WO2020189118A1

WO2020189118A1 - Cargo handling apparatus

Info

Publication number: WO2020189118A1
Application number: PCT/JP2020/005773
Authority: WO
Inventors: 佳秀大鶴
Original assignee: 株式会社東芝; 東芝インフラシステムズ株式会社
Priority date: 2019-03-15
Filing date: 2020-02-14
Publication date: 2020-09-24
Also published as: JP7249826B2; JP2020147427A

Abstract

Provided is a cargo handling apparatus with which it is possible to appropriately overturn a cargo sideways. The cargo handling apparatus according to an embodiment is provided with a holding unit that holds a cargo and an arm that causes the holding unit to move, and causes a cargo held by the holding unit to be moved above a conveyor body for conveying the cargo, and then places the cargo on the conveyor body by releasing the holding by the holding unit. The cargo handling apparatus is provided with a control unit. When causing the conveyor body to convey the cargo in a state of being overturned sideways, the control unit selects an angle option from a plurality of angle options indicating options for an angle of the holding unit upon placement of the cargo on a tilted table provided on an upstream side of the conveying body, and carries out a control to release the hold by the holding unit by regulating the angle of the holding unit to an angle indicated by the angle option thus selected.

Description

Cargo handling equipment

The present invention relates to a cargo handling device.

For example, in a distribution warehouse or the like, a cargo handling system is known in which a stored product or the like is taken out by a robot device and unloaded to a belt conveyor or the like. In such a cargo handling system, it may be necessary to lay the load on its side for transportation in order to process it downstream after transportation or to prevent it from tipping over during transportation.

As a method of laying the luggage on its side, for example, a technique is known in which a tilting table (slope) is provided at the unloading position of the belt conveyor and the luggage is dropped onto the tilting table in a tilted state to lay the luggage on its side. ..

JP-A-2018-158801

However, depending on the angle of the load when it is dropped onto the tilt table, it cannot be controlled to that angle due to interference from obstacles or the limitation of the joint angle of the arm of the robot device, and the load is laid down appropriately. It may not be possible.

The problem to be solved by the present invention is to provide a cargo handling device capable of properly laying down a luggage.

The cargo handling device of the embodiment includes a holding portion for holding the luggage and an arm for moving the holding portion, and after moving the luggage held by the holding portion onto the carrier for carrying the luggage. , The holding by the holding portion is released, and the load is placed on the carrier. The cargo handling device includes a control unit. When the control unit lays the load on its side and conveys it to the carrier, one of a plurality of angle candidates indicating the angle candidates of the holding section when the load is placed on the tilt table provided on the upstream side of the carrier. The angle candidate of is selected, the angle of the holding unit is controlled to the angle indicated by the selected angle candidate, and the holding by the holding unit is controlled to be released.

FIG. 1 is a plan view of the cargo handling system of the first embodiment. FIG. 2 is a side view of the cargo handling system of the first embodiment. FIG. 3 is a diagram showing an example of the hardware configuration of the control device according to the first embodiment. FIG. 4 is a diagram showing an example of the function of the control device of the first embodiment. FIG. 5 is a diagram showing an example of a detailed function of the robot control unit of the first embodiment. FIG. 6 is an explanatory diagram of a method for detecting the size of the luggage in the height direction of the first embodiment. FIG. 7 is a diagram showing an example of a mode of moving luggage according to the first embodiment. FIG. 8 is an explanatory diagram of how to defeat the unloader of the first embodiment. FIG. 9 is a diagram showing an example of a plurality of angle candidates according to the first embodiment. FIG. 10 is a diagram showing an example of a mode in which a load is laid on its side and transported. FIG. 11 is a flowchart showing an operation example of the control device of the first embodiment. FIG. 12 is a diagram showing an example of the function of the control device of the second embodiment. FIG. 13 is a diagram showing an example of a plurality of angle candidates of the second embodiment. FIG. 14 is an explanatory diagram of a mode selection method of the second embodiment. FIG. 15 is an explanatory diagram of a mode selection method of the second embodiment.

Hereinafter, the cargo handling device according to the embodiment will be described in detail with reference to the attached drawings.

(First Embodiment)
FIG. 1 is a diagram showing an example of the configuration of the cargo handling system 1 of the present embodiment. For example, the cargo handling system 1 is a system installed in a distribution center or the like, which takes out a baggage from a container (cargage storage container) in which the baggage is stored and puts the taken out baggage on a conveyor for transporting the baggage.

FIG. 1 is a plan view of the cargo handling system 1, and FIG. 2 is a side view of the cargo handling system 1. As shown in FIGS. 1 and 2, the cargo handling system 1 controls the robot device 10, the laser range finder (hereinafter referred to as “LRF”) 20, the camera 30, the auxiliary conveyor 40, and the main conveyor 50. The device 60 and the like.

The robot device 10 is a device that takes out the luggage 80 stored in the luggage storage container 70 under the control of the control device 60 and puts the taken out luggage 80 on the auxiliary conveyor 40. The robot device 10 includes at least a holding unit 11 and an arm 12.

