JP7632225B2 - Loading System - Google Patents

Description

The present invention relates to a loading system.

In order to efficiently load cargo of various sizes, a side-loading type loading device may be adopted, which loads cargo by moving it from the side relative to the loading position. A loading system equipped with such a loading device is described in Patent Document 1. The loading system described in Patent Document 1 controls the loading device based on calculation logic for loading cargo onto a cart, car truck, etc. In the calculation logic, the bottom of the cart and the top of the cargo are individually set as target areas for placement calculations called "free space maps," and the placement of the cargo and the loading order are determined for each target area.

International Publication No. 2017/061632

Here, when using a side-loading loading device, when loading luggage at the rear of the loading position, there is a possibility that it may interfere with luggage at the front. Therefore, in the loading system described in the above-mentioned Patent Document 1, after calculating the loading style and loading order for the free space map at the rear of the loading position, the loading style and loading order may be calculated for the free space map at the front of the loading position. However, with this calculation method, there are cases where luggage cannot be loaded in an optimal packing style in terms of space efficiency, etc.

The present invention has been made to solve the above problems, and aims to provide a loading system that can load luggage in an appropriate packaging form.

The loading system according to one aspect of the present invention includes a side-stack type loading device that is installed between a supply position where luggage is fed and a loading position where luggage is loaded, and that loads luggage fed from the supply position by moving it laterally relative to the loading position, a loading style determination unit that predetermines the loading style of the luggage at the loading position, a loading order determination unit that determines the loading order of the luggage in the determined loading style after the loading style is determined by the loading style determination unit, and an operation control unit that controls the operation of the loading device so that the luggage is loaded in the loading order determined by the loading order determination unit.

This loading system is equipped with a side-stack type loading device that loads cargo sent from a supply position by moving it laterally relative to the loading position. In response to this, the packing style determination unit predetermines the packing style of the cargo at the loading position. In addition, the loading order determination unit determines the loading order of the cargo in the determined packing style after the packing style is determined by the packing style determination unit. In this way, the loading system does not simultaneously determine the packing style by the packing style determination unit and the loading order by the loading order determination unit, but can perform both as independent calculation processes. Therefore, first, the packing style determination unit can predetermine a suitable packing style in consideration of filling, stability, workability, etc., without first considering the priority order and constraints associated with the loading order. In the next step, the loading order determination unit can determine the loading order in consideration of the priority order and constraints associated with the loading order, in order to realize loading in a suitable packing style. This allows the operation control unit to control the operation of the loading device to avoid interference between luggage during loading and to load luggage in a suitable shape. As a result, the loading system can load luggage in a suitable shape.

The loading order determination unit determines the loading order according to a predetermined loading rule, and the loading rule may include a condition that if, as viewed from the loading device, there is another piece of luggage that is further back than the luggage to be determined within the projection range of the luggage to be determined, the other piece of luggage is to be loaded before the luggage to be determined. In this case, the loading order determination unit can determine the loading order so as to avoid interference between the luggage at the back and the luggage at the front when loading the luggage at the back.

The loading order determination unit may adopt a loading rule that prioritizes loading cargo that is lower in the loading position. In this case, the loading order determination unit can determine a loading order that allows for highly stable loading by completing loading from the lower positions and gradually loading cargo that is higher up.

The loading order determination unit may adopt a loading rule that prioritizes loading of cargo at the back of the loading position. In this case, the loading order determination unit can determine a loading order that allows optimal loading when loading needs to be completed from the back.

The loading device may have a base section, a lifting section that can be raised and lowered relative to the base section, a pair of support members provided on the lifting section that support the underside of the cargo sent from the supply position, a spacing adjustment mechanism that adjusts the spacing between the pair of support members according to the size of the cargo, and an advancing/retracting mechanism that moves the pair of support members forward and backward relative to the loading position. In this case, the loading device can perform side loading with small gaps between the cargo for each loading position.

The present invention provides a loading system that allows cargo to be loaded in a suitable manner.

1 is a block diagram showing a loading system according to an embodiment of the present invention; FIG. FIG. 2 is a side view of the loading device as seen from the loading position side. FIG. 4 is an enlarged view showing the configuration in the vicinity of the fork. FIG. 2 is a perspective view showing a configuration in the vicinity of a fork. FIG. 2 is a diagram showing a system configuration of a stowage control device. FIG. 2 is a schematic diagram for explaining the packing style and stowage order. FIG. 11 is a schematic diagram for explaining a projection area. 4 is a flowchart showing the operation of the stowage control device. 13 is a flowchart showing details of a packaging style determination process. 13 is a flowchart showing details of a stowage order determination process. FIG. 1 is a schematic diagram for explaining how a packing style within a stowage object is determined. FIG. 13 is a schematic diagram showing an example of a loading device according to a modified example.

Below, a preferred embodiment of a loading system according to one aspect of the present invention will be described in detail with reference to the drawings.

Figure 1 is a block diagram showing a loading system 1 according to an embodiment of the present invention. As shown in Figure 1, the loading system 1 includes a loading control device 2, a supply device 11, and a loading device 10.

