WO2022145236A1 - 情報処理装置及びプログラム - Google Patents
情報処理装置及びプログラム Download PDFInfo
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- WO2022145236A1 WO2022145236A1 PCT/JP2021/046301 JP2021046301W WO2022145236A1 WO 2022145236 A1 WO2022145236 A1 WO 2022145236A1 JP 2021046301 W JP2021046301 W JP 2021046301W WO 2022145236 A1 WO2022145236 A1 WO 2022145236A1
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- speed
- processor
- transport
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- transport mechanism
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- 230000010365 information processing Effects 0.000 title claims abstract description 18
- 230000007246 mechanism Effects 0.000 claims abstract description 69
- 230000007723 transport mechanism Effects 0.000 claims abstract description 33
- 238000004891 communication Methods 0.000 claims abstract description 24
- 230000032258 transport Effects 0.000 claims description 26
- 238000012546 transfer Methods 0.000 claims description 22
- 238000005259 measurement Methods 0.000 abstract description 5
- 239000000284 extract Substances 0.000 description 14
- 230000006870 function Effects 0.000 description 12
- 238000010586 diagram Methods 0.000 description 11
- 238000000034 method Methods 0.000 description 8
- 230000008859 change Effects 0.000 description 3
- 238000012545 processing Methods 0.000 description 3
- 238000013459 approach Methods 0.000 description 1
- 238000013528 artificial neural network Methods 0.000 description 1
- 238000003708 edge detection Methods 0.000 description 1
- 238000011156 evaluation Methods 0.000 description 1
- 239000004973 liquid crystal related substance Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
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Classifications
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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
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/22—Devices influencing the relative position or the attitude of articles during transit by conveyors
- B65G47/26—Devices influencing the relative position or the attitude of articles during transit by conveyors arranging the articles, e.g. varying spacing between individual articles
- B65G47/30—Devices influencing the relative position or the attitude of articles during transit by conveyors arranging the articles, e.g. varying spacing between individual articles during transit by a series of conveyors
- B65G47/31—Devices influencing the relative position or the attitude of articles during transit by conveyors arranging the articles, e.g. varying spacing between individual articles during transit by a series of conveyors by varying the relative speeds of the conveyors forming the series
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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
- B65G43/00—Control devices, e.g. for safety, warning or fault-correcting
- B65G43/08—Control devices operated by article or material being fed, conveyed or discharged
-
- 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
- B65G43/00—Control devices, e.g. for safety, warning or fault-correcting
- B65G43/10—Sequence control of conveyors operating in combination
-
- 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
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/22—Devices influencing the relative position or the attitude of articles during transit by conveyors
- B65G47/26—Devices influencing the relative position or the attitude of articles during transit by conveyors arranging the articles, e.g. varying spacing between individual articles
- B65G47/30—Devices influencing the relative position or the attitude of articles during transit by conveyors arranging the articles, e.g. varying spacing between individual articles during transit by a series of conveyors
Definitions
- An embodiment of the present invention relates to an information processing device and a program.
- a system that separates and aligns items such as luggage supplied from the outside.
- the system consists of a singulator that unifies and aligns articles.
- the system sequentially supplies articles to the singer using a belt conveyor or the like.
- the system supplies an article that exceeds the processing capacity of the singer to the singer, it will fail to be integrated and will supply the luggage to the singer again. As a result, the system throughput is reduced.
- the information processing apparatus includes a first communication unit, a second communication unit, and a processor.
- the first communication unit is a measuring device and data for measuring the distance to each part in a predetermined area including the article transported to the first transport mechanism in the first transport mechanism for transporting the article to the external device.
- the second communication unit transmits / receives data to / from the speed control mechanism that controls the transport speed of the second transport mechanism that transports the article to the first transport mechanism.
- the processor acquires distance information indicating the distance to each unit in the predetermined area from the measuring device through the first communication unit, and the transfer speed of the second transfer mechanism is based on the acquired distance information. Is set, and speed information indicating the set transport speed of the second transport mechanism is transmitted to the speed control mechanism through the second communication unit.
- FIG. 1 is a diagram showing a configuration example of a distribution system according to an embodiment.
- FIG. 2 is a block diagram showing a configuration example of the control device according to the embodiment.
- FIG. 3 is a diagram showing an operation example of the distribution system according to the embodiment.
- FIG. 4 is a diagram showing an example of a two-dimensional image according to an embodiment.
- FIG. 5 is a diagram showing an example of a distance image according to an embodiment.
- FIG. 6 is a diagram showing an example of a two-dimensional image according to an embodiment.
- FIG. 7 is a diagram showing an example of a distance image according to an embodiment.
- FIG. 8 is a diagram showing an example of a two-dimensional image according to an embodiment.
- FIG. 9 is a diagram showing an example of a two-dimensional image according to an embodiment.
- FIG. 10 is a diagram showing an example of a two-dimensional image according to an embodiment.