The holding unit 11 is a means for holding the luggage 80. For example, the holding unit 11 can be configured to have one or more suction pads. In this case, a pump for vacuum suctioning the suction pad is connected to each suction pad via, for example, a hose, and the suction pad is sucked in a state where the suction pad is pressed against the luggage 80. By holding the luggage 80 and stopping the suction, the held luggage 80 can be released and dropped. Not limited to this, the holding unit 11 may have a structure capable of holding / releasing the luggage 80, and various known techniques can be used. For example, the holding portion 11 may be a mechanism for sandwiching (grasping) the luggage 80. Here, "grasping" can be considered as an aspect of "holding".

The arm 12 is a means for moving the holding portion 11. For example, the arm 12 is an articulated arm, and may have a configuration having a plurality of arm members and a connecting portion for rotatably connecting the plurality of arm members. The tip of the arm 12 is connected to the holding portion 11 and supports the holding portion 11. The arm 220 can move the holding unit 11 to a desired position in the three-dimensional space under the control of the control device 60 (based on the coordinates in the X, Y, and Z directions input from the control device 60). it can. Here, the X direction and the Y direction are directions along the horizontal plane and intersect with each other (for example, substantially orthogonal to each other). The Z direction is the vertical direction.

For example, the control device 60 controls the arm 12 so that the position of the holding unit 11 is a position where the luggage 80 to be unloaded stored in the luggage storage container 70 can be held, and the suction of the holding unit 11 is performed at that position. By controlling the execution of the above, the holding unit 11 can hold the luggage 80 to be unloaded. Then, the control device 60 controls the arm 12 so that the position of the holding portion 11 holding the luggage 80 is the unloading position on the auxiliary conveyor 40 (the position where the luggage 80 is placed on the auxiliary conveyor 40). By controlling the suction of the holding unit 11 to be stopped at the unloading position, the holding by the holding unit 11 can be released, and the load 80 can be dropped and placed on the auxiliary conveyor 40. The specific contents of the control device 60 will be described later.

Continue the explanation of Fig. 1. The LRF 20 is a sensor used to detect the size of the load 80 to be unloaded in the height direction (Z direction), and is a sensor that measures a distance using light waves. The elevating mechanism 21 is a device for elevating and lowering the LRF 20 under the control of the control device 60.

The camera 30 is a three-dimensional camera capable of capturing a three-dimensional image, and can capture the shape and size of a subject (object) in three dimensions. In the present embodiment, the camera 30 is arranged above the luggage storage container 70 and images the upper surface of the luggage 80 stored in the luggage storage container 70. In the following description, the image captured by the camera 30 (three-dimensional image in this example) may be referred to as a “camera image”.

In the present embodiment, the control device 60 detects the size of the load 80 to be unloaded from the measurement result of the LRF 20 and the camera image, and based on the detected size, the load 80 is laid down and conveyed to the auxiliary conveyor 40. Decide whether to let it. Details will be described later. In this example, the LRF 20 and the camera 30 function as "detectors" used to detect size information (eg, three-sided size information) about the size of the luggage 80.

Continue the explanation of Fig. 1. The auxiliary conveyor 40 is an example of a “conveyor body” for transporting the luggage 80, and transports the luggage 80 received from the robot device 10 toward the main conveyor 50. On the upstream side of the auxiliary conveyor 40, a tilt table (slope) 41 for laying down the luggage 80 is provided. The main conveyor 50 conveys the load 80 discharged from the auxiliary conveyor 40 to the main conveyor 50 to the downstream side.

In the present embodiment, the cargo handling system 1 exemplifies a mode in which the detection device (LRF 20 and camera 30), the robot device 10, the auxiliary conveyor 40, the main conveyor 50, and the control device 60 are included as components. It is not limited to this. In short, the cargo handling system 1 may be in a form including at least components related to cargo handling. For example, the cargo handling system 1 may be in a form composed of the detection device, the robot device 10, the auxiliary conveyor 40, and the control device 60 (a form in which the main conveyor 50 is not included), or the detection device and the robot device 10. , A form composed of the control device 60 (a form not including the auxiliary conveyor 40 and the main conveyor 50), or a form composed of the robot device 10, the auxiliary conveyor 40, and the control device 60 (the detection device described above). , The form in which the main conveyor 50 is not included) may be used.

FIG. 3 is a diagram showing an example of the hardware configuration of the control device 60. As shown in FIG. 3, the control device 60 includes a CPU (Central Processing Unit) 101, a storage unit 102, and an I / F (Interface) unit 103. In the example of FIG. 3, the minimum hardware elements included in the control device 60 are illustrated, but the present invention is not limited to this, and the control device 60 may be in a form further including other hardware elements. .. For example, the control device 60 may be further provided with a display device for displaying various types of information, or may be further provided with an input device used for various inputs by the user.

The CPU 101 comprehensively controls the operation of the control device 60 by executing the program, and realizes various functions of the control device 60. Various functions of the control device 60 will be described later.

