JP7698388B2 - Cargo handling device and control method - Google Patents

Description

An embodiment of the present invention relates to a loading device and a control method.

A loading device that removes items one by one from a platform or other carrying section on which multiple items are placed is known to have a configuration in which the device holds and removes the items by suctioning one of the sides and the top of the items.

However, depending on how the item is placed, it may be difficult to hold the sides of the item.

Patent No. 6595665 specification

The problem that this invention aims to solve is to provide a loading device that can load and unload items efficiently.

In order to solve the above problem, the loading and unloading device of the embodiment has a first holding section, a second holding section, a movement mechanism, and a control section. The first holding section holds the top surface of the item. The second holding section moves in a first direction intersecting the holding surface on which the first holding section holds the item, and holds the side surface of the item. The movement mechanism moves both the first holding section and the second holding section. The control section controls to execute either a first operation to hold the item using the first holding section and the second holding section, or a second operation to hold the item using the first holding section, based on the loading state of the items.

FIG. 1 is a perspective view illustrating an example of a loading and unloading apparatus according to an embodiment. FIG. 2 is a side view that illustrates an example of a holding mechanism of the cargo handling apparatus according to the embodiment. FIG. 3 is a side view that illustrates an example of the operation of the holding mechanism of the cargo handling apparatus according to the embodiment. FIG. 4 is a side view illustrating a schematic example of a first operation of the loading/unloading apparatus according to the embodiment. FIG. 5 is a side view illustrating a schematic example of the second operation of the loading/unloading apparatus according to the embodiment. FIG. 6 is a block diagram showing an example of a schematic configuration of a control device provided in the loading/unloading apparatus according to the embodiment. FIG. 7 is a flowchart showing an example of control of the processor of the loading/unloading apparatus according to the embodiment. FIG. 8 is a flowchart showing an example of a first operation controlled by the processor of the loading and unloading apparatus according to the embodiment. FIG. 9 is a flowchart showing an example of a second operation controlled by the processor of the loading and unloading apparatus according to the embodiment. FIG. 10 is a flowchart showing an example of releasing an item by a processor of a loading and unloading device according to an embodiment.

Below, an embodiment for carrying out the invention will be described with reference to the drawings. Note that the drawings are schematic or conceptual, and the relationship between the thickness and width of each part, the size ratio between parts, etc. are not necessarily the same as in reality. Even when the same part is shown, the dimensions and ratios may be shown differently depending on the drawing. In this specification and each drawing, elements similar to those already explained are given the same reference numerals, and detailed explanations will be omitted as appropriate.

Figure 1 is a perspective view showing an example of a loading device A according to an embodiment. As shown in Figure 1, the loading device A according to an embodiment includes a housing main body 1, a holding mechanism 2, a moving mechanism 3, a transport unit 4, a first detection unit 5, a second detection unit 6, and a third detection unit 7. The holding mechanism 2 includes a first holding unit 8 and a second holding unit 9. The moving mechanism 3 includes a drive unit 11a and a drive unit 11b.

For the purpose of explanation, the X direction (front-back direction), Y direction (left-right direction), and Z direction (up-down direction) are used here. The Z direction is a direction that is approximately perpendicular to the surface on which the loading device A is placed. The X direction is perpendicular to the Z direction, and is a direction that is approximately perpendicular to the holding surface on which the second holding portion 9 holds the side of the item B. The Y direction is a direction that is perpendicular to the Z direction and the X direction. The X direction, Y direction, and Z direction are mutually perpendicular.

The first holding unit 8 holds the top surface of the item B (the surface opposite the surface on which the item B is placed). The second holding unit 9 holds the side surface of the item B (the surface that intersects with the top surface and is closest to the holding mechanism 2 along the X direction from the item B). By holding the item B with both the first holding unit 8 and the second holding unit 9, the item B can be held more stably. Alternatively, by holding the item B only with the first holding unit 8, even if there is another item B in front of the item B (in the direction in which the holding mechanism 2 moves away from the item B along the X direction), the item B to be transported can be held and unloaded without the second holding unit 9 interfering with the other item B.

The moving mechanism 3 moves both the first holding unit 8 and the second holding unit 9. For example, the moving mechanism 3 can move the first holding unit 8 and the second holding unit 9 in the X direction, Y direction, and Z direction by moving the holding mechanism 2 using the driving units 11a and 11b. The moving mechanism 3 may be part of the arm of a vertical articulated robot or a horizontal articulated robot.

The conveying unit 4 is held by the first holding unit 8 and the second holding unit 9, and is moved by the moving mechanism 3 to move the placed item B in a direction away from the side of the item B held by the second holding unit 9 (in the X direction, the item B approaches the conveyor 12). For example, the conveying unit 4 has a belt 13 on which the item B can be placed, and a motor 14 that drives the belt 13. The belt 13 is an endless belt. The motor 14 is disposed at one end of the belt 13, which is configured in a flat ring shape. The motor 14 drives the belt 13 by pulling the upper surface 13a of the belt 13 toward the motor 14. The conveying unit 4 configured in this manner is installed in the housing body 1 in a position in which the motor 14 is located on the conveyor 12 side and the movement direction of the upper surface 13a of the belt 13 is parallel to the front-rear direction. The conveying unit 4 can be raised and lowered inside the housing body 1 by the drive unit 11c.