- FIG. 11 is a diagram showing an operation example of the distribution system according to the embodiment.
- FIG. 12 is a flowchart showing an operation example of the distribution system according to the embodiment.
- the logistics system supplies goods to the singer.
- the distribution system transports the goods loaded by the robot or the operator on a conveyor belt for loading.
- the distribution system transfers the goods from the loading belt conveyor to the transport belt conveyor connected to the singer.
- the distribution system supplies the goods to the singer using a conveyor belt for transportation.
- the distribution system supplies articles that are unitized and aligned by a singulator to other devices and the like.
- distribution systems are used in warehouses, factories, distribution centers, and the like.
- FIG. 1 shows a configuration example of the distribution system 1.
- the distribution system 1 includes a loading belt conveyor 2, a conveyor belt conveyor 3, a singer 4, a three-dimensional camera 5, a speed control mechanism 6, an angle control mechanism 7, a control device 10, a network 20, and the like. ..
- the three-dimensional camera 5, the speed control mechanism 6, the angle control mechanism 7, and the control device 10 are communicably connected to the network 20.
- the speed control mechanism 6 is physically connected to the loading belt conveyor 2 and the like.
- the angle control mechanism 7 is physically connected to a conveyor belt conveyor 3 or the like.
- the conveyor belt conveyor 3 is physically connected to the singer 4.
- the distribution system 1 unifies and aligns the articles 100.
- the distribution system 1 may have a configuration as required in addition to the configuration shown in FIG. 1, or a specific configuration may be excluded from the distribution system 1.
- the singer 4 unifies the articles 100 supplied to the input section of the singer 4 (divided into one) and aligns them in a predetermined direction.
- the singer 4 supplies the unitized and aligned articles 100 to other devices.
- the singer 4 can process the article 100 at a predetermined flow rate (value based on the number or the like) per unit time.
- a predetermined flow rate value based on the number or the like
- the singer 4 throws the unprocessable article 100 into a reject box or the like. Further, even when the articles 100 overlap, the singer 4 throws the overlapping articles 100 and the like into the reject box and the like.
- the singer 4 is composed of a transport roller, a guide wall, and the like.
- the singer 4 transports the article 100 by a transport roller and presses it against the guide wall.
- the articles 100 pressed against the guide wall are aligned in a predetermined direction.
- the singer 4 conveys the article 100 along the guide wall and supplies it to another device.
- the configuration of the singer 4 is not limited to a specific configuration.
- the transport belt conveyor 3 (first transport mechanism) is a conveyor belt conveyor for transporting the article 100 to the singer 4. That is, the conveyor belt conveyor 3 conveys the article 100 toward the singer 4 (from left to right in FIG. 1). One end of the conveyor belt conveyor 3 (the right end in FIG. 1) is connected to the loading portion of the singer. The conveyor belt conveyor 3 supplies the article 100 from one end to the charging section of the singer 4.
- the conveyor belt conveyor 3 is composed of a belt formed in an annular shape.
- the conveyor belt conveyor 3 is supported from the inside by a roller or the like formed inside.
- the conveyor belt conveyor 3 is rotated by the rotation of a roller connected to a motor or the like.
- the conveyor belt conveyor 3 rotates at a predetermined constant speed. That is, the conveyor belt conveyor 3 conveys the article 100 at a constant speed.
- the loading belt conveyor 2 (second transport mechanism) is a loading belt conveyor for loading articles 100 into the transport belt conveyor 3. That is, the loading belt conveyor 2 conveys the article 100 toward the conveyor belt conveyor 3 (from left to right in FIG. 1). One end of the loading belt conveyor 2 (right end in FIG. 1) is connected to the other end (left end) of the conveyor belt conveyor 3. The loading belt conveyor 2 supplies the article 100 from one end of itself to the other end of the transport belt conveyor 3.
- the loading belt conveyor 2 accepts loading of the article 100 at the other end.
- the other end of the loading belt conveyor 2 is connected to a container into which the article 100 is loaded.
- the article 100 is loaded into the container by a robot or an operator.
- the loading belt conveyor 2 picks up the article 100 loaded in the container and transports it to the transport belt conveyor 3.
- the loading belt conveyor 2 is composed of a belt formed in an annular shape.
- the loading belt conveyor 2 is supported from the inside by a roller or the like formed inside.
- the loading belt conveyor 2 is rotated by the rotation of a roller connected to a motor or the like.
- the input belt conveyor 2 is horizontally formed on an extension line of the transfer belt conveyor 3.
- the three-dimensional camera 5 (measuring device) is composed of a two-dimensional camera that photographs a photographing area including an article 100 on a conveyor belt conveyor 3 and a distance sensor that measures a distance between each part of the photographing area.
- the three-dimensional camera 5 is installed downward on the upper part of the conveyor belt conveyor 3.
- the two-dimensional camera photographs the article 100 being conveyed by the conveyor belt conveyor 3.
