Cargo loading device

Abstract

A cargo loading device (1A) includes a second personal luggage detection unit (29) that detects information of personal luggage (3) carried by a main conveyor (5), a loading robot (15) that loads the personal luggage (3) carried by the main conveyor (5) to two containers (2), and a loading calculation unit (33) and a loading control unit (38) that control the loading robot (15) so that at least one of a priority order of the containers (2) in which the personal luggage (3) is loaded and a loading order of the personal luggage (3) to the containers (2) in a loading order of the personal luggage (3) relative to a carrying order of the personal luggage (3) is adjusted, based on the information of the personal luggage (3) detected by the second personal luggage detection unit (29).

Description

TECHNICAL FIELD

[0001] The present disclosure relates to a cargo loading device. BACKGROUND

[0002] Patent Document 1 describes a cargo loading device that loads carry-on luggage into a container. The cargo loading device of Patent Document 1 is provided with: a carry-on luggage recognition device that recognizes the shape and size of carry-on luggage that is fed by a carry-on luggage feeding conveyor; a carry-on luggage sorting machine that sorts the carry-on luggage recognized by the carry-on luggage recognition device by each shape and size and saves it to either a robot loading stocker or a hand loading stocker; a dispensing device that dispenses the carry-on luggage saved in the robot loading stocker and the hand loading stocker; and a robot that loads the carry-on luggage dispensed by the dispensing device into a robot loading container.

[0003] Prior art documents

[0004] Patent documents

[0005] Patent Document 1: Japanese Patent Application Publication No. H5-246546 SUMMARY

[0006] Problems to be solved by the invention

[0007] For example, when loading carry-on luggage such as a suitcase into a container at an airport, it is required to reduce the void space in the container and improve the carry-on luggage loading rate in the container.

[0008] The present disclosure was completed in order to solve the above-described problems, and aims to provide a cargo loading device that can improve the cargo loading rate in a container.

[0009] Solution to the problem

[0010] The cargo loading device of one aspect of the present disclosure is provided with: a cargo detection section that detects information of a cargo carried by a carrying section; a loading unit that loads the cargo carried by the carrying section into a plurality of containers; and a control section that controls the loading unit based on the information detected by the cargo detection section, so that at least one of the priority order of the containers in which the cargo is loaded and the loading order of the cargo into the containers with respect to the carrying order of the cargo is adjusted.

[0011] In the cargo loading device, the loading unit is controlled based on the information of the cargo detected by the cargo detection section, so that at least one of the priority order of the containers in which the cargo is loaded and the loading order of the cargo into the containers with respect to the carrying order of the cargo is adjusted. Therefore, even if the cargo is carried randomly regardless of the size, material, or the like, it is possible to improve the cargo loading rate in the container.

[0012] Also, the information can be information on the size of the goods, and the control section controls the loading unit so that the goods are preferentially loaded into different containers by each size based on the size of the goods detected by the goods detection section. In this case, even if the goods are randomly carried regardless of the size, the goods are preferentially loaded into appropriate containers corresponding to the size. Therefore, the goods are efficiently loaded into the containers, and the void space in the containers is reduced. Thus, a stable loading rate of the goods is ensured in the containers regardless of the order of carrying the goods.

[0013] Also, the containers can include a first container and a second container, and the control section controls the loading unit so that the first goods are preferentially loaded into the first container and controls the loading unit so that the second goods of a size smaller than the first goods are preferentially loaded into the second container. In this configuration, even if the first goods and the second goods of different sizes are randomly carried, the first goods are preferentially efficiently loaded into the first container, and the second goods are preferentially efficiently loaded into the second container.

[0014] Also, a first deep rear storage area and a first front storage area located at a position closer to the front of the first container than the first deep rear storage area can be provided in the first container, a second deep rear storage area and a second front storage area located at a position closer to the front of the second container than the second deep rear storage area can be provided in the second container, and the control section controls the loading unit so that the first goods are loaded in the order of the first deep rear storage area and the second front storage area and controls the loading unit so that the second goods are loaded in the order of the second deep rear storage area and the first front storage area. In this configuration, for example, even if the first goods of a large size cannot be loaded in two columns in the depth direction of the container, the first goods and the second goods are efficiently loaded into the first container and the second container.

[0015] Also, in one side of the first container and the second container, a cutout portion having a structure in which a lower side corner portion of the container is cut out can be provided, a first auxiliary storage region adjacent to the first deep rear storage region and the first front side storage region in the left-right direction of the first container can be provided at a position corresponding to the cutout portion in the first container, a second auxiliary storage region adjacent to the second deep rear storage region and the second front side storage region in the left-right direction of the second container can be provided at a position corresponding to the cutout portion in the second container, and the control portion can control the loading unit so as to load a third cargo having a size smaller than the second cargo to the first auxiliary storage region and the second auxiliary storage region. In such a configuration, even if the first cargo, the second cargo, and the third cargo having different sizes are randomly carried, the first cargo, the second cargo, and the third cargo can be efficiently loaded to the first container and the second container.

[0016] Also, the control portion can control the loading unit so as to load the first cargo from the opposite side of the cutout portion toward the cutout portion side when loading the first cargo to the first deep rear storage region and the second front side storage region, and control the loading unit so as to load the second cargo from the opposite side of the cutout portion toward the cutout portion side when loading the second cargo to the second deep rear storage region and the first front side storage region. In such a configuration, the third cargo can be loaded to the first auxiliary storage region before the first cargo and the second cargo are loaded to a position near the first auxiliary storage region in the first deep rear storage region and the first front side storage region, and the third cargo can be loaded to the second auxiliary storage region before the first cargo and the second cargo are loaded to a position near the second auxiliary storage region in the second deep rear storage region and the second front side storage region. Therefore, even in a case where the third cargo is loaded to the first container and the second container together with the first cargo and the second cargo, the third cargo can be reliably loaded to the first container and the second container.

[0017] Also, the carrying portion can have a storage conveyor that temporarily stores a cargo carried by the carrying portion, and the control portion can adjust the loading order of the cargo to the container by temporarily storing the cargo to the storage conveyor and then loading the cargo stored in the storage conveyor. By temporarily storing the cargo to the storage conveyor, adjustment of the loading order becomes easy.

[0018] Also, the control portion can adjust the loading order of the cargo to the container so that a difference in height between the cargos constituting the same layer in the container is below a predetermined threshold. In this case, a difference in height between the cargos loaded to the lower layer side can be suppressed to be small, and thus a difference in height of the cargos generated on the upper layer side can be suppressed, and the cargos can be suppressed from being scattered.

[0019] It can also be that the control section takes out the goods from the storage conveyor when the storage conveyor is full, so that the difference in height of the plurality of goods in the container from each other is minimized. In this case, it is possible to suppress the difference in height of the goods of the same layer from each other, and it is also possible to form a gap in the storage conveyor.

[0020] It can also be that the control section gives a priority order to each part of the carrying section, and controls the loading unit so that the goods are taken out from the part with a high priority order. By causing the loading unit to take out the goods from the part with a high priority order, it is possible to reduce the cycle time of the loading work.

[0021] It can also be that the goods detection section detects the material of the goods as information, and the control section adjusts the loading order of the goods to the container so that the goods detected as having a soft material are loaded on the upper layer side. In this case, it is possible to suppress the loading of goods that are likely to collapse on the lower layer side, and to suppress the generation of goods scattering.

[0022] It can also be that the goods loading device is provided with a label information acquisition section that acquires label information of the goods, and a label information update section that binds loading data including the loading position of the goods to the label information acquired by the label information acquisition section. In this case, by acquiring the label information of the goods when the goods are carried by the carrying section toward the container, the operator no longer needs to read the label information of the goods by a bar code reader or the like before the loading of the goods to the container. In addition, by binding the loading data including the loading position of the goods to the label information, the operator no longer needs to attach a label seal to the container queue, for example, after the loading of the goods to the container. Thus, it is possible to reduce the manual work of the operator. As a result of the reduction of the manual work, it is possible to suppress the work mistakes of the operator, and thus the reliability related to the loading of the goods to the container is improved.

[0023] It can also be that an address is set in advance in the container, and the label information update section binds the loading data including the address of the loading position of the goods to the label information. In such a configuration, the loading data including the address of the loading position of the goods loaded in the container is bound to the label information. Therefore, it is easy to know from the label information of the goods which position in the container the goods are loaded.

[0024] It can also be that a plurality of storage areas corresponding to the size of the goods are provided in the container, and an address is set for each storage area, and the control section controls the loading unit so that the goods are loaded to the storage area corresponding to the size of the goods. In such a configuration, even if the goods of different sizes are carried randomly by the carrying section, the goods are loaded to the appropriate position in the container corresponding to the size of the goods. Therefore, it is not necessary to rearrange the goods according to the size of the goods, and thus it is possible to further reduce the manual work of the operator.

[0025] The cargo loading device can include a rotation table disposed on a downstream side of the conveyance section, on which the cargo is placed; a first drive section that moves the cargo conveyed by the conveyance section to the rotation table; a movement control section that controls driving of the first drive section; and a rotation control section that controls rotation of the rotation table. The cargo detection section detects an orientation of the cargo placed on the rotation table, and the rotation control section controls the rotation table based on the orientation of the cargo detected by the cargo detection section so that the orientation of the cargo is fixed. In this configuration, when the cargo is conveyed by the conveyance section, the orientation of the cargo is fixed in the rotation table even if the orientation of the cargo is irregular. Therefore, the cargo is loaded into the container by the loading unit with the same orientation even if the cargo is not conveyed in a manner that the orientation of the cargo is always fixed. Thus, the work of the operator can be further reduced.

