WO2019093328A1 - 貨物用識別コード及びその表示物及びそれに用いるロボットハンド - Google Patents
貨物用識別コード及びその表示物及びそれに用いるロボットハンド Download PDFInfo
- Publication number
- WO2019093328A1 WO2019093328A1 PCT/JP2018/041187 JP2018041187W WO2019093328A1 WO 2019093328 A1 WO2019093328 A1 WO 2019093328A1 JP 2018041187 W JP2018041187 W JP 2018041187W WO 2019093328 A1 WO2019093328 A1 WO 2019093328A1
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- WIPO (PCT)
- Prior art keywords
- cargo
- identification code
- sheet
- code
- displayed
- Prior art date
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
- B25J19/021—Optical sensing devices
- B25J19/023—Optical sensing devices including video camera means
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
- B25J15/0616—Gripping heads and other end effectors with vacuum or magnetic holding means with vacuum
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/0014—Gripping heads and other end effectors having fork, comb or plate shaped means for engaging the lower surface on a object to be transported
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
- B25J9/1697—Vision controlled systems
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65D—CONTAINERS FOR STORAGE OR TRANSPORT OF ARTICLES OR MATERIALS, e.g. BAGS, BARRELS, BOTTLES, BOXES, CANS, CARTONS, CRATES, DRUMS, JARS, TANKS, HOPPERS, FORWARDING CONTAINERS; ACCESSORIES, CLOSURES, OR FITTINGS THEREFOR; PACKAGING ELEMENTS; PACKAGES
- B65D5/00—Rigid or semi-rigid containers of polygonal cross-section, e.g. boxes, cartons or trays, formed by folding or erecting one or more blanks made of paper
- B65D5/42—Details of containers or of foldable or erectable container blanks
- B65D5/4212—Information or decoration elements, e.g. content indicators, or for mailing
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06K—GRAPHICAL DATA READING; PRESENTATION OF DATA; RECORD CARRIERS; HANDLING RECORD CARRIERS
- G06K19/00—Record carriers for use with machines and with at least a part designed to carry digital markings
- G06K19/06—Record carriers for use with machines and with at least a part designed to carry digital markings characterised by the kind of the digital marking, e.g. shape, nature, code
- G06K19/06009—Record carriers for use with machines and with at least a part designed to carry digital markings characterised by the kind of the digital marking, e.g. shape, nature, code with optically detectable marking
- G06K19/06037—Record carriers for use with machines and with at least a part designed to carry digital markings characterised by the kind of the digital marking, e.g. shape, nature, code with optically detectable marking multi-dimensional coding
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06K—GRAPHICAL DATA READING; PRESENTATION OF DATA; RECORD CARRIERS; HANDLING RECORD CARRIERS
- G06K7/00—Methods or arrangements for sensing record carriers, e.g. for reading patterns
- G06K7/10—Methods or arrangements for sensing record carriers, e.g. for reading patterns by electromagnetic radiation, e.g. optical sensing; by corpuscular radiation
- G06K7/14—Methods or arrangements for sensing record carriers, e.g. for reading patterns by electromagnetic radiation, e.g. optical sensing; by corpuscular radiation using light without selection of wavelength, e.g. sensing reflected white light
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65D—CONTAINERS FOR STORAGE OR TRANSPORT OF ARTICLES OR MATERIALS, e.g. BAGS, BARRELS, BOTTLES, BOXES, CANS, CARTONS, CRATES, DRUMS, JARS, TANKS, HOPPERS, FORWARDING CONTAINERS; ACCESSORIES, CLOSURES, OR FITTINGS THEREFOR; PACKAGING ELEMENTS; PACKAGES
- B65D2203/00—Decoration means, markings, information elements, contents indicators
- B65D2203/06—Arrangements on packages concerning bar-codes
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G61/00—Use of pick-up or transfer devices or of manipulators for stacking or de-stacking articles not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G67/00—Loading or unloading vehicles
- B65G67/02—Loading or unloading land vehicles
- B65G67/24—Unloading land vehicles
Definitions
- the present invention relates to an identification code for cargo, a display indicating the same, and a robot hand for handling cargo in which the identification code is displayed, and in particular, a rectangular cargo loaded on a cargo platform or pallet of a cargo car
- the present invention relates to a cargo identification code suitable for automatic unloading and display thereof and a robot hand used therefor.
