JPH0659938B2 - Palletizing system - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION [Field of Use of the Invention] The present invention is, for example, for air freight transportation, small parcel delivery, etc., after the shape and number of freight are known, a container, a board for shipping. The present invention relates to a palletizing robot system suitable for a shipping system in which a pallet or the like is loaded in a transport device in a short time.

[Background of the Invention]

 There are two forms of freight shipping system.

<Mode 1> As in the freight delivery system of a mass-production factory, the number of transporters to be shipped every day and the size and number of freight to be loaded on each transporter are preset as a delivery plan. Therefore, a shipping system that loads cargo.

<Mode 2> A shipping system, like a distribution center, in which the size and quantity of the cargo are known only after the cargo to be shipped arrives, and the cargo is loaded on a transporter in a short time.

The present invention is directed to the delivery system of the above-mentioned mode 2.

Hereinafter, the conventional method and its problems in the delivery system of the second aspect will be described.

2. Description of the Related Art Conventionally, in a shipping system in which it takes a short time from when the shape of a cargo is determined to when it is loaded into a transporter, the loading work is performed manually. However, from the standpoints of increased labor costs, worker safety, etc., it is desired to realize stowage work by robots.

In the shipping system targeted by the present invention, the type and size of the cargo cannot be known until after the cargo arrives. The size of cargo to be loaded and the loading position are different for each transporter. for that reason,
In order to realize the stowage work by the robot, it is necessary to determine the cargo to be stowed and its stowage position, the operation route to the robot, and the teaching of the opening and closing of the arm in a short time.

However, the above teaching / playing dock system (a system in which a human teaches a robot a movement path, opening / closing of an arm, etc. by using a teaching box, and the teaching contents are repeated in the robot) cannot solve the above problems.

[Object of the Invention]

It is an object of the present invention to provide a palletizing system which sequentially determines the loading position of cargos corresponding to the size data of the cargos to be loaded. Another object of the present invention is to provide a palletizing system capable of correcting the loading position of a new cargo to be loaded depending on the displacement of the already loaded cargo from a predetermined position.

[Outline of Invention]

One of the preferred embodiments of the present invention is configured as follows. A dimension reading device that reads the dimensions of the cargo to be loaded on the transportation jig, and a means for determining the loading position of the cargo to be loaded on the transportation jig according to the dimension data of the individual cargo from the dimension reading device. , And an output device for outputting the determined loading position.

Another preferred embodiment of the present invention is configured as follows. A means for determining the loading position of the cargo to be loaded on the transportation jig, a detection means for detecting the positional deviation of the cargo already loaded on the transportation jig from the predetermined position, and a determination according to the output of the detection means And means for correcting the cargo loading position determined by the means.

Example of Invention

The first embodiment of the present invention will be described below with reference to FIGS. FIG. 1 shows the hardware configuration of this system. Reference numeral 1 is a device for reading the size of a cargo. In particular,
It is realized by a device that is provided with an infrared light emitter and a light receiver and calculates the size of the cargo from the time when infrared rays cannot be received, or a bar code reader that reads a code describing the size of the cargo. Reference numeral 2 is a device that conveys cargo on a loop conveyor. Specifically, the conveyor 211 shown in FIG.
A chain conveyor 21 including a chain 212, a motor 213, and a controller 214, a roller 221, a motor 222, and
It is realized by a device such as the roller conveyor 22 composed of the control device 223, or a robot. 3 is a loop conveyor. 4 is the rotation speed of the loop conveyor, start-up
It is a microcomputer that controls stop. Reference numeral 5 is a loading robot for picking up cargo from the loop conveyor and loading it on the pallet. Reference numeral 6 is a graphic display terminal device. 7 is an electronic computer.

The processing contents of each device will be described below in the order of operation.

First, the operation from the arrival of the cargo to the setting on the loop conveyor will be described.

The dimensions (length, width, height, respective dimensions) of the transported cargo are read by the reading device 1 and transmitted to the electronic computer 7.

