JPH062528B2 - Automatic cargo loading system - Google Patents

Description

Description: FIELD OF THE INVENTION The present invention relates to a system for automatically loading cargo, and more particularly to a system for automatically loading cargo on a transportation jig such as a pallet or a container. It is a thing.

[Background of the Invention]

For example, in the transportation of knockdown parts of automobiles, the transportation of air freight, etc., there is an increasing demand for robotizing the work of loading cargo into pallets and containers (hereinafter abbreviated as pallets). As equipment for automatically loading cargo on pallets, there have been conventionally known auto palletizers and palletizing robots (or also called robot palletizers). However, these auto palletizers and palletizing robots can only load cargos of the same size on one pallet. Therefore, if the number of types of products to be loaded on one pallet increases due to the progress of transportation of small quantities of many types of products, conventional palletizing robots or the like cannot do the loading.

1 by automatic loading device such as palletizing robot
When automatically loading cargos of various sizes on one pallet, the following problems occur.

(i) When the freight stowage layout is manually determined because the number of combinations of stowage layouts is extremely large, it is not possible to enumerate all the combinations, so the loading efficiency for the effective loading space on the pallet decreases. Therefore, there is a need for a method of creating a stowage arrangement that achieves high loading efficiency even when stowage of different sizes. The generated stowage arrangement will be called a stowage pattern.

(ii) In order to load each cargo by the loading device, it is necessary to teach the operation of the loading device for each cargo. In this case, since the operation content differs for each cargo, the conventional playback type operation teaching method requires a large number of man-hours for teaching. Therefore, at the same time when the stowage pattern is generated, a method for automatically determining the cargo stowage sequence and the stowage machine operation sequence, which are operation instruction data for the stowage machine, is required.

(iii) In order to supply cargo to the stowage equipment in the stowage order described above, it is necessary to search for cargo of the designated type among multi-class cargoes and send it to the stowage equipment. In particular, in the case of loading many kinds of cargo on one pallet, if this is done manually, the number of man-hours will be large and the supply speed will be reduced. Therefore, there is a need for a marshalling system for supplying the cargo that has entered in an arbitrary order to the loading device in the above loading order.

[Object of the Invention]

An object of the present invention is to solve each of the above problems, provide a stowage arrangement and stowage sequence with a high pallet loading efficiency for cargos of different sizes and for arbitrary cargo stowage requirements, and teach the man-hours of the operation sequence. And to provide an automatic cargo stowage system that can reduce man-hours from arrival to supply.

[Outline of Invention]

In order to achieve the above-mentioned object, the automatic cargo stowage system according to the present invention is configured so that the cargo stowage arrangement, stowage order, and stowage on a transportation jig are determined by giving various sizes of a plurality of cargoes to be transported. A stowage planning device that creates an operation sequence of the device, a device that receives data from the stowage planning device, controls each device in the system according to the data, receives the cargo in any order, and receives the cargo. A marshalling device for sending out according to the loading order from the control device, a supply device for supplying the cargo from the marshalling device to the location of the transportation jig, and a supplied cargo on the transportation jig according to the operation sequence. It is characterized by having a loading device for loading on.

Example of Invention

 Embodiments of the present invention will be described below with reference to the drawings.

FIG. 1 is a block diagram of an automatic stacking device showing an embodiment of the present invention.

The automatic loading device is a loading planning device 1A and a control device 1E.
, A marshalling device 1B, a supply device 1C, and a stowage device 1D. When the size of the cargo to be transported is given, the stowage planning apparatus 1A creates a stowage pattern and a stowage sequence and an operation sequence of the stowage device. Specifically, it is a computer that inputs the dimensional data of each cargo and calculates the stowage pattern, stowage sequence, and operation sequence.These results are displayed on a character display or graphic display and can be displayed from a keyboard, etc. By inputting, the loading plan data is created in an interactive form with humans.

The marshalling device 1B receives cargos to be transported in an arbitrary order and sends out the cargos according to the loading order. Specifically, the marshalling apparatus 1B can correspond to the type of each cargo and the shelf number. Therefore, it is realized by an automated warehouse or a loop conveyor that can supply designated cargo in sequence.

The supply device 1C supplies the cargo received from the marshalling device 1B to the loading station, and is specifically realized by a conveyor or the like. 1X is a loading station.