[0026] The cargo loading device can include a placement section disposed on a downstream side of the rotation table, on which the cargo is placed; a second drive section that moves the cargo from the rotation table to the placement section; a positioning section that positions the cargo placed on the placement section in a direction perpendicular to an arrangement direction of the rotation table and the placement section; and a position control section that controls the second drive section and the positioning section so that the cargo is positioned in the placement section after the rotation table is controlled so that the orientation of the cargo is fixed. In this configuration, the cargo is held by the holding section of the loading unit in a state where the cargo placed on the placement section is positioned in the direction perpendicular to the arrangement direction of the rotation table and the placement section. Therefore, the control until the cargo is held by the holding section can be simplified.

[0027] The cargo detection section can detect a kind of the cargo, and the movement control section can control the first drive section so that the cargo is moved to the rotation table when it is determined based on the kind of the cargo detected by the cargo detection section that the cargo is a loading target of the loading unit. In this configuration, the cargo is not supplied to the rotation table when the cargo is not a loading target of the loading unit. Therefore, the cargo that is not a loading target can be prevented from being loaded into the container as early as possible.

[0028] The cargo loading device can include a robot having a robot hand that holds a cargo, a drive unit that performs at least one of a movement of the robot hand in a direction of three axes and a rotation of the robot hand around the three axes, and a control unit that performs a first control process of controlling the robot hand so that the robot hand holds the cargo, performs a second control process of controlling the drive unit so that the robot hand moves into a container after the first control process is performed, and performs a third control process of controlling the robot hand so that the cargo held by the robot hand is loaded into the container after the second control process is performed. The robot hand can include a first conveyance unit that places and moves the cargo, and a second conveyance unit that is arranged in an L shape with the first conveyance unit, places and moves the cargo. The control unit can control at least one of the first conveyance unit and the second conveyance unit to be driven to a base end side of the robot hand when the first control process is performed, and control at least one of the first conveyance unit and the second conveyance unit to be driven to a top end side of the robot hand when the third control process is performed.

[0029] In this case, the cargo can be easily loaded into the container from the side of the container by moving the cargo from the robot hand to the container by the first conveyance unit and the second conveyance unit. In addition, the second conveyance unit is arranged in an L shape with the first conveyance unit. Therefore, for example, the posture of the cargo can be changed by 90 degrees by rotating the robot hand around an axis parallel to the driving direction of the first conveyance unit and the second conveyance unit by the drive unit. Thus, the cargo can be loaded not only in a horizontal state but also in a vertical state. Accordingly, the void space in the container can be reduced, and the cargo loading rate in the container can be improved.

[0030] The drive unit can include a first drive unit that moves the robot hand in a direction of three axes, and a second drive unit that rotates the robot hand around the three axes. The control unit can control the first drive unit so that the robot hand moves into the container when the second control process is performed, and control the second drive unit so that the robot hand is rotated around an axis parallel to the driving direction of the first conveyance unit and the second conveyance unit when the third control process is performed. In this configuration, the posture of the cargo can be changed by 90 degrees by rotating the robot hand around an axis parallel to the driving direction of the first conveyance unit and the second conveyance unit by the second drive unit. Thus, the cargo can be easily and reliably loaded in either of a horizontal state and a vertical state.

[0031] Also, a wall portion that positions the article with respect to the first conveyance portion and the second conveyance portion in a driving direction of the first conveyance portion and the second conveyance portion can be provided on the proximal side of the robot hand, and the control portion can control at least one of the first conveyance portion and the second conveyance portion to be driven toward the wall portion when the first control processing is executed, and to be driven toward the opposite side of the wall portion when the third control processing is executed. In this configuration, the article placed on the first conveyance portion or the second conveyance portion is brought into abutment against the wall portion, and the article held by the robot hand is positioned with respect to the first conveyance portion and the second conveyance portion based on the wall portion. Thus, the article can be loaded into the loading position in the conveyance machine with high precision.

[0032] Also, the control portion can control the second driving portion to turn the robot hand to a state in which the wall portion is on the lower side when the first control processing is executed. In this configuration, even in a state in which the article is roughly placed on the first conveyance portion or the second conveyance portion, the robot hand is tilted to a state in which the wall portion is on the lower side, and thus the article is brought into abutment against the wall portion due to the weight of the article. Therefore, the article held by the robot hand is easily positioned in the driving direction of the first conveyance portion and the second conveyance portion.

[0033] Also, the control portion can control the second driving portion to turn the robot hand to a state in which the article placed on one of the first conveyance portion and the second conveyance portion touches the other of the first conveyance portion and the second conveyance portion when the first control processing is executed. In this configuration, the article held by the robot hand is positioned with respect to the first conveyance portion and the second conveyance portion not only in the driving direction of the first conveyance portion and the second conveyance portion but also in a direction perpendicular to the driving direction. Thus, the article can be loaded into the loading position in the container with higher precision.

[0034] Also, the control portion can control the first conveyance portion and the second conveyance portion to be simultaneously driven in the same direction when the first control processing and the third control processing are executed. In this configuration, for example, when the article placed on the first conveyance portion is moved in a state of abutting against the second conveyance portion, the article is prevented from being rubbed by the second conveyance portion.

[0035] Also, the width dimension of the first conveyance portion can be larger than the width dimension of the second conveyance portion. In this configuration, the robot hand can be downsized, and the cuboid-shaped article can be easily loaded into the container in the horizontal state and the vertical state.

[0036] Also, the cargo loading device can include a loading robot having an L-shaped robot hand that holds a cargo, a movement drive unit that moves the robot hand in directions of three axes, and a control unit that performs a first control process of controlling the movement drive unit so that the cargo held by the robot hand is temporarily placed at a close position that is offset from a loading position in a front side of the container, and after the first control process is performed, performs a second control process of controlling the movement drive unit so that the cargo temporarily placed at the close position is pressed toward the loading position by the robot hand. In this configuration, first, the cargo held by the robot hand is temporarily placed at the close position that is offset from the loading position in the front side of the container. Then, the cargo temporarily placed at the close position is pressed toward the loading position by the robot hand, so that the cargo reaches the loading position. Thus, the cargo can be accurately loaded into the loading position in the container.

[0037] Also, the close position can be a position that is offset from the loading position in the front side of the container, and the control unit can control the movement drive unit so that the cargo is pressed toward a deep side of the container by the robot hand when the second control process is performed. In this configuration, the cargo can be accurately loaded into the loading position in the container in the depth direction of the container.

[0038] Also, the close position can be a position that is offset from the loading position in the front side of the container and in one side of left and right directions, and the control unit can control the movement drive unit so that the cargo is pressed toward the other side of the left and right directions and the deep side of the container by the robot hand when the second control process is performed. In this configuration, the cargo can be accurately loaded into the loading position in the container in the depth direction and the left and right directions of the container.

[0039] Also, the control unit can first control the movement drive unit so that the cargo is pressed toward the deep side of the container by the robot hand, and then control the movement drive unit so that the cargo is pressed toward the other side of the left and right directions by the robot hand when the second control process is performed. In this configuration, when the cargo is pressed toward the deep side of the container by the robot hand, the side surface of the cargo can be prevented from interfering with the inner wall surface of the container or an existing cargo.

[0040] It can also be that the cargo loading device further has a rotation drive section that rotates the robot hand around three axes, and the control section, when executing the second control process, controls the rotation drive section to change the posture of the robot hand by 90 degrees according to the space in the left-right direction of the container around the loading position, and then controls the movement drive section to press the cargo by the robot hand to the other side in the left-right direction. In this configuration, the position at which the cargo is pressed by the robot hand changes according to the space in the left-right direction of the container around the loading position. Therefore, even when the space in the left-right direction of the container around the loading position is narrow, the cargo can be accurately loaded into the loading position in the container in the left-right direction of the container.

[0041] It can also be that the control section, when executing the second control process, controls the movement drive section to press a plurality of cargos by the robot hand to the other side in the deep direction or the left-right direction of the container. In this configuration, the plurality of cargos are pressed to the other side in the deep direction or the left-right direction of the container at the same time, and therefore, the control process of pressing the cargo to the other side in the deep direction or the left-right direction of the container is partially omitted. Therefore, the time for loading the cargo into the container is shortened.

[0042] It can also be that the control section, when executing the second control process, controls the movement drive section to press a plurality of cargos by the robot hand to the other side in the deep direction or the left-right direction of the container. In this configuration, the plurality of cargos are pressed to the other side in the deep direction or the left-right direction of the container at the same time, and therefore, the control process of pressing the cargo to the other side in the deep direction or the left-right direction of the container is partially omitted. Therefore, the time for loading the cargo into the container is shortened.

[0043] Effects of the invention

[0044] According to the present disclosure, it is possible to improve the cargo loading rate in a container. BRIEF DESCRIPTION OF DRAWINGS

[0045] Figure 1 is a diagram showing an outline configuration of a cargo loading device of a first embodiment of the present disclosure.

[0046] Figure 2 is Figure 1 is a control system configuration diagram of the cargo loading device shown in FIG.

[0047] Figure 3 is a diagram showing one example of a loading order of a plurality of accommodation regions set in a container and a carry-on baggage.

[0048] Figure 4 is a diagram showing an address set in a container and an accommodation region.