The storage unit 102 includes, for example, a non-volatile memory (for example, ROM (Read Only Memory)) for storing various data such as a program executed by the CPU 101, and a volatile memory (for example, RAM (Random Access)) having a work area of the CPU 101. Memory)) etc. are included.

The I / F unit 103 is an interface for connecting to an external device. Examples of the external device include a robot device 10, an LRF 20, an elevating mechanism 21, a camera 30, a drive unit (for example, a motor) that drives the auxiliary conveyor 40, and a drive unit (for example, a motor) that drives the main conveyor 50.

FIG. 4 is a diagram showing an example of the functions of the control device 60. In the example of FIG. 4, only the functions related to the main parts of the present embodiment are illustrated, but the functions of the control device 60 are not limited to these. As shown in FIG. 4, the control device 60 includes an elevating control unit 601, an information acquisition unit 602, a robot control unit 603, and a drive control unit 604.

The elevating control unit 601 controls the elevating of the elevating mechanism 21. For example, the elevating control unit 601 can control the elevating mechanism 21 so as to adjust the measurement position of the LRF 20 to the height of the luggage storage container 70.

The information acquisition unit 602 acquires information such as the measurement result of the LRF 20 and the camera image. The information acquired by the information acquisition unit 602 is input to the robot control unit 603. For example, the information acquisition unit 602 may be in the form of acquiring the measurement result of the LRF20 each time the measurement by the LRF20 is performed, or may be in the form of acquiring the measurement result of the LRF20 at a fixed cycle. It may be in the form of requesting the measurement result from the LRF 20 at an arbitrary timing and acquiring the measurement result of the LRF 20 as a response. The same applies to the method of acquiring the camera image.

The robot control unit 603 controls the robot device 10. FIG. 5 is a diagram showing an example of a detailed function of the robot control unit 603. As shown in FIG. 5, the robot control unit 603 includes an unloading target determination unit 611, a size detection unit 612, a sideways determination unit 613, a selection unit 614, and a control unit 615. In the example of FIG. 5, only the functions related to the main parts of the present embodiment are illustrated, but the functions of the robot control unit 603 are not limited to these.

The unloading target determination unit 611 confirms whether or not there is a receivable baggage 80 from the camera image acquired by the information acquisition unit 602, and if there is a receivable baggage 80, the unloading target is to be unloaded. Determine the luggage 80. For example, the unloading target determination unit 611 can determine the package 80 having the highest top surface height among the packages 80 reflected in the camera image as the package 80 to be unloaded.

The size detection unit 612 detects the size of the unloading target package 80 determined by the unloading target determination unit 611. More specifically, the size detection unit 612 detects the sizes of the three sides of the package 80 to be unloaded based on the information (camera image and measurement result of the LRF 20) acquired by the information acquisition unit 602.

The method of detecting the size of the three sides of the luggage 80 will be described below. The size detection unit 612 can detect the size of the X-direction and Y-direction sides of the upper surface of the luggage 80 from the camera image. Next, a method of detecting the size of the side of the luggage 80 in the height direction will be described. The size detection unit 612 moves the holding unit 11 upward until the bottom of the luggage 80 exceeds the measurement position of the LRF 20 after the luggage 80 to be unloaded stored in the containment vessel 70 is held by the holding unit 11. The arm 12 is controlled so as to do so. Whether or not the bottom of the luggage 80 held by the holding unit 11 exceeds the measurement position of the LRF 20 is steep after the measurement result of the LRF 20 continuously shows a value corresponding to the distance D between the LRF 20 and the luggage 80. It can be judged whether or not the value has changed to a different value (or an error value indicating unmeasurable). Here, the measurement result of the LRF 20 is used to determine whether or not the bottom of the luggage 80 exceeds the measurement position of the LRF 20. Then, the size detection unit 612 determines the height direction of the luggage 80 from the difference between the measurement position H2 (known) of the LRF 20 and the height H3 of the holding unit 11 when the bottom of the luggage 80 exceeds the measurement position of the LRF 20. The size H1 of the side of can be detected (see FIG. 6).

Return to Fig. 5 and continue the explanation. The sideways determination unit 613 determines whether or not to lay the luggage 80 sideways and transport it to the auxiliary conveyor 40 based on the size of the luggage 80 detected by the size detection unit 612. Here, in order to prevent the luggage from tipping over during transportation, if the side in the height direction (Z direction) is larger than the side in the width direction (X direction or Y direction) of the luggage 80 to be unloaded, the luggage 80 Is laid on its side and is conveyed to the auxiliary conveyor 40. In this example, when the side in the height direction is the longest side among the three sides of the load 80 to be unloaded, the sideways determination unit 613 determines the load 80 as the target to be laid down.

In the present embodiment, when the sideways determination unit 613 determines that the load 80 to be unloaded is to be laid down and conveyed to the auxiliary conveyor 40, as shown in FIG. 7, the robot control unit 603 (for example, the control unit 615 also) Alternatively, it may be another functional element) controls the arm 12 so that the luggage 80 held by the holding portion 11 is moved onto the tilt table 41.