The electronic computer 7 stores the size data of the sent cargo in the stowage data table (FIG. 3). Further, the cargo receiving instruction is transmitted to the transport device 2. Next, based on the'loop conveyor state table '(FIG. 4) indicating the existence of cargo on the loop conveyor, the loop conveyor control device 4 is notified of the unloaded position of the loop conveyor. In Figure 4, the name of the cargo to be loaded is The address of is in the unstacked position.

The carrier device 2 receives the cargo receiving instruction from the electronic computer 7 and then receives the cargo from the reading device 1 to receive the cargo.
Send a receipt completion signal to.

The loop conveyor control device 4 stores the unstacked position information received from the electronic computer 7 in the work waiting table (FIG. 5). The unloaded position information is stored in the'cargo position 'column indicated by * 3. This table also stores the cargo delivery instruction to the robot, which will be described later. In FIG. 5, * 2 shows the work of delivering the load to the robot 5, and * 1 shows the work of receiving the load from the carrier device 2. In the loop conveyor control device 4, the stage where the work receiving work from the carrying device 2 or the work delivering work to the robot 5 is completed (the completion signals are received from the electronic computer 7).
Then, the work stored at the head of the work waiting table is taken out and executed. (Here, for the sake of explanation, it is assumed that the load receiving work instruction from the transport device 2 is taken out.) The loop conveyor control device 4 stops the loop conveyor at the unloaded position in accordance with the taken load receiving work instruction. After that, a load receiving position stop signal indicating that the load has stopped at the load receiving position is transmitted to the electronic computer 7.

In the computer 7, after receiving the receiving position stop signal,
An unloading start instruction is transmitted to the carrier device 2.

The carrier device 2 unloads the cargo on the loop conveyor after receiving the unloading start disclosure. Then, the unloading completion signal is transmitted to the electronic computer 7.

After receiving the unloading completion signal from the carrier device 2, the electronic computer 7 transmits the dimension reading start signal of the next cargo to the reading device 1 and the cargo receiving work completion signal to the loop conveyor control device 4, respectively.

The above is the operation from the arrival of the cargo to the completion of the setting of the cargo on the loop conveyor.

FIG. 6 (a) shows a processing flow of a program running on the electronic computer 7. Specifically, the cargo size data from the reader 1 is received in step 601, and the received data is stored in the stowage data table in step 602. Next, in step 603, the unstacked position is extracted from the loop conveyor state table. The extracted unloaded position and work name (consignment work) are transmitted to the loop conveyor controller 4 in step 604. Next, in step 605, a "load receiving position stop signal" sent from the loop conveyor control device 4 is waited for and the signal is received. When the load receiving position stop signal is received, in step 606, an unloading start signal is transmitted to the transport device 2. Next, step 6
At 07, the apparatus waits for and receives the unloading completion signal from the carrier device 2. Next, in Step 608, the reading device 1
To the start signal for the next cargo dimension reading. Further, in step 609, the loop conveyor control device 4 is
Send a signal to complete the receiving work. Finally, step 61
At 0, the loop conveyor state table is updated.

It is the processing procedure of the program operating in the electronic computer 7 described above.

FIG. 6 (b) shows a processing flow of a program operated by the loop conveyor control device 4. Here, the process of storing the work name and the unloaded position (or the loaded position) in the work waiting table and the load receiving process are shown. First, the former will be described. The work name and the unloaded position (or the loaded position) data transmitted from the electronic computer 7 are set in step 6
Wait at 11 and receive. Step 61
At 2 the work is waited for.

Next, the receiving process will be described. First, in step 613, the work completion signal from the electronic computer 7 is received.
After the reception, in step 614, the work waiting table fetches the work content to be executed next. At step 615, either the received work or the handed-off work is checked. In the case of the load receiving work, in step 616, the loop conveyor is stopped at the unloaded position. After the stop is completed, in step 617, the load receiving position stop signal is transmitted to the electronic computer 7.