- the two-dimensional camera captures the article 100 and acquires an image (two-dimensional image).
- the two-dimensional camera captures the article 100 in color.
- a two-dimensional camera is composed of a CCD (Charge Coupled Device) or the like.
- the distance sensor measures the distance between each part of the shooting area and the distance sensor (or the distance to the plane horizontal to the distance sensor).
- the distance sensor generates distance information indicating the distance to each part.
- the distance information indicates the coordinates of each point in a predetermined three-dimensional coordinate system.
- the distance sensor includes a light source and a sensor that detects the reflected light of the light emitted from the light source.
- the distance sensor measures the distance based on the reflected light of the light (visible or invisible) emitted from the light source.
- the distance sensor may perform a ToF (Time-of-Flit) method in which the distance to the measurement target is measured based on the time until the irradiated light is reflected by the measurement target and reaches the distance sensor.
- ToF Time-of-Flit
- the distance sensor may calculate the distance based on the parallax of each image taken by the two cameras (stereo camera).
- the configuration of the distance sensor is not limited to a specific configuration.
- the distance sensor When the distance sensor is composed of a stereo camera, the distance sensor may include a function as a two-dimensional camera.
- the three-dimensional camera 5 transmits a two-dimensional image and distance information to the control device 10.
- the speed control mechanism 6 controls the speed at which the loading belt conveyor 2 conveys the article 100 according to the signal from the control device 10. That is, the speed control mechanism 6 controls the rotation speed (conveyance speed) of the loading belt conveyor 2.
- the speed control mechanism 6 receives speed information indicating the rotation speed of the loading belt conveyor 2 from the control device 10.
- the speed control mechanism 6 controls the rotation speed of the loading belt conveyor 2 to the rotation speed indicated by the speed information.
- the speed control mechanism 6 is composed of a motor connected to a roller that rotates the input belt conveyor 2, a drive circuit that drives the motor, and the like.
- the drive circuit of the speed control mechanism 6 generates a pulse or the like to be supplied to the motor according to the signal from the control device 10.
- the motor of the speed control mechanism 6 is driven based on a pulse or the like from the drive circuit.
- the angle control mechanism 7 controls the angle between the input belt conveyor 2 and the conveyor belt conveyor 3 according to the signal from the control device 10. That is, the angle control mechanism 7 controls the angle between the loading belt conveyor 2 and the transport belt conveyor 3 with the axis orthogonal to the traveling direction of the article 100 as the central axis in the horizontal plane.
- the angle control mechanism 7 changes the angle between the input belt conveyor 2 and the transfer belt conveyor 3 while maintaining the connection between one end (right end) of the input belt conveyor 2 and the other end (left end) of the transfer belt conveyor 3.
- the angle control mechanism 7 controls the elevation angle as the angle of the conveyor belt conveyor 3. That is, the angle control mechanism 7 controls the conveyor belt conveyor 3 from a horizontal state to a predetermined angle.
- the angle control mechanism 7 receives angle information indicating the angle of the conveyor belt conveyor 3 from the control device 10.
- the angle control mechanism 7 controls the angle of the conveyor belt conveyor 3 to the angle indicated by the angle information.
- the angle control mechanism 7 includes an actuator that changes the angle of the conveyor belt conveyor 3, a drive circuit that controls the actuator, and the like.
- the drive circuit of the angle control mechanism 7 generates electric power or the like to be supplied to the actuator according to a signal from the control device 10.
- the motor of the angle control mechanism 7 is driven based on the electric power from the drive circuit or the like.
- the control device 10 (information processing device) controls the rotation speed of the input belt conveyor 2 and the angle of the conveyor belt conveyor 3 based on the two-dimensional image from the three-dimensional camera 5 and the distance information.
- the control device 10 will be described in detail later.
- the network 20 relays communication between the three-dimensional camera 5, the speed control mechanism 6, the angle control mechanism 7, and the control device 10.
- the network 20 is a LAN (Local Area Network) or the like.
- FIG. 2 shows a configuration example of the control device 10.
- the control device 10 includes a processor 11, a memory 12, an operation unit 13, a display unit 14, a camera interface 15, a speed control interface 16, an angle control interface 17, and the like.
- the processor 11 is connected to the memory 12, the operation unit 13, the display unit 14, the camera interface 15, the speed control interface 16, and the angle control interface 17 through a data bus or a predetermined interface.
- control device 10 may have a configuration as required in addition to the configuration as shown in FIG. 2, or a specific configuration may be excluded from the control device 10.
- the processor 11 controls the operation of the entire control device 10.
- the processor 11 controls the speed control mechanism 6, the angle control mechanism 7, and the like.
- the processor 11 is composed of a CPU (Central Processing Unit) and the like. Further, the processor 11 may be configured by an ASIC (Application Specific Integrated Circuit) or the like. Further, the processor 11 may be configured by an FPGA (Field Programmable Gate Array) or the like.