Then, the selection unit 614 shown in FIG. 5 is among a plurality of angle candidates indicating the angle candidates of the holding unit 11 when loading (dropping) the load on the tilt table 41 provided on the upstream side of the auxiliary conveyor 40. Select one angle candidate from. More specifically, the selection unit 614 selects one angle candidate from a plurality of angle candidates that does not cause an error when the arm 12 is controlled so that the angle is indicated by the angle candidate. Here, the "error" includes interference with an obstacle or the like and the angle limitation of the joint of the arm 12. That is, the selection unit 614 selects one angle candidate that can avoid interference or angle limitation of the arm joint from the plurality of angle candidates. In the present embodiment, priorities are set in advance for a plurality of angle candidates, and the selection unit 614 determines whether or not an error occurs in order from the angle candidates having the highest priority. Select the angle candidate with the highest priority without causing an error.

Further, as shown in FIG. 8, in the present embodiment, of the two

surfaces

81 and 82 facing each other in the transport direction of the auxiliary conveyor 40, which the load 80 to be unloaded held by the holding portion 11 has, is conveyed. The surface 81 on the upstream side in the direction is referred to as "back surface 81", and the surface 82 on the downstream side in the transport direction is referred to as "front surface 82". Then, tilting the back surface 81 of the luggage 80 toward the auxiliary conveyor 40 is referred to as "backward tilting", and tilting the front surface 82 of the luggage 80 toward the auxiliary conveyor 40 is referred to as "forward tilting". In other words, "backward tilting" is to tilt the luggage 80 upstream with respect to the transport direction of the luggage 80 defined in the auxiliary conveyor 40 (conveyor body), and "forwardward" is defined in the auxiliary conveyor 40. The luggage 80 is tilted downstream with respect to the transport direction of the luggage 80. Further, in the present embodiment, the normal angle of the holding portion 11 in the non-tilted state is set to "0 degree", and the normal direction of the holding portion 11 extends as the direction of the angle of the holding portion 11 of the tilting table 41. The direction approaching the direction (in other words, the direction in which the straight line representing the inclination of the holding portion 11 approaches the extending direction of the tilt table 41) is a positive direction, and the opposite direction is a negative direction. Here, the extending direction of the tilt table 41 is the direction of a straight line representing the inclination of the tilt table 41, and the angle of the straight line corresponds to the inclination angle of the tilt table 41. The method of determining the positive or negative direction of the angle of the holding portion 11 is arbitrary, and may be the opposite of the above.

Here, since the rearward tilting can reduce the impact on the luggage 80 as compared with the forward tilting, if interference or the angle limitation of the joint of the arm 12 can be avoided, the luggage 80 can be placed on the auxiliary conveyor 40 by the backward tilting. preferable. Further, when the luggage 80 is placed on the auxiliary conveyor 40 by tilting it backward, it is preferable to tilt the holding portion 11 so that the normal direction of the holding portion 11 is as close as possible to the extending direction of the tilting table 41. This is because the load can be reliably laid on its side while mitigating the impact on the luggage 80.

Therefore, in the present embodiment, among the plurality of angle candidates, the angle is such that the luggage 80 is tilted upstream with respect to the transport direction of the luggage 80 defined in the auxiliary conveyor 40 and is tilted backward. An angle candidate indicating an angle closer to the tilt angle of the tilt table 41 (in other words, an angle in which the normal direction of the holding portion 11 is closer to the extending direction of the tilt table 41) is set in advance so that the priority is higher. FIG. 9 is a diagram showing an example of a plurality of angle candidates whose priorities are set in advance. As shown in FIG. 9, it can be seen that the angle candidate for tilting backward and showing an angle closer to the tilt angle of the tilt table 41 has a higher priority. In the example of FIG. 9, the angles for moving backward are tried in descending order of the angle, and if it is not possible to move backward, the angles for moving forward are tried in descending order of the absolute value of the angle, and then moving forward. If this is not possible, select an angle candidate that indicates "0 degrees".

When the luggage 80 is placed on the auxiliary conveyor 40 ahead of schedule, the angle of the holding portion 11 is set to be close to the normal direction of the slope of the tilting table 41 (in other words, the straight line representing the tilt of the holding portion 11 is inclined. It is preferable to tilt the holding portion 11 (so that it is close to the normal direction of the slope of the table 41). That is, it is preferable to tilt the holding portion 11 so that the front surface 82 of the holding portion 11 approaches the upper surface (mounting surface) of the auxiliary conveyor 40 (to mitigate the impact on the luggage 80). In the example of FIG. 9, among the angle candidates showing negative values (angle candidates corresponding to advancement), the angle candidate having a larger absolute value of the angle has a higher priority. Specifically, the priority of the angle candidate indicating "-40 degrees" (third) is higher than the priority of the angle candidate indicating "-20 degrees" (fourth).

