Cargo handling device, control device, cargo handling method, and storage medium

Abstract

Provided is a cargo handling device, control device, cargo handling method, program, and storage medium that can improve the efficiency of cargo handling operations. According to the technical solution of the present invention, the cargo handling device has a hand, a robot arm, a conveyor, a measuring device, and a control device. The hand holds an article. The robot arm moves the hand. The conveyor conveys the article in a first direction in line with the robot arm. The measuring device measures the position and size of the article. The control device performs a first action of using the hand and the robot arm to transfer the article to the conveyor and a second action of using the conveyor to convey the transferred article. The control device determines, based on the measurement results obtained by the measuring device, whether the robot arm will interfere with the conveyor or a second article on the conveyor when performing the first action on a first article. The control device controls the start timing of the first action according to the determination result of the interference.

Description

Technical Field

[0001] This invention relates to cargo loading and unloading devices, control devices, cargo loading and unloading methods, and storage media. Background Technology

[0002] There are cargo loading and unloading devices that perform cargo loading and unloading operations. For cargo loading and unloading devices, there is a requirement for technologies that can perform cargo loading and unloading operations more efficiently. Summary of the Invention

[0003] The purpose of this invention is to provide a cargo loading and unloading device, control device, cargo loading and unloading method, and storage medium that can improve the efficiency of cargo loading and unloading operations.

[0004] According to the technical solution of the present invention, a cargo loading and unloading device includes a hand, a robotic arm, a conveying device, a measuring device, and a control device. The hand holds an article. The robotic arm moves the hand. The conveying device is arranged with the robotic arm in a first direction to convey the article. The measuring device measures the position and dimensions of the article. The control device performs a first action of transferring the article to the conveying device using the hand and the robotic arm, and a second action of conveying the transferred article using the conveying device. Based on the measurement results obtained by the measuring device, the control device determines whether the robotic arm will interfere with the conveying device or a second article on the conveying device when performing the first action on the first article. Based on the interference determination result, the control device controls the timing of the start of the first action.

[0005] According to the technical solution, a cargo loading and unloading device, a control device, a cargo loading and unloading method, and a storage medium are provided to improve the efficiency of cargo loading and unloading operations. Attached Figure Description

[0006] Figure 1 This is a perspective view schematically illustrating a cargo loading and unloading device according to an embodiment.

[0007] Figure 2 (a)~ Figure 2 (c) is a schematic diagram showing the first operation performed by the cargo loading and unloading device according to the relevant embodiment.

[0008] Figure 3 (a) and Figure 3 (b) is a schematic diagram showing the first action performed by the cargo loading and unloading device according to the relevant implementation method.

[0009] Figure 4 (a) and Figure 4 (b) is a schematic diagram showing the second action performed by the cargo loading and unloading device according to the relevant implementation method.

[0010] Figure 5 This is a schematic diagram illustrating the function of the control device of the cargo loading and unloading device according to the relevant implementation method.

[0011] Figure 6 (a)~ Figure 6 (c) is a schematic diagram showing the operation of the cargo loading and unloading device corresponding to the control that starts timing.

[0012] Figure 7 (a) and Figure 7 (b) is a schematic diagram showing the operation of the cargo loading and unloading device corresponding to the control that starts timing.

[0013] Figure 8 (a) and Figure 8 (b) is a schematic diagram used to illustrate the method for determining interference.

[0014] Figure 9 This is a schematic diagram illustrating the function of the control device of the cargo loading and unloading device in the first variation of the embodiment.

[0015] Figure 10 (a) and Figure 10 (b) is a schematic diagram showing the operation of the cargo loading and unloading device in the first variation of the embodiment.

[0016] Figure 11 (a) and Figure 11 (b) is a schematic diagram showing the operation of the cargo loading and unloading device in the first variation of the embodiment.

[0017] Figure 12 (a)~ Figure 12 (c) is a schematic diagram showing other actions performed by the cargo loading and unloading device according to the relevant implementation method.

[0018] Figure 13 (a)~ Figure 13 (c) is a schematic diagram showing other actions performed by the cargo loading and unloading device according to the relevant implementation method.

[0019] Figure 14 This is a schematic diagram illustrating the function of the control device of the cargo loading and unloading device in the second variation of the embodiment.

[0020] Figure 15 (a) and Figure 15 (b) is a schematic diagram showing the operation of the cargo loading and unloading device in the second variation of the embodiment.

[0021] Figure 16 (a) and Figure 16 (b) is a schematic diagram showing the operation of the cargo loading and unloading device in the second variation of the embodiment.

[0022] Figure 17 It is a schematic diagram representing the hardware structure. Detailed Implementation

[0023] The following is a reference to the appendix. Figure 1 The various embodiments of the present invention will be described below.

[0024] The accompanying drawings are schematic or conceptual, and the relationship between the thickness and width of each part, the proportions between the parts, etc., may not necessarily be the same as in reality. Even when representing the same parts, sometimes the dimensions or proportions of each other are shown differently according to the accompanying drawings.

[0025] In the specification and figures of this application, elements that are the same as those already described are given the same reference numerals, and detailed descriptions are omitted where appropriate.

[0026] Figure 1 This is a perspective view schematically illustrating a cargo loading and unloading device according to an embodiment.

[0027] The cargo loading and unloading device 100 of the embodiment is installed at the site where cargo loading and unloading operations are performed. For example, cargo loading and unloading operations include unloading and loading. As an example, a conveyor device C for conveying articles A is installed adjacent to the cargo loading and unloading device 100. The conveyor device C is, for example, a belt conveyor, a roller conveyor, or a chain conveyor. In addition, a pallet P loaded with articles A is placed adjacent to the cargo loading and unloading device 100. The cargo loading and unloading device 100 is located between the conveyor device C and the pallet P. The cargo loading and unloading device 100 moves the articles A placed on the pallet P to the conveyor device C.

[0028] Cargo loading and unloading equipment 100 Figure 1 As shown, it includes a support frame 110, a hand 120, a robotic arm 130, a measuring device 140, a negative pressure generating device 150, a conveying device 160, a moving device 170, a moving device 180, and a control device 190.

[0029] Here, the XYZ coordinate system is used for illustration. The X direction (second direction) and Y direction (third direction) intersect each other. The Z direction (first direction) intersects the X-Y plane (first plane). For example, the Z direction is parallel to the vertical direction, and the X, Y, and Z directions are orthogonal to each other.