The supply device 11 is a device that supplies luggage to the loading device 10. The loading device 10 is a device that is installed between the loading device 11 and a loading position where luggage is loaded, and loads luggage sent from the supply position to the loading position. In this embodiment, a side-loading type loading device 10 that loads luggage by moving it from the side is used as the loading device 10. The side-loading type loading device 10 is a device that loads luggage at a loading location by moving the luggage horizontally, rather than loading the luggage by lowering it from above.

An example of a specific configuration of the loading device 10 will be described with reference to Figures 2 to 5. Figure 2 is a plan view of the loading device 10. Figure 3 is a side view of the loading device 10 seen from the loading position side. Figure 4 is an enlarged view showing the configuration near the forks. Figure 5 is a perspective view showing the configuration near the forks. As shown in Figure 2, the loading device 10 is installed between the supply device 11 and the loading object 12. The supply device 11 is a device that supplies luggage W to be loaded to the loading device 10. The supply device 11 is, for example, a roller conveyor that can transport luggage W in one direction, and transports a variety of luggage W of different sizes. An end 13 of the supply device 11 corresponds to a supply position G where the luggage W is sent to the loading device 10. The end 13 of the supply device 11 is provided with a feed mechanism 14 that feeds luggage W in a direction intersecting the transport direction of the luggage W in the supply device 11. The feed mechanism 14 feeds the luggage W to the loading device 10. The cargo W is a cardboard box, a foldable container box, etc.

The loading object 12 is capable of loading luggage W and moving the loaded luggage W. Examples of the loading object 12 include a pallet and a dolly. The loading object 12 waits at a loading position H where luggage W is loaded from the loading device 10, and does not move from the loading position H until loading of the luggage W is complete. Once the luggage W has been loaded, the loading object 12 is moved from the loading position H by an operator. The movement direction of the loading object 12 is parallel to the luggage transport direction of the supply device 11 and perpendicular to the sending direction of the luggage W sent by the feed mechanism 14.

As shown in FIG. 3, the loading device 10 has a base 20. The base 20 is supported by a pair of reciprocating guide rails 21 arranged parallel to the load conveying direction of the supply device 11, and reciprocates on the reciprocating guide rails 21. The base 20 has a flat base 22 and a wall 23 erected from the base 22. A base side slider 24 guided by the reciprocating guide rails 21 is provided on the back surface of the base 22. The base 22 is provided with a reciprocating drive motor 25 for reciprocating the base 20. The reciprocating mechanism 19 is composed of the drive motor 25 and a mechanism (such as a rack and pinion mechanism) that converts the driving force of the drive motor 25 into reciprocating movement of the base 20. The wall 23 is provided with a pair of lifting guide rails 29 for guiding the lifting unit 30 described next.

The loading device 10 is provided with a lifting section 30 that rises and falls relative to the base section 20. The lifting section 30 is provided with a lifting frame 31 that can rise and fall along the wall 23 of the base section 20. The lifting frame 31 is provided with a pair of forks 32 (support members) that support the luggage W sent from the supply position G. As shown in FIG. 4, the lifting frame 31 has a vertical section 33 and a horizontal section 34 that extends horizontally from the lower part of the vertical section 33. A lifting section side slider 35 guided by a lifting guide rail 29 is provided on the surface of the vertical section 33 that faces the wall 23. The base section 20 is provided with a lifting drive motor, belt, and pulley (not shown) for raising and lowering the lifting section 30. The lifting section 30 rises and falls when driven by the lifting drive motor. The lifting guide rail 29, the lifting section side slider 35, the lifting drive motor, the belt, and the pulley constitute the lifting mechanism 27.

As shown in Figures 2 and 5, the pair of forks 32 are arranged horizontally so as to be parallel to each other. The longitudinal direction of the forks 32 is the same as the direction perpendicular to the reciprocating direction of the base unit 20. The pair of forks 32 are rectangular columnar members that abut against the underside of the luggage W to support the luggage W. The pair of forks 32 are advanced and retreated in a direction perpendicular to the reciprocating direction of the base unit 20 by an advance/retract mechanism 40 provided on the horizontal portion 34 of the lifting frame 31.

The forward/backward mechanism 40 has a fork forward/backward section 41 that advances and retreats the fork 32 of the pair of forks 32 that is far from the vertical section 33 of the lifting frame 31, and a fork forward/backward section 42 that advances and retreats the fork 32 that is closer to the vertical section 33 than the fork forward/backward section 41. The fork forward/backward section 41 includes a fixed base member 43, a fork support arm member 44, and a drive motor 47. The fork forward/backward section 42 includes a movable base member 53, a fork support arm member 54, and a drive motor 57. The fork support arm members 44, 54 advance and retreat relative to the base members 43, 53 due to the driving force of the drive motors 47, 57, and the fork 32 advances and retreats relative to the fork support arm members 44, 54 in conjunction with the advance and retreat of the fork support arm members 44, 54 relative to the base members 43, 53. In other words, the fork 32 and the fork support arm members 44, 54 constitute a mechanism that expands and contracts in multiple stages.