- the memory 12 stores various data.
- the memory 12 functions as a ROM, RAM and NVM.
- the memory 12 stores a control program, control data, and the like.
- the control program and control data are preliminarily incorporated according to the specifications of the control device 10.
- the control program is a program that supports the functions realized by the control device 10.
- the memory 12 temporarily stores data and the like being processed by the processor 11. Further, the memory 12 may store data necessary for executing the application program, an execution result of the application program, and the like.
- the operation unit 13 receives inputs of various operations from the operator.
- the operation unit 13 transmits a signal indicating the input operation to the processor 11.
- the operation unit 13 may be composed of a touch panel.
- the display unit 14 displays the image data from the processor 11.
- the display unit 14 is composed of a liquid crystal monitor.
- the operation unit 13 is composed of a touch panel, the display unit 14 may be integrally formed with the operation unit 13.
- the camera interface 15 (first communication unit) is an interface for transmitting and receiving data to and from the three-dimensional camera 5. For example, the camera interface 15 transmits a signal instructing the three-dimensional camera 5 to take a picture and measure a distance under the control of the processor 11. Further, the camera interface 15 acquires a two-dimensional image and distance information from the three-dimensional camera 5. For example, the camera interface 15 supports a LAN connection.
- the speed control interface 16 (second communication unit) is an interface for transmitting and receiving data to and from the speed control mechanism 6.
- the speed control interface 16 supplies speed information indicating the rotation speed of the input belt conveyor 2 to the speed control mechanism 6 according to the control from the processor 11.
- the speed control interface 16 supports a LAN connection.
- the angle control interface 17 (third communication unit) is an interface for transmitting and receiving data to and from the angle control mechanism 7.
- the angle control interface 17 supplies angle information indicating the angle of the conveyor belt conveyor 3 to the angle control mechanism 7 according to the control from the processor 11.
- the angle control interface 17 supports a LAN connection.
- the speed control interface 16 and the angle control interface 17 may be integrally formed.
- the control device 10 is a desktop PC, a notebook PC, a tablet PC, or the like.
- the function realized by the processor 11 is realized by the processor 11 executing a program stored in the internal memory, the memory 12, or the like.
- the processor 11 has a function of acquiring a two-dimensional image obtained by photographing the article 100 and a distance information corresponding to the two-dimensional image.
- FIG. 3 shows an operation example in which the processor 11 acquires a two-dimensional image and distance information.
- the article 100 is loaded on the conveyor belt conveyor 3. Further, it is assumed that the conveyor belt conveyor 3 rotates at a predetermined speed to convey the article 100. It is assumed that the loading belt conveyor 2 also rotates in the same manner to convey the article 100.
- the processor 11 transmits a signal instructing shooting and distance measurement to the three-dimensional camera 5 through the camera interface 15 at a predetermined timing (for example, a predetermined interval).
- the three-dimensional camera 5 receives the signal. Upon receiving the signal, the three-dimensional camera 5 acquires the two-dimensional image and the distance information corresponding to the two-dimensional image by using the two-dimensional camera and the distance sensor. When the two-dimensional image and the distance information are acquired, the three-dimensional camera 5 transmits the acquired two-dimensional image and the distance information to the control device 10.
- the processor 11 acquires a two-dimensional image and distance information from the three-dimensional camera 5 through the camera interface 15.
- the processor 11 has a function of extracting an article region in which the article 100 is captured from the two-dimensional image based on the two-dimensional image and the distance information. For example, the processor 11 extracts a region (candidate region) that is a candidate for the article region based on the two-dimensional image. The processor 11 extracts a candidate region according to a predetermined algorithm such as edge detection or image processing using a neural network.
- FIG. 4 shows an example of a two-dimensional image acquired by the processor 11. As shown in FIG. 4, the two-dimensional image includes three articles 100 loaded on the conveyor belt conveyor 3.
- the processor 11 extracts a candidate area of the article area in which the article 100 is captured according to a predetermined algorithm.
- the processor 11 extracts a candidate area based on the distance information.
- the processor 11 generates a distance image showing a distance at each dot based on the distance information.
- the distance image has a luminance value corresponding to the distance at each dot.
- FIG. 5 shows an example of a distance image generated by the processor 11.
- each dot of the distance image has a lower luminance value as it approaches the three-dimensional camera 5.
- each dot in the distance image has a predetermined luminance value (eg, 255) that serves as a reference for the distance from the conveyor belt conveyor 3. That is, each dot of the distance image has a luminance value according to the height from the conveyor belt conveyor 3.
- the processor 11 extracts a candidate area based on the distance image. For example, the processor 11 extracts a region having a luminance value higher than a predetermined threshold value as a candidate region.