[0030] The support frame 110 supports the various components of the cargo loading and unloading device 100. The hand 120 holds the item. The robotic arm 130 moves the hand 120 along the X-Y plane. The measuring device 140 identifies the item and measures its position and dimensions. The conveying device 160 transports the item A, transferred by the hand 120 and robotic arm 130, to the conveying device C. The moving device 170 moves the robotic arm 130 in the Z direction. The moving device 180 moves the conveying device 160 in the Z direction. The control device 190 controls the movement of the various components of the cargo loading and unloading device 100.

[0031] The following is a detailed description of each component and a specific example.

[0032] The support frame 110 forms the outer contour of the cargo loading and unloading device 100 and is fixed to the ground. The support frame 110 includes a main body 111 and a protrusion 112. The main body 111 is rectangular in shape. The conveying device 160 is disposed inside the main body 111. The main body 111 has an opening 113 facing the pallet P and an opening 114 facing the conveying device C. Article A is transferred from the pallet P to the conveying device 160 through the opening 113. Furthermore, article A is transferred from the conveying device 160 to the conveying device C through the opening 114.

[0033] The main body 111 is composed, for example, of four vertical frames 111a and a plurality of horizontal frames 111b that connect the upper and lower ends of the four vertical frames 111a to each other. A protrusion 112 is installed at the front of the upper part of the main body 111 and protrudes forward. The protrusion 112 is located above the tray P.

[0034] Hand 120 holds (stablely grips) an item by adsorption, clamping, or jamming. In the illustrated example, hand 120 includes an upper surface adsorption unit 121 (first adsorption unit) and a side adsorption unit 122 (second adsorption unit) for adsorbing the item.

[0035] The robotic arm 130 is an orthogonal robot. The robotic arm 130 includes a first linear advance unit 131 and a second linear advance unit 132. The first linear advance unit 131 is connected to the hand 120 and is capable of extending, retracting, or sliding along the X-direction. Movement of the first linear advance unit 131 enables the hand 120 to move along the X-direction. The second linear advance unit 132 extends along the Y-direction and movably supports the first linear advance unit 131 from below. The second linear advance unit 132 moves the first linear advance unit 131 along the Y-direction. Movement of the second linear advance unit 132 enables the hand 120 to move along the Y-direction. The first linear advance unit 131 and the second linear advance unit 132 are operated by actuators such as motors or cylinders.

[0036] Not limited to the example shown, the robotic arm 130 can also be a vertical joint robot, a horizontal joint robot, a linear motion robot, or a parallel linkage robot. The robotic arm 130 can also include two or more combinations selected from vertical joint robots, horizontal joint robots, linear motion robots, orthogonal robots, and parallel linkage robots.

[0037] The measuring device 140 includes a first measuring device 141, a second measuring device 142, and a third measuring device 143. The first measuring device 141 measures the article placed on the tray P in the Z direction. The second measuring device 142 measures the article in a direction intersecting the Z direction. The third measuring device 143 measures the position of the bottom surface of the article being transferred in the Z direction.

[0038] Specifically, the first measuring device 141 includes a camera unit 141a. The camera unit 141a is fixed to a support 112a provided on the protrusion 112. The camera unit 141a includes one or two sensors selected from an image sensor and a range sensor. The camera unit 141a captures an image of the item A placed on the tray P from above. The camera unit 141a sends the acquired image (still image) to the control device 190. The camera unit 141a can also acquire moving images. In this case, a still image is extracted from the moving image.

[0039] The control device 190 calculates data about the object based on the image acquired by the camera unit 141a. The calculated data includes the recognition result of the upper surface of the object A reflected in the image, the position of the upper surface in the X, Y, and Z directions, the length of the upper surface in the X direction, the length of the upper surface in the Y direction, and the area of ​​the upper surface. The camera unit 141a and the control device 190 function as a first measuring device 141. Alternatively, an image recognition system, distinct from the control device 190, can be embedded in the camera unit 141a and used as the first measuring device 141.

[0040] The second measuring device 142 includes a distance sensor 142a. The distance sensor 142a measures the distance to the object in a direction intersecting the Z-direction. In the illustrated example, the second measuring device 142 is positioned on one of a plurality of vertical frames 111a, measuring the distance to the object from a direction perpendicular to the Z-direction and inclined from the X and Y directions. The distance sensor 142a emits infrared light, laser light, or ultrasonic waves toward the object. From the viewpoint of distance measurement accuracy, a laser rangefinder (LRF) using a laser is preferred for the distance sensor 142a. Based on the measurement results obtained from the distance sensor 142a, the control device 190 calculates the identification result of the side of the object A, the position of the side of the object A in the X-Y plane, etc. The distance sensor 142a and the control device 190 function as the second measuring device 142.

[0041] The second measuring device 142 may also include a moving device 142b. The moving device 142b moves the ranging sensor 142a along the Z direction. In this case, the control device 190 can measure the position of the upper surface of each item in the Z direction, the position of the lower surface of each item in the Z direction, and the height (position in the Z direction) of each item, based on the measurement results obtained from the ranging sensor 142a and the amount of movement brought about by the moving device 142b.

[0042] The second measuring device 142 may also include a camera unit, similar to the first measuring device 141. The camera unit takes a side view of the item A placed on the tray P. The camera unit sends the acquired image to the control device 190. Based on the image, the control device 190 calculates the recognition result of the side of item A, the position of the side of item A in the X-Y plane, the height of item A, etc. In this case, the camera unit and the control device 190 function as the second measuring device 142.

[0043] The third measuring device 143 includes a distance sensor 143a disposed between the main body 111 and the tray P. The distance sensor 143a measures the distance between itself and the bottom surface of the item A passing above it. The control device 190 measures the position of the bottom surface of the item A in the Z direction based on the measurement result of the distance sensor 143a. Preferably, the distance sensor 143a is a laser-based LRF. The distance sensor 143a and the control device 190 function as the third measuring device 143.

[0044] The third measuring device 143 may also include a camera unit, similar to the first measuring device 141. The camera unit is positioned between the main body 111 and the tray P, and captures images of the item A passing overhead from below. The camera unit sends the acquired images to the control device 190. Based on the images, the control device 190 calculates the Z-direction position of the bottom surface of item A. In this case, the camera unit and the control device 190 function as the third measuring device 143.

[0045] The negative pressure generating device 150 can independently adjust the pressure of the upper surface adsorption unit 121 and the pressure of the side adsorption unit 122. The negative pressure generating device 150 includes multiple tubes 151 respectively connected to the upper surface adsorption unit 121 and the side adsorption unit 122. In addition, the negative pressure generating device 150 also includes a vacuum pump, an ejector, a valve, etc. (not shown).