The first detection unit 5 detects that the bottom end of the item B held by the holding mechanism 2 has been raised to a position a predetermined distance higher than the top end of the item B, which is located at the next highest position after the item B held by the holding mechanism 2. For example, the first detection unit 5 is a sensor that can measure the distance to an object such as the item B. The first detection unit 5 is, for example, a laser range finder (LRF) that measures the distance to the item B in the X direction (second direction) by irradiating the item B with a laser in the X direction (second direction) and scanning the laser on a horizontal plane, and then receiving the reflected light with a light receiving unit. Note that a plurality of first detection units 5 may be provided, and each may irradiate the item B with a laser from a different angle.

The first detection unit 5 is movable along a guide rail (not shown) that guides movement in the Y direction. For example, when the loading device A holds an item B, the first detection unit 5 rises and falls from the top end of the next highest item B after the item B held by the holding mechanism 2 to a predetermined position higher. When the first detection unit 5 lifts up the item B held by the loading device A, it irradiates a laser toward the item B held by the loading device A. When the item B is at the same height as the first detection unit 5, the laser receives the light reflected by the item B, and the control device 10 determines that the bottom end of the held item B has not yet passed the top end of the next highest item B after the held item B. Furthermore, when the bottom end of the held item B is raised above a position that is a predetermined distance higher than the top end of the next highest item B (in the direction in which the first holding unit 8 moves away from item B along the Z direction (first direction)), the laser is not reflected by item B, so reflected light is no longer received, and the control device 10 determines that the bottom end of the held item B has been raised to a position that is a predetermined distance higher than the top end of the next highest item B after the held item B.

The second detection unit 6 acquires the distance and position to the top surface of the item B. The second detection unit 6 is fixed to the fixed part 15. For example, the second detection unit 6 is a 3D camera capable of acquiring depth information. The second detection unit 6 captures an image of the top surface of each of the multiple items B placed on the placement unit 16 (pallet, transport aid). The second detection unit 6 transmits the captured image to the control device 10. Alternatively, the second detection unit 6 may be composed of a distance sensor and a color camera, or a stereo camera, etc.

The third detection unit 7 acquires the distance to the bottom surface opposite the top surface of the item B being moved by the loading device A. For example, the third detection unit 7 is a laser range finder installed between the loading device A and the placement unit 16. In other words, the third detection unit 7 can detect the height to the bottom surface of the item B passing above. The third detection unit 7 transmits the distance from the third detection unit 7 to the bottom surface of the item B being moved by the loading device A to the control device 10 as the detection result.

In the loading device A, the moving mechanism 3 moves the holding mechanism 2 to the placement section 16, the holding mechanism 2 adsorbs and holds the item B, the moving mechanism 3 moves the holding mechanism 2 to the conveying section 4 and releases the adsorption, placing the item B on the conveying section 4, and the conveying section 4 moves the item B to the conveyor 12. The conveyor 12 is an example of a destination to which the loading device A moves the item B.

The control device 10 controls the holding mechanism 2, the moving mechanism 3, and the transport unit 4 based on the detection result obtained from the first detection unit 5, the image obtained from the second detection unit 6, and the distance obtained from the third detection unit 7. Details of the control device 10 will be described later with reference to FIG. 6.

Figure 2 is a side view showing a schematic example of a holding mechanism 2 of the loading and unloading device A according to the embodiment. In this embodiment, the first holding portion 8 and the second holding portion 9 of the holding mechanism 2 hold the item B by vacuum suction.

As shown in FIG. 2, the first holding unit 8 holds the upper surface of the item B. For example, the first holding unit 8 includes a housing 100a and an adsorption unit 101a attached to the housing 100a. The housing 100a includes piping, valves, etc. necessary for vacuum adsorption. The adsorption unit 101a includes a rod 102a and an adsorption pad 103a. The rod 102a extends in the Z direction (first direction). The adsorption pad 103a is provided at the tip of the rod 102a. The adsorption surface at the tip of the adsorption pad 103a faces downward (in the direction in which the second holding unit 9 approaches the item B along the Z direction (first direction)).

The second holding unit 9 holds the side of the item B. For example, the second holding unit 9 includes a housing 100b, an adsorption unit 101b attached to the housing 100b, a drive unit 104z, and a drive unit 104x. The housing 100b includes piping, valves, etc. necessary for vacuum adsorption. The adsorption unit 101b includes a rod 102b and an adsorption pad 103b. When the second holding unit 9 holds the item B, the rod 102b extends in the X direction (second direction). The adsorption pad 103b is provided at the tip of the rod 102b. When the second holding unit 9 holds the item B, the adsorption surface at the tip of the adsorption pad 103b faces forward (the direction in which the second holding unit 9 approaches the item B along the X direction (second direction)).

Each of the suction units 101a and 101b is connected to an exhaust system (not shown), including pipes and valves provided inside the housing 100a and housing 100b, and exhaust devices provided outside the first holding unit 8 and second holding unit 9. The suction unit 101a can be exhausted independently of the suction unit 101b.

A plurality of suction units 101a and 101b may be provided. For example, the first holding section 8 may be a plurality of suction units arranged in at least one of the Z direction and the Y direction, and the second holding section 9 may be a plurality of suction units arranged in at least one of the X direction and the Y direction.

The drive unit 104z moves the second holding unit 9 in the Z direction (first direction) relative to the first holding unit 8. The drive unit 104x moves the second holding unit 9 in the X direction (second direction) that intersects with the Z direction relative to the first holding unit 8. In other words, the second holding unit 9 moves in a first direction that intersects with the holding surface on which the first holding unit 8 holds the item B, and in a second direction that intersects with the first direction.