Return to Fig. 5 and continue the explanation. The control unit 615 controls the angle of the holding unit 11 to the angle indicated by the angle candidate selected by the selection unit 614, and controls to release the holding by the holding unit 11. FIG. 10A is a diagram showing a state in which the load 80 is placed on the auxiliary conveyor 40 and conveyed when the angle candidate selected by the selection unit 614 indicates an angle for tilting backward. FIG. 10B is a diagram showing a state in which the load 80 is placed on the auxiliary conveyor 40 and conveyed when the angle candidate selected by the selection unit 614 indicates an angle for moving forward.

In this example, the control unit 615 controls suction / stop (hold / release) of the holding unit 11, angle control of the holding unit 11, control of the arm 12, and the like, but the control performed by the control unit 615 is the above control. It is not limited to. The above is the function of the robot control unit 603.

Return to Fig. 4 and continue the explanation. The drive control unit 604 controls the drive unit of the auxiliary conveyor 40 and the drive unit of the main conveyor 50. The drive control unit 604 has a threshold value of the angle (angle with respect to the normal direction of the holding unit) between the extending direction of the tilt table 41 and the holding unit 11 controlled to the angle indicated by the angle candidate selected by the selection unit 614. In the above case, when the holding by the holding unit 11 is released, the operation of stopping the driving of the auxiliary conveyor 40 is controlled for a certain period of time.

Here, when the angle formed by the extending direction of the tilt table 41 and the normal direction of the holding unit 11 controlled by the angle indicated by the angle candidate selected by the selection unit 614 is equal to or greater than the threshold value, for example, the luggage 80 It is assumed that the angle of the holding portion 11 holding the above is controlled to an angle for moving forward. For example, in the case of moving forward as shown in FIG. 10B, the frictional force due to the rotation of the auxiliary conveyor 40 acts in a direction that hinders the sideways of the load 80. Therefore, the load 80 is stopped by stopping the drive of the auxiliary conveyor 40 for a certain period of time. It can be laid down smoothly.

For each function of the elevating control unit 601, the information acquisition unit 602, the robot control unit 603, and the drive control unit 604 of the control device 60 described above, the CPU 101 shown in FIG. 3 executes a program stored in the storage unit 102. It is realized by doing. However, the present invention is not limited to this, and for example, some or all of the functions of the above-mentioned parts can be realized by a dedicated hardware circuit (for example, a semiconductor integrated circuit).

As described above, the control device 60 releases the holding by the holding unit 11 after moving the luggage 80 held by the holding unit 11 of the robot device 10 onto the auxiliary conveyor 40 for transporting the luggage 80. Then, the luggage 80 is controlled to be dropped and placed on the auxiliary conveyor, which can be considered as an example of the “cargo handling device”. Further, the present invention is not limited to this, and for example, a combination of the control device 60 and the robot device 10 can be considered as an example of the “cargo handling device”.

FIG. 11 is a flowchart showing an operation example of the control device 60 of the present embodiment. As shown in FIG. 11, first, the elevating control unit 601 controls the elevating mechanism 21 to elevate and lower so as to match the measurement position of the LRF 20 with the height of the luggage containment vessel 70 (step S1). Next, the drive control unit 604 controls the drive unit of the auxiliary conveyor 40 so that the load 80 placed on the auxiliary conveyor 40 is conveyed in the transport direction (step S2).

Next, the information acquisition unit 602 acquires a camera image (step S3). Next, the unloading target determination unit 611 confirms whether or not there is a receivable package 80 from the camera image acquired in step S3 (step S4). If the result of step S4 is negative (step S4: No), the process ends. If the result of step S4 is affirmative (step S4: Yes), the unloading target determination unit 611 determines the unloading target package 80 from the holdable packages 80 (step S5).

Next, the size detection unit 612 detects the size of the package 80 to be unloaded determined in step S5 (step S6). Next, the sideways determination unit 613 determines whether or not to lay the luggage 80 sideways and transport it to the auxiliary conveyor 40 based on the size detected in step S6 (step S7).

When the result of step S7 is negative (step S7: No), the robot control unit 603 (for example, control unit 615) has an arm so that the position of the holding unit 11 is a position where the load 80 to be unloaded can be held. After controlling 12 to hold the luggage 80 in the holding portion 11, the position of the holding portion 11 in that state is the region on the upstream side on the upper surface of the auxiliary conveyor 40 where the tilting table 41 is installed. The arm 12 is controlled so as to be located above the downstream region. That is, the robot control unit 603 holds the load 80 to be unloaded by the holding unit 11 and moves it onto the auxiliary conveyor 40 (step S8). Then, the robot control unit 603 (for example, the control unit 615) releases the holding by the holding unit 11 and drops the luggage 80 onto the tilt table 41 (step S9).

On the other hand, when the result of step S7 is affirmative (step S7: Yes), in the robot control unit 603 (for example, control unit 615), the position of the holding unit 11 is set to a position where the load 80 to be unloaded can be held. After controlling the arm 12 to hold the load 80 on the holding portion 11, the arm 12 is controlled so that the holding portion 11 in that state is located on the tilt table 41. That is, the robot control unit 603 holds the load 80 to be unloaded by the holding unit 11 and moves it onto the tilt table 41 (step S10). Next, the selection unit 614 selects the angle candidate having the highest priority among the plurality of angle candidates (step S11), and makes an error when controlling the arm 12 so that the angle indicated by the selected angle candidate is obtained. Is determined (step S12). This determination is made by simulation or the like, and the determination is not made by actually controlling the arm 12.