[0046] The conveying device 160 is, for example, a belt conveyor. The conveying device 160 includes a belt 161, pulleys 162, and a drive unit 163. The belt 161 is an endless belt wound around a pair of pulleys 162 that are spaced apart in the X direction. One end of the belt 161 is adjacent to the conveying device C. The rotation axes of the pulleys 162 are parallel to the Y direction. The drive unit 163 drives the belt 161 by rotating either of the pair of pulleys 162. Driven by the belt 161, the article A placed on the conveying device 160 is conveyed toward the conveying device C. Besides the example shown, the conveying device 160 can also be a roller conveyor, a chain conveyor, etc.

[0047] The moving device 170 moves the robotic arm 130 along the Z-direction. The moving device 170 includes a drive unit 171, a shaft 172, and a cable 173. The drive unit 171 is mounted on the upper end of the main body 111. The shaft 172 extends along the Y-direction and is connected to the drive unit 171. The cable 173 is wound around the shaft 172. One end of the cable 173 is connected to the robotic arm 130. The drive unit 171 rotates the shaft 172. The cable 173 winds or unwinds in response to the rotation of the shaft 172, thereby moving the robotic arm 130 along the Z-direction.

[0048] Here, an example is illustrated where the moving device 170 and the robotic arm 130 are set up separately. The moving device 170 can also be included in the robotic arm 130 as an axis to provide a degree of freedom in the Z direction.

[0049] The moving device 180 includes a drive unit 181, a shaft 182, and a wire 183. The drive unit 181 is mounted on the upper end of the main body 111. The shaft 182 extends along the Y direction and is connected to the drive unit 181. The wire 183 is wound around the shaft 182. One end of the wire 183 is connected to the conveying device 160. The drive unit 181 rotates the shaft 182. The wire 183 winds or unwinds in response to the rotation of the shaft 182, thereby moving the conveying device 160 along the Z direction.

[0050] The control device 190 is electrically connected to the hand 120, the camera unit 141a, the distance sensor 142a, the distance sensor 143a, the negative pressure generating device 150, the drive unit 163, the drive unit 171, and the drive unit 181. The control device 190 controls the hand 120, the negative pressure generating device 150, the drive unit 163, the drive unit 171, and the drive unit 181 based on the measurement results obtained by the first measuring device 141, the measurement results obtained by the second measuring device 142, and the measurement results obtained by the third measuring device 143.

[0051] The cargo loading and unloading device 100 performs the first and second actions. In the first action, the cargo loading and unloading device 100 uses a hand 120 and a robotic arm 130 to transfer item A to the conveyor device 160. In the second action, the conveyor device 160 is used to transport the transferred item A to the conveyor device C.

[0052] Figure 2 (a)~ Figure 2 (c) Figure 3 (a) and Figure 3 (b) is a schematic diagram showing the first action performed by the cargo loading and unloading device according to the relevant implementation method. Figure 4 (a) and Figure 4 (b) is a schematic diagram illustrating the second operation performed by the cargo loading and unloading device according to the relevant embodiment. Here, an example is illustrated where the hand 120 holds the article using only the upper surface adsorption unit 121. Figure 2 After (b), the side adsorption unit 122 is omitted.

[0053] For example, among multiple items placed on tray P, the item with the highest upper surface is determined to be the object to be held. If multiple items have the highest upper surface, the item closest to the ranging sensor 142a is determined to be the object to be held.

[0054] like Figure 2 As shown in (a), the upper surface adsorption unit 121 includes a plurality of adsorption portions 121a. Each adsorption portion 121a includes a rod 121b extending in the Z direction and a pad 121c disposed at the front end of the rod 121b. The pad 121c is elastic and can deform in accordance with the upper surface of the article. Similarly, the side adsorption unit 122 includes a plurality of adsorption portions 122a. Each adsorption portion 122a includes a rod 122b extending in the X direction and a pad 122c disposed at the front end of the rod 122b. The pad 122c is elastic and can deform in accordance with the side of the article.

[0055] First, such as Figure 2 As shown in (a), the robotic arm 130 moves the hand 120 above the article A, which is determined as the object to be held. The side suction unit 122 is located, for example, behind the upper surface suction unit 121. The moving device 170 lowers the hand 120 toward the article A. Figure 2 As shown in (b), the upper surface adsorption unit 121 adsorbs the upper surface of article A. At this time, the ranging sensor 142a is located above the held article. Figure 2 As shown in (c), the moving device 170 raises the hand 120 and the robotic arm 130. As a result, article A rises.

[0056] As item A rises, distance sensor 142a continuously measures the distance to the held item. The measured distance changes as the upper surface of item A passes the height of distance sensor 142a and as the bottom surface of item A passes the height of distance sensor 142a. Based on this change, control device 190 measures the height of the held item A. As item A rises, moving device 142b can lower distance sensor 142a. By moving distance sensor 142a in the opposite direction to the direction of item movement, the height of item A can be measured earlier.

[0057] like Figure 3 As shown in (a), the robotic arm 130 moves the hand 120 upwards toward the conveyor 160. At this time, the distance sensor 143a measures the distance between itself and the bottom surface of the held item A. Figure 3 As shown in (b), the moving device 170 lowers the hand 120 toward the conveying device 160 to place the held article A onto the conveying device 160.

[0058] like Figure 4 As shown in (a), hand 120 releases the hold on item A. Figure 1 The movable device 170 shown raises the hand 120 and the robotic arm 130. After the hand 120 and the robotic arm 130 rise, Figure 1 The moving device 180 shown raises the conveying device 160, setting the position of the conveying device 160 in the Z direction to the same position as the conveying device C. For example... Figure 4 As shown in (b), the conveyor 160 transports the transferred item A to the conveyor C. The lifting of the conveyor 160 can also be performed during the transfer of item A. Therefore, the start timing of the second action can be advanced.

[0059] For example, loading and unloading operations (action 1 and action 2) are repeated until all items A on pallet P are conveyed to conveyor C. Action 1 and action 2 are performed alternately. After one action 2 is completed, the next action 1 is performed. To improve the efficiency of loading and unloading operations, it is preferable to perform at least a portion of the action 1 for the next item in parallel with the action 2 for the previous item. On the other hand, for the loading and unloading device 100, for the purpose of miniaturization, the robotic arm 130 and the conveyor 160 are arranged vertically. The conveyor 160 is located below the robotic arm 130. Therefore, when the action 1 and action 2 are performed in parallel, the robotic arm 130 may interfere with the conveyor 160.

[0060] "Interference" refers, for example, to robotic arm 130 coming into contact with another object. "Interference" can also include the distance between robotic arm 130 and another object being less than a safety margin.