The second holding unit 9 is connected to the first holding unit 8. For example, the second holding unit 9 is connected to the connecting unit 106a via the driving unit 104x. The connecting unit 106a is connected to the support frame 105 via the driving unit 104z. The first holding unit 8 is fixed to the support frame 105 via the rotating shaft 108. The support frame 105 is fixed to the moving mechanism 3.

The tilt mechanism 107 adjusts the tilt of the first holding unit 8 and the second holding unit 9 in the X direction. The tilt mechanism 107 includes a rod 102c, a connecting unit 106c, and a driving unit 104c. The driving unit 104c is attached to the support frame 105. One end of the rod 102c is connected to the driving unit 104c so that the first holding unit 8 and the second holding unit 9 can rotate around a rotation shaft 108. The other end of the rod 102c is connected to the first holding unit 8 via the connecting unit 106c.

The driving unit 104c lifts the first holding unit 8 and the second holding unit 9 via the rod 102c in the direction in which the first holding unit 8 lifts the item B along the Z direction. The driving unit 104c lifts the first holding unit 8 and the second holding unit 9 via the rod 102c so that the surface on which the first holding unit 8 holds the item B is parallel to the X direction. This makes the surface on which the first holding unit 8 holds the item B approximately parallel to the top surface of the held item B, allowing the top surface of the item B to be stably held.

The tilting mechanism 107 tilts the first and second holding parts 8 and 9 by weakening the force lifting the first and second holding parts 8 and 9. For example, the first and second holding parts 8 and 9 can rotate with respect to the support frame 105 around the rotation axis 108. Therefore, when the driving part 104c weakens the force lifting the first holding part 8 via the rod 102c, the first and second holding parts 8 and 9 rotate together due to the weight of the first holding part 8, and the tilt of the first and second holding parts 8 and 9 with respect to the X direction changes. In other words, the tilt of the first and second holding parts 8 and 9 with respect to the support frame 105 and the moving mechanism 3 changes due to the operation of the driving part 104c. Note that the tilting mechanism 107 may rotate the first and second holding parts 8 and 9 by operating the rod 102c to press the suction unit of the first holding part 8 against the upper surface of the article B.

FIG. 3 is a side view that illustrates an example of the operation of the holding mechanism 2 of the cargo handling apparatus A according to the embodiment.
3A shows the state when the second holding part 9 is in the first position. The first position is a position where the second holding part 9 can hold the side surface of the article B. For example, the first position is a position where the second holding part 9 is moved forward by the driving part 104x, and is a position where the second holding part 9 is moved below at least a part of the first holding part 8 by the driving part 104z. For example, at least a part of the suction unit 101b is located below the lower end of the rod 102a of the first holding part 8.

At the first position, the loading/unloading device A performs a first operation to hold item B using the first and second holding parts. That is, the first operation holds item B using the first and second holding parts 8 and 9 with the second holding part 9 positioned lower along the Z direction (first direction) than the holding surface on which the first holding part 8 holds item B. The flow of the first operation will be described in detail later with reference to FIG. 4.

3B shows the state when the second holding unit 9 is in the second position. The second position is a position where the second holding unit 9 does not interfere with the first holding unit 8 holding the item B. For example, the second position is a position where the second holding unit is moved rearward (in a direction in which the second holding unit moves away from the item B along the X direction (second direction)) by the driving unit 104x, and where the second holding unit is moved by the driving unit 104z above the holding surface where the first holding unit 8 holds the item B.
For example, at least a portion of the suction unit 101b is located above the lower end of the rod 102a of the first holding part 8 and the suction pad 103a.

At the second position, the loading/unloading device A performs a second operation of holding item B using the first holding part. That is, the second operation holds item B using the first holding part with the second holding part 9 positioned above the holding surface where the first holding part 8 holds item B in the Z direction (first direction). The flow of the second operation will be described in detail later with reference to FIG. 5.

The first position may be described as a position where the second holding unit 9 is moved downward from the second position by the driving unit 104z and then moved forward by the driving unit 104x, and the second position may be described as a position where the second holding unit 9 is moved backward from the first position by the driving unit 104x and then moved upward by the driving unit 104z.

Figure 3 (c) shows the state when the second holding unit 9 is in the first position and the holding mechanism 2 is tilted. When the loading device A holds and places item B, the driving unit 104c reduces the force lifting the first holding unit 8, thereby tilting the holding mechanism 2. For example, the control device 10 controls the holding mechanism 2 and the moving mechanism 3 so that after the holding mechanism 2 holds item B, it tilts the holding mechanism 2 to drag item B and place it on the conveying unit 4. This makes it possible to prevent damage such as the lid opening due to the weight of item B.

The flow of operations when the loading device A transports in the first operation will be described using Figure 4. Figure 4 is a side view that shows a schematic example of the first operation of the loading device A according to the embodiment.

When the loading device A transports the item B in the first operation, the loading device A sequentially holds the item B, starting with the item B closest to the second holding unit 9, among the items B whose upper surfaces are located at the highest positions, and transports them to the conveying unit 4 while lifting and dragging them. In other words, the first operation holds the item B, among the multiple items B, starting with the item B whose upper surface is located at the highest position and closest to the second holding unit 9. As shown in FIG. 4(a), when the second holding unit 9 is not located at the first position, the control device 10 controls the driving unit 104x and the driving unit 104z to place the second holding unit 9 at the first position. The control device 10 controls the conveying unit 4 to position the upper surface of the conveying unit 4 at the same height as the bottom surface of the item B to be conveyed, based on the distance from the third detection unit 7 to the bottom surface of the item B to be conveyed, acquired via the third detection unit 7.