As shown in Figures 2, 4, and 5, the loading device 10 is equipped with a distance adjustment mechanism 65 that adjusts the distance between the pair of forks 32. As shown in Figure 5, the fork advance/retract section 42 of the advance/retract mechanism 40 is movably supported on a pair of guide rails 52 and can move toward or away from the fork advance/retract section 41 fixed to the lifting frame 31. The distance between the pair of forks 32 is adjusted by the fork advance/retract section 42 moving toward or away from the fork advance/retract section 41. The distance adjustment mechanism 65 is equipped with a drive motor 66 that reciprocates the fork advance/retract section 42 via a transmission mechanism such as a pulley.

As shown in Figures 4 and 5, the loading device 10 is equipped with a cargo retraction mechanism 70 that retracts cargo W sent from the supply position G to the pair of forks 32 to a preset position. The cargo retraction mechanism 70 has a retraction belt section 71 provided on the fixed base member 43 and a retraction belt section 72 provided on the movable base member 53. The retraction belt section 71 has a drive motor 73 for driving the belt, a belt pulley 74, a belt pulley 75, and a feed belt 76. The retraction belt section 72 has a drive motor 83 for driving the belt, a belt pulley 84, a belt pulley 85, and a feed belt 86.

As shown in Figures 2 and 4, the loading device 10 has a load positioning mechanism 90 that restricts the retreat of the load W when the pair of forks 32 retreat from the loading position H and positions the load W at the loading position H. The load positioning mechanism 90 has a load positioning section 91 provided on the fixed base member 43 and a load positioning section 92 provided on the movable base member 53. The load positioning section 92 advances and retreats along the forks 32 by the driving force of the drive motors 97, 107. When the forks 32 are removed from the load W, the load positioning section 92 restricts the retreat of the load W with the stopper members 94, 104 at the tips, and drops the load W at the desired position.

With the above configuration, the loading device 10 adjusts the spacing using the spacing adjustment mechanism 65 according to the size of the luggage W sent from the feed mechanism 14, and then draws in the luggage W using the luggage draw-in mechanism 70 and clamps it between the pair of forks 32. Next, the base unit 20 moves on the reciprocating guide rail 21 according to the loading position H of the luggage W on the loading object 12 where the luggage W is to be loaded, and the lifting unit 30 is raised and lowered according to the height of the loading surface of the loading object 12. Next, the forward and backward mechanism 40 is activated. The forks 32 move forward according to the loading position H of the luggage W on the loading object 12. When the luggage W has moved to the desired position, the loading device 10 positions the luggage W using the luggage positioning mechanism 90, and then moves the forks 32 backward using the forward and backward mechanism 40. This allows the luggage W to be loaded at the desired position.

Returning to FIG. 1, the stowage control device 2 determines the packing style and stowage order of the stowage device 10, and controls the supply device 11 and the stowage device 10 so that the stowage work is performed according to the determined contents. The stowage control device 2 includes a packing style determination unit 3, a stowage order determination unit 4, and an operation control unit 5.

The packing style determination unit 3 determines in advance the packing style of the luggage W at the stowage position H. For example, when the top surface of the loading object 12 is set as the calculation target area E as shown in FIG. 7(a), the packing style determination unit 3 determines a packing style indicating how the luggage W is to be stowed within the calculation target area E. The packing style determination unit 3 includes an information acquisition unit 6 and a packing style calculation unit 7.

The information acquisition unit 6 acquires luggage information necessary to determine the packing style. Such luggage information includes, for example, a list of items of luggage W to be stowed. The luggage information also includes, for example, information regarding the type, number, dimensions, and weight of luggage W. The dimensions of luggage W include the length, width, and height of luggage W. As an example, the information acquisition unit 6 may acquire delivery information by accepting operation of an input device by a user.

The packaging style calculation unit 7 calculates the packaging style of the luggage W in the calculation target area E based on the luggage information. The packaging style calculation unit 7 calculates the packaging style of the luggage W. The packaging style calculation unit 7 may calculate the packaging style of the luggage W in the stowage object 12 by using various known methods. The packaging style calculation unit 7 calculates the packaging style of the luggage W in the stowage object 12 for each type of luggage W and each position in the stowage object 12. The packaging style calculation unit 7 may calculate the packaging style based on an evaluation value of the packaging style of the luggage W in the stowage object 12. More specifically, the packaging style calculation unit 7 calculates an evaluation value of the packaging style based on a predetermined evaluation index. The packaging style calculation unit 7 calculates multiple packaging styles and adopts the packaging style with the largest evaluation value.

After the packing style is determined by the packing style determination unit 3, the loading order determination unit 4 determines the loading order of the luggage W in the determined packing style. For example, when the packing style shown in FIG. 7(a) is determined by the packing style determination unit 3, the loading order determination unit 4 calculates and determines the loading order in which each luggage W is to be loaded to create that packing style. The circled numbers attached to each luggage W in FIG. 7(a) and (b) indicate the loading order of the luggage W1 to W5 shown. The loading order in the width direction in FIG. 7(a) is determined in the order in which the luggage is arranged. The loading order in FIG. 7(b) is determined by the loading order determination unit 4. The loading order determination unit 4 includes a determined packing style acquisition unit 8 and a loading order calculation unit 9.

The determined packing style acquisition unit 8 acquires information on the packing style determined by the packing style determination unit 3. The determined packing style acquisition unit 8 also acquires various information required to calculate the order of the determined packing styles. Such information includes stowage rules that indicate the order of priority and the rules under which the cargo W is stowed.