- a robot hand is aligned with a cargo by identifying the coordinate position of an object among a plurality of cargos loaded using a camera for photographing 2D or 3D vision.
- a method for automatically unloading work has been proposed, and it is possible to greatly reduce the labor of manual work.
- this method when rectangular cargos are aligned and loaded without gaps, there is a problem that it is difficult to recognize the horizontal and vertical edge positions of individual cargos, which makes it difficult to position the robot hand. there were.
- Japanese Patent No. 3849633 by providing an identification unit at a predetermined position of the cargo, which of the stacking assembly styles stored in advance according to the presence or absence of the identification unit at the predetermined detection position corresponds to A method to judge is proposed, and it is possible to carry out automatic unloading work with a robot hand even for cargo loaded without a gap.
- this method in addition to the trouble and cost required to store in advance all the loading patterns corresponding to the types of cargo, in the case of the loading method without patterns, and cargos of different sizes are mixed. In the case, it is likely to be difficult to apply.
- a robot is provided by providing markers at the four corners of the entire surface of a rectangular parallelepiped cargo, and detecting the vertical and horizontal sides forming the corner as a rectangular parallelepiped surface on which the markers are displayed.
- a method that enables the positioning of the hand. This eliminates the need to store a plurality of types of stacking patterns in advance, and also enables smooth unloading even if cargos of different sizes are mixed.
- An object of the present invention is to solve the above-mentioned problems, and it is an object of the present invention to enable smooth debanning or depalletization of loaded rectangular solid cargo while dealing with various situations.
- the present invention relates to a cargo identification code which is displayed on predetermined positions of four sides or all sides of the front and rear left and right sides of a rectangular parallelepiped cargo and which makes the predetermined control means identify the code data through the reading means,
- the code data includes size information indicating the vertical and horizontal sizes of the code display surface of the cargo, and the code display position and the size information are stored in the control unit of the robot including the reading unit and the robot hand. It is characterized in that the robot hand is aligned with the cargo based on the above.
- the cargo identification code includes the vertical and horizontal size information on the display surface, and the robot hand is aligned based on the code display position and the size information so that the cargo can be loaded without a gap. Even in the situation where the edge portion is unclear or loaded in various orientations, the vertical and horizontal edge position of the code display surface can be recognized using the vertical and horizontal size information of the code display surface based on the code display position As a result, it becomes easy to smoothly carry out debanning and depalletizing while accurately aligning the robot hand with the target cargo.
- the code data includes position information for identifying a code display position on the code display surface. If the code data is characterized in that all the codes are at a predetermined position. Even when the display can not be performed or when the cargos of various code display positions are mixed, accurate alignment can be performed by using the position information and the size information.
- the code data is used to identify a rotation angle in the case of being mounted by rotating by a multiple of 90 degrees from the reference posture with a line perpendicular to the code display surface as a central axis. If the rotation identification information is included, it is possible to know the rotation direction and angle of the code display surface even when the cargo is placed by being rotated from the reference posture. The vertical and horizontal sizes of the posture actually placed can be identified.
- the code data includes information of depth size and / or cargo weight based on the code display surface, the cargo with a long depth Even for heavy cargo, it is easy to select a safe gripping method.
- the above-described cargo identification code is characterized by being a matrix type two-dimensional code, it becomes easy to include a wide variety of information such as the product number indicating the contents and product information
- the directional nature of the configuration makes it possible to display rotational identification information by itself.
- a seal sheet having a sheet or adhesive layer of a predetermined shape on which the above-described cargo identification code is displayed, and is affixed to a predetermined position on four sides or all sides of the cargo. If the cargo identification code is displayed on each side, the cargo identification code described above can be easily displayed even with an existing cardboard box or packing case. .
- the three cargo identification codes are arranged in a L-shape with a predetermined distance so that the other two form a right angle with each other with one cargo identification code as a center, and for adjacent cargo
- the cargo identification code is displayed as being displayed on each corner of the face L
- a sheet or seal sheet characterized in that it is formed in a letter shape and the cargo identification codes are displayed on three different sides of the cargo simply by sticking one of the sheets, for example, the corners on the front side
- the cargo identification code can be displayed on all six sides simply by attaching it to two parts of the rear part and the corner on the rear side which is the diagonal position of the part.