- the processor 11 extracts an article area based on a candidate area for a two-dimensional image and a candidate area for a distance image. For example, when a plurality of distance image candidate regions exist in the two-dimensional image candidate region, the processor 11 extracts the distance image candidate region as an article region. Further, when a plurality of candidate regions for a two-dimensional image exist in the candidate region for a distance image, the processor 11 extracts the candidate region for the two-dimensional image as an article region.
- the processor 11 may delete the shadow portion based on the distance image to extract the article region.
- the processor 11 may extract the article region based on the two-dimensional image without using the distance information.
- the processor 11 may extract the article region based on the distance information without using the two-dimensional image.
- the method by which the processor 11 extracts the article region is not limited to a specific method.
- the processor 11 has a function of calculating the flow rate of the article 100 reflected in the two-dimensional image.
- the flow rate is an index related to the amount of articles 100 that the conveyor belt conveyor 3 conveys to the singer 4.
- the flow rate is an index based on the number of articles 100 reflected in the two-dimensional image, the volume of the articles 100, and the ratio (density) occupied by the article region in the two-dimensional image.
- the flow rate is a value obtained by substituting the number of articles 100, the volume of articles 100, and the density into a predetermined evaluation function.
- the processor 11 specifies the number of articles 100 based on the extracted article area. That is, the processor 11 specifies the number of article regions as the number of articles 100.
- the processor 11 calculates the volume of the article 100 based on the article area and the distance information. Here, the processor 11 calculates the total volume of the articles 100 reflected in the two-dimensional image.
- the processor 11 calculates the area of the article area.
- the processor 11 calculates the height of the article region (height from the conveyor belt conveyor 3) based on the distance information.
- the processor 11 integrates the height into the area and calculates the volume of the article 100.
- the processor 11 performs the same operation on each article 100 to calculate the volume of each article 100.
- the processor 11 adds up the volumes.
- the processor 11 calculates the density from the two-dimensional image and the article area. For example, the processor 11 adds up the areas of each article area. When the areas of each article area are added up, the processor 11 calculates the density by subtracting the totaled area by the area of the two-dimensional image.
- the processor 11 calculates the flow rate based on the number, volume and density.
- the method by which the processor 11 calculates the flow rate is not limited to a specific method.
- the processor 11 has a function of detecting the overlap of the articles 100 based on the two-dimensional image and the distance information.
- FIG. 6 shows an example of a two-dimensional image showing the overlapping articles 100. In the example shown in FIG. 6, one article 100 is superposed on the other article 100 on the conveyor belt conveyor 3.
- FIG. 7 shows an example of a distance image corresponding to the two-dimensional image of FIG. As shown in FIG. 7, the article area of the article 100 overlapping the other article 100 is higher than the other article area.
- the processor 11 extracts the article area based on the two-dimensional image, the distance information, and the like. When the article regions are extracted, the processor 11 determines whether the extracted article regions overlap each other. When it is determined that the article regions are overlapped with each other, the processor 11 determines that the articles 100 are overlapped with each other.
- the processor 11 may detect the overlap of the articles 100 based on the height of each dot in the article area. For example, the processor 11 may determine that the articles 100 overlap each other when the height difference (for example, the difference between the highest point and the lowest point) exceeds a predetermined threshold value in the article region.
- the height difference for example, the difference between the highest point and the lowest point
- the method by which the processor 11 detects the overlap of the articles 100 is not limited to a specific method.
- the processor 11 has a function of controlling the rotation speed of the input belt conveyor 2 based on the calculated flow rate.
- the loading belt conveyor 2 is rotated at a predetermined speed by the speed control mechanism 6.
- the processor 11 compares the flow rate with a predetermined reference amount.
- the reference amount is the flow rate that can be processed by the singer 4 (or the upper limit of the flow rate that can be processed).
- the processor 11 changes the speed of the loading belt conveyor 2 when the difference between the flow rate and the reference amount exceeds a predetermined threshold value.
- FIG. 8 shows an example of a two-dimensional image showing an article 100 having a flow rate smaller than a reference amount. As shown in FIG. 8, the two-dimensional image captures a relatively sparse article 100.
- the processor 11 sets a rotation speed faster than the current rotation speed of the input belt conveyor 2.
- the processor 11 may set a rotation speed by adding a predetermined value from the current rotation speed. Further, the processor 11 may set the rotation speed based on the difference between the flow rate and the reference amount. For example, the processor 11 may set a faster rotation speed as the difference between the flow rate and the reference amount is larger.
- the processor 11 When a rotation speed higher than the current rotation speed is set, the processor 11 generates speed information indicating the set rotation speed. When the speed information is generated, the processor 11 transmits the generated speed information to the speed control mechanism 6 through the speed control interface 16.
- the speed control mechanism 6 receives the speed information from the control device 10. Upon receiving the speed information, the speed control mechanism 6 controls the rotation speed of the input belt conveyor 2 to the rotation speed indicated by the received speed information.