The loading device 1D loads the cargo on the loading station onto the pallet according to a designated operation sequence, and is specifically realized by a robot or the like.

The control device 1E includes the above four devices 1A, 1B, 1C, 1
By exchanging signals with D, the devices are centrally controlled, and are specifically realized by a control computer or the like.

In this embodiment, the shape of the cargo is a rectangular parallelepiped,
Each dimension is assumed to be known.

FIG. 2 is an explanatory view showing the position of the cargo on the pallet.

When arranging the cargo 2B on the pallet 2A, for example, a Cartesian coordinate system whose origin is the left end on the robot side (the robot is present in front in FIG. 2) is set and the cargo loading position is designated. Specifically, the coordinate P (xi, yi, zi) of the point 2C closest to the origin of the cargo 2B is defined as the stowage position of the cargo 2B. In addition, the cargo loading direction is determined depending on whether the cargo 2B is oriented in the longitudinal direction (indicated by the symbol L) or in the lateral direction (indicated by the symbol S) in the X-axis direction. To be done.

FIG. 3 is a diagram showing an example in which the stowage order is determined.

The stowage order of each cargo on the plane is displayed, and the stowage planning apparatus 1A creates and displays the stowage order according to a predetermined principle. As a general rule, when viewed from the robot side, (i) from bottom to top, (ii) from back to front,
(iii) An example is shown in which the items are stacked according to the priority rule from the left end to the right end.

FIG. 4 is a diagram showing an example of determining the operation sequence.

4F shows an operation point and 4G shows an operation route, and the robot loads the cargo 4B at the position of 4D along this route. That is, in this case, the cargo 4B supplied on the supply conveyor 4A is the already-carried cargo 4 on the pallet 4X.
After getting over E and 4C, it is loaded at the 4D position. In this way, if each loading position of the already loaded cargo can be discriminated, it is possible to determine the optimal route to avoid them as obstacles. Therefore, the operation sequence of the robot can be determined if the position of the already-carried cargo is given in the coordinate system as shown in FIG.

FIG. 5 is a schematic block diagram showing the configuration of the stowage planning apparatus of FIG.

The stowage planning apparatus 1A includes a computer 10 and a typewriter 21 for data input. The computer 10 includes storage units 11 to 16 and a control unit 19, and the control unit 19 operates according to a program stored in the storage unit 11.

6 to 10 are various data stored in the storage unit in the stowage planning apparatus.

In the storage unit 12 of FIG. 5, for example, as shown in FIG.
Specification data for each pallet type registered in advance is tabulated and stored. In the storage unit 13, for example, as shown in FIG.
The specification data for each cargo and the required stowage amount input from are stored as a table. In the storage unit 14, for example, as shown in FIG. 8, a stowage pattern in which the data from the storage units 12 and 13 is calculated by the computer 10, that is, a freight stowage position and a stowage direction are stored as a table. . In the storage units 15 and 16, for example, as shown in FIGS. 9 and 10, the freight loading sequence and the robot operation sequence in which the data from the storage units 12, 13, and 14 are calculated by a computer are tabulated, respectively. Remembered.

A plurality of sets of calculated stowage patterns, stowage orders, and operation sequence data are stored, and a pattern name is stored in each pattern.

FIG. 11 is a schematic block diagram showing the configuration of the control device in FIG.

The control device 1E includes a computer 30 and a typewriter 41.
Consists of. In addition, 42 is a stowage planning device (1A), 43 is a marshalling device (1B), 44 is a supply device (1
C) and 45 are stowage devices (1D). Typewriter 41
Is for inputting the contents of the stowage work, that is, the stowage pattern name and the start information for starting the stowage work.

The computer 30 includes a control unit 39 that operates according to a program stored in the storage unit 31 and five data storage units 32 to 36.

12 to 16 are diagrams showing various kinds of stored data stored in the storage unit in the control device.

In the storage unit 32 of the computer 30 of FIG. 11, for example, as shown in FIG. 12, the contents of the stowage work input from the typewriter 41, that is, the work order, the stowage pattern name, and the present work situation are stored. . The work status is information input from the marshalling device 43.

In the storage unit 33, for example, as shown in FIG. 13, the stowage order created by the stowage planning device 42 is tabulated and stored, and stowage of each cargo sent from the stowage device 45 is carried out. A completion signal is input and information on the current loading condition is stored.