The stowage rule includes priorities for which directions in the height, width, and depth directions the luggage W should be stowed first. For example, the stowage order determination unit 4 may adopt a stowage rule that prioritizes loading luggage W that is lower in the stowage position. In this stowage rule, the first priority may be "prioritize the lower side in the height direction," the second priority may be "prioritize the right side in the width direction," and the third priority may be "prioritize the back side in the depth direction." As a result, all luggage W in the first layer, which is the lowest layer, is loaded first, and then luggage W in the second layer is loaded. Note that the second and third priorities may be interchanged.

The stacking order determination unit 4 may also adopt a stacking rule that prioritizes stacking the luggage W at the back of the stacking position. In this stacking rule, the first priority may be "prioritize the back side in the depth direction," the second priority may be "prioritize the lower side in the height direction," and the third priority may be "prioritize the right side in the width direction." As a result, the luggage W at the back is stacked first up to the top shelf, and then the luggage W at the second back is stacked.

The stowage rules also include restrictive conditions due to the loading mode of the side-stowage loading device 10. That is, if the luggage W3 in FIG. 7(a) is loaded first, luggage W5 will interfere with luggage W3 when the forks 32 move it in the loading direction D1 from the front to the back. Therefore, the stowage rules include a condition that luggage W5 at the back is loaded first before luggage W3 that interferes with other luggage.

Specifically, as shown in FIG. 8, the stowage rule has a condition that if, as viewed from the stowage device 10, within the projection range PE of the luggage WX to be determined, there is another luggage WY located further back than the luggage WX to be determined, the other luggage WY will be placed before the luggage WX to be determined in the stowage order. The projection range PE is a range that is set by projecting the luggage WX onto a virtual plane that extends in the height and width directions. In FIG. 8, the projection range PE is hatched. Note that in the following explanation, such conditions may be referred to as "constraint conditions."

The operation control unit 5 controls the operation of the loading device 1 so that the luggage W is loaded in the loading order determined by the loading order determination unit 4. The operation control unit 5 controls the supply device 11 and the loading device 10 so that the luggage W is loaded in the packing style determined by the packing style determination unit 3 and in the packing order determined by the packing order determination unit 4.

As shown in FIG. 6, the stowage control device 2 can be physically configured as a computer system including one or more control units 110, which are processors, one or more ROMs (Read Only Memory) 111, one or more RAMs (Random Access Memory) 112, which are main storage devices, a HDD (Hard Disk Drive) 113, which is an auxiliary storage device, and a communication unit 114, such as a communication interface for communicating with the outside. For example, the control unit 110 reads out and executes programs (packaging style determination program P1, stowage order determination program P2) previously stored in the HDD 113 into the RAM 112, and each piece of hardware operates under the control of the control unit 110, and data is read and written in the ROM 111, RAM 112, and HDD 113. In this way, each function of the stowage control device 2 shown in FIG. 1 is realized. In addition to the hardware configuration shown in FIG. 6, the stowage control device 2 may also include input devices such as a mouse and a keyboard, and output devices such as a display and a speaker.

Next, the contents of the control process of the stowage control device 2 will be described with reference to Figures 9 to 11. Figure 9 is a flowchart showing the operation of the stowage control device 2. As shown in Figure 9, first, the stowage control device 2 executes step S10. In step S10, the packing style determination unit 3 executes a process of determining in advance the packing style of the luggage W at the stowage position. Next, the stowage control device 2 executes step S20. In step S20, the stowage order determination unit 4 executes a process of determining the stowage order of the luggage W in the packing style determined by the packing style determination unit 3. Next, the stowage control device 2 executes step S30. In step S30, the operation control unit 5 controls the operation of the stowage device 10 so that the luggage W is stowed in the stowage order determined in step S20. With the above, the control process shown in Figure 9 is completed.

Next, the details of the packaging style determination process in step S10 will be described with reference to FIG. 10. FIG. 10 is a flowchart showing the details of the packaging style determination process. As shown in FIG. 10, first, the packaging style determination unit 3 executes step S40. In step S40, the information acquisition unit 6 acquires an item list including information about the luggage W. Next, the packaging style determination unit 3 executes step S50. In step S50, the information acquisition unit 6 generates luggage information regarding dimensions and weight according to the type of luggage W included in the acquired item list.

Then, the packaging style determination unit 3 executes step S60. In step S60, the packaging style calculation unit 7 calculates the packaging style of the luggage W in the stowage object 12 based on the luggage information. The packaging style calculation unit 7 calculates the packaging style of the luggage W in the stowage object 12 for each type of luggage W and its position in the stowage object 12. The packaging style determination unit 3 then executes step S70. In step S70, the packaging style calculation unit 7 acquires an evaluation value for each packaging style based on the evaluation index. The packaging style determination unit 3 then executes step S80. In step S80, the packaging style calculation unit 7 acquires the two packaging styles having the top two evaluation values.