As shown in FIG. 4(b), the control device 10 moves the first holding part 8 directly above the item B, and then controls the moving mechanism 3 to press the first holding part 8 against the top surface of the item B. The rod 102a is then displaced, and the suction pad 103a deforms according to the shape of the top surface. The control device 10 controls the pressure inside the suction unit 101a connected to the exhaust system by opening and closing the solenoid valve. The first holding part 8 holds the top surface of the item B as the pressure inside the suction unit 101a becomes lower than atmospheric pressure.

The control device 10 controls the drive unit 104x to press the second holding unit 9 against the side of the article B, as shown in FIG. 4(c). The rod 102b is then displaced, and the suction pad 103b deforms according to the shape of the side. The control device 10 controls the pressure inside the suction unit 101b connected to the exhaust system by opening and closing the solenoid valve. The second holding unit 9 holds the side of the article B as the pressure inside the suction unit 101b becomes lower than atmospheric pressure.

As shown in FIG. 4(d), the control device 10 controls the moving mechanism 3 to lift the item B. When transporting the item B from the placement unit 16 onto the conveying unit 4, the control device 10 controls the tilting mechanism 107 to change the tilt of the first holding unit 8 and the second holding unit. Then, as shown in FIG. 4(e), the control device 10 controls the moving mechanism 3 to transport the item B from the placement unit 16 onto the conveying unit 4.

Next, as shown in FIG. 4(f), the control device 10 controls the first holding unit 8 and the second holding unit 9 to release their holding, move the first holding unit 8 and the second holding unit 9 away from the item B, and place the item B on the conveying unit 4. In other words, the control device 10 controls the suction units 101a and 101b to increase the pressure, thereby weakening the suction force of the first holding unit 8 and the second holding unit 9.

As shown in FIG. 4(g), the control device 10 controls the drive unit 104z to move the second holding unit 9 upward after releasing the hold of the item B. In other words, when holding the item B in the first operation, the control device 10 controls the drive unit 104z to position the second holding unit 9 upward along the Z direction (first direction) after placing the item B on the conveying unit 4 so that the bottom end of the second holding unit is higher than the bottom end of the first holding unit. This makes it possible to prevent the holding mechanism 2 from interfering with the conveying of the item B when the conveying unit 4 conveys the item B to the conveyor 12.

After the second holding unit 9 is positioned above the holding surface in the Z direction (first direction), the control device 10 controls the conveying unit 4 to convey the item B onto the conveyor 12. The conveyor 12 conveys the item B to another location.

The flow of operations when the loading device A transports by the second operation will be described using Figure 5. Figure 5 is a side view that shows a schematic example of the second operation of the loading device A according to the embodiment.

When the loading device A transports the item B in the second operation, the loading device A holds, lifts, and transports the item B in order starting from the item B whose top surface is located at the highest position. In other words, the second operation holds the item B starting from the item B whose top surface is located at the highest position among the multiple items B. As shown in FIG. 5(a), when the second holding unit 9 is not located at the second position, the control device 10 controls the drive unit 104x and the drive unit 104z to place the second holding unit 9 at the second position. At this time, the control device 10 may control the conveying unit 4 to place the top surface of the conveying unit 4 at the same height as the bottom surface of the item B to be conveyed, based on the distance to the bottom surface of the item acquired via the third detection unit 7.

As shown in FIG. 5(b), the control device 10 moves the first holding unit 8 directly above the item B to be transported, and then controls the moving mechanism 3 to press the first holding unit 8 against the top surface of the item B. The control device 10 controls the pressure inside the suction unit 101a connected to the exhaust system by opening and closing an electromagnetic valve. The first holding unit 8 holds the top surface of the item B by making the pressure inside the suction unit 101a lower than atmospheric pressure.

The control device 10 controls the moving mechanism 3 to lift the item B as shown in FIG. 5(c). Based on the result of detection by the first detection unit 5, the control device 10 controls the moving mechanism 3 to lift the item B until it is determined that the bottom end of the held item B has been lifted to a position a predetermined distance higher than the top end of the next highest item B after the held item B. At this time, the second holding unit 9 remains in the second position and does not hold the item B.

As shown in FIG. 5(d), the control device 10 controls the moving mechanism 3 to transport the item B from above the placement unit 16 to above the transport unit 4. Next, as shown in FIG. 5(e), the control device 10 controls the moving mechanism 3 to release the hold by the first holding unit 8 and move the holding mechanism 2 away from the item B.

After the holding mechanism 2 is released from the item B, the control device 10 controls the conveying unit 4 to convey the item B onto the conveyor 12. The conveyor 12 conveys the item B to another location.

Next, the configuration of the control device 10 provided in the loading device A according to the embodiment will be described with reference to FIG. 6. FIG. 6 is a block diagram showing an example of a schematic configuration of the control device 10 provided in the loading device A according to the embodiment. As shown in FIG. 6, the loading device A includes a processor 701 (control unit), a ROM 702 (read-only memory), a RAM 703 (random-access memory), a NVM 704 (non-volatile memory) (storage unit), a communication interface 705 (communication unit), and a detection interface 706.