[0061] Regarding the aforementioned issues, the control device 190, based on the measurement results obtained by the measuring device 140, determines whether the robotic arm 130 interferes with the conveying device 160 or another item (the second item) on the conveying device 160 when performing the first action on a certain item (the first item). Furthermore, the control device 190 controls the start timing of the first action based on the interference determination result. For example, if no interference occurs, the control device 190 advances the start timing of the first action on the first item compared to if interference occurs.

[0062] Figure 5 This is a schematic diagram illustrating the function of the control device of the cargo loading and unloading device according to the relevant implementation method.

[0063] Reference Figure 5 The control method for controlling the start timing of the first action will be explained. The control device 190 functions as a task management unit 191, a planning unit 192, and an action control unit 193.

[0064] The Task Management Department 191 manages all tasks related to cargo loading and unloading operations. The Task Management Department 191 requests the Planning Department 192 to generate plans for cargo loading and unloading operations. Furthermore, the Task Management Department 191 requests the Motion Control Department 193 to control the operation of the cargo loading and unloading device 100 during cargo loading and unloading operations.

[0065] The planning unit 192 uses the first measuring device 141 and the second measuring device 142 to measure the item placed on the tray (step S1). Through measurement, the planning unit 192 obtains the position of the upper surface of the item, the shape of the upper surface of the item, the position of the side of the item, etc. Based on the measurement results, the planning unit 192 generates a plan (step S2). The plan includes the item to be held, the position of the hand 120 holding the item, the motion path of the robotic arm 130, etc. The motion path includes the path to the holding position and the path when transferring the item from the holding position to the conveying device 160.

[0066] When the robotic arm 130 moves along the motion path or when the hand 120 is in the holding position, the planning unit 192 determines whether the robotic arm 130 will interfere with the conveying device 160 or the items on it (step S3). When determining interference, it is assumed that the conveying device 160 is at the same height as the conveying device C. The planning unit 192 saves the planning and interference determination results (step S4).

[0067] Based on the request from the Task Management Department 191, the Motion Control Department 193 confirms the plan and interference determination results saved by the Planning Department 192 (step S11). The Motion Control Department 193 determines whether the interference determination results indicate that interference between the robotic arm 130 and the conveying device 160 or the items on it will occur (step S12). Hereinafter, regarding the determination results obtained by the Motion Control Department 193, the determination that interference will occur in the interference determination results will be simply referred to as "interference occurred" or "interference". The determination that interference will not occur in the interference determination results will be simply referred to as "no interference occurred" or "no interference". In the case of interference, the Motion Control Department 193 determines whether the previous items on the conveying device 160 have been transported by the conveying device 160 (step S13). "Previous items" refers to items transferred to the conveying device 160 by the first action before the first action for the items currently being held in the plan. If the previous item has not yet been conveyed from the conveyor 160, the motion control unit 193 puts the robotic arm 130 into standby mode until the previous item has been conveyed from the conveyor 160.

[0068] Without interference, the motion control unit 193 moves the robotic arm 130, causing the hand 120 to move (step S14). The robotic arm 130 moves along the planned motion path. The hand 120 moves to the planned holding position. If the hand 120 moves to the holding position, the first action begins. That is, the object is held and transferred to the conveyor 160. In the first action, the motion control unit 193 causes the second measuring device 142 to measure the height of the held object (step S15). The motion control unit 193 saves the measured height of the object (step S16). The saved height is used when determining interference with the next object.

[0069] Figure 6 (a)~ Figure 6 (c) Figure 7 (a) and Figure 7 (b) is a schematic diagram showing the operation of the cargo loading and unloading device corresponding to the control that starts timing.

[0070] For example, in Figure 6 In the state shown in (a), item A1 (an example of the first item) is determined to be the object to be held. Item A2 (an example of the second item) is being conveyed by the conveyor 160. The upper surface of item A1 is located below the upper surface of item A2. If the hand 120 holds item A1, the robotic arm 130 interferes with item A2. Therefore, it is determined in steps S3 and S12 that interference will occur. In this case, as Figure 6 As shown in (b), the robotic arm 130 and the moving device 170 remain stationary until item A2 has been completely conveyed by the conveyor 160. Figure 6As shown in (c), after article A2 has been conveyed by conveyor 160 and conveyor 160 has descended, robotic arm 130 moves. That is, the first action for article A1 does not begin until the second action for article A2 is completed.

[0071] On the other hand, for example in Figure 7 In the state shown in (a), item A3 (an example of the first item) is determined to be the object to be held. Item A4 (an example of the second item) is being conveyed by the conveyor 160. Item A3 is positioned above item A4. Even though the hand 120 holds item A3, the robotic arm 130 does not interfere with item A4. Therefore, in steps S3 and S12, it is determined that no interference occurs. In this case, as Figure 7 As shown in (b), during the transport of article A4 by the conveying device 160, the robotic arm 130 and the moving device 170 operate. That is, the start timing of the first action is earlier than... Figure 6 (a)~ Figure 6 The example shown in (c) is earlier. As a result, in the execution of the second action for item A4, the first action for item A3 begins. At least a portion of the first action is executed in parallel with the second action.

[0072] Explain the advantages of the implementation method.

[0073] As described above, in the cargo loading and unloading device 100, the start timing of the first action is controlled based on whether or not interference from the robotic arm 130 occurs during the execution of the first action. For example, if interference from the robotic arm 130 does not occur, the start timing of the first action is advanced compared to if interference from the robotic arm 130 does occur. According to the embodiment, by miniaturizing the cargo loading and unloading device 100 by placing the conveying device 160 below the robotic arm 130, the efficiency of cargo loading and unloading operations performed by the cargo loading and unloading device 100 can be further improved.

[0074] In addition, Figure 7 (a) and Figure 7 In the example shown in (b), the conveyor 160 may not need to descend to avoid interference with the robotic arm 130. By omitting the descent of the conveyor 160 and its ascent to the same height as the conveyor C, the time required for the movement of the conveyor 160 can be shortened, making cargo loading and unloading operations more efficient.

[0075] Figure 8 (a) and Figure 8 (b) is a schematic diagram used to illustrate the method for determining interference.

[0076] For example, Figure 8As shown in (a), the planning unit 192 sets an imaginary smallest rectangle R that surrounds the robotic arm 130 in the X-Z plane. Each side of rectangle R is set to be parallel to either the X or Z direction. For example, the smallest rectangle R circumscribed in the X-Z plane is set. The planning unit 192 determines whether the robotic arm 130 will interfere with the conveyor 160 or the items on it by simply determining whether rectangle R will interfere with the conveyor 160 or the items on it. This method reduces the amount of calculation required to determine interference. For example, the end time of the calculation performed by the planning unit 192 can be advanced, and the processing performed by the motion control unit 193 can begin earlier. As a result, the efficiency of cargo loading and unloading operations performed by the cargo loading and unloading device 100 can be further improved.