- the above-described cargo identification code is displayed at a predetermined position on the four sides or all sides of the front and rear, right and left by printing or sheet attachment, the above can be used only by using it. All the functions and functions can be exhibited easily.
- the reading means for reading the cargo identification code, the support plate for supporting the lower surface of the cargo from below, and the code display surface are attached to the tip of the arm of the robot controlled by the control means.
- the cargo identification code as described above characterized in that the cargo is drawn out on the support plate and placed on the support plate and gripped while the target cargo is placed on the support plate If the robot hand for picking up the cargo is used, even if the clearance above or to the side of the cargo loaded without a gap is small, the cargo can be smoothly taken out with a simple configuration without increasing the cost. It is possible to carry out the unloading work.
- the L-shaped state in addition to the L-shaped state in the normal direction, includes a state in which it is rotated by a multiple of 90 degrees and a plane-symmetrical state thereof. Further, in the present invention, each information included in the code data directly indicates target information, and also indirectly information for accessing and acquiring target information stored in advance in a predetermined storage means. Shall also be included.
- FIG. 1 shows a cargo identification code 10a, 10b, 10c, 10d according to a first embodiment of the present invention and a cargo 5A in a state of being packaged in a cardboard box as a display item thereof.
- the side surfaces front, rear, left
- the cargo identification codes 10a, 10b, 10c, 10d in the basic posture of the illustrated cargo 5A (the lid is the upper surface and the surface with the sheet 1a is the front), the side surfaces (front, rear, left) displaying the cargo identification codes 10a, 10b, 10c, 10d.
- Light side is a loading method which does not come to the position of the upper surface or the lower surface in any case, and one of the four side surfaces is always in the front position opposite to the reading means of the robot hand.
- the cargo identification codes 10a, 10b, 10c and 10d are displayed at predetermined positions on the front, rear, left, and right sides of the rectangular cargo 5A, and the 2D camera is code data including at least longitudinal size information on the code display surface.
- the code data of the freight identification codes 10a, 10b, 10c and 10d are not limited to those directly indicating the size information as described above, but are stored, for example, on a server (storage means) such as an intranet or the Internet.
- the access information to the size information may be used to indirectly indicate the size information.
- the control means of the robot hand accesses predetermined storage means based on the access information of the code data acquired by the reading means, and acquires corresponding size information and other information.
- each code data of the cargo identification code 10a, 10b, 10c, 10d includes the size of depth based on the code display surface of the cargo 5A, and the robot hand is held in a safe state (chatch King) make it easy to pick up.
- the cargo identification code 10a, 10b, 10c, 10d is printed in advance on the side (four sides) of the cardboard box constituting the cargo 5A, and the printing position is It is considered to be the central position of width and width in the code display surface.
- the code display position Is a middle position in the vertical and horizontal directions on the surface on which it is displayed, so just by identifying the vertical and horizontal size of the code display surface, debanning while aligning the robot hand with the cargo 5A of interest based on the code display position. And de-palletizing can be performed accurately and smoothly.
- a cargo identification code is printed at a predetermined position on all six sides of the cardboard box. You should keep it. Also, by including in the code data position information indicating the code display position in advance in printing, there is no restriction on the print position, and a program that causes the control unit on the robot side to execute the above steps is unnecessary. It becomes.
- FIG. 2 shows cargo identification codes 11a to 11f according to the second embodiment of the present invention (symbols omitted in the drawing), sheets 1a, 1b, 1c, 1d, 1e, 1f which are the display items thereof, and cardboards thereof.
- the cargo 5B which has accommodated the contents in the state stuck to the box is shown.
- the size of the cargo for example, in the case where cargoes having contents of various weights accommodated in rectangular cardboard boxes of various shapes and sizes such as home delivery cargo are sequentially carried in, the size of the cargo And, while measuring the weight sequentially, it is suitable for printing and sticking the cargo identification codes 11a to 11f on the sheets 1a, 1b, 1c, 1d, 1e, 1f for sticking.
- a loading method is also assumed in which cargo is stacked in various directions at random, so the sheets 1a, 1b, 1c, 1d, 1e, 1f are respectively affixed to all surfaces ( It is preferable to print on each sheet to specify the sticking surface and position), and the cargo identification code 11a to 11f can be read out regardless of which surface is the front facing the reading means of the robot. There is. Further, since the code data includes information on the depth size and weight of the cargo 5B, it is easy to select a safe gripping method for the robot hand.