The processor 701 corresponds to the central part of a computer that performs the calculations and control required for the processing of the loading device A, and performs integrated control of the entire loading device A. The processor 701 executes control to realize various functions of the loading device A based on programs such as system software, application software, or firmware stored in the ROM 702 or NVM 704. The processor 701 is, for example, a CPU (central processing unit), an MPU (micro processing unit), or a DSP (digital signal processor). Alternatively, the processor 701 is a combination of two or more of these.

ROM 702 corresponds to the main memory device of a computer with processor 701 at its core. ROM 702 is a non-volatile memory used exclusively for reading data. ROM 702 stores the above-mentioned programs. ROM 702 also stores data and various setting values used by processor 701 when performing various processes.

RAM 703 corresponds to the main memory device of a computer with processor 701 at its core. RAM 703 is a memory used for reading and writing data. RAM 703 is used as a so-called work area for storing data that is temporarily used when processor 701 performs various processes.

NVM704 corresponds to an auxiliary storage device of a computer with processor 701 at its core. NVM704 is, for example, an EEPROM (electrical erasable programmable read-only memory) (registered trademark), a HDD (hard disk drive), or an SSD (solid state drive). NVM704 may also store the above programs. NVM704 also stores data used by processor 701 in performing various processes, data generated by the processes of processor 701, various setting values, etc.

The programs stored in ROM 702 or NVM 704 include a program for controlling loading device A. As an example, loading device A is transferred to the manager of loading device A with the program stored in ROM 702 or NVM 704. However, loading device A may be transferred to the manager without the program being stored in ROM 702 or NVM 704. The program for controlling loading device A may be transferred separately to the manager and written to NVM 704 under the operation of the manager or a serviceman. The program may be transferred by recording it on a removable storage medium such as a magnetic disk, magneto-optical disk, optical disk, or semiconductor memory, or by downloading it via a network.

The communication interface 705 is an interface for communicating with other devices via a network or the like, either wired or wirelessly, receiving various information transmitted from other devices, and transmitting various information to other devices. For example, the processor 701 acquires the loading status of item B via the communication interface.

The detection interface 706 is an interface that acquires various information detected by the first detection unit 5, the second detection unit 6, and the third detection unit 7. For example, the processor 701 acquires the distance along the X direction (second direction) from the first detection unit 5 to the item B that is at the same height position in the Z direction (first direction) via the detection interface 706. The processor 701 also acquires an image showing the distance and position from the second detection unit 6 to the top surface of the item B via the detection interface 706. The processor 701 also acquires the distance from the third detection unit 7 to the bottom surface of the item B moved by the loading device A via the detection interface 706. The detection interface 706 may have different interfaces for the first detection unit 5, the second detection unit 6, and the third detection unit 7, respectively, or one interface may acquire various information from the first detection unit 5, the second detection unit 6, and the third detection unit 7.

The processor 701 acquires the loading state of the item B. For example, the processor 701 acquires the loading state of the item B by communicating with an external device via the communication interface 705. The loading state includes a packing state in which a plurality of the items B are stacked on the loading section 16, and the packing state includes information on whether the items B are arranged in a regular pattern. The information on whether the items B are arranged in a regular pattern indicates whether the height of the items B is approximately the same for each tier in which the plurality of the items B are stacked. For example, the loading state is divided into a first arrangement and a second arrangement.

In the first arrangement, items B of approximately the same size are lined up in the X and Y directions to form rows, and multiple rows in which the items B are approximately the same height are stacked in the Z direction. In the second arrangement, items B of different sizes are stacked irregularly. In this embodiment, the items B stacked in the first arrangement are described as items B that are regularly stacked, and the items B stacked in the second arrangement are described as items B that are irregularly stacked. Note that data indicating the loading state of items B on the loading section 16 may be input by a user, may be acquired by a sensor or device provided in the loading device A, or may be acquired from an external device.

The processor 701 acquires the distance and position from the second detection unit 6 to the top surface of the object B via the detection interface 706. For example, the processor 701 acquires an image of the top surface of the object B captured by the second detection unit 6 via the detection interface 706. Based on the acquired image, the processor 701 acquires the distance and position, which are relative coordinates in the X, Y, and Z directions for the top surface of the object B with reference to the position of the second detection unit 6. The processor 701 detects the combination of position and height of each object B based on the distance and position in the X, Y, and Z directions of the object B acquired from the second detection unit 6.

The processor 701 controls to execute either a first operation of holding the item B using the first holding unit 8 and the second holding unit 9, or a second operation of holding the item B using the first holding unit 8, based on the loading state of the item B and the detection result detected by the second detection unit 6. For example, the processor 701 determines the loading state of the item B based on information on whether the item B is regularly written or not, obtained via the communication interface 705. The processor 701 also detects the combination of the position and height of each item B based on the image obtained from the second detection unit 6. The processor 701 determines whether the first or second operation should be executed based on the determined loading state of the item B and the combination of the position and height of each item B, and controls to execute the first or second operation based on the result of the determination.