In the storage unit 34, for example, as shown in FIG. 14, the operation sequence of the robot created by the stowage planning apparatus 42 is tabulated and stored, and for each cargo sent from the stowage apparatus 45. A completion signal of each operation is input and information on the current operation status is stored.

In the storage unit 35, the cargo code of the cargo previously stored in the marshalling device 43 and the shelf number of the storage destination are input from the marshalling device 43, and thus are registered in advance as shown in FIG. 15, for example. , Remembered. In addition, the stock status is updated and stored in accordance with the warehousing and unloading signal input from the marshalling device 43 every time the warehousing is performed.

In the storage unit 36, as shown in FIG. 16, for example, information on the current supply state input from the marshalling device 43 and the supply device 44 is stored.

In FIG. 5, the operator first creates each stowage planning data of the stowage pattern of the cargo on the pallet, the stowage sequence, and the robot operation sequence by using the stowage planning apparatus before starting the stowage work. To do this, select the required type of pallet code from various pallets, and then typewriter 2
Input from 1 to the computer 10. Next, the operator
The data of the cargo to be loaded on the pallet, that is, the cargo code, the cargo specifications and the required quantity to be loaded, can be read by the typewriter 2
Input from 1 to the computer 10. Computer 10
Sets the data of these cargoes in predetermined columns of the table, as shown in FIG. Next, computer 1
0 calculates the arrangement (position and direction) of each cargo in the effective loading space of the specified pallet, and the result, that is, the data of the stowage pattern, is stored in a predetermined column of the table as shown in FIG. Set to. Next, the computer 10
Calculates the loading order for loading each cargo on the pallet from each data of the loading pattern, and sets it in a predetermined column of the table as shown in FIG. Further, the computer 10 calculates the operation sequence of the robot from each data of the stowage pattern and stowage order, and sets it in a predetermined column of the table as shown in FIG.

FIG. 17 is a program operation flowchart of the stowage planning apparatus of the present invention.

First, the computer 10 waits for the input of the palette code, and when the operator inputs the palette code from the typewriter 21, the process proceeds (step 50). Next, the computer 10 waits for input of freight data, and when the operator inputs freight data from the typewriter 21, that is, freight code, freight specifications, and stowage requirement, the process proceeds to the next step (step 51). The computer 10 sets the input freight data, that is, the freight code, the freight specification, and the stowage requirement amount in predetermined fields of the table of FIG. 7 prepared in the storage unit 13 (step 52). Computer 10
Calculates the location and orientation of each cargo in the effective loading space of the pallet based on the pallet specifications for the pallet code input in step 50 and the cargo data input in step 51, and returns the result. As a loading pattern,
It is set in a predetermined column of the table of FIG. 8 (step 53).
The computer 10 calculates the stowage order for stowage by the robot based on the stowage pattern calculated at step 53, and sets the result in the predetermined column of the table of FIG. 9 (step 54). The computer 10 calculates the motion sequence of the robot based on the stowage pattern calculated at step 53 and the stowage order calculated at step 54, and sets the result in a predetermined column of the table of FIG. (Step 55).

In this way, a pattern name is given to one set of the stowage pattern, stowage order, and operation sequence calculated by the computer 10. For example, in FIGS. 8 to 10, the pattern A is stored. The above operation is repeated, calculated, and stored as different pattern names.

18 (a) (b), FIG. 19 and FIG. 20 are program operation flowcharts of the control device of the present invention.

Of these, FIGS. 18 (a) and 18 (b) show specific operations from the start of the stacking work to the supply by the marshalling device.

Here, by the start of the loading work, the cargo of each pattern required for the loading work is stored in the marshalling device, and the data of the shelf number and the cargo code are set in a predetermined column of the storage unit 36 of the control device. Be present. Therefore, the first
The operation shown in FIG. 8 starts when the operator activates the work start.