- the code data does not include position information indicating the code display position, but the position where the square sheet 1a, 1b, 1c, 1d, 1e, 1f is attached is the upper right corner of the attached surface.
- the control means on the robot side is provided in advance with a step of determining "the code display position is 5 cm each from the upper side / right side". Similarly, accurate alignment of the robot hand with the cargo 5B can be performed.
- the code data has a rotation angle in the case where it is rotated by a multiple of 90 degrees from the reference posture with a line perpendicular to the code display surface displaying the cargo identification code 11a to 11f as a central axis.
- the rotation identification information for identification is included, and even if the cargo 5B is placed by being rotated from the reference posture, the actual length, width, and depth of the code display surface in the placed posture are included. The size can be identified.
- the cargo identification codes 11a to 11f of the present embodiment are called matrix type two-dimensional codes, and since the configuration has directivity, it is possible to display the rotation identification information by itself. It is possible.
- the application position is not limited as long as it is accurately attached to the position according to the position information. Become.
- FIG. 3 shows cargo identification codes 12a to 12f according to a third embodiment of the present invention, and seal sheets 2a and 2b as their display objects, and FIG. 4 shows the seal sheets 2a and 2b.
- the cargo 5C is shown as the affixed label.
- the three cargo identification codes 12a, 12b and 12c are one cargo identification code 12b and the other two cargo identification codes 12a and 12b. Are at a predetermined distance so as to be perpendicular to each other to form an L-shaped seal sheet 2a, and is characterized in that it is paired with the seal sheet 2b of FIG. 3 (B).
- the cargo identification codes 12a, 12b and 12c are attached to three corners forming a corner of a rectangular parallelepiped while being bent at a right angle as shown in FIG.
- the display parts 20, 21 and 22 are formed in an L shape as being displayed on each side (the same applies to the seal sheet 2b), and only by attaching one of them, three sides of the rectangular parallelepiped cargo are The cargo identification code will be displayed.
- the seal sheet 2a is provided at the front corner of the cardboard box in which the contents are packed, and the seal sheet 2b having the same configuration at the opposite corner of the back corner. Only by attaching each piece, it becomes cargo 5C with the identification code for cargo displayed on all 6 different faces. Therefore, the sticking work can be done in a relatively short time while minimizing the trouble and time to determine the sticking position and the sticking direction. It will be completed.
- position information indicating the code display position on each display surface (coordinate position of 5 cm from each of the vertical and horizontal sides forming the corner portion) It is characterized by the point which contains). Therefore, in addition to not requiring the program for executing the steps as described above in the control means on the robot hand side, it is possible to easily cope with the case in which cargos of various sizes are mixed.
- the code data also includes information indicating the product number of the contents collected in the cardboard box, which is excellent in convenience in physical distribution and storage.
- the necessary number of the seal sheets 2a and 2b may be printed in advance, but in the case where the size and content of the cargo are known immediately before sticking Also, since it is possible to print the required number of sheets in a short time, it is relatively easy to cope with this (it is possible to create two groups with one A4 size sheet).
- the cargo identification codes 12a to 12f are displayed at positions shifted along the diagonal from the central position of the display portions 20, 21, 22, 23, 24, and 25. This is to secure a space for applying a tape for closing the lid as shown in FIG. 4 and to avoid that the cargo identification codes 12a to 12f are partially shielded by the opaque tape. Moreover, by adopting the pasting method as shown in the figure, it is possible to stick to the cardboard box even before the lid is closed, and when the tape is cut and the lid is opened at the time of opening, the seal sheets 2a and 2b are cut. Can also be avoided.
- FIG. 5 shows a state in which the robot 5 unloads the cargo 5C attached with the seal sheets 2a and 2b, which are the display objects of the above-mentioned cargo identification codes 12a to 12f, from the pile loaded in the container.
- the piles of the cargo 5C aligned and stacked without gaps have a small gap between the ceiling plate 500 of the container and the left and right side plates (not shown), so the cargo 5C on the upper end and the left and right ends is forward (robot It can not be picked up unless it is pulled out to 3).