The above is the processing procedure of the program operating in the loop conveyor control device 4.

Next, the operation from setting the cargo on the loop conveyor to loading the cargo on the pallet will be described.

The electronic computer 7 uses the stowage data table and the stowage pattern table (FIG. 7) that stores the stowage positions of the cargo on the pallet to determine the stowed cargo / shipment position reception screen shown in FIG. Is displayed on the graphic display terminal device 6. In FIG. 7, the stowage position is the coordinates (x, y, z) of the left back of the cargo when the left back end of the pallet is the origin (0, 0, 0). The loading direction is the side of the cargo that faces the left side of the pallet. Where WIDT
Is the width direction and LENG is the length direction.

The user uses a device such as a stylus pen or a light pen attached to the tablet to indicate the cargo to be stowed and its stowage position.

In the computer 7, the loop conveyor state table (4th
Based on the figure), the loading position of the designated cargo on the loop conveyor is transmitted, and the loop conveyor control device 4 is requested to deliver the cargo to the robot.

The loop conveyor control device 4 stores the stowage position information transmitted from the electronic computer 7 in the work waiting table.

The loop conveyor control device 4 takes out the work stored at the head of the work waiting table, and if the work is the work of delivering the load to the robot, the loop conveyor is stopped at the loading position. After that, a delivery position stop signal indicating the stop at the delivery position is transmitted to the electronic computer 7.

In the electronic computer 7, after receiving the delivery position stop signal,
A robot operation path up to the stowage position instructed by the user and an arm opening / closing instruction (FIG. 9) are created and transmitted to the robot 5.

The robot 5 takes out the cargo from the loop conveyor and loads it on the pallet according to the operation route and the arm opening / closing instruction received from the electronic computer 7. After that, computer 7
Then, a receipt completion signal is transmitted.

After receiving the load acceptance completion signal from the robot 5, the electronic computer 7 transmits a load delivery work completion instruction to the loop conveyor control device 4.

The above is one cycle of the work for loading the cargo on the loop conveyor on the pallet. FIG. 10 (a) shows the control flow of the program running on the electronic computer 7, FIG.
(b) shows the control flow of the program operated by the loop conveyor control device.

First, FIG. 10 (a) will be described. First, in step 1001, the load receiving completion signal from the robot 5 is received. After receiving, the contents of the stowage data table are fetched at step 1002 and the contents of the stowage pattern table are fetched at step 1003. Next, on the basis of the fetched data, the loading cargo / loading position acceptance screen is displayed on the graphics / display terminal device 6 in step 1004. After that, in step 1005, the cargo to be loaded and the loading position are received from the graphic display terminal device 6. next,
The "where on the loop conveyor the received stowed cargo is loaded" is extracted at step 1006 using the loop conveyor status table. At step 1007,
The stowed position and the work name (delivery work) that have been extracted are transmitted to the cop conveyor control device 4. In step 1008, the cargo position stop signal sent from the loop conveyor controller 4 is received. Next, at step 1009, the robot 5
The operation path, the instruction to open / close the arm, and the respective operation sequences are created and stored in the operation information table. Step
In step 1010, the operation information created in step 1009 is transmitted to the robot 5, and in step 1011, the load receiving completion signal from the robot 5 is received. If received, step 1012
In step 10, the loading completion signal is sent to the loop conveyor control device 4, and in step 1013, the contents of the stowage data table, stowage pattern table, and loop conveyor state table are updated. The above is the processing flow of the program running on the electronic computer 7.

Next, the processing flow shown in FIG. 10 (b) will be described. If the work content taken out from the work waiting table is a cargo receiving work, in step 1014, the loop conveyor is stopped at the stowage position taken out from the work waiting table. Thereafter, in step 1015, a delivery position stop signal is transmitted to the electronic computer 7. The above is the processing flow of the program operating in the loop conveyor control device 4.

As described above, in the present system, the above cycle is repeated until the loading work for one pallet is completed.

The above is the first embodiment of the present invention.