[0049] Figure 5 is a flowchart showing detailed contents of steps of the loading operation processing performed by the loading operation unit shown in Figure 2

[0050] Figure 6 is a schematic configuration diagram of a cargo loading device of a second embodiment of the present disclosure.

[0051] Figure 7 is a control system configuration diagram of the cargo loading device shown in Figure 6

[0052] Figure 8 is a diagram showing one example of a loading order of the carry-on baggage together with a plurality of accommodation areas set in the container.

[0053] Figure 9 is a diagram showing an address set in the container together with the accommodation areas.

[0054] Figure 10 is a flowchart showing the first adjustment logic.

[0055] Figure 11 is a conceptual diagram for explaining the height of the carry-on baggage.

[0056] Figure 12 is a flowchart showing the second adjustment logic.

[0057] Figure 13 is a flowchart showing the third adjustment logic.

[0058] Figure 14 is a control system configuration diagram of a cargo loading device of a third embodiment of the present disclosure.

[0059] Figure 15 is a flowchart showing detailed contents of steps of the loading operation processing performed by the loading operation unit shown in Figure 14

[0060] Figure 16 is a perspective view showing an appearance of a robot hand to which the cargo loading device of a fourth embodiment of the present disclosure is applied.

[0061] Figure 17 is a perspective view showing a case where the robot hand shown in Figure 16

[0062] Figure 18 is a perspective view showing driving directions of the first conveyance unit and the second conveyance unit shown in Figure 2

[0063] Figure 19 ​​​​​is a control system configuration diagram of the cargo loading device of Embodiment 4 of the present disclosure.

[0064] Figure 20 is a flowchart showing detailed contents of steps of the loading operation processing performed by the loading operation unit shown in Figure 19

[0065] Figure 21 is a side view showing a case where the carry-on baggage held by the robot hand is positioned by the wall portion with respect to the first conveyance portion and the second conveyance portion.

[0066] Figure 22 is a schematic side view showing a case where the carry-on baggage is loaded into the auxiliary storage area in the container.

[0067] Figure 23 is a flowchart showing detailed contents of steps of the loading operation processing performed by the loading operation unit shown in Figure 19

[0068] Figure 24 is a schematic plan view showing a case where the carry-on baggage temporarily placed in the proximity position in the container is pressed by the processing shown in Figure 23

[0069] is a flowchart showing detailed contents of one example of the step 702 shown in Figure 25 Figure 23

[0070] Figure 26 is a schematic side view showing a case where the carry-on baggage is pressed to the right side of the container by the robot hand.

[0071] Figure 27 is a flowchart showing detailed contents of another example of the step 702 shown in Figure 23

[0072] Figure 28 is a schematic plan view showing a case where the carry-on baggage temporarily placed in the proximity position in the container is pressed by the processing shown in Figure 27

[0073] is a flowchart showing detailed contents of still another example of the steps of the loading operation processing performed by the loading operation unit shown in Figure 29 Figure 19 is a flowchart showing detailed contents of the step 702 shown in

[0074] Figure 30 Figure 29

[0075] Figure 31 Figure 30 ​​​​​​​​​schematic plan view of a case where the shown processing presses the carry-on baggage temporarily placed in the approach position inside the container. DETAILED DESCRIPTION

[0076] Hereinafter, an embodiment of the present disclosure will be described in detail with reference to the drawings.

[0077] [1st Embodiment]

[0078] Figure 1 is a schematic configuration view showing a cargo loading device of the 1st embodiment of the present disclosure. In Figure 1 , the cargo loading device 1A of the 1st embodiment is provided, for example, at a loading yard of a backyard of an airport. The cargo loading device 1A is a device that loads carry-on baggage 3 (cargo) of a passenger to a plurality of containers 2 to be loaded to an airplane. Here, the carry-on baggage 3 loaded to the container 2 is a suitcase.

[0079] The container 2 is placed on a plurality of (here, 2) trolleys 4 pulled by a trailer (not shown). A coupler 4a is provided at the front end and the rear end of the trolley 4. Each trolley 4 is coupled to each other by the coupler 4a.

[0080] The cargo loading device 1A loads the carry-on baggage 3 to a plurality of (here, 2 in front and back) containers 2 at the same time. At one side surface of the container 2, a door (not shown) is provided. The cargo loading device 1A loads the carry-on baggage 3 into the container 2 from the side of the container 2 in a state where the door of the container 2 is opened. Further, the container 2 located at the front side of the trailer is set as a front container 2A (1st container), and the container 2 located at the rear side of the trailer is set as a rear container 2B (2nd container). The front container 2A and the rear container 2B are arranged in a transverse direction.

[0081] The cargo loading device 1A has a main conveyor 5, a sorting conveyor 6, a retreat conveyor 7, a cargo receiving conveyor 8, a pusher 9, a turret 10, a pusher 11, a buffer conveyor 12, a pusher 13, a pusher 14, and a loading robot 15.

[0082] The main conveyor 5, the sorting conveyor 6, and the retreat conveyor 7 are arranged in the arrangement direction (X-axis direction) of each container 2. The cargo receiving conveyor 8, the turret 10, and the buffer conveyor 12 are arranged in the X-axis direction at a position closer to the container 2 than the main conveyor 5 in a direction (Y-axis direction) perpendicular to the X-axis direction. The buffer conveyor 12 is arranged at a position closer to the container 2 than the cargo receiving conveyor 8 in the X-axis direction.

[0083] The main conveyor 5 is a carrying section that carries the carry-on baggage 3 received from the airport-side conveyor 16 toward the container 2. The airport-side conveyor 16 carries the carry-on baggage 3 from a check-in counter provided at a terminal of an airport to a loading field in a back field. The main conveyor 5 is composed of a plurality of (five in this case) in-line conveyors 17 that sequentially convey the carry-on baggage 3 one by one.

[0084] The sorting conveyor 6 is disposed on a downstream side from the main conveyor 5. The sorting conveyor 6 sends out the carry-on baggage 3 that is a non-loading target of the container 2, i.e., the carry-on baggage 3 other than the luggage, toward the evacuation conveyor 7. The evacuation conveyor 7 carries the non-loading target carry-on baggage 3 to a designated place.

[0085] The receipt conveyor 8 is disposed on a downstream side from the sorting conveyor 6 so as to branch from the evacuation conveyor 7. The receipt conveyor 8 places the loading target carry-on baggage 3 (luggage) of the container 2 to be loaded by the loading robot 15. The pusher 9 presses the loading target carry-on baggage 3 from the sorting conveyor 6 toward the receipt conveyor 8 to move the loading target carry-on baggage 3.

[0086] The turntable 10 is disposed on a downstream side from the receipt conveyor 8. The turntable 10 places the loading target carry-on baggage 3. The pusher 11 presses the loading target carry-on baggage 3 from the receipt conveyor 8 toward the turntable 10 to move the loading target carry-on baggage 3. The pushers 9, 11 move the carry-on baggage 3 carried by the main conveyor 5 to the turntable 10.

[0087] The buffer conveyor 12 is disposed on a downstream side from the turntable 10. The buffer conveyor 12 places the loading target carry-on baggage 3. On the container 2 side end portion in the Y-axis direction of the buffer conveyor 12, a wall portion 18 for positioning is provided. The pusher 13 presses the loading target carry-on baggage 3 from the turntable 10 toward the buffer conveyor 12 to move the loading target carry-on baggage 3.

[0088] The pusher 14 presses the loading target carry-on baggage 3 placed on the buffer conveyor 12 so as to abut against the wall portion 18. The pusher 14 and the wall portion 18 position the carry-on baggage 3 placed on the buffer conveyor 12 in a direction (Y-axis direction) perpendicular to the arrangement direction (X-axis direction) of the turntable 10 and the buffer conveyor 12.

[0089] The loading robot 15 is a loading unit that loads the loading target carry-on baggage 3 to the container 2. The loading robot 15 has a traveling car 19 and a robot arm 20 attached to the traveling car 19.

[0090] The traveling trolley 19 travels along a rail 21 extending in parallel with the arrangement direction (X-axis direction) of each container 2. The rail 21 is provided at the front side (door side) of each container 2. That is, the rail 21 is disposed between each container 2 and the main conveyor 5.

[0091] The robot arm 20 is movable in the directions of three axes (X, Y, Z axes) and is rotatable around the three axes. The Z-axis direction is a height direction perpendicular to the X-axis direction and the Y-axis direction. At the top end portion of the robot arm 20, a robot hand 22 that holds the carry-on baggage 3 placed on the buffer conveyor 12 is provided.

[0092] Figure 2 is a control system configuration diagram of the cargo loading device 1A. As shown in Figure 2 , the cargo loading device 1A is provided with an upstream camera 23, a downstream camera 24, a loading processing unit 25, and a control panel 26.

[0093] The upstream camera 23 is disposed above the sequentially conveying conveyors 17 located at the most upstream side in the main conveyor 5. The upstream camera 23 photographs the carry-on baggage 3 placed on the main conveyor 5, and acquires a photographed image of the carry-on baggage 3. The downstream camera 24 is disposed above the turret 10. The downstream camera 24 photographs the carry-on baggage 3 placed on the turret 10, and acquires a photographed image of the carry-on baggage 3.

[0094] The loading processing unit 25 is configured of a CPU, a RAM, a ROM, an input / output interface, and the like. The loading processing unit 25 acquires the photographed images of the carry-on baggage 3 obtained by the upstream camera 23 and the downstream camera 24, executes a prescribed process, and outputs detection data and a control signal to the control panel 26.