[0077] The height H of the object used in the interference determination is based on the measurement result obtained by the second measuring device 142. As described above, the distance sensor 142a measures the height H during the movement of the object by the moving device 170. By moving the distance sensor 142a in the opposite direction to the movement direction of the object, the height H of the object A can be measured earlier. As a result, the start timing of the interference determination can be advanced. The end timing of the calculation performed by the planning unit 192 can be advanced, and the processing performed by the motion control unit 193 can begin earlier.

[0078] like Figure 8 As shown in (b), it is also possible to determine whether any element of the robotic arm 130 in the X-Z plane will interfere with the conveying device 160 or the items on it. For example, the control device 190 calculates the distance D1 between the first linear advance unit 131 of the robotic arm 130 and the item A, the distance D2 between the second linear advance unit 132 of the robotic arm 130 and the item A, etc., and determines whether interference will occur for any element of the robotic arm 130. Through this method, with... Figure 8 Compared to the method shown in (a), the frequency at which interference is determined decreases. As a result, the frequency of the first and second actions being executed in parallel increases, which further improves the efficiency of cargo loading and unloading operations.

[0079] (First variation)

[0080] exist Figure 6 (a)~ Figure 7 In the example shown in (b), the presence or absence of interference is determined using only the positional relationship in the Z direction for the robotic arm 130, the conveyor 160, and the items on the conveyor 160. The presence or absence of interference can also be determined using the positional relationship in the Y direction.

[0081] Figure 9 This is a schematic diagram illustrating the function of the control device of the cargo loading and unloading device in the first variation of the embodiment.

[0082] exist Figure 9 In the first variation shown, in step S2a following step S1, the planning unit 192 creates a plan for each item that can be held. The planning unit 192 calculates the priority of each plan (step S5a). Next, in step S3a, the planning unit 192 determines interference with the robotic arm 130 for each created plan. Then, in step S4a, the planning unit 192 saves the plan, priority, and interference determination results for each item that can be held. For example, the priority is calculated higher for plans of items whose upper surfaces are at higher positions.

[0083] In step S11, the motion control unit 193 confirms the plan, priority, and interference determination result. The motion control unit 193 selects the plan with the highest priority from multiple plans (step S17a). In step S12, the motion control unit 193 determines whether interference will occur based on the interference determination result for the selected plan. If no interference occurs, step S14 is executed for the selected plan.

[0084] In the event of interference, the motion control unit 193 determines whether there are other plans not selected in step S17a (step S17b). If other plans exist, the motion control unit 193 selects the plan with the second highest priority in step S17a. If no other plans exist, the motion control unit 193 puts the robotic arm 130 into standby mode until the previous items have been transported from the conveyor 160. Then, the plan with the highest priority is executed in step S14.

[0085] Figure 10 of (a), Figure 10 (b) Figure 11 (a) and Figure 11 (b) is a schematic diagram showing the operation of the cargo loading and unloading device in the first variation of the embodiment.

[0086] exist Figure 10 In the state shown in (a), multiple items, including items A11 and A12, are placed on the tray P. Items A13 and A14 are placed on the conveyor 160. Items A11 to A14 are at the same height. For example, item A11 is determined to be the highest priority item to be held. Item A12 is determined to be the second highest priority item to be held. Item A11 is an example of the first item. Item A12 is an example of the third item. Items A13 and A14 are examples of the second items.

[0087] The position of item A11 in the Y direction is the same as that of items A13 and A14 in the Y direction. In other words, when viewed from the X direction, item A11 overlaps with items A13 and A14. Therefore, when hand 120 holds item A11, robotic arm 130 interferes with items A13 and A14. Motion control unit 193 determines whether item A12, which has the next highest priority, can be held. The position of item A12 in the Y direction is different from that of items A13 or A14. When viewed from the X direction, item A11 does not overlap with items A13 or A14. Therefore, when hand 120 holds item A12, robotic arm 130 does not interfere with items A13 or A14. Motion control unit 193 determines that item A12 can be held without interference. Motion control unit 193, based on this determination result, ... Figure 10 As shown in (b), move hand 120 toward item A12.

[0088] On the other hand, Figure 11 In the state shown in (a), the position of item A11 in the Y direction is the same as the position of item A13 in the Y direction. Furthermore, the position of item A12 in the Y direction is the same as the position of item A14 in the Y direction. If neither item A11 nor A12 is a candidate for holding, the motion control unit 193 determines that there is no item that can be held without interference. Figure 11 As shown in (b), after items A13 and A14 have been conveyed by the conveyor 160, the motion control unit 193 moves the hand 120 toward the highest priority item A11.

[0089] Figure 8 (a) or Figure 8 The interference determination method shown in (b) based on positional relationships in the Z direction can be applied to interference determination based on positional relationships in the Y direction. For example, the planning unit 192 sets an imaginary smallest rectangle R that surrounds the robotic arm 130 in the X-Y plane. The planning unit 192 determines whether rectangle R interferes with the item on the conveyor 160. Alternatively, the planning unit 192 can also determine whether each element of the robotic arm 130 in the X-Y plane interferes with the item on the conveyor 160.

[0090] Explain the advantages of the first variation.

[0091] Even when the height of the maintained item is the same as that of the item on the conveyor 160, such as Figure 10 As shown in (a), there are also cases where the positions of these items are misaligned in the Y direction. By using the positional relationship in the Y direction in the interference determination, the frequency of executing the first and second actions in parallel can be increased, which can further improve the efficiency of cargo loading and unloading operations.

[0092] exist Figure 2 (a)~ Figure 4 (b) and Figure 6 (a)~ Figure 7 In the example shown in (b), the hand 120 holds the item solely by the upper surface adsorption unit 121. The hand 120 can also switch between methods of holding the item. For example, the cargo handling device 100 can switch between a first holding method and a second holding method. In the first holding method, the cargo handling device 100 holds the item solely by the upper surface adsorption unit 121. In the second holding method, the cargo handling device 100 holds the item by both the upper surface adsorption unit 121 and the side adsorption unit 122. Figure 2 (a)~ Figure 4 (b) and Figure 6 (a)~ Figure 7 In the example shown in (b), the first action is performed by the first holding method.