Next, a second embodiment of the present invention will be described with reference to FIGS.

The second embodiment relates to a method for correcting the operation of an automatic cargo loading apparatus, and more specifically, in an automatic cargo loading apparatus for automatically loading cargo on a pallet, which has been requested to be transported, The present invention relates to a method of correcting an operation for loading a cargo to be loaded next due to displacement.

In order to improve the loading effect on the effective loading space on the pallet, the conventional automatic cargo loading device determines the loading layout (the loading pattern) and the loading order in advance, and according to the loading order, This is a method of arranging cargo at a fixed position. However, due to (i) the dimensional error of the cargo and (ii) the stowage error, the cargo may deviate from the predetermined position, and thus the cargo may be shifted to the position where the cargo is to be loaded next. Therefore, in this case, there is a drawback in that the next cargo cannot be loaded at a predetermined position.

In the second embodiment, when a cargo is requested to be transported by a pallet, a loading arrangement (a loading pattern) is determined in advance in a limited effective loading space on the pallet, and the cargo is loaded according to the loading pattern. In the automatic loading device for automatically loading cargoes, if the cargo is displaced to the location of the cargo to be loaded next due to the displacement of the cargo already loaded, the operation sequence is corrected to In order to provide a method of correcting the operation of the automatic loading device that allows the loading to be continued, it is composed of the following three devices, and the next cargo is given in advance due to the displacement of the cargo already loaded. When it is not possible to stack at a position, it is characterized in that the stacking can be continued by (i) modifying only the motion sequence or (ii) modifying the stacking order and motion sequence.

a) An automatic loading device for automatically loading cargo according to a loading layout (packing pattern) on a pallet registered in advance.

b) A misalignment detection device for detecting whether or not another cargo has slipped into the position where the next cargo should be loaded due to the displacement of the already loaded cargo.

c) A control device for centrally controlling the above two devices.

FIG. 11 is a diagram showing the configuration of the present invention.

1A is an automatic loading device, which is realized by a robot or the like for loading cargo on a loading station at a predetermined position on a pallet according to a predetermined operation sequence.

Reference numeral 1B is a positional deviation detection device, which is realized by a sensor or the like that detects the positional deviation of the cargo by scanning the pallet using infrared rays or ultrasonic waves.

1C is a control device, which is realized by a control computer or the like for integrally controlling each device by exchanging signals with the above two devices.

In the second embodiment, it is assumed that the shape of the cargo is a rectangular parallelepiped and the dimensions are known.

The automatic loading device 1A is a palletizing robot for loading the cargo on the loading station at a predetermined position on the pallet in accordance with a predetermined operation sequence. The misregistration detection device is a sensor that can detect misregistration of cargo by scanning infrared rays. The control device 1C is a control computer.

FIG. 12 is a diagram showing the positional relationship of the cargo 2B on the pallet 2A. For example, a Cartesian coordinate system having the origin at the left end on the robot side is set to specify the cargo loading position. Strictly speaking, the coordinate of the point 2C closest to the origin of the cargo is the cargo 2
It is defined as the loading position of B. The cargo loading direction is determined depending on whether the cargo 2B is oriented in the longitudinal direction (indicated by the symbol L) or in the lateral direction (indicated by the symbol S) of the cargo in the X-axis direction.

FIG. 13 is an example in which the cargo is displayed in the loading order in the plan view. As a general rule, when viewed from the robot side, (i) bottom to top, (ii) back to front, (iii) left end to right end are prioritized.

FIG. 14 is an example showing an operation path in which the cargo 4B supplied onto the stowage station 4A gets over the already-carried cargos 4E and 4C and the robot stows at the position 4D. 4F
Is an operating point, and 4G is an example of an operating path. In this way, if each loading position of the already loaded cargo is known, it can be determined as an obstacle to determine the optimal route to avoid. Therefore, if the position of the cargo already loaded is given in the coordinate system as shown in FIG. 12, the operation sequence of the robot can be determined.