- the robot 3 supports the robot hand 31 provided on the tip end side of the arm 30 from below from below the camera 315 which is a reading means for reading the cargo identification codes 12a to 12f and the target cargo 5C. And a suction / extraction means comprising a mechanism (not shown) for pulling and placing the suctioned cargo 311 onto the support plate 310.
- the front end side of the support plate 310 in the robot hand 31 is positioned slightly below the lower end edge of the cargo 5C, The suction is performed while the suction pad 311 is in close contact, and as shown in FIG. 6, the cargo 5C is sequentially pulled out from the upper end side from the pile and picked up while being unloaded. Therefore, even if the clearance above and to the side of the cargo 5C loaded without a gap is narrow, it is possible to proceed with the unloading operation while smoothly pulling out the cargo 5C without increasing costs with a simple configuration. it can.
- the robot hand 31 is configured such that the tip end side of the support plate 310 can swing up and down in a predetermined range, and as shown in FIG. 6, the cargo 5C is pulled up onto the support plate 310 By lifting the tip end side, even if the suction force of the suction pad 311 is not so large, it can be held in a stable state. Further, as shown in FIG. 7, when picking up the lowermost cargo 5C, the cargo 5C in close contact with the floor surface is placed on the support plate 310 by lowering the tip end side of the support plate 310 and bringing it into close contact with the floor surface. You can pull it up.
- the robot 3 equipped with such a robot hand 31 adjusts the position and angle of the support plate 310 also for the pile of cargo 5C loaded in various directions at random.
- the stacked freight 5C can be picked up in order from the upper stage. That is, by reading the freight identification codes 12a to 12f, in addition to the longitudinal / horizontal size information of the freight 5C, depth size and weight information, position information, and rotation identification information can be instantly identified. It is possible to safely and smoothly unload the directionally loaded cargo 5C.
- the present invention is not limited to various loading operations such as banning, palletizing or movement onto a conveyor. It goes without saying that it can be applied to the transfer operation, and the efficient operation can be realized as described above.
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Abstract
Description
Claims (20)
- 直方体の貨物の前後左右の4面又は総ての面の所定位置に各々表示され、そのコードデータを読取り手段を介して所定の制御手段に識別させる貨物用識別コードにおいて、そのコードデータには前記貨物におけるコード表示面の縦横のサイズを示すサイズ情報が含まれており、前記読取り手段及びロボットハンドを備えたロボットの前記制御手段に、そのコード表示位置と前記サイズ情報に基づいて前記ロボットハンドを前記貨物に位置合わせさせる、ことを特徴とした貨物用識別コード。
- 前記コードデータには、前記コード表示面における前記コード表示位置を識別させる位置情報が含まれている、ことを特徴とする請求項1に記載した貨物用識別コード。