[0093] Figure 12 (a)~ Figure 12 (c) and Figure 13 (a)~ Figure 13 (c) is a schematic diagram showing other actions performed by the cargo loading and unloading device according to the relevant implementation method.

[0094] like Figure 12 As shown in (a), the robotic arm 130 moves the hand 120 above the item A, which is determined to be the object being held. Furthermore, the position of the conveying device 160 in the Z direction is set to the same position as the bottom surface of the held item A. The moving device 170 lowers the hand 120 toward the item A. Figure 12 As shown in (b), the upper surface adsorption unit 121 and the side adsorption unit 122 adsorb the upper surface and side surface of article A, respectively. Figure 12 As shown in (c), the robotic arm 130 transfers the held item A onto the conveyor 160. For example, the robotic arm 130 transfers the item A onto the conveyor 160 by sliding it. At this time, as shown in the figure, the hand 120 can also be tilted relative to the X-Y plane. This reduces the contact area between the bottom surface of item A and other items (or tray P), thus reducing friction.

[0095] like Figure 13 As shown in (a), the hand 120 releases the holding action performed by the upper surface adsorption unit 121 and the side adsorption unit 122. Figure 13 As shown in (b), the moving device 180 sets the position of the conveying device 160 in the Z direction to the same position as the conveying device C. Furthermore, the moving device 170 raises the hand 120 and the robotic arm 130. Figure 13 As shown in (c), the conveying device 160 transports the transferred item A to the conveying device C. Figure 12 (a)~ Figure 13 The action shown in (a) corresponds to the first action. Figure 13 (b) and Figure 13 The action shown in (c) corresponds to the second action.

[0096] By using the second holding method, the stability of holding the item is improved compared to the first holding method because the upper surface and sides of the item are held. Furthermore, when the item is allowed to slide, the time of the first action can be shortened compared to when the item is raised. Therefore, the efficiency of cargo loading and unloading operations can be further improved. By using the first holding method, since item A is raised, item A can be transferred regardless of the state between the held item A and the conveying device 160.

[0097] An instruction indicating which holding method (first or second) to use can be input to the cargo handling device 100. The cargo handling device 100 switches between the first and second holding methods according to the received instruction. The instruction can be input by the user or sent by a host computer, etc. The choice between the first and second holding methods can also be determined based on the measurement results of the first measuring device 141 and the second measuring device 142. For example, if the path between the item to be held and the conveyor 160 is flat, allowing the item to slide, the second holding method is used. The first holding method is used if the path is uneven. The path is the upper surface of another item or the upper surface of the pallet P.

[0098] (Second variation)

[0099] In the first variation, if interference occurs with the robotic arm 130 while holding a certain item, it is determined whether other items can be held without interference. In contrast, in the second variation, the previous item is placed onto the conveyor 160 in a manner that does not cause interference when holding the next item.

[0100] Figure 14 This is a schematic diagram illustrating the function of the control device of the cargo loading and unloading device in the second variation of the embodiment.

[0101] exist Figure 14 In the second variation shown, in step S2b following step S1, the planning unit 192 generates plans for the item to be transported immediately thereafter (the first item) and the item to be transported next (the second item). For the first item, the planning unit 192 generates a movement path for each loading position while changing the loading position of the item on the conveyor 160. Thus, multiple plans are generated for the first item. For the second item, a plan is generated, for example, in a manner that minimizes the movement path.

[0102] In step S3b, the planning unit 192 determines whether the robotic arm 130 will interfere with the conveying device 160 or the items on it when performing the first action for the first item in each plan for the first item. Furthermore, the planning unit 192 determines whether the robotic arm 130 will interfere with the first item on the conveying device 160 when performing the first action for the second item in each plan for the first item. The planning unit 192 calculates the priority for each plan for the first item (step S5b). The priority is calculated based on the action distance and the interference determination result. Specifically, the shorter the action path, the higher the priority is set. For plans that will cause interference, the priority is significantly reduced. The planning unit 192 saves the multiple plans for the first item, the priority for each plan, and the interference determination result.

[0103] In step S11, the motion control unit 193 confirms the highest priority plan and its interference determination result. As described above, the priority of plans that would cause interference is significantly reduced. Therefore, a plan that will not cause interference from the robotic arm 130 is selected from multiple plans regarding the first item. Later, with... Figure 5 The cargo loading and unloading method shown is performed in the same way as steps S12 to S16.

[0104] Figure 15 of (a), Figure 15 (b) Figure 16 (a) and Figure 16 (b) is a schematic diagram showing the operation of the cargo loading and unloading device in the second variation of the embodiment.

[0105] exist Figure 15 In the state shown in (a), multiple items, including items A21 and A22, are placed on tray P. For example, the upper surface of item A21 is located above the upper surface of item A22. Item A21 is designated as the first item to be transported, and item A22 is designated as the second item to be transported.

[0106] Planning Department 192 generates a plan for item A22. For example, Figure 15 As shown in (b), plan P2 with the shortest movement path up to the conveyor 160 is generated. Furthermore, the planning unit 192 generates multiple plans for item A21. For example, as... Figure 16 As shown in (a), while changing the placement position on the conveyor 160, multiple plans P1a to P1n are generated. The planning unit 192 determines for each of the multiple plans P1a to P1n whether the robotic arm 130 interferes with the item A21 on the conveyor 160 during the execution of the first action on item A22. Based on the distance of the action path and the interference determination result, the planning unit 192 sets the priority of each of the multiple plans P1a to P1n. As a result, for example, [the following is an example of a process where]... Figure 16 Plan P1z shown in (b) is set to the highest priority. According to plan P1z, when performing the first action for item A22, robotic arm 130 does not interfere with item A21.

[0107] According to the second variation, the first action on item A21 is performed in a manner that prevents interference from the robotic arm 130 during the first action on item A22. Therefore, the first action on item A22 and the second action on item A21 can be performed in parallel. Increasing the frequency of parallel execution of the first and second actions further improves the efficiency of cargo loading and unloading operations.

[0108] Figure 17 It is a schematic diagram representing the hardware structure.

[0109] Control device 190 includes, for example, Figure 17 The hardware structure shown. Figure 17 The processing device 90 shown includes a CPU 91, a ROM 92, a RAM 93, a storage device 94, an input interface 95, an output interface 96, and a communication interface 97.

[0110] ROM 92 stores programs that control the computer's operations. ROM 92 contains the programs necessary for the computer to perform the aforementioned processes. RAM 93 functions as a storage area for expanding the programs stored in ROM 92.

[0111] CPU 91 includes processing circuitry. CPU 91 uses RAM 93 as its working memory and executes programs stored in at least one of ROM 92 or storage device 94. During program execution, CPU 91 controls various structures via system bus 98 to perform various processes.