By performing steps S60 to S80 described above, the packing style determination unit 3 first obtains two packing styles with the top two evaluation values for one piece of luggage W (step S80). Next, with one piece of luggage W placed within the stowage object 12, the packing style determination unit 3 calculates the packing style within the stowage object 12 for each type and position of the luggage W to be calculated (step S60), and obtains an evaluation value for each packing style (step S70). Furthermore, the packing style determination unit 3 compares each evaluation value to obtain two packing styles with the top two evaluation values (step S80). Therefore, by repeating steps S60 to S80, the packing style determination unit 3 can obtain two packing styles with the top evaluation values for the stowage object 12 for which stowage has been completed.

In this embodiment, after obtaining the packing style in step S80, if it is possible to load additional luggage W onto the stowage object 12, the packing style determination unit 3 executes step S60 again. Also, if it is not possible to load additional luggage W onto the stowage object 12, the packing style determination unit 3 executes step S06. Here, as an example, a case in which it is not possible to load additional luggage W onto the stowage object 12 is a case in which there is no luggage W remaining to be loaded onto the stowage object 12. In this case, the packing style determination unit 3 can determine whether or not there is any luggage W remaining to be loaded onto the stowage object 12 by referring to the luggage information.

Then, the packing style determination unit 3 executes step S90. In step S90, the packing style calculation unit 7 determines the packing style. The packing style calculation unit 7 determines the packing style with the maximum evaluation value among the packing styles obtained in step S80 as the packing style of the baggage W in the stowage object 12. This completes the packing style determination process.

The manner in which the packing style within the stowage object 12 is determined through the above-mentioned processing is as follows. FIG. 12(a) illustrates one of the packing styles calculated by the packing style calculation unit 7 for one piece of luggage Wa. FIG. 12(b) illustrates the manner in which the packing style calculation unit 7 calculates the packing style for a piece of luggage Wb that is the subject of calculation and is different from the piece of luggage Wa. As shown in FIG. 12(b), when the piece of luggage Wa is placed within the stowage object 12, the packing style calculation unit 7 calculates the packing style within the stowage object 12 for each type and position of the piece of luggage Wb that is the subject of calculation. In addition, the packing style calculation unit 7 obtains an evaluation value for each packing style based on a predetermined evaluation index.

Figure 12 (c) shows an example of a packing style with the highest evaluation value acquired by the packing style calculation unit 7. That is, as shown in Figure 12 (c), the packing style calculation unit 7 acquires two packing styles with the top two evaluation values (step S80). Next, in a state in which the luggage Wa, Wb are arranged in the stowage object 12, the packing style calculation unit 7 further calculates the packing style in the stowage object 12 for each type and position of other luggage. By repeating the above process, the packing style calculation unit 7 acquires two packing styles with the top two evaluation values in the stowage object 12 where stowage is completed. In addition, the packing style calculation unit 7 determines the packing style with the maximum evaluation value of the two acquired packing styles as the packing style of the luggage W in the stowage object 12 (step S90).

Next, the evaluation index and evaluation function for obtaining the evaluation value of the packaging style will be described. The packaging style calculation unit 7 obtains the evaluation value Q of the packaging style based on the evaluation functions XA to XG and the weighting coefficients LA to LG. The evaluation functions XA to XG are functions for normalizing the predetermined evaluation indexes described below so that they have a predetermined value range. In this embodiment, the packaging style calculation unit 7 uses the evaluation functions XA to XG based on the evaluation indexes related to filling and stability. The weighting coefficients LA to LG are predetermined coefficients for weighting the evaluation functions XA to XG. In this embodiment, the packaging style calculation unit 7 obtains the evaluation value Q by the following formula (1).

Q=(LA×XA)+(LB×XB)+(LC×XC)+(LD×XD)+(LE×XE)+(LF×XF)+(LG×XG)…(1)

The evaluation function XA uses the number SA of luggage W supporting the bottom of each luggage W as an evaluation index. The more the number SA of luggage W supporting the bottom of each luggage W, the more luggage W is stacked across the top of multiple luggage W. The evaluation function XB uses the number SB of the sides of each luggage W that are in contact with other luggage W as an evaluation index. The more the number SB of the sides of each luggage W that are in contact with other luggage W, the more each luggage W is supported by the other luggage W. The evaluation function XC uses the ratio SC of the area of the side and bottom of each luggage W that are in contact with other luggage W as an evaluation index. The larger the ratio SC of the area of the side and bottom of each luggage W that are in contact with other luggage W, the more each luggage W is supported by the other luggage W on the sides and bottom of the larger area. The evaluation function XD uses the placement height SD of the bottom of each luggage W as an evaluation index. The lower the placement height SD of the bottom of each luggage W, the lower the placement of each luggage W. The evaluation function XE uses the center of gravity position SE of the entire luggage W as an evaluation index. The lower the height of the center of gravity position SE of the entire luggage W, the lower the risk of the stowage object 12 tipping over. Therefore, it can be said that the stowage shape has better stability. The evaluation function XF uses the volume ratio SF of the volume of the luggage Wb to be calculated to the volume of the luggage W with the largest volume among the luggage W not yet placed as an evaluation index. The larger the volume ratio SF, the larger the volume of the luggage W not yet placed is, and the luggage W can be loaded onto the stowage object 12 first, so that the luggage W can be loaded with as few gaps as possible. Therefore, it can be said that the stowage shape has better packability. The evaluation function XG uses the distance SG of the luggage Wb to be calculated to the coordinate origin as an evaluation index. The coordinate origin may be, for example, a point located at the far right of the bottom surface of the stowage object 12 (the upper right of the bottom surface of the stowage object 12 shown in FIG. 12). The coordinate origin may be a point located at the far left of the bottom surface of the stowage object 12. The smaller the distance SG of the luggage Wb being calculated from the coordinate origin, the closer the luggage W is to the set coordinate origin, and the luggage W can be loaded with as few gaps as possible. This means that the luggage can be packed in a way that is more packable.