- 前記コードデータには、前記コード表示面に対する直角な線を中心軸として基準姿勢から90度の倍数で回転して載置された場合の回転角を識別させるための回転識別情報が含まれている、ことを特徴とする請求項1に記載した貨物用識別コード。
- 前記コードデータには、前記コード表示面に対する直角な線を中心軸として基準姿勢から90度の倍数で回転して載置された場合の回転角を識別させるための回転識別情報が含まれている、ことを特徴とする請求項2に記載した貨物用識別コード。
- 前記コードデータには、前記コード表示面を基準とした奥行のサイズ又は/及び貨物重量の情報が含まれている、ことを特徴とする請求項1に記載した貨物用識別コード。
- 請求項1に記載した貨物用識別コードを表示してなる所定形状のシート又はシールシートであって、前記貨物の前後左右の4面又は総ての面の所定位置に貼付されることで、前記貨物用識別コードが前記各面に表示される、ことを特徴とするシート又はシールシート。
- 請求項2に記載した貨物用識別コードを表示してなる所定形状のシート又はシールシートであって、前記貨物の前後左右の4面又は総ての面の所定位置に貼付されることで、前記貨物用識別コードが前記各面に表示される、ことを特徴とするシート又はシールシート。
- 請求項3に記載した貨物用識別コードを表示してなる所定形状のシート又はシールシートであって、前記貨物の前後左右の4面又は総ての面の所定位置に貼付されることで、前記貨物用識別コードが前記各面に表示される、ことを特徴とするシート又はシールシート。
- 請求項4に記載した貨物用識別コードを表示してなる所定形状のシート又はシールシートであって、前記貨物の前後左右の4面又は総ての面の所定位置に貼付されることで、前記貨物用識別コードが前記各面に表示される、ことを特徴とするシート又はシールシート。
- 3つの前記貨物用識別コードが、1つの前記貨物用識別コードを中心として他の2つが互いに直角をなすように所定距離を置きながらL字状を呈して配置されており、隣接する前記貨物用識別コードの間で直角に屈曲されながら前記直方体の貨物の角部を形成する3つの面に亘って貼付されることにより、前記貨物用識別コードが前記面の角側に各々表示されるものとしてL字状に形成されてなり、その1枚を貼付するだけで前記貨物の異なる3面に前記貨物用識別コードを各々表示する、ことを特徴とする請求項6に記載したシート又はシールシート。
- 3つの前記貨物用識別コードが、1つの前記貨物用識別コードを中心として他の2つが互いに直角をなすように所定距離を置きながらL字状を呈して配置されており、隣接する前記貨物用識別コードの間で直角に屈曲されながら前記直方体の貨物の角部を形成する3つの面に亘って貼付されることにより、前記貨物用識別コードが前記面の角側に各々表示されるものとしてL字状に形成されてなり、その1枚を貼付するだけで前記貨物の異なる3面に前記貨物用識別コードを各々表示する、ことを特徴とする請求項7に記載したシート又はシールシート。
- 3つの前記貨物用識別コードが、1つの前記貨物用識別コードを中心として他の2つが互いに直角をなすように所定距離を置きながらL字状を呈して配置されており、隣接する前記貨物用識別コードの間で直角に屈曲されながら前記直方体の貨物の角部を形成する3つの面に亘って貼付されることにより、前記貨物用識別コードが前記面の角側に各々表示されるものとしてL字状に形成されてなり、その1枚を貼付するだけで前記貨物の異なる3面に前記貨物用識別コードを各々表示する、ことを特徴とする請求項8に記載したシート又はシールシート。
- 3つの前記貨物用識別コードが、1つの前記貨物用識別コードを中心として他の2つが互いに直角をなすように所定距離を置きながらL字状を呈して配置されており、隣接する前記貨物用識別コードの間で直角に屈曲されながら前記直方体の貨物の角部を形成する3つの面に亘って貼付されることにより、前記貨物用識別コードが前記面の角側に各々表示されるものとしてL字状に形成されてなり、その1枚を貼付するだけで前記貨物の異なる3面に前記貨物用識別コードを各々表示する、ことを特徴とする請求項9に記載したシート又はシールシート。
- 請求項1に記載した貨物用識別コードが、印刷又はシート貼付により前後左右の4面又は総ての面の所定位置に表示されてなる、ことを特徴とした梱包用の段ボール箱。
- 請求項2に記載した貨物用識別コードが、印刷又はシート貼付により前後左右の4面又は総ての面の所定位置に表示されてなる、ことを特徴とした梱包用の段ボール箱。
- 請求項3に記載した貨物用識別コードが、印刷又はシート貼付により前後左右の4面又は総ての面の所定位置に表示されてなる、ことを特徴とした梱包用の段ボール箱。
- 前記ロボットのアーム先端側に設けられ、前記貨物用識別コードを読取るための前記読取り手段と、前記貨物の下面を下から支持する支持板と、前記コード表示面に吸着しながら前記貨物を前記支持板上に引き出して載せる吸着・引出し手段を備えており、前記貨物を前記支持板上に載せた状態で把持することを特徴とした、請求項1に記載した貨物用識別コードが表示されている貨物をピックアップするためのロボットハンド。
- 前記ロボットのアーム先端側に設けられ、前記貨物用識別コードを読取るための前記読取り手段と、前記貨物の下面を下から支持する支持板と、前記コード表示面に吸着しながら前記貨物を前記支持板上に引き出して載せる吸着・引出し手段を備えており、前記貨物を前記支持板上に載せた状態で把持することを特徴とした、請求項2に記載した貨物用識別コードが表示されている貨物をピックアップするためのロボットハンド。
- 前記ロボットのアーム先端側に設けられ、前記貨物用識別コードを読取るための前記読取り手段と、前記貨物の下面を下から支持する支持板と、前記コード表示面に吸着しながら前記貨物を前記支持板上に引き出して載せる吸着・引出し手段を備えており、前記貨物を前記支持板上に載せた状態で把持することを特徴とした、請求項3に記載した貨物用識別コードが表示されている貨物をピックアップするためのロボットハンド。
- 前記ロボットのアーム先端側に設けられ、前記貨物用識別コードを読取るための前記読取り手段と、前記貨物の下面を下から支持する支持板と、前記コード表示面に吸着しながら前記貨物を前記支持板上に引き出して載せる吸着・引出し手段を備えており、前記貨物を前記支持板上に載せた状態で把持することを特徴とした、請求項4に記載した貨物用識別コードが表示されている貨物をピックアップするためのロボットハンド。