[0095] The loading processing unit 25 has a first carry-on baggage detection section 28, a second carry-on baggage detection section 29, and a loading calculation section 33.

[0096] The first carry-on baggage detection section 28 detects the kind of the carry-on baggage 3 carried by the main conveyor 5, based on the photographed image of the carry-on baggage 3 acquired by the upstream camera 23. The first carry-on baggage detection section 28 cooperates with the upstream camera 23 to detect the kind of the carry-on baggage 3.

[0097] The second carry-on baggage detection section 29 detects the size and orientation of the carry-on baggage 3 placed on the turret 10, based on the photographed image of the carry-on baggage 3 acquired by the downstream camera 24. The second carry-on baggage detection section 29 cooperates with the downstream camera 24 to detect the size and orientation of the carry-on baggage 3. The downstream camera 24 and the second carry-on baggage detection section 29 constitute a cargo detection section that detects the size of the carry-on baggage 3 carried by the main conveyor 5.

[0098] The loading calculation section 33 obtains a control signal to preferentially load the carry-on baggage 3 of each size into different containers 2 based on the size of the carry-on baggage 3 detected by the second carry-on baggage detection section 29. At this time, the loading calculation section 33 obtains a control signal to preferentially load the large-sized carry-on baggage 3A (refer to Figure 3 ) into the front container 2A and the medium-sized carry-on baggage 3B (refer to Figure 3 ) into the rear container 2B.

[0099] The control panel 26 is provided, for example, in the loading yard of the rear yard. The control panel 26 is configured of a CPU, a RAM, a ROM, an input / output interface, and the like. The control panel 26 controls the pushers 9, 11, the turntable 10, the pushers 13, 14, and the loading robot 15 based on the detection data and the control signal from the loading processing unit 25.

[0100] The control panel 26 has a movement control section 30, a rotation control section 31, a position control section 32, and a loading control section 38.

[0101] The movement control section 30 controls the pushers 9, 11 to move the carry-on baggage 3 to the turntable 10 when it is determined based on the detection data of the first carry-on baggage detection section 28 that the carry-on baggage 3 is a loading target (baggage).

[0102] The rotation control section 31 controls the turntable 10 to fix the orientation of the carry-on baggage 3 placed on the turntable 10 based on the orientation of the carry-on baggage 3 detected by the second carry-on baggage detection section 29. At this time, the rotation control section 31 obtains a rotation direction and a rotation amount of the turntable 10 to orient the handle 3a (refer to Figure 1 ) of the carry-on baggage 3 toward the downstream side (the buffer conveyor 12 side) of the turntable 10, and controls the turntable 10 to rotate according to the rotation direction and the rotation amount.

[0103] The position control section 32 controls the pushers 13, 14 to position the carry-on baggage 3 in the Y-axis direction in the buffer conveyor 12 after the turntable 10 is controlled to fix the orientation of the carry-on baggage 3.

[0104] The loading control section 38 controls the loading robot 15 according to the control signal obtained by the loading calculation section 33. The loading control section 38 cooperates with the loading calculation section 33 to configure a control section that controls the loading robot 15 to preferentially load the carry-on baggage 3 of each size into different containers 2.

[0105] A cargo loading method of loading the carry-on baggage 3 into the container 2 in the cargo loading device 1A configured as described above will be specifically described.

[0106] As Figure 3As shown, a cutout portion 2f is provided on the left side (in this case, the left side) of the container 2 when viewed from the door side (not shown) of the container 2. The cutout portion 2f has a structure in which the lower side corner portion of the container 2 is cut in a tapered shape. Inside the container 2, a plurality of (in this case, three) accommodation regions corresponding to the size of the carry-on baggage 3 are provided.

[0107] Specifically, in the front container 2A, a deep rear accommodation region S al (a first deep rear accommodation region), which is located on the deep rear side of the main region of the front container 2A, a front near accommodation region Sa2 (a first front near accommodation region), which is located on the front near side of the main region of the front container 2A, and an auxiliary accommodation region Sa3 (a first auxiliary accommodation region), which is located in a region of the front container 2A corresponding to the cutout portion 2f, are provided.

[0108] The main region of the front container 2A is a region of the front container 2A other than the region corresponding to the cutout portion 2f. The front near accommodation region Sa2 is located at a position on the front near side of the front container 2A than the deep rear accommodation region S al. The auxiliary accommodation region Sa3 is adjacent to the deep rear accommodation region S al and the front near accommodation region Sa2 in the left-right direction of the front container 2A. In the auxiliary accommodation region Sa3, an auxiliary table 36 (refer to FIG. 2) on which the carry-on baggage 3 is placed is provided. Figure 4

[0109] In the deep rear accommodation region S al, the large-sized carry-on baggage 3A is loaded. In the front near accommodation region Sa2, the medium-sized carry-on baggage 3B is loaded. In the auxiliary accommodation region Sa3, mainly the small-sized carry-on baggage 3C is loaded. Here, in the auxiliary accommodation region Sa3, the small-sized carry-on baggage 3C and the large-sized carry-on baggage 3A are loaded.

[0110] In the rear container 2B, a deep rear accommodation region Sb 1 (a second deep rear accommodation region), which is located on the deep rear side of the main region of the rear container 2B, a front near accommodation region Sb2 (a second front near accommodation region), which is located on the front near side of the main region of the rear container 2B, and an auxiliary accommodation region Sb3 (a second auxiliary accommodation region), which is located in a region of the rear container 2B corresponding to the cutout portion 2f, are provided.

[0111] The main region of the rear container 2B is a region of the rear container 2B other than the region corresponding to the cutout portion 2f. The front near accommodation region Sb2 is located at a position on the front near side of the rear container 2B than the deep rear accommodation region Sb 1. The auxiliary accommodation region Sb3 is adjacent to the deep rear accommodation region Sb 1 and the front near accommodation region Sb2 in the left-right direction of the rear container 2B. In the auxiliary accommodation region Sb3, an auxiliary table 36 (refer to FIG. 2) on which the carry-on baggage 3 is placed is provided. Figure 4

[0112] ​​In the deep side storage area Sb1, medium-sized carry-on luggage 3B is stored. In the near-front storage area Sb2, large carry-on luggage 3A is stored. In the auxiliary storage area Sb3, small carry-on luggage 3C is mainly stored. Here, in the auxiliary storage area Sb3, small carry-on luggage 3C and large carry-on luggage 3A are stored.

[0113] Large carry-on baggage 3A is the first type of cargo. Medium carry-on baggage 3B is the second type of cargo, smaller than carry-on baggage 3A. Small carry-on baggage 3C is the third type of cargo, smaller than both carry-on baggage 3A and 3B. Carry-on baggage 3A to 3C are categorized based on the size range of carry-on baggage 3. The size of carry-on baggage 3 can be, for example, its volume or surface area, or the sum of its length, width, and height.

[0114] like Figure 4 As shown, addresses for specifying the loading locations of carry-on baggage 3 are pre-set inside container 2. Inside container 2, addresses are sequentially set from bottom to top and from deep to near-front. Additionally, in the deep-side storage area Sa1 and near-front storage area Sa2 of the front container 2A, addresses are sequentially set from right (opposite to auxiliary storage area Sa3) to left (on the side of auxiliary storage area Sa3). In the deep-side storage area Sb1 and near-front storage area Sb2 of the rear container 2B, addresses are sequentially set from right (opposite to auxiliary storage area Sb3) to left (on the side of auxiliary storage area Sb3).

[0115] The loading calculation unit 33 of the loading processing unit 25 calculates control signals such as loading large carry-on luggage 3A in the order of the deep side storage area Sa1 of the front container 2A and the near front storage area Sb2 of the rear container 2B, loading medium-sized carry-on luggage 3B in the order of the deep side storage area Sb1 of the rear container 2B and the near front storage area Sa2 of the front container 2A, and loading small carry-on luggage 3C into the auxiliary storage area Sa3 of the front container 2A and the auxiliary storage area Sb3 of the rear container 2B. Then, the loading control unit 38 of the control panel 26 controls the loading robot 15 according to the control signals obtained by the loading calculation unit 33.

[0116] Figure 5 This is a flowchart showing the detailed steps of the loading calculation process performed by the loading calculation unit 33. This process illustrates the calculation steps for each carry-on bag 3. Furthermore, as... Figure 3 As shown, carry-on baggage 3 is randomly transported by the main conveyor 5 regardless of its size. The loading calculation unit 33 performs calculations to load carry-on baggage 3 into the front container 2A and the rear container 2B according to the transport sequence.

[0117] In Figure 5 which, the loading calculating section 33 first acquires the size data of the carry-on baggage 3 detected by the second carry-on baggage detecting section 29 (step S130). Then, the loading calculating section 33 judges whether the size of the carry-on baggage 3 is large size (step S131).

[0118] The loading calculating section 33 judges whether there is a space for accommodating the carry-on baggage 3A of large size in the preceding container 2A when judging that the size of the carry-on baggage 3 is large size (step S132). At this time, the loading calculating section 33 judges that there is no space for accommodating the carry-on baggage 3A in the preceding container 2A when the address No. 15 of the preceding container 2A (refer to Figure 4 ) has already loaded the carry-on baggage 3A, and judges that there is a space for accommodating the carry-on baggage 3A in the preceding container 2A when the address No. 15 of the preceding container 2A has not loaded the carry-on baggage 3A.

