state inside the container and the shape of each article;
a position acquisition circuit that detects the position of the conveyor with respect to the selected article based on the information obtained from the selected article and the linking circuit based on the position detector ;
a transfer device disposed above a lifting area that is one area of the conveyor;
The transfer device is
A loading system that lifts the selected item from the conveyor when the selected item is located in the lifting area for transfer to the container based on a position obtained from the position acquisition circuit. The loading system according to claim 1,
The transfer device is a loading system that loads the selected articles that have been lifted into the container. The loading system according to claim 1,
A loading system comprising: a conveyor located downstream of the transfer device on a conveyance path and configured to receive and convey the selected articles from the transfer device; and a loading device to load the selected articles from the conveyor into the container. A loading system according to any one of claims 1 to 3, comprising:
It has article recognition means for recognizing the article from above the conveyor,
The article recognition means obtains the shape information of the article and transmits it to the storage means,
The position detector includes an encoder provided in the drive mechanism to detect the position of the conveyor, and an encoder that detects the position of the article with respect to the conveyor based on the position of the conveyor obtained based on information from the encoder. Inclusive system.

Images