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US16/756,469 US11267138B2 (en) | 2017-11-08 | 2018-11-06 | Package identification code, sheet or sticker sheet displaying same, and robot hand used for same |
SG11202003763YA SG11202003763YA (en) | 2017-11-08 | 2018-11-06 | Freight identification code, items displaying same, and robot hand used for same |
KR1020207011315A KR102324088B1 (ko) | 2017-11-08 | 2018-11-06 | 화물용 식별코드 및 그 표시물 및 그것을 사용하는 로봇핸드 |
CN201880072206.1A CN111315545A (zh) | 2017-11-08 | 2018-11-06 | 货物用识别码、其显示物以及用于其的机器人手 |
JP2019517857A JP6598342B2 (ja) | 2017-11-08 | 2018-11-06 | 貨物用識別コード及びその表示物及びそれに用いるロボットハンド |
DE112018005784.4T DE112018005784B4 (de) | 2017-11-08 | 2018-11-06 | Frachtidentifikationscode, Dinge, auf denen Dieser angebracht ist, und dafür nutzbarer Robotergreifer |
ZA2020/02948A ZA202002948B (en) | 2017-11-08 | 2020-05-20 | Freight identification code, items displaying same, and robot hand used for same |
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JP2017-215383 | 2017-11-08 | ||
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KR (1) | KR102324088B1 (ja) |
CN (1) | CN111315545A (ja) |
DE (1) | DE112018005784B4 (ja) |
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WO2022113975A1 (ja) * | 2020-11-24 | 2022-06-02 | 川崎重工業株式会社 | ロボット及び物品寸法取得方法 |
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WO2020161790A1 (ja) * | 2019-02-05 | 2020-08-13 | 三菱電機株式会社 | 梱包部材 |
WO2020161188A1 (en) * | 2019-02-06 | 2020-08-13 | Marel Salmon A/S | System for opening and emptying a box with a lid |
US20220152845A1 (en) * | 2020-11-19 | 2022-05-19 | Berkshire Grey, Inc. | Systems and methods for object processing using grippers for objects with low pose authority |
AT525778B1 (de) * | 2021-11-09 | 2023-11-15 | Tgw Logistics Group Gmbh | Verfahren und Vorrichtung zum Entnehmen eines Ladeguts von einem Stapel |
DE102022115662A1 (de) | 2022-06-23 | 2023-12-28 | Robominds GmbH | Verfahren zum Handhaben eines Objekts mittels eines Roboterarms und Vorrichtung umfassend einen Roboterarm zum Handhaben eines Objekts |
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- 2018-11-06 JP JP2019517857A patent/JP6598342B2/ja active Active
- 2018-11-06 WO PCT/JP2018/041187 patent/WO2019093328A1/ja active Application Filing
- 2018-11-06 KR KR1020207011315A patent/KR102324088B1/ko active IP Right Grant
- 2018-11-06 SG SG11202003763YA patent/SG11202003763YA/en unknown
- 2018-11-06 CN CN201880072206.1A patent/CN111315545A/zh not_active Withdrawn
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US20210107750A1 (en) | 2021-04-15 |
DE112018005784T5 (de) | 2020-08-13 |
DE112018005784B4 (de) | 2022-02-03 |
ZA202002948B (en) | 2021-10-27 |
JP6598342B2 (ja) | 2019-10-30 |
KR102324088B1 (ko) | 2021-11-08 |
SG11202003763YA (en) | 2020-05-28 |
US11267138B2 (en) | 2022-03-08 |
JPWO2019093328A1 (ja) | 2019-11-21 |
KR20200057040A (ko) | 2020-05-25 |
CN111315545A (zh) | 2020-06-19 |
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