[0119] The loading calculating section 33 obtains a control signal to load the carry-on baggage 3A to the deep-side accommodation region S al and the auxiliary accommodation region Sa3 of the preceding container 2A when judging that there is a space for accommodating the carry-on baggage 3A in the preceding container 2A (step S133). At this time, the loading calculating section 33 obtains a control signal to load the carry-on baggage 3A in the address order set in the deep-side accommodation region S al and the auxiliary accommodation region Sa3 (refer to Figure 4 ).

[0120] The loading calculating section 33 judges whether it is possible to load the carry-on baggage 3A in the auxiliary accommodation region Sb3 of the succeeding container 2B when judging that there is no space for accommodating the carry-on baggage 3A in the preceding container 2A (step S134). It is not possible to load the carry-on baggage 3A when there is no space for accommodating the carry-on baggage 3A in the auxiliary accommodation region Sb3 of the succeeding container 2B. In addition, depending on the loading condition of the carry-on baggage 3B of medium size to the position close to the auxiliary accommodation region Sb3 in the deep-side accommodation region Sb l of the succeeding container 2B, it is sometimes not possible to load the carry-on baggage 3A of large size in the auxiliary accommodation region Sb3.

[0121] The loading calculating section 33 obtains a control signal to load the carry-on baggage 3A to the auxiliary accommodation region Sb3 of the succeeding container 2B when judging that it is possible to load the carry-on baggage 3A in the auxiliary accommodation region Sb3 of the succeeding container 2B (step S135). At this time, the loading calculating section 33 obtains a control signal to load the carry-on baggage 3A in the address order set in the auxiliary accommodation region Sb3.

[0122] When the loading operation section 33 determines that the carry-on baggage 3A cannot be loaded in the auxiliary storage area Sb3 of the rear container 2B, it calculates a control signal to load the carry-on baggage 3A in the proximal-side storage area Sb2 of the rear container 2B (step S136). At this time, the loading operation section 33 calculates a control signal to load the carry-on baggage 3A in the order of the addresses set in the proximal-side storage area Sb2 (refer to FIG. 6). Figure 4 ).

[0123] When the loading operation section 33 determines that the size of the carry-on baggage 3 is not the large size in step S131, it determines whether the size of the carry-on baggage 3 is the medium size (step S137). When the loading operation section 33 determines that the size of the carry-on baggage 3 is the medium size, it determines whether there is a space to store the carry-on baggage 3B of the medium size in the rear container 2B (step S138). At this time, the loading operation section 33 determines that there is no space to store the carry-on baggage 3B in the rear container 2B when the carry-on baggage 3B is already loaded in the 18th address (refer to FIG. 6) of the rear container 2B, and determines that there is a space to store the carry-on baggage 3B in the rear container 2B when the carry-on baggage 3B is not loaded in the 18th address of the rear container 2B. Figure 4

[0124] When the loading operation section 33 determines that there is a space to store the carry-on baggage 3B in the rear container 2B, it calculates a control signal to load the carry-on baggage 3B in the deep-distal-side storage area Sbl of the rear container 2B (step S139). At this time, the loading operation section 33 calculates a control signal to load the carry-on baggage 3B in the order of the addresses set in the deep-distal-side storage area Sbl (refer to FIG. 6). Figure 4

[0125] When the loading operation section 33 determines that there is no space to store the carry-on baggage 3B in the rear container 2B, it calculates a control signal to load the carry-on baggage 3B in the proximal-side storage area Sa2 of the front container 2A (step S140). At this time, the loading operation section 33 calculates a control signal to load the carry-on baggage 3B in the order of the addresses set in the proximal-side storage area Sa2 (refer to FIG. 6). Figure 4

[0126] When the loading operation section 33 determines that the size of the carry-on baggage 3 is not the medium size in step S137, it calculates a control signal to load the carry-on baggage 3C of the small size in the auxiliary storage area Sa3 of the front container 2A and the auxiliary storage area Sb3 of the rear container 2B (step S141). At this time, the loading operation section 33 calculates a control signal to load the carry-on baggage 3C in the order of the addresses set in the auxiliary storage areas Sa3, Sb3 (refer to FIG. 6). Figure 4

[0127] ​​​​In the above cargo loading device 1A, when the carry-on baggage 3 is handed over from the airport-side conveyor 16 to the main conveyor 5, the carry-on baggage 3 is carried toward the container 2 by the main conveyor 5. At this time, the carry-on baggage 3 placed on the most upstream side of the main conveyor 5 is imaged by the upstream camera 23. The imaged image of the carry-on baggage 3 taken by the upstream camera 23 is transmitted to the loading processing unit 25, and the kind of the carry-on baggage 3 is detected on the basis of the imaged image of the carry-on baggage 3.

[0128] When the carry-on baggage 3 is a loading object, the loading-object carry-on baggage 3 is moved from the sorting conveyor 6 to the receiving conveyor 8 by the pusher 9, and further, the loading-object carry-on baggage 3 is moved from the receiving conveyor 8 to the turntable 10 by the pusher 11.

[0129] The loading-object carry-on baggage 3 placed on the turntable 10 is imaged by the downstream camera 24. The imaged image of the carry-on baggage 3 taken by the downstream camera 24 is transmitted to the loading processing unit 25, and the size and the orientation of the carry-on baggage 3 are detected on the basis of the imaged image of the carry-on baggage 3 (detection process).

[0130] The turntable 10 is rotated so that the handle 3a of the loading-object carry-on baggage 3 faces the buffer conveyor 12 side. The loading-object carry-on baggage 3 is moved from the turntable 10 to the buffer conveyor 12 by the pusher 13. By pressing the loading-object carry-on baggage 3 to the wall portion 18 by the pusher 14, the carry-on baggage 3 is positioned to the container 2 side in the Y-axis direction.

[0131] The loading-object carry-on baggage 3 is loaded into the container 2 by the loading robot 15. Specifically, in a state where the carry-on baggage 3 placed on the buffer conveyor 12 is held by the robot hand 22, by moving and rotating the robot arm 20 in the directions of the three axes, the carry-on baggage 3 is loaded into a storage region in the container 2 corresponding to the size of the carry-on baggage 3 (loading process).

[0132] The large-sized carry-on baggage 3A is first loaded into the far-side storage region S al and the auxiliary storage region Sa3 of the front container 2A in the address order, and next, is loaded into the near-side storage region Sb2 of the rear container 2B in the address order. The medium-sized carry-on baggage 3B is first loaded into the far-side storage region Sb l of the rear container 2B in the address order, and next, is loaded into the near-side storage region Sa2 of the front container 2A in the address order. The small-sized carry-on baggage 3C is loaded into the auxiliary storage region Sa3 of the front container 2A and the auxiliary storage region Sb3 of the rear container 2B in the address order.

[0133] When the carry-on baggage 3 is loaded into the front container 2A, the running trolley 19 is stopped in a state of being kept at a near-side position of the front container 2A (refer to FIG. 2). Figure 4). When the carry-on baggage 3 is loaded to the rear container 2B, the traveling car 19 travels along the rail 21 to a position near the rear container 2B in a state where the robot hand 22 holds the carry-on baggage 3. The carry-on baggage 3 is loaded to the container 2 in a state where the handle 3a is directed to the near side of the container 2.

[0134] As described above, when the carry-on baggage 3 is randomly carried by the main conveyor 5 regardless of the size, if the carry-on baggage 3 is loaded to one container 2 in the order of carrying, the following problem occurs.

[0135] That is, for example, in a case where the carry-on baggage 3 is loaded from the far side of the container 2 in a left alignment, the cargo loading rate of the container 2 varies depending on the order of carrying the carry-on baggage 3. The cargo loading rate of the container 2 is the proportion of the volume of the carry-on baggage 3 with respect to the volume of the container 2. At this time, depending on the order of carrying the carry-on baggage 3, the void space in the container 2 sometimes increases, and a stable cargo loading rate cannot be ensured in the container 2. In addition, if the carry-on baggage 3 of a large size is loaded on the carry-on baggage 3 of a small size, the cargo of the carry-on baggage 3 is easily disordered. In order to prevent the increase of the void space in the container 2 and the disorder of the cargo of the carry-on baggage 3, it is also conceivable to rearrange the carry-on baggage 3 by each size, but this not only increases the burden on the operator, but also requires a space for retreating the carry-on baggage 3.

[0136] In view of such a problem, in the cargo loading device 1A, the carry-on baggage 3 carried by the main conveyor 5 is loaded to two containers 2 in the order of carrying by the loading robot 15. At this time, the size of the carry-on baggage 3 is detected, and the loading robot 15 is controlled so that the carry-on baggage 3 is preferentially loaded to different containers 2 by each size. Therefore, even if the carry-on baggage 3 is randomly carried regardless of the size, the carry-on baggage 3 is preferentially loaded to an appropriate container 2 corresponding to the size. Therefore, the carry-on baggage 3 is efficiently loaded to the container 2, and the void space in the container 2 is reduced. As a result, a stable cargo loading rate is ensured in the container 2 regardless of the order of carrying the carry-on baggage 3. In addition, since the carry-on baggage 3A of a large size is not loaded on the carry-on baggage 3B of a medium size, and the carry-on baggage 3B of a medium size and the carry-on baggage 3A of a large size are not loaded on the carry-on baggage 3C of a small size, the disorder of the cargo of the carry-on baggage 3 in the container 2 is prevented. As a result, before the carry-on baggage 3 is loaded to the container 2, the carry-on baggage 3 does not need to be rearranged by the size of the carry-on baggage 3. Therefore, the burden on the operator is reduced, and a retreat space for the carry-on baggage 3 is not required.