Predetermined constants can be used for the weighting coefficients LA to LG. For example, when the packing style places special importance on packing among the evaluation indices related to packing and stability, the weighting coefficients LF and LG can be set large, and the weighting coefficients LA to LE can be set relatively small. This allows the evaluation value Q to more significantly reflect the evaluation index related to packing. Note that the evaluation function for calculating the evaluation value Q is not limited to the above example, and the ease of handling and displaying at the delivery destination can also be added as an evaluation function.

Next, the details of the stowage order determination process in step S20 will be described with reference to FIG. 11. FIG. 11 is a flowchart showing the details of the stowage order determination process. Here, the stowage order determination unit 4 arbitrarily acquires luggage W to be judged from luggage W included in the packaging, and judges the luggage W to be judged against the stowage rules to determine the stowage order of the luggage W one by one starting from the first one. However, the stowage order determination process is not limited to that shown in FIG. 11, and the process contents may be changed as appropriate.

As shown in FIG. 11, first, the stowage order determination unit 4 executes step S100. In step S100, the determined packing style acquisition unit 8 acquires the packing style determined in the packing style determination process. For example, the determined packing style acquisition unit 8 acquires the packing style shown in FIG. 7(a). Next, the stowage order determination unit 4 executes step S110. In step S110, the determined packing style acquisition unit 8 acquires a stowage rule. Here, the stowage rule to be adopted has the following priority order: "give priority to the lower side in the height direction" as the first priority, "give priority to the right side in the width direction" as the second priority, and "give priority to the back side in the depth direction" as the third priority.

Next, the loading order determination unit 4 executes step S120. In step S120, the loading order calculation unit 9 acquires a luggage W to be determined from among multiple luggage W in different packing styles, in order to determine the loading order. As shown in FIG. 7(a), when the packing style is determined, a provisional loading order is also set. Therefore, the loading order calculation unit 9 acquires the leading luggage W as the judgment target among the luggage W whose order has not been determined in the loading order determined in the order in which the luggage is arranged.

Next, the loading order determination unit 4 executes step S130. In step S130, the loading order calculation unit 9 checks the priority order of the luggage W to be judged according to the loading rule. Specifically, the loading order calculation unit 9 judges whether the luggage W to be judged is the one placed in the lowest position among the luggage W whose order has not been determined, according to the first priority order. If it is not the one placed in the lowest position, the loading order determination unit 4 changes the luggage W placed in the lowest position to the luggage W to be judged. If there are multiple luggage W placed in the lowest position, the loading order determination unit 4 judges these multiple luggage W to be judged. Next, the loading order calculation unit 9 judges whether the single or multiple luggage W to be judged is the one placed in the rightmost position among the luggage W whose order has not been determined, according to the second priority order. If it is not the one placed in the rightmost position, the loading order determination unit 4 changes the single or multiple luggage W placed in the rightmost position to be judged.

Next, the loading order calculation unit 9 determines whether the one or more luggage W to be judged is the one placed in the innermost position among the luggage W whose order has not been determined, according to the third priority order. If it is not the one placed in the innermost position, the loading order determination unit 4 changes the luggage W to be judged to the luggage W that is in the innermost position. This allows the loading order determination unit 4 to narrow down the luggage W to be judged to one even if the luggage W to be judged has been changed. Note that, as shown in FIG. 7(a), the luggage W1 to be judged initially is placed in the lowest position and the innermost position. In this case, the loading order determination unit 4 maintains the luggage W1 as the luggage to be judged without changing the luggage W to be judged.

Next, the loading order determination unit 4 executes step S140. In step S140, the loading order calculation unit 9 checks the constraint conditions according to the loading rules for the luggage W to be judged. The loading order calculation unit 9 judges whether or not another luggage W exists behind the luggage W to be judged within the projection range PE (see FIG. 8). If there is no other luggage W within the projection range PE, the loading order determination unit 4 maintains the judgment target without changing it. On the other hand, if there is another luggage W in the projection range PE, the loading order determination unit 4 changes the judgment target to the other luggage W. For example, in FIG. 8, the heights of the luggage WX and luggage WY to be judged are the same, or the luggage WX is lower than the luggage WY. Also, in FIG. 8, the luggage WX to be judged is located to the right of the luggage WY, so according to the second priority order, the luggage WX is loaded before the luggage WY. However, the loading order determination unit 4 changes the judgment target to the luggage WY at the back in step S140.

Next, the loading order determination unit 4 executes step S150. In step S150, the loading order calculation unit 9 determines the loading order of the luggage W set as the judgment target after performing the confirmation processes of steps S130 and S140. In the first step S150, the luggage W to be judged is determined to be number 1 in the loading order, and in subsequent steps S150, the loading order is determined in ascending order.