First, the computer 30 waits for input of work data, and the operator uses the typewriter 41 as work data.
After inputting the work order and stowage pattern name, the process proceeds to the next step (step 60). As a result, the computer 30 sets and registers the input work order and stowage pattern name in a predetermined column of the table of FIG. 12 showing the work contents prepared in the storage unit 32 (step 61). The computer 30 proceeds to the next if the operator inputs the data indicating the completion of the input of the work data. If not, the process returns to step 60 (step 62). Computer 3
0 indicates that the operator waits for input of the loading start start information, and the operator checks the marshalling device 43, the supply device 44, and the loading device 45, and if the work is possible, the information for starting the loading work start is displayed. input. When the input of this information is completed, the process proceeds to the next (step 63). The computer 30
Present work status set in the storage unit 32 (see FIG. 12)
For the first work order N and the pattern name P of the work incomplete (symbol “0”) (step 6).
4). If all the stowage work registered in advance in step 61 is completed (the work present states are all completed “1”), the operation is ended. If not, the process proceeds to step 66 (step 65). Since the computer 30 inputs the stowage data calculated in advance by the stowage planning apparatus 42, that is, the stowage pattern, the stowage sequence, and the operation sequence as the stowage data of the pattern name P retrieved in step 64, the pattern P The request signal for the stowage planning data of is output to the stowage planning apparatus 42 (step 66). The computer 30 waits for input of stowage plan data (step 67). The stowage planning device 42 operates in steps 50 to 5 shown in FIG.
In accordance with 5, the data of the stowage order stored in the storage unit 15 and the data of the operation sequence stored in the storage unit 16 are stored in the stowage plan data of the pattern P created and stored in advance. , To the computer 30. As a result, the computer 30
Among the stowage planning data of the pattern P transmitted from the stowage planning apparatus 42, the data of the stowage order and the operation sequence are tabulated and registered in predetermined columns in the storage units 33 and 34 (step 68). . That is, as shown in FIG. 13, the data of the stowage order is set in a predetermined field in the storage unit 33, and at the same time, the field of the current stowage status is cleared to zero (“0”), that is, the status of undecided stowage is set. To do. Also, the data of the operation sequence is set in a predetermined column in the storage unit 34 as shown in FIG. 14, and the column of the current operation state is set to zero clear (“0”), that is, the state of the operation undecided.
Next, the computer 30 sets the data of the stowage order registered at step 68 as the data of the supply order as it is in the predetermined column in the storage unit 36 as shown in FIG. At the same time, the current supply column is cleared to zero (“0”), that is, the state of non-supply is set (step 69).

The computer 30 waits for input of a leaving preparation completion signal (step 70). The marshalling device 42 sends a leaving preparation completion signal to the computer 30 when it is ready for leaving. As a result, the computer 30 has the current supply status set in the storage unit 36 (see FIG. 16).
Search for the first undelivered supply order K and freight code S
Is searched (step 71). Next, the computer 30
When the current supply situation (see FIG. 16) is searched, if the supply of all the cargoes of the pattern P has been completed, the process proceeds to step 78. In addition, when there are some that have not been supplied, the process proceeds to the next step (step 72). The computer 30 searches the stock status (see FIG. 15) set in the storage unit 35 to find the shelf number J of the stock status “1” of the cargo code S searched in step 71. (Step 73). Next, an issue command signal for issuing the cargo of the shelf number J searched in step 73
It is transmitted to the marshalling device 43 (step 74).
Next, the computer 30 waits for the input of the delivery completion signal (step 75). The marshalling device 43 receives the leaving instruction signal in step 74 and issues the cargo of the number J to the supplying device 44. When the shipping is completed, the marshalling device 43 transmits a shipping completion signal to the computer 30.

As a result, the computer 30 updates the inventory status of the shelf number J set in the storage unit 35 to the unstocked state "0" and sets it (step 76). next,
The current supply state (see FIG. 16) of the supply sequence K set in the storage unit 36 is updated to the supplied state "1" and set (step 77). The computer 30 then returns to step 70.

If all the cargoes have been supplied in step 72, the computer 30 waits for input of a pallet stowage preparation completion signal (step 78). When the loading device 45 completes the loading work of the work sequence N and sets a new empty pallet, the loading device 45 sends a pallet loading preparation completion signal to the computer 3.
Send to 0. As a result, the computer 30 updates the work status (see FIG. 12) of the work sequence N set in the storage unit 32 to the work completion state "1" and sets it (step 79). And the computer 30
Returns to step 64 via.

In this way, according to the control operation of FIG. 18 (a) (b),
The cargo is sequentially delivered from the marshalling device 43 to the supply device 44. Each cargo is sequentially sent out to the loading station immediately before the loading device 45 on the supply conveyor.