- FIG. 9 shows an example of a two-dimensional image showing an article 100 having a flow rate whose difference from a reference amount is smaller than a predetermined threshold value. As shown in FIG. 9, the two-dimensional image captures more articles 100 as compared to the two-dimensional image of FIG.
- the processor 11 When the difference between the flow rate and the reference amount is also small by a predetermined threshold value, the processor 11 generates speed information indicating the current rotation speed of the input belt conveyor 2. When the speed information is generated, the processor 11 transmits the generated speed information to the speed control mechanism 6 through the speed control interface 16.
- the speed control mechanism 6 receives the speed information from the control device 10. Upon receiving the speed information, the speed control mechanism 6 controls the rotation speed of the input belt conveyor 2 to the rotation speed indicated by the received speed information. That is, the speed control mechanism 6 maintains the current rotation speed.
- the processor 11 does not have to transmit the speed information to the speed control mechanism 6.
- FIG. 10 shows an example of a two-dimensional image showing an article 100 having a flow rate larger than a reference amount. As shown in FIG. 10, the two-dimensional image captures more articles 100 than the two-dimensional image of FIG.
- the processor 11 sets a rotation speed slower than the current rotation speed of the input belt conveyor 2.
- the processor 11 may set a rotation speed obtained by subtracting a predetermined value from the current rotation speed. Further, the processor 11 may set the rotation speed based on the difference between the flow rate and the reference amount. For example, the processor 11 may set a slower rotation speed as the difference between the flow rate and the reference amount is larger.
- the processor 11 When a rotation speed slower than the current rotation speed is set, the processor 11 generates speed information indicating the set rotation speed. When the speed information is generated, the processor 11 transmits the generated speed information to the speed control mechanism 6 through the speed control interface 16.
- the speed control mechanism 6 receives the speed information from the control device 10. Upon receiving the speed information, the speed control mechanism 6 controls the rotation speed of the input belt conveyor 2 to the rotation speed indicated by the received speed information.
- the processor 11 has a function of controlling the angle of the conveyor belt conveyor 3 when the overlap of the articles 100 is detected.
- the conveyor belt conveyor 3 is horizontal.
- the processor 11 detects the overlap of the articles 100 (for example, in the state of FIG. 10)
- the processor 11 changes the angle between the loading belt conveyor 2 and the transport belt conveyor 3. That is, the processor 11 makes an angle between the input belt conveyor 2 and the transport belt conveyor 3 from the state where they are on a straight line.
- the processor 11 uses the angle control mechanism 7 to change the angle of the conveyor belt conveyor 3 from the horizontal state (here, 0 degrees) to a predetermined value.
- the processor 11 sets the angle of the conveyor belt conveyor 3. For example, the processor 11 sets a predetermined angle. Further, the processor 11 may set an angle obtained by adding or subtracting a predetermined value to the current angle of the conveyor belt conveyor 3.
- the processor 11 When the angle of the conveyor belt conveyor 3 is set, the processor 11 generates angle information indicating the set angle. When the angle information is generated, the processor 11 transmits the generated angle information to the angle control mechanism 7 through the angle control interface 17.
- the angle control mechanism 7 receives the angle information from the control device 10. Upon receiving the angle information, the angle control mechanism 7 controls the angle of the conveyor belt conveyor 3 to the angle indicated by the received angle information.
- FIG. 11 shows an example in which the processor 11 changes the angle of the conveyor belt conveyor 3.
- the processor 11 changes the angle of the conveyor belt conveyor 3 so that the conveyor belt conveyor 3 faces upward.
- the processor 11 may change the angle of the conveyor belt conveyor 3 so that the conveyor belt conveyor 3 faces downward. Further, the processor 11 may further change the angle of the conveyor belt conveyor 3 when the angle of the conveyor belt conveyor 3 is changed but the overlap of the articles 100 is not eliminated. Further, the processor 11 may return the angle of the conveyor belt conveyor 3 to the horizontal when the overlap of the articles 100 is eliminated.
- FIG. 12 is a flowchart for explaining an operation example of the control device 10.
- the loading belt conveyor 2 rotates at a predetermined speed to convey the article 100.
- the conveyor belt conveyor 3 rotates at a predetermined speed and conveys the article 100 from the input belt conveyor 2 to the singer 4.
- the processor 11 of the control device 10 acquires a two-dimensional image and distance information from the three-dimensional camera 5 through the camera interface 15 (S11). Upon acquiring the two-dimensional image and the distance information, the processor 11 extracts the article region based on the two-dimensional image and the distance information (S12).
- the processor 11 calculates the flow rate based on the article area and the like (S13). When the flow rate is calculated, the processor 11 determines whether the flow rate is smaller than the reference amount (S14).
- the processor 11 sets a rotation speed higher than the current rotation speed of the input belt conveyor 2 (S15).
- the processor 11 determines whether the flow rate is larger than the reference amount (S16).
- the processor 11 sets a rotation speed slower than the current rotation speed of the input belt conveyor 2 (S17).