When the result of step S12 is affirmative (step S12: Yes), the selection unit 614 selects the angle candidate having the next highest priority after the angle candidate determined in step S12 (step S13), and repeats the process of step S12. .. When the result of step S12 is negative (step S12: No), the selection unit 614 notifies the control unit 615 of the angle candidate at that time as the final selection result, and the control unit 615 has the angle of the holding unit 11 changed. , The arm 12 is controlled so that the angle indicated by the angle candidate notified from the selection unit 614 is obtained (step S14).

After step S14, the robot control unit 603 determines whether or not the angle formed by the extending direction of the tilt table 41 and the normal direction of the holding unit 11 whose angle is controlled in step S14 is equal to or greater than the threshold value ( Step S15). That is, in this example, it is determined whether or not the angle of the holding portion 11 is an angle for moving forward. This determination may be made, for example, by the control unit 615 or by another functional element of the robot control unit 603.

If the result of step S15 is affirmative (step S15: Yes), the robot control unit 603 notifies the drive control unit 604 to that effect, and the drive control unit 604 receiving this notification stops driving the auxiliary conveyor 40. Control is performed (step S16). Then, the robot control unit 603 (control unit 615) releases the holding by the holding unit 11 and drops the luggage 80 onto the tilt table 41 (step S17). After that, the drive control unit 604 controls to stop the drive of the auxiliary conveyor 40 for a certain period of time and then restart the drive of the auxiliary conveyor 40 (step S18). After that, the processing of step S3 and subsequent steps is repeated.

When the result of step S15 is negative (step S15: No), for example, when the angle of the holding unit 11 is an angle for tilting backward, the robot control unit 603 (control unit 615) holds the robot by the holding unit 11. It is released and the luggage 80 is dropped onto the tilt table 41 (step S19). At this time, the auxiliary conveyor 40 continues to be driven. After that, the processing of step S3 and subsequent steps is repeated.

As described above, in the control device 60 of the present embodiment, when the luggage 80 is laid on its side and conveyed to the auxiliary conveyor 40, the luggage 80 is placed on the tilt table 41 provided on the upstream side of the auxiliary conveyor 40. One angle candidate is selected from a plurality of angle candidates indicating the angle candidates of the holding unit 11, and the angle of the holding unit 11 is controlled so as to be the angle indicated by the selected angle candidate. Controls to release the holding by. More specifically, the control device 60 selects one angle candidate from the plurality of angle candidates that does not cause an error when the arm 12 is controlled so as to have the angle indicated by the angle candidate. As a result, the luggage 80 can be properly laid down.

Further, as described above, the priority order is set in advance for the plurality of angle candidates, and the control device 60 determines whether or not an error occurs in order from the angle candidate having the highest priority. Then, select the angle candidate with the highest priority without causing an error. As a result, the holding portion 11 can be tilted at an angle close to the target while avoiding errors such as interference and angle limitation of the joint of the arm 12.

(Second Embodiment)
Next, the second embodiment will be described. In the present embodiment, the priority order of a plurality of angle candidates is set in advance for each of the plurality of modes corresponding to the method of tilting the luggage 80, and a plurality of angles associated with any one of the plurality of modes. It differs from the above-described first embodiment in that one angle candidate is selected from the candidates. The specific contents will be described below. The parts common to the first embodiment described above will be omitted as appropriate.

FIG. 12 is a diagram showing an example of the function of the robot control unit 603 of the present embodiment. As shown in FIG. 12, the robot control unit 603 is different from the above-described first embodiment in that it further includes a second selection unit 620.

The second selection unit 620 selects one of a plurality of modes. The plurality of modes include at least a first mode in which the luggage 80 is placed on the auxiliary conveyor 40 in the backward direction and a second mode in which the luggage 80 is placed in the auxiliary conveyor 40 in the forward direction is prioritized. Including. The plurality of angle candidates associated with the first mode are angles for tilting backward, and the angle candidates showing an angle closer to the tilt angle of the tilt table 41 have a higher priority. Further, the plurality of angle candidates associated with the second mode are angles for moving forward, and the angle of the holding portion 11 indicates an angle close to the normal direction of the slope of the tilt table 41. Candidates have higher priority.

FIG. 13 is a diagram showing an example of a plurality of angle candidates associated with each mode. In the example of FIG. 13, in addition to the first mode and the second mode, a third method corresponding to a tilting method in which the holding portion 11 is tilted with priority given to an angle having a large absolute value regardless of whether the holding portion 11 is tilted backward or forward. Modes are available. In the example of FIG. 13, in the third mode, the higher the absolute value, the higher the priority. In this example, from the viewpoint of cushioning the impact on the luggage 80, when the absolute values of the forward-forwarding angle and the backward-forwarding angle show the same value, the backward-forwarding angle is prioritized. However, the present invention is not limited to this, and for example, the forward angle can be prioritized.