Next, the loading order determination unit 4 executes step S160. In step S160, the loading order calculation unit 9 determines whether or not there is any luggage W whose loading order has not been determined. If it is determined that the loading order for all luggage W has been determined, the process shown in FIG. 11 ends. If it is determined that there is any luggage W whose loading order has not been determined, the process is repeated from step S120.

The packing style is explained in FIG. 7 in comparison with the flowchart in FIG. 11. In FIG. 7, the positional relationship in the width direction is omitted for ease of understanding. In the first step S120, the loading order calculation unit 9 sets the luggage W1 set first in the provisional loading order as the luggage W to be judged. The luggage W1 is placed lowest and at the back, and also satisfies the constraint conditions. Therefore, the loading order calculation unit 9 maintains the luggage W1 as the judgment target, and determines it as the first luggage in the loading order in step S160. In the second step S120, the loading order calculation unit 9 sets the luggage W2 set second in the provisional loading order as the luggage W to be judged. In the processing of steps S130 and S140, the luggage W1 that has already been determined is removed. The luggage W2 is placed at the lowest position. In addition, there is no luggage W placed further back than the luggage W2 other than the removed luggage W1. Furthermore, since luggage W1 has been removed and no other luggage W exists within the projection range PE, luggage W2 also satisfies the constraint conditions. Therefore, the loading sequence calculation unit 9 keeps luggage W2 as the judgment target and determines that luggage W2 will be number 2 in the loading sequence in the second step S160.

In the third step S120, the loading sequence calculation unit 9 sets the luggage W3, which is set to be third in the provisional loading sequence, as the luggage W to be judged (see FIG. 7(a)). In the processing of steps S130 and S140, the luggage W1 and W2 that have already been determined are removed. Among the luggage W3, the luggage W3 is placed at the lowest position. Therefore, in step S130, the loading sequence calculation unit 9 maintains the luggage W3 as the judgment target. However, other luggage W4 and W5 exist within the projection range PE of the luggage W3. Therefore, the loading sequence calculation unit 9 determines that the luggage W3 does not satisfy the constraint condition, and changes the luggage W5, which is placed at the innermost position among the other luggage W4 and W5, to the luggage W to be judged. In the third step S160, the loading sequence calculation unit 9 determines the luggage W5, which has been changed to the judgment target, to be the third luggage W in the loading sequence (see FIG. 7(b)).

In step S120 for the fourth time, the loading sequence calculation unit 9 sets the luggage W3, which was changed from the judgment target in the third time, as the luggage W to be judged (see FIG. 7(a)). In the processing of steps S130 and S140, the luggage W1, W2, and W5 that have already been determined are removed. However, another luggage W4 exists within the projection range PE of luggage W3. Therefore, the loading sequence calculation unit 9 determines that luggage W3 does not satisfy the constraint conditions and changes the other luggage W4 to the judgment target. In step S160 for the fourth time, the loading sequence calculation unit 9 determines that luggage W4, which was changed to the judgment target, is the fourth luggage in the loading sequence (see FIG. 7(b)). In steps S120 to S150 for the fifth time, the only undetermined luggage W is luggage W3, so the loading sequence calculation unit 9 determines that luggage W3 is the fifth luggage in the loading sequence (see FIG. 7(b)).

Next, we will explain the operation and effects of the loading system 1 according to this embodiment.

The loading system 1 according to this embodiment includes a side-loading loading device 10 that loads luggage W sent from a supply position G by moving it laterally toward a loading position H. Such a loading device 10 can efficiently load luggage W of multiple sizes.

As a system including such a side-stack type loading device, a loading system according to a comparative example will be described. For example, the loading system according to the comparative example calculates the packing style and the loading order for each target area as a simultaneous calculation process, with the upper surface of the dolly at the loading position and the upper surface of the luggage as the target area. For example, when the loading system according to the comparative example calculates the packing style with the upper surface of the lowest luggage W1 shown in FIG. 7(a) as the target area, a constraint condition may be set that luggage W does not protrude forward from luggage W1. In this case, the loading system according to the comparative example cannot adopt the position of luggage W4 shown by the solid line in FIG. 7(a), but adopts the position of luggage W4 shown by the virtual line. However, such a packing style results in a large space being formed between luggage W3 and luggage W5, which reduces space efficiency (fillability). In this way, the loading system according to the comparative example may not be able to load luggage in a suitable packing style.

In contrast, in the loading system 1 according to the present embodiment, the packing style determination unit 3 predetermines the packing style of the luggage W at the loading position H. After the packing style is determined by the packing style determination unit 3, the loading order determination unit 4 determines the loading order of the luggage W in the determined packing style. In this way, the loading system 1 does not simultaneously perform the packing style determination by the packing style determination unit 3 and the packing order determination by the packing order determination unit 4, but can perform both as independent calculation processes. Therefore, first, the packing style determination unit 3 can predetermine a suitable packing style in consideration of packing ability, stability, workability, etc., without first considering the priority order and constraint conditions associated with the packing order. For example, in FIG. 7(a), the packing style determination unit 3 can determine a suitable packing style in consideration of packing ability, stability, workability, etc., after considering the entire calculation target area E. Therefore, the packaging style determination unit 3 is able to adopt a packaging style that allows luggage W4 to protrude slightly from the top surface of luggage W1 (for example, allowing it to protrude by one-third of the overall depth dimension) and places luggage W4 in the space between luggage W3 and luggage W5.