FIG. 19 is a flowchart showing a specific operation of the control device when the cargo arrives at the loading station.

The computer 30 waits for the arrival of the stowage station arrival signal (step 80). When the cargo arrives at the loading station from the marshalling device 43 via the feeding conveyor, the feeding device 44 transmits a loading station arrival signal to the computer 30. As a result, the computer 30 searches for the supply status (see FIG. 16) set in the storage unit 36 and finds the supply status of the first supply order i of the supply status “1” that has arrived at the station. It is updated to "9" and set (step 81). next,
The computer 30 sends a loading command signal to the loading device 45 in order to load the cargo arrived in step 81 on the pallet.
Output to.

The flowchart of FIG. 20 shows a specific operation of controlling the loading device 45 in order to load the cargo having arrived at the loading station at a predetermined position on the pallet.

First, the computer 30 waits for an input of a stowage preparation completion signal (step 90). When the loading device 45 receives the loading command signal transmitted in step 82, it completes the loading of the cargo in the loading order before the cargo arriving at the loading station, and the loading preparation completion signal is received. Is transmitted to the computer 30. As a result, the computer 30
Present status of stowage set in storage unit 33 (see FIG. 13)
Is searched for the first stowage order i among the unfinished stowage "0" (step 91). The computer 30
When the current stowage situation is searched in step 91 and the current stowage situation of the work sequence N is all in the completed state “1”, this operation is ended. If not, that is, if at least one "0" remains, the process proceeds to step 93 (step 92). The computer 30 searches the operation sequence (see FIG. 14) of the stowage order i retrieved in step 91 set in the storage unit 34 and determines the stowage number L.
Is initially set to "1" (step 93). Next, the computer 30 waits for input of a robot operation preparation completion signal (step 94). When the stowage device 45 completes stowage of the cargo in the stowage order i and the arm position of the robot returns to the standby state, it sends a robot operation completion signal to the computer 30. As a result, the computer 30 transmits the data of the operation sequence of the operation point number L set in the storage unit 34 (see FIG. 14) to the stowage device 45, and also the operation command signal (step). 95). Next, the computer 30 waits for the input of the operation completion signal of the operating point number L (step 96).
When the operation of the operating point number L that has received the command in step 95 is completed, the stowage device 45 transmits an operation completion signal to the computer 30. This allows the computer 30
Updates the operation current state (see FIG. 14) of the operation point number L set in the storage unit 34 to the operation completion state "1" and sets it (step 97). Computer 30
Searches the operation sequence set in the storage unit 34 and sets the next operation point number L (step 9).
8). Next, when the operation sequence is searched in step 98 and all the operation sequences of the stowage order i set in the storage unit 34 are completed, the process proceeds to the next step. If not, that is, if there is any uncompleted one, the process returns to step 95 (step 99). The computer 30 searches the stowage order (see FIG. 13) set in the storage unit 33, updates the stowage current status of the stowage order i to the stowage completion state “1”, and sets it. (Step 100). Next, computer 3
0 updates the supply current state (see FIG. 16) of the supply sequence i set in the storage unit 36 to the loading completion state “−1” and sets it (step 101).

In this way, the process returns to step 90 again to repeat the operation.

Although the typewriter 21 is used as the data input means of the stowage planning apparatus (1A) in the embodiment of FIG. 5, an auxiliary storage medium such as a floppy disk may be used.
It may also be input online with another computer via a communication line. Further, in this embodiment, the stowage planning apparatus 1
A and the control device 1E have separate computers 10, 30
However, they may be operated in a time-sharing manner using the same computer. Further, in this embodiment, an automatic warehouse is used as the marshalling device 1B, but in order to improve the feed rate of the cargo, a multi-stage loop type in which several loop conveyors or rotary racks are stacked is used.
A conveyor or a multi-stage rotary rack may be used. Furthermore, in order to improve reliability, in the supply device 1C,
In order to identify the type of cargo that has been unloaded, it is possible to provide a device for checking with a bar code or the like, and stop the device if there is an abnormal shipping. Further, in the stowage station of the supply device 1C, a pusher or the like for fixing the stowage position may be used to improve the positioning accuracy. In addition,
In FIG. 1 of the present embodiment, an articulated robot is used as the stowage device 1D, but an orthogonal robot or another type of robot may be used. Further, the pallet may be placed on the conveyor or a fixed station. Further, in the control operation of the control device 1E shown in FIG. 18 to FIG. 20, for simplification, the cargo to be loaded on the next pallet is not supplied until the loading work of one pallet is completed, and the pallet is loaded into the marshalling device. Although it is premised on waiting, in order to increase the processing speed of the stowage work, control may be performed such that the cargo for the next hallet is started to be supplied in advance even during the stowage work of the previous pallet.