FIG. 15 is a diagram showing a situation in which the cargo 1 is loaded on the pallet 5A. The position 5B indicated by the dotted line indicates the position of the cargo 1 designated in advance as the stowage pattern, and the position 5C indicated by the dotted line.
Shows the position of the cargo 2 designated in advance as a stowage pattern. As shown in this figure, cargo 1 is a solid line 5D
It is assumed that it is placed in the position of.

FIG. 16 is an example in which the vicinity of the cargo 2 is scanned by a positional deviation detection device (sensor) and the deviation of the cargo 1 is detected.
6A is the scanning range, 6B is the slip-in position of the already-carried cargo 1,
6C is an example of the scanning line. For example, if the robot positioning accuracy is 5 mm, the scanning line interval is about 1 mm.

FIG. 17 is a diagram showing that the position of the cargo 2 to be stowed next should be corrected from the dotted line 7B to the solid line 7C with respect to the cargo 1 shifted as in the example of FIG. Judging from the mutual relation of the positions of the cargoes in a given loading pattern and the effective loading possible range of the pallet, if possible, the correction may be made from 7B to 7C. In this case, it is only necessary to modify the operation sequence.

Fig. 18 shows that, depending on the situation of freight with existing cargo,
This is an example where the stowage position cannot be modified. 8A, 8B, 8C,
8D is the slip-in position of the other cargo already loaded. Dotted line 8
E is the position of the next cargo to be stowed. When four already-loaded cargoes are slipped in as in this example, the next cargo to be loaded is unloadable. In this case, skip the loading of this cargo and load the next cargo. However, if there is still unshipped cargo on top of the skipped cargo, this will also be skipped. In this way, the order of loading is changed by checking the mutual relation of each cargo in the loading pattern. At the same time, the operation sequence is modified accordingly. The skipped cargo is
Line off from the supply station as cargo exempted from loading. The cargo with the line off will be manually inserted after the loading is completed.

FIG. 19 is a block diagram schematically showing the overall configuration of the control device, in which 10 is a computer, 21 is a position shift detection device, and 22 is an automatic loading device.

The computer 10 includes a control unit 19 that operates according to a program stored in the storage unit 11 and four data storage units 12 to 15. In the storage unit 12,
For example, as shown in FIG. 20, data of pre-registered stowage patterns is stored as a table. Further, in the storage unit 13, for example, as shown in FIG. 21, pre-registered data of the stowage order is stored in a table. In FIG. 11, information on the current loading status (loading completion “1”, skip “−1”, unfinished “0”) input from the automatic loading device 21 is stored in correspondence with the loading order. It
In the storage unit 14, as shown in FIG. 22, for example, previously recorded robot operation sequence data is stored in a table form. In FIG. 22, information on the current operation state (completed “1”, incomplete “0”) input from the automatic stacking device 21 is stored corresponding to the operation number. In the storage unit 15, for example, as shown in FIG. 23, information on the current supply status for each supply order, which is input from the automatic stacking apparatus (supply station arrival “1”, non-arrival, “0”, stacking completion “9”). )
Is memorized.

In FIG. 24, data indicating the general flow chart of the program stored in the storage unit 11 for performing the control operation of the control device 1C is set.

The specific operation of the method of the present invention will be described in detail below by following the operation steps 31 to 46 of the flow chart.

Step 31: The computer 10 waits for input of a cargo arrival signal. When the cargo arrives at the loading station, the automatic loading device 22 transmits a cargo arrival signal to the computer 10. When the transmission is completed, the process proceeds to the next step 32.

Step 32: The computer 10 searches the storage unit 15 for the set supply status, and sets the first supply order of the undelivered state "0" to I. Next step 3
Go to 3.

Step 33: The computer 10 uses the above step 32.
Then, when searching the current supply situation, if all the items have been stowed,
Control ends. Otherwise, proceed to the next step 34.

Step 34: The computer 10 retrieves the stowage number K of the stowage sequence I set in the storage unit 13. Then proceed to step 35.