The processor 701 controls the holding mechanism 2 to hold the item B in the first operation when the item B is regularly loaded. In other words, when the item B is irregularly loaded, the processor 701 controls the holding mechanism 2 to execute either the first operation or the second operation based on the distance and position to the item B acquired from the second detection unit 6. When the item B is not regularly loaded and the top surface of the item B closest to the second holding unit 9 is located at the highest position, the processor 701 controls the holding mechanism 2 to hold the item B in the first operation. Also, when the item B is not regularly loaded and the top surface of the item B is located at the highest position and is not located at the position closest to the second holding unit, the processor 701 controls the holding mechanism 2 to hold the item B in the second operation. As a result, the processor 701 can efficiently load the item B with an operation suitable for the packing form of the item B based on information on whether the item B is regularly written or not. Furthermore, even if the items B are loaded irregularly, the items B can be efficiently loaded and unloaded with an operation appropriate for the position and height of the items B to be held, based on the distance and position to the items B. Note that the processor 701 may control the holding mechanism 2 to hold the items B with a first operation when the items B are loaded regularly, and may control the holding mechanism 2 to hold the items B with a second operation when the items B are not loaded regularly.

When holding item B in the first operation, the processor 701 controls the first and second holding units 8 and 9 to hold item B with the second holding unit 9 positioned lower along the Z direction (first direction) than the holding surface where the first holding unit 8 holds item B. For example, the processor 701 controls the first and second holding units 8 and 9 to hold item B with the second holding unit moved to the first position. In this way, when the second holding unit 9 adsorbs the side of item B, the processor 701 can efficiently load and unload item B by positioning the second holding unit 9 in a position where it can adsorb the side of item B.

When holding the item B in the first operation, the processor 701 controls the device so that, among the multiple items B, the item B whose upper surface is located at the highest position and which is closest to the second holding unit 9 is held first. For example, the processor 701 determines, based on the distance and position from the second detection unit 6 to the item B acquired via the detection interface 706, the item B to be held is the item B whose upper surface is located at the highest position and which is closest to the second holding unit 9. The processor 701 controls the holding mechanism 2 and the moving mechanism 3 to hold the item B determined using the first holding unit 8 and the second holding unit 9. This allows the processor 701 to load the item B in an efficient order when holding the item B in the first operation. The item B to be transported may be determined by the user of the loading device A.

When holding the item B in the first operation, the processor 701 controls the drive unit 104z to place the second holding unit 9 upward so that the lower end of the second holding unit 9 is higher than the lower end of the first holding unit 8 after placing the item B on the conveying unit 4. For example, the processor 701 controls the drive unit 104x to place the second holding unit 9 backward and the drive unit 104z to move the second holding unit 9 upward after releasing the suction of the first holding unit 8 and the second holding unit 9. This allows the processor 701 to retract the holding mechanism 2 to avoid interference between the item B and the holding mechanism 2 when conveying the item B placed on the conveying unit 4 to the conveyor 12. In addition, the processor 701 can efficiently load and unload the item B by controlling the second holding unit 9 to move upward to retract the holding mechanism 2, since there are fewer parts to be operated than when the moving mechanism 3 is driven to retract the holding mechanism 2. The processor 701 may simultaneously control the drive unit 104x to position the second holding unit 9 rearward and the drive unit 104z to position the second holding unit 9 upward.

When holding item B in the second operation, the processor 701 controls the first holding unit 8 to hold item B in a state where the second holding unit 9 is positioned above the holding surface where the first holding unit 8 holds item B in the Z direction (first direction). For example, the processor 701 controls the first holding unit 8 to hold item B in a state where the second holding unit is moved to the second position. When the second holding unit 9 is not suctioning the side of item B, the processor 701 retreats the second holding unit 9 to a position where it does not interfere with item B placed on the placement unit 16, thereby enabling efficient loading and unloading of item B.

When holding the item B in the second operation, the processor 701 controls so that, among the multiple items B, the item B whose top surface is located at the highest position is held first. For example, the processor 701 determines, based on the distance and position from the second detection unit 6 to the item B acquired via the detection interface 706, the item B whose top surface is located at the highest position is the item B to be held. The processor 701 controls the holding mechanism 2 and the moving mechanism 3 to hold the item B determined using the first holding unit 8. This allows the processor 701 to load the items B in an efficient order when holding the items B in the second operation. As in the first operation, the item B to be transported may be determined by the user of the loading device A.

The processor 701 controls the moving mechanism 3 to lift the item B held by the moving mechanism 3 until the first detection unit 5 detects it. For example, the processor 701 acquires the distance along the X direction (second direction) to the item B that is at the same height position in the Z direction (first direction) as the first detection unit 5 via the detection interface 706. Based on the acquired distance, the processor 701 can detect that the bottom end of the item B held by the moving mechanism has been lifted to a position a predetermined distance higher than the position of the top end of the item B that is located at the next highest position. This allows the processor 701 to avoid interference with other items B when moving the item B held by the loading device A due to an insufficient lifting height.

The processor 701 calculates the suction position at which the first holding unit 8 picks up the item B when holding it. For example, the processor 701 detects the approximate center position of the top surface of each of the multiple items B on the placement unit 16 based on the image acquired from the second detection unit 6. When holding the item B, the processor 701 calculates the suction position as the position where the approximate center of the top surface of the item B determined as the item B to be held faces the approximate center of the first holding unit 8 in the Z direction. The suction position may be calculated by any method or may be determined by the user of the loading device A.

The flow of the control device 10 controlling the loading device A will be described using FIG. 7. FIG. 7 is a flowchart showing an example of the control of the processor 701 of the loading device A according to the embodiment.