[0137] In the present embodiment, the large-size carry-on baggage 3A is preferentially loaded into the front container 2A, and the medium-size carry-on baggage 3B is preferentially loaded into the rear container 2B. Therefore, even if the carry-on baggage 3A, 3B of different sizes are carried at random, the carry-on baggage 3A is preferentially loaded into the front container 2A with high efficiency, and the carry-on baggage 3B is preferentially loaded into the rear container 2B with high efficiency.

[0138] In the present embodiment, the large-size carry-on baggage 3A is loaded in the order of the deep-rearward storage area S al of the front container 2A and the near-front storage area Sb2 of the rear container 2B, and the medium-size carry-on baggage 3B is loaded in the order of the deep-rearward storage area Sb l of the rear container 2B and the near-front storage area Sa2 of the front container 2A. Therefore, for example, even if the large-size carry-on baggage 3A cannot be loaded in 2 columns in the depth direction of the container 2, the carry-on baggage 3A, 3B is loaded into the front container 2A and the rear container 2B with high efficiency.

[0139] In the present embodiment, the small-size carry-on baggage 3C is loaded into the auxiliary storage area Sa3 in the front container 2A corresponding to the cutout portion 2f and the auxiliary storage area Sb3 in the rear container 2B corresponding to the cutout portion 2f. Therefore, even if the carry-on baggage 3A to 3C of different sizes are carried at random, the carry-on baggage 3A to 3C is loaded into the front container 2A and the rear container 2B with high efficiency.

[0140] In the present embodiment, when the large-size carry-on baggage 3A is loaded into the deep-rearward storage area Sa l of the front container 2A and the near-front storage area Sb2 of the rear container 2B, the carry-on baggage 3A is loaded from the opposite side of the cutout portion 7f toward the cutout portion 7f side, and when the medium-size carry-on baggage 3B is loaded into the deep-rearward storage area Sb l of the rear container 2B and the near-front storage area Sa2 of the front container 2A, the carry-on baggage is loaded from the opposite side of the cutout portion 2f toward the cutout portion 2f side 3B. Therefore, it is possible to load the small-size carry-on baggage 3C into the auxiliary storage area Sa3 before the carry-on baggage 3A, 3B is loaded into the vicinity of the auxiliary storage area Sa3 in the deep-rearward storage area Sa l and the near-front storage area Sa2, and it is possible to load the carry-on baggage 3C into the auxiliary storage area Sb3 before the carry-on baggage 3A, 3B is loaded into the vicinity of the auxiliary storage area Sb3 in the deep-rearward storage area Sb l and the near-front storage area Sb2. Therefore, even if the carry-on baggage 3C is loaded into the front container 2A and the rear container 2B together with the carry-on baggage 3A, 3B, it is possible to reliably load the carry-on baggage 3C into the front container 2A and the rear container 2B.

[0141] In the present embodiment, various modifications can be applied. In the present embodiment, the large-size carry-on baggage 3A, the medium-size carry-on baggage 3B, and the small-size carry-on baggage 3C are loaded to the front container 2A and the rear container 2B, respectively, but are not particularly limited to such a manner. For example, the large-size carry-on baggage 3A and the small-size carry-on baggage 3C can be loaded to the front container 2A, and the medium-size carry-on baggage 3B and the small-size carry-on baggage 3C can be loaded to the rear container 2B.

[0142] In the present embodiment, the sizes of the carry-on baggage 3 loaded to the container 2 are three types of large size, medium size, and small size, but are not particularly limited to such a manner, and can be two types of large size and small size. In this case, the large-size carry-on baggage 3 can be preferentially loaded to one of the front container 2A and the rear container 2B, and the small-size carry-on baggage 3 can be preferentially loaded to the other of the front container 2A and the rear container 2B.

[0143] In the present embodiment, the two containers 2 arranged in the lateral direction load the carry-on baggage 3 of the plurality of types having different sizes, but are not particularly limited to such a manner, and the three or more containers 2 arranged in the lateral direction can load the carry-on baggage 3 of the plurality of types having different sizes.

[0144] In the present embodiment, the control panel 26 has the movement control section 30, the rotation control section 31, the position control section 32, and the loading control section 38, but is not particularly limited to such a manner. For example, in a case where the control panel 26 is not provided, the movement control section 30, the rotation control section 31, the position control section 32, and the loading control section 38 can be provided to the loading processing unit 25.

[0145] In the present embodiment, the container 2 provided with the cutout section 2f at the lower side corner on one side of left and right loads the carry-on baggage 3, but the present disclosure is not particularly limited to such a manner, and for example, can be applied to the cargo loading device that loads the cargo to the cuboid container without the cutout section 2f. In addition, the present disclosure can be applied to the cargo loading device that loads the cargo to the container other than the container for an airplane.

[0146] [2nd Embodiment]

[0147] Figure 1 is a schematic configuration view showing a cargo loading device of a 2nd embodiment of the present disclosure. As shown in Figure 6 the 2nd embodiment, the cargo loading device 1B has a storage conveyor 40 in place of the sequential transfer conveyor 17 in the main conveyor 5, which is different from the 1st embodiment. The other aspects are the same as the 1st embodiment.

[0148] The storage conveyor 40 is a conveyor for temporarily storing the carried carry-on baggage 3. The storage conveyor 40 temporarily stores the carry-on baggage 3 in a case where the carry-on baggage 3 that has arrived at the buffer conveyor 12 is baggage that should be loaded later, so that the carry-on baggage 3 can be loaded later.

[0149] The storage conveyor 40 is provided above the main conveyor 5. The storage conveyor 40 has a plurality of storage portions 41 that store each carry-on baggage 3. The plurality of storage portions 41 are arranged in the direction in which the main conveyor 5 extends, that is, the X-axis direction. The rows of the storage portions 41 can also be provided in multiple layers (stages) in the up-down direction. In the storage portions 41, the loading robot 15 can access (store and take out the carry-on baggage 3) from the positive side in the Y-axis direction.

[0150] In the present embodiment, above the portion of the main conveyor 5 adjacent to the airport-side conveyor 16 (hereinafter also referred to as "information detection site DP1"), an upstream camera 23 (cargo detection portion) that photographs the carry-on baggage 3 on the information detection site DP1 is provided. In addition, above the turntable 10 (hereinafter also referred to as "information detection site DP2"), a downstream camera 24 (cargo detection portion) that photographs the carry-on baggage 3 on the turntable 10 is provided.

[0151] Figure 6 is a control system configuration diagram of the cargo loading device IB. As shown in Figure 7 , the constituent elements of the control system in the cargo loading device IB are the same as in the first embodiment.

[0152] In the cargo information of the carry-on baggage 3 detected by the first carry-on baggage detection portion 28 and the second carry-on baggage detection portion 29, for example, information such as the size of the carry-on baggage 3, the type of the carry-on baggage 3, the material of the carry-on baggage 3, and the orientation of the carry-on baggage 3 is included. These pieces of information can be detected by either of the first carry-on baggage detection portion 28 and the second carry-on baggage detection portion 29. Here, the first carry-on baggage detection portion 28 on the upstream side detects the size of the carry-on baggage 3, the type of the carry-on baggage 3, and the material of the carry-on baggage 3, and the second carry-on baggage detection portion 29 detects the orientation of the carry-on baggage 3 immediately before loading.

[0153] The loading control portion 38 controls the loading robot 15 on the basis of a basic logic that determines the basic movement of the loading robot 15. In addition, the loading control portion 38 controls the loading robot 15 on the basis of an adjustment logic for adjusting the loading order of the carry-on baggage 3 to the container 2 with respect to the carrying order of the carry-on baggage 3. The control of the loading robot 15 in the basic logic is the same as in the first embodiment (refer to Figure 6 and Figure 8). The control signal based on the basic logic or the adjustment logic is calculated by the loading calculation section 33. In the following description, in the case where the loading control section 38 controls the loading robot 15, sometimes means that the loading calculation section 33 calculates the control signal based on which the loading control section 38 controls the loading robot 15.

[0154] The adjustment logic is logic for adjusting the loading order in which the loading robot 15 loads the carry-on baggage 3, with respect to the carrying order in which the carry-on baggage 3 is carried from the carrying section, based on the baggage information detected by the carry-on baggage detection sections 28, 29. In the present embodiment, five adjustment logics, the first adjustment logic to the fifth adjustment logic, are provided.

[0155] In the first adjustment logic, the loading control section 38 adjusts the loading order by temporarily storing the carry-on baggage 3 to the storage conveyor 40, and then loading the carry-on baggage stored in the storage conveyor 40. The loading control section 38 adjusts the loading order to an order in which the loading robot 15 easily loads each of the containers 2A, 2B. In the example of Fig. 6, the medium-sized carry-on baggage 3B is carried in the second place of the carrying order, between the large-sized carry-on baggage 3A. Figure 9 In the example of Fig. 6, the medium-sized carry-on baggage 3B is carried in the second place of the carrying order, between the large-sized carry-on baggage 3A.

[0156] In this case, in the first adjustment logic, the loading control section 38 temporarily stores the medium-sized carry-on baggage 3B in the second place of the carrying order to the storage conveyor 40. The loading control section 38 controls so that the medium-sized carry-on baggage 3B is taken out from the storage conveyor 40 after four large-sized carry-on baggage 3A, which are subsequent to the medium-sized carry-on baggage 3B, are loaded consecutively, and is loaded to the rear container 2B in the fifth place of the loading order. The loading robot 15 loads the four large-sized carry-on baggage 3A consecutively, and then loads the three medium-sized carry-on baggage 3B consecutively.