- the processor 11 sets the current rotation speed of the input belt conveyor 2 (S18).
- the processor 11 determines whether the articles 100 overlap (S20).
- the processor 11 transmits angle information indicating a predetermined angle to the angle control mechanism 7 through the angle control interface 17 (S21).
- the processor 11 When it is determined that the articles 100 do not overlap (S20, NO), or when the angle information is transmitted to the angle control mechanism 7 (S21), the processor 11 returns to S11. The processor 11 may return to S11 after waiting for a predetermined time.
- the three-dimensional camera 5 may capture the article 100 on the input belt conveyor 2. In this case, the three-dimensional camera 5 may measure the distance to each part on the input belt conveyor 2.
- the processor 11 may display the rotation speed of the input belt conveyor 2 on the display unit 14 or the like. Further, the processor 11 may display an alert or the like on the display unit 14 or the like when the overlap of the articles 100 is detected.
- the physical distribution system 1 may be individually provided with a two-dimensional camera that captures an image and a distance sensor that measures the distance.
- the distribution system configured as described above calculates the flow rate of the goods supplied to the singer.
- the distribution system controls the rotation speed of the loading belt conveyor for loading the goods so that the flow rate becomes the reference amount.
- the logistics system can supply the singer with an appropriate amount of goods. Therefore, the physical distribution system can improve the throughput.
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- Control Of Conveyors (AREA)
Abstract
Description
実施形態に係る物流システムは、シンギュレータに物品を供給する。物流システムは、ロボット又はオペレータが投入した物品を投入用のベルトコンベアに乗せて搬送する。物流システムは、投入用のベルトコンベアからシンギュレータに接続する搬送用のベルトコンベアに物品を載せ替える。物流システムは、搬送用のベルトコンベアを用いて物品をシンギュレータに供給する。物流システムは、シンギュレータによって単体化され整列された物品を他の装置などへ供給する。
たとえば、物流システムは、倉庫、工場又は配送センタなどで用いられる。
ここでは、物流システム1は、物品100を単体化し整列させる。
三次元カメラ5は、搬送ベルトコンベア3の上部に下向きに設置される。
距離センサの構成は、特定の構成に限定されるものではない。
図2は、制御装置10の構成例を示す。図2が示すように、制御装置10は、プロセッサ11、メモリ12、操作部13、表示部14、カメラインターフェース15、速度制御インターフェース16及び角度制御インターフェース17などを備える。プロセッサ11は、データバス又は所定のインターフェースなどを通じてメモリ12、操作部13、表示部14、カメラインターフェース15、速度制御インターフェース16及び角度制御インターフェース17に接続する。
たとえば、メモリ12は、制御プログラム及び制御データなどを記憶する。制御プログラム及び制御データは、制御装置10の仕様に応じて予め組み込まれる。たとえば、制御プログラムは、制御装置10で実現する機能をサポートするプログラムなどである。
たとえば、制御装置10は、デスクトップPC、ノートPC又はタブレットPCなどである。
たとえば、プロセッサ11は、二次元画像に基づいて物品領域の候補となる領域(候補領域)を抽出する。プロセッサ11は、エッジ検出、又は、ニューラルネットワークを用いた画像処理など、所定のアルゴリズムに従って候補領域を抽出する。
プロセッサ11は、距離情報に基づいて、各ドットにおいて距離を示す距離画像を生成する。距離画像は、各ドットにおいて距離に対応する輝度値を有する。
プロセッサ11が物品領域を抽出する方法は、特定の方法に限定されるものではない。