[0112] Storage device 94 stores the data required for program execution and the data obtained through program execution.

[0113] The input interface (I / F) 95 connects the processing device 90 to the input device 95a. The input I / F 95 is, for example, a serial bus interface such as USB. The CPU 91 can read various data from the input device 95a via the input I / F 95.

[0114] Output interface (I / F) 96 connects processing device 90 to output device 96a. Output I / F 96 is, for example, a Digital Visual Interface (DVI) or High-Definition Multimedia Interface (HDMI). CPU 91 can send data to output device 96a via output I / F 96, causing output device 96a to display images.

[0115] Communication interface (I / F) 97 connects server 97a external to processing device 90 to processing device 90. Communication I / F 97 is, for example, a network card such as a LAN card. CPU 91 can read various data from server 97a via communication I / F 97. Camera 99a takes pictures of objects and saves the images to server 97a. Camera 99a functions as image capture unit 141a. LRFs 99b and 99c function as range sensors 142a and 143a, respectively.

[0116] Storage device 94 includes one or more selected from Hard Disk Drive (HDD) and Solid State Drive (SSD). Input device 95a includes one or more selected from mouse, keyboard, microphone (voice input), and touchpad. Output device 96a includes one or more selected from monitor, projector, speaker, and printer. A device that combines the functions of both input device 95a and output device 96a, such as a touchpad, may also be used.

[0117] The processing of the above-mentioned data can also be recorded as a program that can be executed by a computer onto a disk (floppy disk and hard disk, etc.), optical disk (CD-ROM, CD-R, CD-RW, DVD-ROM, DVD±R, DVD±RW, etc.), semiconductor memory, or other non-volatile computer-readable storage medium.

[0118] For example, information recorded on a recording medium can be read by a computer (or embedded system). The recording format (storage format) on the recording medium is arbitrary. For example, a computer reads a program from the recording medium, and based on that program, causes the CPU to execute the instructions written in the program. In a computer, program retrieval (or reading) can also be done via a network.

[0119] Based on the embodiments described above, a cargo loading and unloading device, a control device, a cargo loading and unloading method, a procedure, and a storage medium are provided that can improve the efficiency of cargo loading and unloading operations.

[0120] The above embodiments of the present invention have been illustrated, but these embodiments are merely examples and are not intended to limit the scope of the invention. These new embodiments can be implemented in a wide variety of other forms, and various omissions, substitutions, and modifications can be made without departing from the spirit of the invention. These embodiments and their variations are included within the scope or spirit of the invention, and are included within the scope of the invention as described in the claims and its equivalents. Furthermore, the above-described embodiments can be combined with each other for implementation.

[0121] The implementation methods may also include the following schemes.

[0122] (Option 1)

[0123] A cargo loading and unloading device, comprising:

[0124] Hands, for holding objects;

[0125] A robotic arm that moves the aforementioned hand;

[0126] A conveying device, arranged with the robotic arm in the first direction, conveys the aforementioned items;

[0127] Measuring device, used to measure the position and dimensions of the aforementioned items; and

[0128] The control device performs a first action of transferring the article to the conveying device using the hand and the robotic arm, and a second action of conveying the transferred article using the conveying device.

[0129] Based on the measurement results obtained by the measuring device, the control device determines whether the robotic arm will interfere with the conveying device or the second item on the conveying device when performing the first action on the first item.

[0130] The control device controls the timing of the start of the first action based on the interference determination result.

[0131] (Option 2)

[0132] As described in Scheme 1, the cargo loading and unloading device, wherein...

[0133] Without the aforementioned interference, the start timing of the first action of the first article by the control device is earlier than when the aforementioned interference occurs.

[0134] (Option 3)

[0135] The cargo loading and unloading device as described in Scheme 1 or 2, wherein,

[0136] Without the aforementioned interference, the control device begins the aforementioned first action on the aforementioned first article during the execution of the aforementioned second action on the aforementioned second article.

[0137] (Option 4)

[0138] The cargo loading and unloading device as described in any one of Schemes 1 to 3, wherein...

[0139] In the event of the aforementioned interference, the control device shall begin the aforementioned first action on the aforementioned first article after the aforementioned second action on the aforementioned second article is completed.

[0140] (Option 5)

[0141] The cargo loading and unloading device as described in any one of Schemes 1 to 4, wherein...

[0142] It has a moving device that moves the above-mentioned conveying device along the first direction;

[0143] In the event of the aforementioned interference, when the aforementioned control device initiates the aforementioned first action on the aforementioned first article, the aforementioned moving device moves the aforementioned conveying device in a direction away from the aforementioned robotic arm.

[0144] (Option 6)

[0145] As described in Scheme 5, the cargo loading and unloading device, wherein...

[0146] Without the aforementioned interference, the control device does not move the conveying device when the first action is initiated for the first article.

[0147] (Option 7)

[0148] As described in Scheme 1, the cargo loading and unloading device, wherein...

[0149] In the event of the aforementioned interference, the control device, while performing the second action on the second article, begins the first action on the third article other than the first article.

[0150] (Option 8)

[0151] As described in Scheme 7, the cargo loading and unloading device, wherein...

[0152] The aforementioned conveying device conveys the aforementioned articles in a second direction intersecting with the aforementioned first direction;

[0153] The position of the third item in the third direction, which intersects the plane along the first and second directions, is different from the position of the first item in the third direction.

[0154] (Option 9)

[0155] The cargo loading and unloading device as described in any one of Schemes 1 to 8, wherein...

[0156] In the first action performed on the second article, the control device places the second article on a position on the conveying device in which the robotic arm does not interfere with the second article during the execution of the first action performed on the first article.

[0157] (Option 10)

[0158] The cargo loading and unloading device as described in any one of Schemes 1 to 9, wherein...

[0159] The above measuring device includes:

[0160] The first measuring instrument measures the position and dimensions of the aforementioned item when viewed from the first direction; and

[0161] The second measuring instrument measures the length of the aforementioned item in the aforementioned first direction.

[0162] (Option 11)

[0163] The cargo loading and unloading device as described in Scheme 10, wherein,

[0164] It also has a moving device that moves the second measuring instrument along the first direction.

[0165] The second measuring device mentioned above includes a distance sensor that measures the distance to the object in a direction intersecting with the first direction mentioned above;

[0166] During the movement of the object by the robotic arm, the aforementioned moving device causes the ranging sensor to move in the opposite direction to the movement of the object.