First, the processor 701 acquires the loading state (ST1). The processor 701 also acquires the distance and position from the second detection unit 6 to the top surface of item B via the detection interface 706 (ST2). The processor 701 determines whether or not item B is present on the placement unit 16 based on the distance and position acquired from the second detection unit 6 (ST3). If item B is not present on the placement unit 16 (ST3, No), control ends. If item B is present on the placement unit 16 (ST3, Yes), the processor 701 determines whether item B is regularly loaded or irregularly loaded based on the acquired loading state (ST4).

If the packing style of item B is not regular loading (irregular loading) (ST4, No), the processor 701 determines that the top surface of item B is located at the highest position as the item B to be held (ST5-1). The processor 701 judges whether the determined item B to be held is the foremost item (ST6). If the determined item B to be held is not the foremost item (ST6, No), the processor 701 controls the holding mechanism 2 to hold item B in the second operation (ST7). If the determined item B to be held is the foremost item (ST6, Yes), the processor 701 controls the holding mechanism 2 to hold item B in the first operation (ST8). Also, if the packing style of item B is regular loading (ST4, Yes), the processor 701 determines that the top surface of item B is located at the highest position and is closest to the second holding unit 9 as the item B to be held (ST5-2), and controls the holding mechanism 2 to hold item B in the first operation (ST8).

The first and second operations will be described in detail in FIG. 8 and FIG. 9. After performing ST7 or ST8, the processor 701 controls the moving mechanism 3 to lift the held item B (ST9). The processor 701 controls the conveying unit 4 to adjust the position based on the distance from the third detection unit 7 to the bottom surface of the item B held by the holding mechanism 2 via the detection interface 706 (ST10). The processor 701 controls the moving mechanism 3 to move the held item B to the conveying unit 4 (ST11). The processor 701 controls the holding mechanism 2 and the moving mechanism 3 to release the moved item B to the conveying unit 4 (ST12). The release of item B will be described in detail in FIG. 10. After releasing the item, the processor 701 returns control to ST2.

Figure 8 is a flowchart showing an example of a first operation controlled by the processor 701 of the loading and unloading device according to the embodiment. First, the processor 701 determines whether the second holding unit 9 is located at the second position (ST100). If the second holding unit 9 is not located at the second position (ST100, No), the processor 701 controls the drive units 104x and 104z to place the second holding unit 9 at the second position (ST101). After that, the processor 701 controls the drive units 104x and 104z to move the second holding unit 9 downward (ST102).

Next, the processor 701 calculates the position where the first holding unit 8 and the second holding unit 9 pick up the item B (ST103). The processor 701 controls the moving mechanism 3 to move the holding mechanism 2 to the calculated pick-up position (ST104), and then controls the drive unit 104x to move the second holding unit 9 forward (ST105). This allows the processor 701 to hold the item B with the second holding unit 9 located at the first position. The processor 701 then controls the first holding unit 8 and the second holding unit 9 to start picking up the item B and holding the item B (ST106). The processor 701 controls the tilting mechanism 107 to weaken the force lifting the holding mechanism 2 so that the tilting mechanism 107 tilts the item B when holding the item B (ST107), and returns control to ST9 shown in FIG. 7.

FIG. 9 is a flowchart showing an example of the second operation controlled by the processor 701 of the loading/unloading device A according to the embodiment. First, the processor 701 determines whether the second holding unit 9 is located at the second position (ST200). If the second holding unit 9 is not located at the second position (ST200, No), the processor 701 controls the drive unit 104x and the drive unit 104z to place the second holding unit 9 at the second position (ST201). The processor 701 then calculates the position at which the first holding unit 8 picks up the item B (ST202). The processor 701 moves the holding mechanism 2 to the calculated pick-up position (ST203), starts picking up the item B by the first holding unit 8, and controls the first holding unit 8 to hold the item B (ST204). Then, the control returns to ST9 shown in FIG. 7.

Figure 10 is a flowchart showing an example of the release of item B by the processor 701 of the loading device A according to the embodiment. First, the processor 701 controls the first holding unit 8 to release the suction (ST302). The processor 701 determines whether the item B is being held by the first operation (ST303). If the item B is not being held by the first operation (ST303, No), the release of the item B is terminated and control is returned to ST2 in Figure 7. If the item B is being held by the first operation (ST303, Yes), the processor 701 controls the second holding unit 9 to release the suction (ST304). After controlling the second holding unit 9 to release the suction, the processor 701 controls the drive unit 104x to move the second holding unit 9 backward (ST305). After the backward movement is completed, the processor 701 controls the drive unit 104z to move the second holding unit 9 upward so that the lower end of the second holding unit 9 is higher than the lower end of the first holding unit 8 (ST306). Note that ST305 and ST306 may be performed simultaneously. After that, the processor 701 controls the tilt mechanism 107 to increase the force lifting the holding mechanism 2 so that the tilt mechanism 107 does not tilt the article B when holding it (ST307), and returns control to ST2 shown in FIG. 7.

As described above, the loading device A has a first holding part 8 that holds the top surface of the item B, and a second holding part 9 that moves in the Z direction (first direction) that intersects with the surface on which the first holding part 8 holds the item B and holds the side of the item B. The method controls the loading device A to perform either a first operation to hold the item B using the first holding part 8 and the second holding part 9, or a second operation to hold the item B using the first holding part 8, based on the loading state of the item B, and performs loading and unloading using the control method.