Step 35: The computer 10 causes the stowage arrangement data of the stowage number K set in the storage unit 12, that is,
Search stowage position and orientation. Then proceed to step 36.

Step 36: The computer 10 uses the above step 35.
The placement data with the product retrieved in step 1 is transmitted to the positional deviation detecting device 21, and a command signal for positional deviation detection is transmitted. The computer 10 then proceeds to step 37.

Step 37: The computer 10 waits for the positional deviation information to be input. The positional deviation detection device 21 scans the vicinity of a predetermined stowage position of the cargo with a sensor based on the stowage arrangement data input in the above step 36 to check whether the stowed cargo has slipped. It inspects and sends the result to the computer 10. When the transmission is over, the next step 3
Go to 8.

Step 38: The computer 10 uses the above Step 37.
The result of the positional deviation input in step 3 is compared with the stowage placement data. When the already loaded cargo is slipped into the predetermined loading position of the cargo, the mutual relationship of the predetermined loading positions of the cargos in the loading sequence after the cargo is judged,
It is determined whether the position of the cargo should be shifted or whether the cargo should be skipped. Then proceed to step 39.

Step 39: The computer 10 uses the above step 38
Then, as a result of comparing the positional deviation information input from the positional deviation detection device 21 with the stowage plan data set in the storage unit 12, if the operation correction is not necessary, that is, the cargo of the stowage order I is previously stored. If the already loaded cargo has not slipped into the determined loading position, the process proceeds to step 42. If the already-carried cargo has slipped in, proceed to the next step 40.

Step 40: The computer 10 is step 38,
As a result of comparing the positional deviation information and the stowage plan data, when the already stowed cargo is shifted into the predetermined stowage position of the cargo of the stowage order I and the operation correction is required, further, If the stowage plan data of the cargos in the stowage sequence after the stowage sequence I is searched and the stowage position is only slightly shifted as described with reference to FIG.
Go to. Depending on how to shift the already loaded cargo, for example, as described in FIG. 18, when the loading position cannot be shifted, or when the cargo is shifted, the loading after the loading order is performed. If the ordered cargo is not stowed, proceed to step 45.

Step 41: The computer 10 corrects the stowage position of the cargo of the stowage sequence I and the stowage position of the cargos of the stowage sequence after I affected by the stowage position according to the magnitude of the positional deviation, and stores it. Reset to the designated column in section 12. The computer 10 further recalculates the operation sequence on the basis of the stowage plan data corrected and set in the storage unit 12, and sets the operation sequence in the designated column in the storage unit 14. Then proceed to step 42.

Step 42: The computer 10 sends the operation sequence set in the storage unit 14 to the automatic loading device 22 and sends an operation command. The automatic loading device 22 operates the robot according to the above operation sequence. Then proceed to step 43.

Step 43: The computer 10 searches for the next operation sequence set in the storage unit 14, and if all the operation sequence of the stowage sequence I is completed, it proceeds to the next step 44. Otherwise, return to step 42.

Step 44: The computer 10 updates the loading status in the storage unit 13 to the loading status "1" and sets it.
Further, the current supply state in the storage unit 14 is updated to the loading completion state “9” and set. Then return to step 31.

Step 45: When the computer 10 skips the cargo in the stowage order I, it checks the cargo to be skipped based on the stowage data of the cargos after I, and the stowage order set in the storage unit 13 is set. Update the status of the loading status of I and the status of the loading status of the loading order to be skipped by the cargo of the loading order thereafter and update the status of the loading status of the loading order to skip "-1", Set. Then proceed to skip 46.

Skip 46: The computer 10 is the automatic loading device 22.
An exclusion command for excluding the cargo in the stowage station outside the line is transmitted to the automatic stowage device 22. The automatic loading device 22 is excluded outside the cargo line. The computer 10 then returns to step 31.

As described above, this embodiment has the following effects.

(1) Shipping costs are reduced.