The second selection unit 620 shown in FIG. 12 selects one of a plurality of modes according to the positional relationship between the robot device 10 and the tilt table 41. In this example, in the second selection unit 620, the position of the holding unit 11 when the held luggage 80 is placed on the tilt table 41 (when dropped) is the main body (arm 12 is connected) of the robot device 10 among the plurality of modes. Priority is given to the mode corresponding to the defeat method that is closest to the main body. Since the method of tilting the holding portion 11 closest to the robot device 10 changes according to the positional relationship between the robot device 10 and the tilting table 41, the second selection unit 620 installs the robot device 10 and the tilting table 41. The mode will be selected according to the environment.

For example, as shown in FIG. 14, the position of the holding portion 11 when tilted to the backward tilting position is higher than the position of the holding portion 11 when tilted to the forward tilting angle. In the case of the positional relationship close to the main body of the above, the second selection unit 620 selects the first mode in which the method of placing the luggage 80 backwards on the auxiliary conveyor 40 is prioritized. Further, for example, as shown in FIG. 15, the position of the holding portion 11 when tilted at an angle for tilting forward is higher than the position of the holding portion 11 when tilted at an angle for tilting backward, as shown in FIG. In the case of a positional relationship close to the main body of the device 10, the second selection unit 620 selects a second mode in which the method of placing the luggage 80 on the auxiliary conveyor 40 in advance is prioritized. Further, for example, the difference between the position of the holding portion 11 when tilted at an angle for tilting forward and the position of the holding portion 11 when tilted at an angle for tilting backward with respect to the main body of the robot device 10 is a reference. If the value is less than the value (when there is almost no difference), the second selection unit 620 selects a third mode corresponding to the tilting method of tilting the holding unit 11 with priority given to an angle having a large absolute value.

After the mode is selected by the second selection unit 620, the process shown in FIG. 11 is started.

As described above, in the control device 60 of the present embodiment, the position of the holding portion 11 when the held luggage 80 is placed on the tilting table 41 is the robot according to the positional relationship between the robot device 10 and the tilting table 41. Select the mode corresponding to the method of tilting that is closest to the main body of the device 10. Then, the control device 60 selects one angle candidate that does not cause an error from the plurality of angle candidates associated with the selected mode. Here, in the present embodiment, since the mode in which there are few angle candidates that cause an error is selected in advance, one angle candidate can be selected in a short time. Then, the angle of the holding unit 11 is controlled so as to be the angle indicated by the selected angle candidate, and the holding by the holding unit 11 is controlled to be released. According to the present embodiment, it is possible to appropriately select a method of laying down the luggage 80 by reflecting the installation environment of the robot device 10 and the tilting table 41.

Although the embodiments of the present invention have been described above, the above-described embodiments are presented as examples, and the scope of the invention is not intended to be limited. These novel embodiments can be implemented in various other embodiments, and various omissions, replacements, and changes can be made without departing from the gist of the invention. These novel embodiments and modifications thereof are included in the scope and gist of the invention, and are also included in the scope of the invention described in the claims and the equivalent scope thereof.

The following is a modified example. The following modified examples can be appropriately combined with each of the above-described embodiments, or the modified examples can be appropriately combined with each other.

(1) Modification 1
The above-mentioned sideways determination unit 613 determines that the luggage 80 is to be laid down when the side in the height direction is the longest side among the three sides of the luggage 80 to be unloaded, but the present invention is limited to this. It's not a thing. For example, in the sideways determination unit 613, X / H indicating the ratio of the size X of the width direction side (the side in the X direction or the side in the Y direction) of the luggage 80 to the size H of the side in the height direction is equal to or less than the reference value. In some cases, the luggage 80 can be determined to be laid down.

(2) Modification example 2
When the angle between the extending direction of the tilting table 41 and the holding unit 11 controlled to the angle indicated by the angle candidate selected by the selection unit 614 is equal to or greater than the threshold value, the drive control unit 604 uses the holding unit 11. When the holding is released, the operation of the auxiliary conveyor 40 is stopped for a certain period of time, but the control is not limited to this. For example, the drive control unit 604 is held by the holding unit 11 when the angle between the extending direction of the tilting table 41 and the holding unit 11 controlled to the angle indicated by the angle candidate selected by the selection unit 614 is equal to or greater than the threshold value. The auxiliary conveyor 40 is controlled to be driven in the direction opposite to the transport direction of the luggage 80 for a certain period of time. In this case, the drive control unit 604 controls the drive unit of the auxiliary conveyor 40 so that the load 80 mounted on the auxiliary conveyor 40 is conveyed in the direction opposite to the transfer direction. As a result, the frictional force due to the rotation of the auxiliary conveyor 40 acts in the direction of promoting the sideways rolling of the luggage 80, so that the luggage 80 can be smoothly turned over.