[0157] The loading control section 38 temporarily stores the large-sized carry-on baggage 3A in the eighth place of the carrying order to the storage conveyor 40. In addition, the loading control section 38 controls so that the large-sized carry-on baggage 3A is taken out from the storage conveyor 40, and is loaded to the front container 2A in the eleventh place of the loading order. The loading robot 15 loads the three medium-sized carry-on baggage 3B consecutively, and then loads the small-sized carry-on baggage 3C and the two medium-sized carry-on baggage 3B, and then loads the large-sized carry-on baggage 3A.

[0158] Figure 3 is a flowchart of the first adjustment logic. As Figure 10As shown, the loading operation section 33 detects the cargo information of each piece of carry-on baggage 3 from the carry-on baggage detection sections 28, 29, and based on the cargo information, operates the carrying order of the carry-on baggage and the loading order of the carry-on baggage with respect to the carrying order (step S210: cargo detection process, loading process). The loading operation section 33 can acquire the cargo information at the information detection site DP1 on the upstream side, and thus can operate the types of all of the pieces of carry-on baggage 3 present in the carrying section and their carrying order (the state of the pieces of carry-on baggage 3 shown in "carrying order" of FIG. 6). Figure 10 The loading operation section 33 can operate the loading order of the carry-on baggage (the state of the pieces of carry-on baggage 3 shown in "loading order" of FIG. 6). Figure 8

[0159] Next, the loading operation section 33 determines whether or not it is necessary to store the pieces of carry-on baggage 3 currently present on the buffer conveyor 12 to the storage conveyor 40 (step S220: loading process). In a case where the loading operation section 33 determines that storage is necessary, the loading control section 38 controls the loading robot 15 to store the pieces of carry-on baggage 3 on the buffer conveyor 12 to the storage conveyor 40 (step S250: loading process). After the storage to the storage conveyor 40 is completed, the process is executed again from step S210.

[0160] In a case where the loading operation section 33 determines that it is not necessary to take out the pieces of carry-on baggage 3 from the storage conveyor 40 in step S230, the loading control section 38 controls the loading robot 15 to load the pieces of carry-on baggage 3 present on the buffer conveyor 12 to the container 2 (step S240: loading process).

[0161] In a case where the loading operation section 33 determines that it is necessary to take out the pieces of carry-on baggage 3 from the storage conveyor 40 in step S230, the loading control section 38 controls the loading robot 15 to load the pieces of carry-on baggage 3 stored in the storage conveyor 40 to the container 2 (step S260: loading process). After the processes of steps S240, S260 are completed, the process is executed again from step S210.

[0162] In the 2nd adjustment logic, the loading control section 38 adjusts the loading order so that the difference in height between the pieces of carry-on baggage 3 constituting the same layer in the container 2 becomes equal to or less than a prescribed threshold value. For example Figure 8 ​(a) of FIG. 8, a step is generated between the upper surfaces of the carry-on luggage 3 in the case where there is a difference in the height of the carry-on luggage 3. In the first layer and the second layer, in the case where there is a large difference in the height between the carry-on luggage 3, the carry-on luggage 3 is easily scattered when further stacked. Therefore, on the lower layer side like the first layer and the second layer, it is necessary to suppress the difference in the height between the carry-on luggage 3 to be small. The height dimension of the carry-on luggage 3 is determined by the "H dimension" shown in (b) of FIG. 8. Figure 11

[0163] Here, a height variation "h(max) - h(min)" is defined. h(max) is the largest height in the same layer. h(min) is the smallest height in the same layer. In the first layer, the height variation is determined from the height dimension of the carry-on luggage 3 itself. In the second layer, the height variation is determined from the height at which the carry-on luggage 3 is stacked from the floor of the container (the height of two carry-on luggage 3). In the third layer and the subsequent layers, the height variation is determined from the height at which the carry-on luggage 3 is stacked from the floor of the container (the height of three carry-on luggage 3, the height of four carry-on luggage 3, and the like). Figure 11 In (a) of FIG. 8, "h2" corresponds to h(max), and "hi" corresponds to h(min). A prescribed threshold value is set for the height variation. The threshold value is set to 20 mm as an initial value, for example. The threshold value can be appropriately changed depending on the situation. For example, in the case where it is desired to more strictly suppress the scattering of the cargo, the threshold value can be set to 15 mm or the like. The height variation is determined from the height dimension of the carry-on luggage 3 itself in the first layer, and from the height at which the carry-on luggage 3 is stacked from the floor of the container (the height of two carry-on luggage 3) in the second layer. In the third layer and the subsequent layers, the height variation is determined from the height at which the carry-on luggage 3 is stacked from the floor of the container (the height of three carry-on luggage 3, the height of four carry-on luggage 3, and the like). Figure 11 In (a) of FIG. 8, the carry-on luggage 3 of the second layer is shown by a broken line, and the height dimension of the carry-on luggage 3 of the second layer, that is, the height dimension of the total of the carry-on luggage 3 of the first layer and the carry-on luggage of the second layer is shown by an arrow of the broken line. The 2nd adjustment logic can be applied to at least the loading of the first layer, and can not be applied to the second layer, and is applied to the third layer and the subsequent layers. However, by reducing the difference in the height between the first layer and the second layer, the effect of suppressing the scattering of the cargo of the carry-on luggage 3 becomes large, and therefore it is preferable that the 2nd adjustment logic be applied to the first layer and the second layer.

[0164] For example, the loading calculation section 33, when loading a new carry-on luggage 3 present on the buffer conveyor 12 as a second carry-on luggage 3 (height dimension h2), calculates the height variation with respect to a first carry-on luggage 3 (height dimension hi), and determines whether the height variation is equal to or less than the threshold value. The loading control section 38, in the case where the height variation is equal to or less than the threshold value, loads the carry-on luggage 3 on the buffer conveyor 12 as the second carry-on luggage 3 to the container 2. On the other hand, the loading control section 38, in the case where the height variation is greater than the threshold value, temporarily stores the same on the storage conveyor 40 on the buffer conveyor 12.

[0165] Figure 11 is a flowchart of the 2nd adjustment logic. Here, as in Figure 12 ​the first layer of the baggage 3 as shown in (a). First, the loading control section 38 controls the loading robot 15 so that the first baggage 3 is loaded on the first layer of the container 2 (step S310: loading process). At this time, the baggage 3 in the conveyance section is advanced by an amount of one baggage 3 toward the downstream side, and a new baggage 3 is arranged on the buffer conveyor 12.

[0166] Next, the loading arithmetic section 33 detects the cargo information of the next baggage 3 (the baggage 3 newly arranged on the buffer conveyor 12) from the baggage detection sections 28, 29, and determines whether the height of the baggage 3 satisfies the condition (step S320: cargo information detection process, loading process). The loading arithmetic section 33 determines whether the height variation is below the threshold value when the new baggage 3 is put into the container 2, and determines that the condition is satisfied if the height variation is below the threshold value.

[0167] In the case where the loading arithmetic section 33 determines that the condition is not satisfied in step S320, the loading control section 38 controls the loading robot 15 so that the baggage 3 on the buffer conveyor 12 is stored in the storage conveyor 40 (step S340: loading process). Then, the processing is repeated from step S320. On the other hand, in the case where the loading arithmetic section 33 determines that the condition is satisfied in step S320, the loading control section 38 controls the loading robot 15 so that the baggage 3 on the buffer conveyor 12 is loaded into the container 2 (step S330: loading process).

[0168] After step S330, the loading arithmetic section 33 determines whether the loading of the same layer is finished (step S350: loading process). In the case where it is determined in step S350 that the loading of the same layer is not finished, the processing is repeated from step S320. In the case where it is determined in step S350 that the loading of the same layer is finished, the processing shown in FIG. 6 is ended, and the loading of the next layer is performed. Figure 11 The processing shown in FIG. 6 is ended, and the loading of the next layer is performed.

[0169] The loading arithmetic section 33 can also search for the baggage 3 satisfying the condition of the height by considering not only the baggage 3 present on the buffer conveyor 12 but also the entire baggage 3 present in the conveyance section when the above-described second adjustment logic is performed. In this case, as a third adjustment logic, the loading control section 38 can also assign a priority order to each section of the conveyance section, and perform control so that the baggage 3 is taken out from the section having a high priority order. The priority order is set, for example, in the order from high to low of the buffer conveyor 12, the storage conveyor 40, the receipt conveyor 8, the sorting conveyor 6, and the main conveyor 5 (the priority order is higher on the downstream side).

[0170] Figure 12This is a flowchart of the third adjustment logic. First, the loading control unit 38 controls the loading robot 15 to load the first carry-on baggage 3 onto the first layer of the container 2 (step S410: loading process). At this time, the carry-on baggage 3 of the handling unit moves downstream by the amount of one carry-on baggage 3, and the new carry-on baggage 3 is placed on the buffer conveyor 12.

[0171] Next, the loading calculation unit 33 detects the cargo information of the carry-on baggage 3 at the target location from the carry-on baggage detection units 28 and 29, and determines whether the height of the carry-on baggage 3 meets the conditions (step S420: cargo detection process, loading process). In the first step S420, the buffer conveyor 12, which has the highest priority, becomes the target location for determination. That is, when the carry-on baggage 3 of the buffer conveyor 12 is placed into the container 2, the loading calculation unit 33 determines whether the height variable is below a threshold. If the height variable is below the threshold, it is determined that the conditions are met.