The present invention can reduce the number of workers engaged in cargo loading. Therefore, the labor cost can be reduced and the shipping cost can be reduced.

(2) The safety of stowage work is improved.

Humans are no longer needed at the loading work site, so it is possible to prevent accidents to humans due to cargo collapse.

(3) Simplify transportation management work and prevent troubles with the recipient.

The computer surely grasps the cargo loaded on the pallet. Therefore, a shipping slip can be created by a computer, and it is possible to prevent misalignment between the shipping slip and the shipping freight and an error in the description of the loading position.

(4) When the automatic loading device loads cargo at a predetermined position on the pallet, (i) modification of the loading position and operation sequence, or (i) i
i) Either the stowage sequence or the operation sequence can be modified, so even if a displacement occurs, stowage of cargo can be continued,
It has the effect of improving reliability. That is, since the above-mentioned modification aims to improve the stacking efficiency and tries to stack in a predetermined stacking pattern, it is possible to improve the reliability without lowering the stacking efficiency.

〔The invention's effect〕

According to the embodiment of the present invention, it is possible to sequentially determine the loading position of the cargo corresponding to the size data of each cargo to be loaded. According to another embodiment of the present invention,
The loading position of a new cargo to be loaded can be corrected according to the displacement of the already loaded cargo from the predetermined position.

[Brief description of drawings]

FIG. 1 is an overall configuration diagram of a first embodiment of the present invention, FIG. 2 is a schematic view of chain conveyors and roller conveyors, FIG. 3 is a diagram showing an example of a loading data table, and FIG. 4 is a loop conveyor. FIG. 5 is a diagram showing an example of a state table, FIG. 5 is a diagram showing an example of a work waiting table, FIG. 6 is a flowchart of processing in the electronic computer 7 of FIG. 1, and FIG. 7 is a diagram showing an example of a stowage pattern table. , FIG. 8 is a diagram showing an example of a loading cargo / freight position receiving screen output on the display, FIG. 9 is a diagram showing an example of an operation information table, and FIG.
FIG. 11 is a flow chart of the loop conveyor control process in the computer 7 of FIG. 1, FIG. 11 is a diagram showing the overall configuration of the second embodiment of the present invention, and FIG. 12 is a positional relationship of cargo on the pallet. FIG. 13 is a diagram showing an example in which the loading order is determined, FIG. 14 is a diagram showing an example in which the operation sequence is determined, and FIG. 15 is a diagram showing an example in which the already loaded cargo is displaced. FIG. 16 is a diagram showing an example in which the deviation of an already loaded cargo is detected by scanning with infrared rays, FIG. 17 is a diagram showing an example in which the position of the already loaded cargo is displaced by the deviation of the already loaded cargo, and FIG. 18 is FIG. 19 is a block diagram showing an example in which the cargo cannot be loaded due to the displacement of the already loaded cargo on all sides, FIG. 19 is a block diagram showing the overall configuration of the control device, and FIGS. Of storage method of various data stored in the storage unit Shown figure, FIG. 24 shows an example of a flow chart of the control of the control device. 1A ... Automatic cargo stowage equipment, 1B ... Position shift detection device, 1
C ... Control device.

 ─────────────────────────────────────────────────── ─── Continuation of the front page (72) Hideo Watase, Hideo Watase, 603, Jinritsu-cho, Tsuchiura-shi, Ibaraki Inside the Tsuchiura Plant, Hiritsu Seisakusho Co., Ltd. (56) -149234 (JP, A)

Claims (2)

[Claims] 1. A size reading device for reading the size of a cargo to be loaded on a carrying jig, and a loading position of the cargo on the carrying jig is determined according to size data concerning the cargo from the size reading device. And a device for outputting the determined stacking position, the palletizing system. 2. A means for deciding a loading position of cargos to be loaded on a transportation jig, a detection means for detecting a positional deviation of cargos already loaded on the transportation jig from a predetermined position, and the detection. A palletizing system including means for correcting the loading position of the cargo determined by the determining means in accordance with the output of the means.