In the embodiment of FIG. 5, the computer 10 calculates the stowage pattern from the storage unit 12 (pallet specification data) and the storage unit 13 (freight specification and stowage requirement amount data). -The loading situation may be illustrated on the display, and the loading pattern may be determined stepwise in an interactive form with a human.

〔The invention's effect〕

As described above, according to the present invention, the placement of the loading (the loading pattern) is performed in advance for an arbitrary cargo loading request.
When loading cargoes of different sizes, the loading order and the operation sequence of the loading equipment are automatically determined and the cargoes are automatically supplied to the loading equipment according to the given order. However, it is possible to remarkably improve the loading efficiency of the pallets and reduce the man-hours for teaching the stowage device and the man-hours for supplying the cargo that has arrived in an arbitrary order.

[Brief description of drawings]

FIG. 1 is an overall configuration diagram of an automatic loading system showing an embodiment of the present invention, FIG. 2 is a diagram showing a positional relationship of cargos on a pallet, and FIG. 3 is a loading order of cargos on a pallet plane. The figure which shows the example which is decided, Figure 4 is the figure which shows the example which decides the operational sequence of the stowage equipment, Figure 5 is the block diagram of the stowage planning equipment of Figure 1, from Figure 6 to Figure 10, FIG. 11 is an explanatory diagram of various data stored in the storage unit in the stowage planning device, FIG. 11 is a configuration diagram of the control device in FIG. 1, and FIGS. 12 to 16 are storage units in the control device. 17 is an explanatory view of various data stored in FIG. 17, FIG. 17 is a control operation flowchart of the stowage planning apparatus of FIG. 5, and FIG. 18 to FIG.
3 is a control operation flowchart of the control device of FIG. 1A: stowage planning device, 1B: marshalling device, 1
C: supply device, 1D: stowage device, 1E: control device, 1
0,30: Computer, 21,41: Typewriter,
11 to 16, 31 to 36: storage unit, 19, 39: control unit.

 ─────────────────────────────────────────────────── ─── Continuation of the front page (72) Inventor Tatsuo Yoshioka 4-6 Kanda Surugadai, Chiyoda-ku, Tokyo Inside Hitachi, Ltd. (56) References JP 60-197530 (JP, A) JP 60- 034284 (JP, A) JP-A-59-146775 (JP, A)

Claims (3)

[Claims] 1. A stowage planning apparatus for creating stowage arrangement, stowage sequence, and operation sequence of stowage equipment on a transportation jig by giving various sizes of a plurality of cargoes to be transported. A device that receives data from the stowage planning device, controls each device in the system according to the data, receives the cargo in an arbitrary order, and sends the cargo in the stowage order from the control device. An apparatus, a supply device for supplying the cargo from the marshalling device to the location of the transportation jig, and a loading device for stacking the supplied cargo on the transportation jig according to the operation sequence. Automatic cargo loading system. 2. The stowage planning device, the data of each transportation jig entered before starting the stowage work, the data of the cargo to be transported, and a designated transportation jig created from these data. The automatic cargo loading according to claim 1, characterized in that the arrangement of each cargo above, the loading order of each cargo, and the operation sequence of the loading device are stored in a table of a data storage unit. Attached system. 3. The control device stores, in a first storage unit, a work order and a stowage pattern name input from the outside, and work status information input from a marshalling device, and the stowage planning device sends the information. The second storage unit stores the stowage order and information on the current stowage status based on the signals from the stowage equipment, and stores the operation sequence information from the stowage planning apparatus and the operational status information based on the signals from the stowage equipment from the third storage unit. Storing the storage destination information of the cargo from the marshalling device and the stock status in the fourth storage unit, and storing the supply status information from the marshalling device and the supply device in the fifth storage unit. The automatic cargo stowage system according to claim 1.