According to the loading device A of this embodiment, the loading device A acquires the loading state of the item B placed on the placement section 16 via the communication interface 705 and the detection interface 706. The loading state includes information on whether the item B is regularly placed. Based on the loading state of the item B, the loading device A determines whether to execute either the first operation of holding the item B using the first holding section 8 and the second holding section 9 or the second operation of holding the item B using the first holding section 8. Based on the result of the determination, the loading device A executes the first operation or the second operation to hold the item B. The loading device A loads the item B by driving the moving mechanism 3 to place the held item B on the conveying section 4 and moving the item B to the conveyor 12 by the conveying section 4. As a result, the loading device A can load the item B efficiently by switching the operation of holding the item B based on the loading state of the item B.

In the flowcharts of the above-described embodiments, the steps are illustrated as being executed in series, but the order of steps is not necessarily fixed, and the order of some steps may be reversed. Also, some steps may be executed in parallel with other steps.

Although several embodiments of the present invention have been described, these embodiments are presented as examples and are not intended to limit the scope of the invention. These novel embodiments can be embodied in various other forms, and various omissions, substitutions, and modifications can be made without departing from the gist of the invention. These embodiments and their modifications are included in the scope and gist of the invention, and are included in the scope of the invention and its equivalents described in the claims.

1 Housing body 2 Holding mechanism 3 Moving mechanism 4 Transport unit 5 First detection unit 6 Second detection unit 7 Third detection unit 8 First holding unit 9 Second holding unit 10 Control device 11a Drive unit 11b Drive unit 11c Drive unit 12 Conveyor 13 Belt 13a Top surface 14 Motor 15 Fixed unit 16 Placement unit 100a Housing 100b Housing 101a Suction unit 101b Suction unit 102a Rod 102b Rod 102c Rod 103a Suction pad 103b Suction pad 104c Drive unit 104x Drive unit 104z Drive unit 105 Support frame 106a Connection unit 106c Connection unit 107 Tilt mechanism 108 Rotation axis 701 Processor 702 ROM
703 RAM
704 NVM
705 Communication interface 706 Detection interface A Cargo handling device B Item

Claims (14)

A first holding portion that holds an upper surface of an article;
A second holding portion that moves in a first direction intersecting a holding surface that holds the article and holds a side surface of the article,
a moving mechanism that moves both the first holding portion and the second holding portion;
a control unit that controls the device to execute either a first operation of holding the item using the first holding unit and the second holding unit, or a second operation of holding the item using the first holding unit, based on a loading state of the item;
A loading and unloading device comprising: 2. The method according to claim 1, wherein the first action includes holding the article using the first holding part and the second holding part in a state where the second holding part is disposed below the holding surface along the first direction.
The loading and unloading device according to claim 1. 3. The loading and unloading apparatus according to claim 1, wherein the second action comprises holding the item using the first holding portion while positioning the second holding portion above the holding surface along the first direction. 4. The loading and unloading apparatus according to claim 1, wherein the first operation holds, among the plurality of articles, an article whose upper surface is located at the highest position and which is closest to the second holding portion. The loading and unloading apparatus according to claim 1 , wherein the second action starts with holding an article whose top surface is located at a highest position among the plurality of articles. The loading and unloading apparatus according to claim 1 , wherein the second holding portion moves in a second direction intersecting the first direction. The apparatus further includes a first detection unit that detects that a lower end of an article held by the first holding unit is lifted to a position that is a predetermined distance higher than a position of an upper end of an article that is located at a second highest position after the article held by the first holding unit,
The loading and unloading apparatus according to claim 1 , wherein the control unit controls the moving mechanism to lift the article held by the first holding unit until the first detection unit detects the article. 8. The loading and unloading device according to claim 1, further comprising a conveying section that is held using at least one of the first holding section and the second holding section, moved by the moving mechanism, and moves the placed item in a direction away from the side of the item. 9. The loading and unloading device of claim 8, wherein the first action, after the item is placed on the conveying section, positions the second holding section upward along the first direction so that a lower end of the second holding section is higher than a lower end of the first holding section. A loading device as described in any one of claims 1 to 9, wherein the loading state includes a packing state in which a plurality of the items are stacked on a conveying aid, and the packing state includes information on whether the heights of the items are approximately the same for each tier in which the plurality of the items are stacked. The loading/unloading apparatus according to claim 10, wherein the control unit controls to execute the first operation when the heights of the articles are substantially the same for each tier on which the articles are stacked . The loading/unloading apparatus according to claim 10 or 11, wherein the control unit controls to execute the second operation when the heights of the articles are not substantially the same for each tier on which the articles are stacked . Further comprising a second detection unit that acquires a distance and a position to a top surface of the article,
The control unit controls the loader to execute the first operation when the items are not regularly loaded and the top surface of the item closest to the second holding unit is at the highest position based on the loading state and the detection result of the second detection unit, and controls the loader to execute the first operation when the items are regularly loaded and the top surface of the item closest to the second holding unit is at the highest position based on the loading state and the detection result of the second detection unit.
12. The loading and unloading device according to claim 10, wherein the control is performed to execute the second operation when the heights of the articles are not substantially the same and the top surface of the article is not located at the highest position and is not located at the position closest to the second holding portion. A control method for controlling a loading and unloading device having a first holding section that holds an upper surface of an article, and a second holding section that moves in a first direction intersecting a surface on which the first holding section holds the article and holds a side surface of the article, comprising:
A control method for controlling the loading device to perform either a first operation of holding the item using the first holding section and the second holding section, or a second operation of holding the item using the first holding section, based on the loading state of the item.

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