流量は、搬送ベルトコンベア3がシンギュレータ4に搬送する物品100の量に関連する指標である。ここでは、流量は、二次元画像に写る物品100の個数、物品100の体積、及び、二次元画像において物品領域が占める割合(密度)に基づく指標である。たとえば、流量は、所定の評価関数に物品100の個数、物品100の体積、及び、密度を代入して得られる値である。
なお、プロセッサ11が流量を算出する方法は、特定の方法に限定されるものではない。
図6は、重なり合った物品100を写した二次元画像の例を示す。図6が示す例では、搬送ベルトコンベア3上において、1つの物品100が他の物品100の上に重なっている。
ここでは、投入ベルトコンベア2は、速度制御機構6によって所定の速度で回転しているものとする。
図8は、基準量よりも少ない流量の物品100を写す二次元画像の例を示す。図8が示すように、二次元画像は、比較的まばらな物品100を写す。
図9は、基準量との差が所定の閾値よりも少ない流量の物品100を写す二次元画像の例を示す。図9が示すように、二次元画像は、図8の二次元画像と比較して、より多くの物品100を写す。
図10は、基準量よりも大きい流量の物品100を写す二次元画像の例を示す。図10が示すように、二次元画像は、図9の二次元画像よりも多くの物品100を写す。
プロセッサ11は、物品100の重なりを検知すると(たとえば、図10の状態では)、投入ベルトコンベア2と搬送ベルトコンベア3との間の角度を変更する。即ち、プロセッサ11は、投入ベルトコンベア2と搬送ベルトコンベア3とが直線上である状態から、両者の間に角度を付ける。ここでは、プロセッサ11は、角度制御機構7を用いて、搬送ベルトコンベア3の角度を水平な状態(ここでは、0度)から所定の値に変更する。
また、プロセッサ11は、搬送ベルトコンベア3の角度を変更したが物品100の重なりが解消しない場合には、さらに搬送ベルトコンベア3の角度を変更してもよい。
また、プロセッサ11は、物品100の重なりが解消した場合には、搬送ベルトコンベア3の角度を水平に戻してもよい。
図12は、制御装置10の動作例について説明するためのフローチャートである。
Claims (12)
- 外部装置に物品を搬送する第1の搬送機構において前記第1の搬送機構に搬送される前記物品を含む所定の領域内の各部との距離を測定する測定装置とデータを送受信する第1の通信部と、
前記第1の搬送機構に前記物品を搬送する第2の搬送機構の搬送速度を制御する速度制御機構とデータを送受信する第2の通信部と、
前記第1の通信部を通じて、前記所定の領域内の各部との距離を示す距離情報を前記測定装置から取得し、
取得した前記距離情報に基づいて前記第2の搬送機構の搬送速度を設定し、
前記第2の通信部を通じて、設定された前記第2の搬送機構の搬送速度を示す速度情報を前記速度制御機構に送信する、
プロセッサと、
を備える情報処理装置。 - 前記プロセッサは、
前記距離情報に基づいて前記物品の体積を算出し、
前記体積に基づいて前記第2の搬送機構の搬送速度を設定する、
請求項1に記載の情報処理装置。 - 前記プロセッサは、
前記距離情報に基づいて前記物品の個数を特定し、
前記個数にさらに基づいて前記第2の搬送機構の搬送速度を設定する、
請求項2に記載の情報処理装置。 - 前記プロセッサは、
前記距離情報に基づいて前記物品の密度を算出し、
前記密度にさらに基づいて前記第2の搬送機構の搬送速度を設定する、
請求項3に記載の情報処理装置。 - 前記プロセッサは、
前記体積、前記個数及び前記密度に基づいて、前記物品の流量を算出し、
前記流量に基づいて前記第2の搬送機構の搬送速度を設定する、
請求項4に記載の情報処理装置。 - 前記プロセッサは、
前記流量が基準量よりも小さい場合、前記第2の搬送機構の搬送速度として、前記第2の搬送機構の現在の搬送速度よりも速い搬送速度を設定し、
前記流量が基準量よりも大きい場合、前記第2の搬送機構の搬送速度として、前記第2の搬送機構の現在の搬送速度よりも遅い搬送速度を設定する、
請求項5に記載の情報処理装置。 - 前記第1の搬送機構と前記第2の搬送機構との間の角度を制御する角度制御機構とデータを送受信する第3の通信部を備え、
前記プロセッサは、前記第2の搬送機構において前記物品が重なり合っている場合、前記第3の通信部を通じて、前記第1の搬送機構と前記第2の搬送機構との間の角度として所定の角度を示す角度情報を前記角度制御機構に送信する、
請求項1乃至6の何れか1項に記載の情報処理装置。 - 前記プロセッサは、前記距離情報に基づいて前記物品の重なりを検知する、
請求項7に記載の情報処理装置。 - 前記プロセッサは、
前記第1の通信部を通じて、前記領域を撮影した二次元画像を前記測定装置から取得し、
前記二次元画像にさらに基づいて前記第2の搬送機構の搬送速度を設定する、
請求項1乃至8の何れか1項に記載の情報処理装置。 - 前記外部装置は、シンギュレータである、
請求項1乃至9の何れか1項に記載の情報処理装置。 - 前記第1の搬送機構及び前記第2の搬送機構は、ベルトコンベアである、
請求項1乃至10の何れか1項に記載の情報処理装置。 - プロセッサによって実行されるプログラムであって、
前記プロセッサに、
外部装置に物品を搬送する第1の搬送機構において前記第1の搬送機構に搬送される前記物品を含む所定の領域内の各部との距離を示す距離情報を取得する機能と、
取得した前記距離情報に基づいて、前記第1の搬送機構に前記物品を搬送する第2の搬送機構の搬送速度を設定する機能と、
前記第2の搬送機構の搬送速度を制御する速度制御機構に設定された前記第2の搬送機構の搬送速度を示す速度情報を送信する機能と、
を実現させるプログラム。
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WO2020235189A1 (ja) * | 2019-05-17 | 2020-11-26 | 株式会社 東芝 | 搬送装置 |
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JPH11314737A (ja) * | 1998-04-30 | 1999-11-16 | Maki Seisakusho:Kk | 農産物の供給装置 |
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