[0167] (Option 12)

[0168] The cargo loading and unloading device as described in any one of Schemes 1 to 11, wherein,

[0169] The aforementioned hands include:

[0170] The first adsorption unit adsorbs the article in the first direction; and

[0171] The second adsorption unit adsorbs the aforementioned article in a second direction that intersects with the first direction.

[0172] (Option 13)

[0173] The cargo loading and unloading device as described in Scheme 12, wherein,

[0174] Based on the measurement results, the control device switches between a first holding method that holds the article by only the first adsorption unit and a second holding method that holds the article by both the first adsorption unit and the second adsorption unit.

[0175] The above embodiments of the present invention have been illustrated, but these embodiments are merely examples and are not intended to limit the scope of the invention. These new embodiments can be implemented in a wide variety of other forms, and various omissions, substitutions, and modifications can be made without departing from the spirit of the invention. These embodiments and their variations are included within the scope or spirit of the invention, and are included within the scope of the invention as described in the claims and its equivalents. Furthermore, the above-described embodiments can be combined with each other for implementation.

Claims

1. A cargo loading and unloading device, comprising: Hands, for holding objects; A robotic arm that moves the aforementioned hand; A conveying device, arranged with the robotic arm in the first direction, conveys the aforementioned items; Measuring device, used to measure the position and dimensions of the aforementioned items; and The control device performs a first action of transferring the article to the conveying device using the hand and the robotic arm, and a second action of conveying the transferred article using the conveying device. Based on the measurement results obtained by the measuring device, the control device determines whether the robotic arm and the first item held by the hand will interfere with the conveying device or the second item on the conveying device when the first action is performed on the first item while the hand is holding the first item. The control device controls the timing of the start of the first action based on the interference determination result.

2. The cargo loading and unloading device as described in claim 1, wherein, In the absence of the aforementioned interference, the control device starts the aforementioned first action of the aforementioned first article earlier than in the case of the aforementioned interference.

3. The cargo loading and unloading device as described in claim 1 or 2, wherein, Without the aforementioned interference, the control device begins the aforementioned first action on the aforementioned first article during the execution of the aforementioned second action on the aforementioned second article.

4. The cargo loading and unloading device as described in claim 1 or 2, wherein, In the event of the aforementioned interference, the control device shall begin the aforementioned first action on the aforementioned first article after the aforementioned second action on the aforementioned second article is completed.

5. The cargo loading and unloading device as described in claim 1 or 2, wherein, It has a moving device that moves the above-mentioned conveying device along the first direction; In the event of the aforementioned interference, when the aforementioned control device initiates the aforementioned first action on the aforementioned first article, the aforementioned moving device moves the aforementioned conveying device in a direction away from the aforementioned robotic arm.

6. The cargo loading and unloading device as described in claim 5, wherein, Without the aforementioned interference, the control device does not move the conveying device when the first action is initiated for the first article.

7. The cargo loading and unloading device as described in claim 1, wherein, In the event of the aforementioned interference, the control device, while performing the second action on the second article, begins the first action on the third article other than the first article.

8. The cargo loading and unloading device as described in claim 7, wherein, The aforementioned conveying device conveys the aforementioned articles in a second direction intersecting with the aforementioned first direction; The position of the third item in the third direction, which intersects the plane along the first and second directions, is different from the position of the first item in the third direction.

9. The cargo loading and unloading device as described in claim 1 or 2, wherein, In the first action performed on the second article, the control device places the second article on a position on the conveying device in which the robotic arm does not interfere with the second article during the execution of the first action performed on the first article.

10. The cargo loading and unloading device as described in claim 1 or 2, wherein, The above measuring device includes: The first measuring instrument measures the position and dimensions of the aforementioned item when viewed from the first direction; and The second measuring instrument measures the length of the aforementioned item in the aforementioned first direction.

11. The cargo loading and unloading device as claimed in claim 10, wherein, It also has a moving device that moves the second measuring instrument along the first direction. The second measuring device mentioned above includes a distance sensor that measures the distance to the object in a direction intersecting with the first direction mentioned above; During the movement of the object by the robotic arm, the aforementioned moving device causes the ranging sensor to move in the opposite direction to the movement of the object.

12. The cargo loading and unloading device as described in claim 1 or 2, wherein, The aforementioned hands include: The first adsorption unit adsorbs the article in the first direction; and The second adsorption unit adsorbs the aforementioned article in a second direction that intersects with the first direction.

13. The cargo loading and unloading device as claimed in claim 12, wherein, Based on the measurement results, the control device switches between a first holding method that holds the article by only the first adsorption unit and a second holding method that holds the article by both the first adsorption unit and the second adsorption unit.

14. A control device, wherein, For a cargo loading and unloading device having a hand that holds an item, a robotic arm that moves the hand, a conveying device that is arranged with the robotic arm in a first direction to convey the item, and a measuring device that measures the position and size of the item, the cargo loading and unloading device performs a first action of transferring the item to the conveying device using the hand and the robotic arm and a second action of conveying the transferred item using the conveying device. Based on the measurement results obtained by the above-mentioned measuring device, it is determined whether the robotic arm and the first item held by the hand will interfere with the conveying device or the second item on the conveying device when the first action on the first item is performed while the first item is held by the hand. Based on the determination of the above interference, the timing of the start of the first action is controlled.

15. A method for loading and unloading goods, wherein, For a cargo loading and unloading device having a hand that holds an item, a robotic arm that moves the hand, a conveying device that is arranged with the robotic arm in a first direction to convey the item, and a measuring device that measures the position and size of the item, the cargo loading and unloading device performs a first action of transferring the item to the conveying device using the hand and the robotic arm and a second action of conveying the transferred item using the conveying device. Based on the measurement results obtained by the above-mentioned measuring device, it is determined whether the robotic arm and the first item held by the hand will interfere with the conveying device or the second item on the conveying device when the first action on the first item is performed while the first item is held by the hand. Based on the determination of the above interference, the timing of the start of the first action is controlled.

16. A storage medium storing a program, The above procedure enables the control device of the cargo loading and unloading device, which has a hand holding an article, a robotic arm that moves the hand, a conveying device arranged with the robotic arm in a first direction to convey the article, and a measuring device that measures the position and size of the article, to perform the first action of transferring the article to the conveying device using the hand and the robotic arm, and the second action of conveying the transferred article using the conveying device. The above procedure enables the control device to determine, based on the measurement results obtained by the measuring device, whether the robotic arm and the first item held by the hand will interfere with the conveying device or the second item on the conveying device when the first action is performed on the first item while the hand is holding the first item. Based on the determination of the above interference, the timing of the start of the first action is controlled.

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