In the next step, the loading order determination unit 4 can determine the loading order taking into consideration the priorities and constraints associated with the loading order in order to achieve loading in an optimal packing shape. This allows the operation control unit 5 to control the operation of the loading device to avoid interference between the luggage W during loading and to achieve an optimal packing shape. For example, as shown in FIG. 7(b), luggage W4 can be placed in the space between luggage W3 and luggage W5 while avoiding interference between the luggage W. As a result, the loading system 1 can load luggage W in an optimal packing shape.

The loading order determination unit 4 determines the loading order according to a predetermined loading rule, and the loading rule may include a condition that if, as viewed from the loading device 10, there is another piece of luggage W located further back than the luggage W to be determined within the projection range PE of the luggage W to be determined, the other piece of luggage W is placed before the luggage W to be determined. In this case, the loading order determination unit 4 can determine the loading order so as to avoid interference between the luggage W at the back and the luggage W at the front when loading the luggage W at the back.

The loading order determination unit 4 may adopt a loading rule that prioritizes loading of lower cargo W at the loading position H. In this case, the loading order determination unit 4 can determine a loading order that allows for highly stable loading by completing loading from the lower positions and gradually loading cargo W at higher positions.

The loading order determination unit 4 may adopt a loading rule that prioritizes loading of luggage W at the back of the loading position H. In this case, the loading order determination unit 4 can determine a loading order that allows optimal loading when loading needs to be completed from the back.

The loading device 10 may have a base section 20, a lifting section 30 that can be raised and lowered relative to the base section 20, a pair of forks 32 (support members) provided on the lifting section 30 and supporting the underside of the luggage W sent from the supply position G, a spacing adjustment mechanism 65 that adjusts the spacing between the pair of forks 32 according to the size of the luggage W, and an advancing/retracting mechanism 40 that moves the pair of forks 32 forward and backward relative to the loading position H. In this case, the loading device 10 can perform side loading with small gaps between the luggage W for each position of the loading position H.

The present invention is not limited to the above-described embodiments.

For example, in the above embodiment, the side-stowage type loading device shown in Figs. 2 to 5 was used. However, the specific configuration of the loading device is not particularly limited, and may be modified as appropriate as long as it is capable of side-stowage. For example, the loading device 10 shown in Figs. 13(a) and (b) may be used. In the example shown in Fig. 13(a), the loading device 10 has a vehicle-type loading robot 150. The loading robot 150 includes a vehicle body 151 and a transport unit 152. The transport unit 152 is provided on the upper part of the vehicle body 151 so as to extend in the front-rear direction of the vehicle. The transport unit 152 includes a receiving unit 153 at the rear end side that receives the luggage W that has been removed from the warehouse, and a loading unit 154 at the front end side that loads the luggage W onto the loading object 12.

In the example shown in FIG. 13(b), the loading device 10 has a robot hand type loading robot 160. The loading robot 160 has a main body 161 placed on the ground, multiple articulated arms 163, and a loading unit 162 that grasps and loads luggage W. The loading robot 160 grasps luggage W delivered by a conveyor 164 and rotates the loading unit 162 to load it onto the loading object 12.

The evaluation method and stowage rules for determining the packing style described in the above embodiment are merely examples and may be modified as appropriate depending on the application.

1...loading system, 3...packing style determination section, 4...loading order determination section, 5...operation control section, 10...loading device, 20...base section, 30...lifting section, 32...fork (support member), 40...advancement mechanism, 65...gap adjustment mechanism.

Claims (4)

a side-stowage-type loading device that is installed between a supply position where cargo is fed and a loading position where the cargo is loaded, and that loads the cargo fed from the supply position by moving the cargo laterally relative to the loading position;
A packing style determination unit that determines in advance the packing style of the luggage at the stowage position;
a loading order determination unit that determines a loading order of the luggage in the determined packing style after the packing style is determined by the packing style determination unit;
an operation control unit that controls an operation of the loading device so as to load the luggage in the loading order determined by the loading order determination unit ,
The stowage sequence determination unit comprises:
determining the loading sequence in accordance with a predetermined loading rule;
A loading system, wherein the loading rule has a condition that if there is another piece of luggage that is located further back than the luggage being determined within the projection range of the luggage being determined as viewed from the loading device, the loading order of the other piece of luggage is to be given precedence over the luggage being determined . 2. The cargo loading system according to claim 1 , wherein the stowage order determination unit adopts the stowage rule that gives priority to loading cargo that is lower at the stowage position. The loading system according to claim 1, wherein the loading order determination unit adopts a loading rule that prioritizes loading of cargo at the back of the loading position. The loading device comprises:
A base portion;
A lifting unit capable of lifting and lowering relative to the base unit;
a pair of support members provided in the lifting section for supporting a lower surface of the baggage fed from the supply position;
a gap adjustment mechanism for adjusting the gap between the pair of support members in accordance with the size of the luggage;
The loading system according to any one of claims 1 to 3 , further comprising: an advancing/retreating mechanism for advancing and retracting the pair of support members relative to the stowage position.

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