(3) Modification 3
The above-mentioned second selection unit 620 selects any one of a plurality of modes according to the positional relationship between the robot device 10 and the tilt table 41, but is not limited to this. For example, the second selection unit 620 may be in the form of selecting one of the plurality of modes according to the instruction received from the user.

Further, for example, the second selection unit 620 acquires characteristic information (information indicating characteristics such as cracks) regarding the characteristics of the package 80 to be unloaded, and among the plurality of modes according to the acquired characteristic information. It may be in the form of selecting either one. For example, when the second selection unit 620 acquires the characteristic information indicating a crack as the characteristic information of the package 80 to be unloaded, the second selection unit 620 corresponds to the first method of tilting, which gives priority to backward tilting in order to alleviate the impact on the package. You can select the mode.

The storage destination of the feature information is arbitrary. For example, for each of the plurality of packages 80 stored in the baggage storage container 70, the corresponding information associated with the feature information of the baggage 80 is stored in the storage unit in the control device 60. It may be stored in 102, or may be stored in a storage device such as an external server. For example, the second selection unit 620 can acquire the feature information associated with the package 80 to be unloaded by referring to the corresponding information.

1 Cargo handling system 10 Robot device 11 Holding unit 12 Arm 20 LRF
21 Elevating mechanism 30 Camera 40 Auxiliary conveyor 41 Tilt 50 Main conveyor 60 Control device 70 Luggage containment vessel 80 Luggage 101 CPU
102 Storage unit 103 I / F unit 601 Elevation control unit 602 Information acquisition unit 603 Robot control unit 604 Drive control unit 611 Unloading target determination unit 612 Size detection unit 613 Sideways determination unit 614 Selection unit 615 Control unit 620 Second selection unit

Claims

The holding portion is provided with a holding portion for holding the luggage and an arm for moving the holding portion, and after the luggage held by the holding portion is moved onto a carrier for transporting the luggage, the holding portion is provided. It is a cargo handling device that releases the holding by the carrier and puts the load on the carrier.
When the load is laid on its side and transported to the transport body, among a plurality of angle candidates indicating the angle candidates of the holding portion when the load is placed on the tilt table provided on the upstream side of the transport body. Select one angle candidate,
The control unit includes a control unit that controls the angle of the holding unit to an angle indicated by the selected angle candidate to release the holding by the holding unit.
Cargo handling equipment.
The control unit selects one angle candidate from the plurality of angle candidates that does not cause an error when controlling the arm so that the angle is indicated by the angle candidate.
The cargo handling device according to claim 1.
Priorities are set in advance for the plurality of angle candidates.
The selection unit determines whether or not the error occurs in order from the angle candidate having the highest priority, and selects the angle candidate having the highest priority without causing the error. ,
The cargo handling device according to claim 2.
Among the plurality of angle candidates, the angle at which the load is tilted upstream with respect to the transport direction of the load defined by the transport body and placed on the transport body backward and tilted. An angle candidate showing an angle closer to the tilt angle of the table has a higher priority.
The cargo handling device according to claim 3.
The priority of the plurality of angle candidates is preset for each of the plurality of modes corresponding to the method of tilting the luggage.
The control unit selects one of the plurality of modes, and the control unit selects one of the plurality of modes.
Select one angle candidate from a plurality of angle candidates associated with the mode.
The cargo handling device according to claim 3.
The plurality of modes include a first mode in which the method of placing the load on the carrier in the backward direction is prioritized, and the first mode in which the load is tilted downstream with respect to the transport direction of the load specified in the carrier. Including a second mode in which the method of placing the load on the carrier in advance is prioritized.
The plurality of angle candidates associated with the first mode are angles for tilting backward, and an angle candidate showing an angle closer to the tilt angle of the tilt table has a higher priority.
The plurality of angle candidates associated with the second mode are angles for moving forward, and the angle of the holding portion indicates an angle close to the normal direction of the slope of the tilt table. Candidates have higher priority,
The cargo handling device according to claim 5.
The control unit selects one of the plurality of modes according to the positional relationship between the robot device and the tilt table.
The cargo handling device according to claim 5 or 6.
The carrier is a conveyor
A drive control unit that controls the drive of the conveyor is further provided.
The drive control unit
When the angle between the extending direction of the tilting table and the holding portion controlled by the angle indicated by the angle candidate selected by the selecting portion is equal to or greater than the threshold value, it is constant when the holding by the holding portion is released. Control to stop driving the conveyor over time.
The cargo handling device according to any one of claims 1 to 7.
The carrier is a conveyor
A drive control unit that controls the drive of the conveyor is further provided.
The drive control unit
When the angle between the extending direction of the tilt table and the holding portion controlled to the angle indicated by the angle candidate selected by the selecting portion is equal to or greater than the threshold value, it is constant when the holding by the holding portion is released. Control is performed to drive the conveyor in a direction opposite to the transport direction of the load over time.
The cargo handling device according to any one of claims 1 to 7.
Based on the size of the load, the control unit determines whether or not to lay the load on its side and transport it to the carrier.
The cargo handling device according to any one of claims 1 to 9.