[0172] If the loading calculation unit 33 determines that the conditions are not met, the loading calculation unit 33 lowers the priority of the object location (step S440: loading process). As a result, the object location is switched from the buffer conveyor 12 to the storage conveyor 40 with the second highest priority. Then, the process is repeated from step S420. When the multiple storage sections 41 of the storage conveyor 40 contain personal luggage 3, the priority of the multiple storage sections 41 may or may not be specially set.

[0173] If the loading calculation unit 33 determines that the conditions are met, the loading control unit 38 controls the loading robot 15 to load the carry-on baggage 3 from the target area into the container 2 (step S430: loading process). For example, if the target area in step S420 is the buffer conveyor 12, the loading robot 15 loads the carry-on baggage 3 from the buffer conveyor 12 into the container 2. If the target area is the storage conveyor 40, the loading robot 15 loads the carry-on baggage 3 from any of the storage sections 41 in the storage conveyor 40 into the container 2.

[0174] After step S430, the loading calculation unit 33 determines whether loading of the same layer has ended (step S450: loading process). If it is determined in step S450 that loading of the same layer has not ended, the process is repeated from step S420. If it is determined in step S450 that loading of the same layer has ended, Figure 13 The processing shown is complete; proceed to the loading of the next layer.

[0175] When repeat Figure 13 During steps S320 and S340, as shown, the storage conveyor 40 may sometimes become full. Furthermore, even if repeated... Figure 12In the steps S420 and S440, there are cases where no carry-on baggage 3 satisfying the conditions is found in the carrying section. In this case, the carry-on baggage 3 of the buffer conveyor 12 can be stored in the storage conveyor 40 to move the carry-on baggage 3 in the carrying section as a whole downstream by the amount of one carry-on baggage 3, but there are cases where the storage conveyor 40 is filled. Therefore, the loading control section 38 can also execute the fourth adjustment logic of taking out the carry-on baggage 3 from the storage conveyor 40 to make the difference in height between the plurality of carry-on baggage 3 in the container 2 as small as possible in the case where the storage conveyor 40 is filled.

[0176] In the fourth adjustment logic, for example, in the case where the height of the carry-on baggage 3 in the carrying section is too low with respect to the carry-on baggage 3 loaded on the first layer of the container 2, the loading control section 38 takes out the carry-on baggage 3 of the largest size in height from among the plurality of carry-on baggage 3 stored in the storage conveyor 40. In the case where the height of the carry-on baggage 3 in the carrying section is too high with respect to the carry-on baggage 3 loaded on the first layer of the container 2, the loading control section 38 takes out the carry-on baggage 3 of the smallest size in height from among the plurality of carry-on baggage 3 stored in the storage conveyor 40. In the case where the fourth adjustment logic is executed, it is also possible to return to the second adjustment logic or the third adjustment logic at the point of time when a gap is generated in one section of the storage conveyor 40. In addition, it is also possible to continue the fourth adjustment logic until a certain degree of gap is generated in the storage conveyor 40.

[0177] Next, the fifth adjustment logic will be described. The loading calculation section 33 can acquire the material of all the carry-on baggage 3 in the carrying section as cargo information from the first carry-on baggage detection section 28. The loading control section 38 adjusts the loading order so that the carry-on baggage 3 of which the material is detected as soft (soft-shell carry-on baggage 3) is loaded on the upper layer side. Specifically, in the case where the material of the carry-on baggage 3 is detected as soft, the loading control section 38 can control the loading robot 15 so that the carry-on baggage 3 is loaded on the upper layer side. Figure 13 In (a) of FIG. 17, it is possible to control so that the soft-shell carry-on baggage 3 is loaded at the position at which the mark of "O" is indicated.

[0178] The soft shell can be allowed to be loaded, for example, to the uppermost layer and the second layer from the top. For example, it is assumed that the soft-shell carry-on baggage 3 reaches the buffer conveyor 12 when the loading robot 15 is loading the layer on the lower layer side in the container 2. In this case, the loading control section 38 stores the soft-shell carry-on baggage 3 in the storage conveyor 40, and takes out the soft-shell carry-on baggage 3 from the storage conveyor 40 at the start of loading the layer on the upper layer side to load it on the upper layer side of the container 2. The soft-shell carry-on baggage 3 can also be controlled to be loaded only to the uppermost layer.

[0179] In the above such cargo loading device 1B, the carry-on luggage 3 carried by the carrying section is loaded to the container 2 by the loading robot 15. At this time, the loading calculation section 33 and the loading control section 38 control the loading robot 15 so that the loading order in which the loading robot 15 loads is adjusted with respect to the carrying order of the carry-on luggage 3 carried from the carrying section. Therefore, even if the carry-on luggage 3 is carried randomly regardless of the size, material, and the like, the loading robot 15 is not bound by the carrying order and can load the carry-on luggage 3 to the container 2 in a loading order that is appropriately adjusted in accordance with the balance of the height, material, and the like of the carry-on luggage 3. Therefore, regardless of the carrying order of the carry-on luggage 3, the carry-on luggage 3 can be loaded in a stable state within the container 2.

[0180] In the present embodiment, the carrying section has a storage conveyor 40 that temporarily stores the carried carry-on luggage 3. The loading calculation section 33 and the loading control section 38 adjust the loading order by temporarily storing the carry-on luggage 3 to the storage conveyor 40 and then loading the carry-on luggage 3 stored in the storage conveyor 40. In this way, by temporarily storing the carry-on luggage 3 to the storage conveyor 40, adjustment of the loading order becomes easy.

[0181] In the present embodiment, the loading calculation section 33 and the loading control section 38 adjust the loading order so that the difference in height of the plurality of carry-on luggage 3 that constitute the same layer within the container 2 from each other becomes equal to or less than a prescribed threshold. Thereby, it is possible to suppress the difference in height of the carry-on luggage 3 loaded to the lower layer side from each other, and thus it is possible to suppress the difference in height of the carry-on luggage 3 generated on the upper layer side, suppress cargo collapse.

[0182] In the present embodiment, the loading calculation section 33 and the loading control section 38, in a case where the storage conveyor 40 is full, take out the carry-on luggage 3 from the storage conveyor 40 so that the difference in height of the plurality of carry-on luggage 3 in the container 2 from each other becomes the smallest. Thereby, it is possible to suppress the difference in height of the carry-on luggage 3 of the same layer from each other, and also it is possible to form a gap in the storage conveyor 40.

[0183] In the present embodiment, the loading calculation section 33 and the loading control section 38 impart a priority order to each section of the carrying section, and control the loading robot 15 so that the carry-on luggage 3 is taken out from the section having a high priority order. In this way, by causing the loading robot 15 to take out the cargo from the section having a high priority order, it is possible to reduce the cycle time of the loading work.

[0184] In the present embodiment, the carry-on luggage detection sections 28, 29 detect the material of the cargo as cargo information, and the loading calculation section 33 and the loading control section 38 adjust the loading order so that the carry-on luggage 3 detected as having a soft material is loaded to the upper layer side. Thereby, it is possible to suppress the carry-on luggage 3 that is likely to collapse from being loaded to the lower layer side, and suppress cargo collapse from occurring.

[0185] In the present embodiment, the storage conveyor 40 is provided above the main conveyor 5, but the position of the storage conveyor 40 is not particularly limited and can be provided at another position. In the present embodiment, the storage conveyor 40 is used to adjust the loading order, but the storage conveyor 40 can be omitted. For example, the loading order can be adjusted by taking out the carry-on baggage 3 from each position of the handling section as explained in the flowchart of Figure 9

[0186] In the present embodiment, as an example of the control of taking out the carry-on baggage 3 from the position having a high priority order, the flowchart shown in FIG. 12 is exemplified, but the control content is not limited to this. For example, the loading control section 38 can grasp the height dimension of all the carry-on baggage 3 in the handling section at a stage before actually loading the carry-on baggage 3 to the first layer (or the second layer) of the container 2, and plan the combination of the carry-on baggage 3 to be loaded to the first layer in advance. The control method shown in FIG. 11 can be combined with the control method of planning the combination in advance. Figure 13 Figure 13

[0187] In the control of taking out the carry-on baggage 3 from the position having a high priority order, the loading control section 38 can sometimes give priority to the priority order of the position from which the carry-on baggage 3 is taken out, and can sometimes give priority to reducing the difference in height between the carry-on baggage 3. For example, the loading control section 38 can assign a predetermined evaluation score to the height of the priority order of the position from which the carry-on baggage 3 is taken out, assign a predetermined evaluation score to the magnitude of the difference in height, and adjust the loading order based on the comprehensive evaluation.

[0188] [3rd Embodiment]

[0189] Figure 13 is a control system configuration diagram of the cargo loading device of the 3rd embodiment of the present disclosure. As shown in Figure 14 In the cargo loading device 1C of the 3rd embodiment, the control panel 26 has the tag information acquisition section 27, and the loading processing unit 25 has the tag information update section 34, which is different from the 1st embodiment. The other aspects are the same as the 1st embodiment.

[0190] The control panel 26 is connected to an airport controller 35 as a superior system. The airport controller 35 is provided at a terminal building of an airport. The airport controller 35 sends out the tag ID of the carry-on baggage 3 to the control panel 26.

[0191] ​​​The tag information acquisition unit 27 acquires the tag ID (tag information) of the carry-on baggage 3 sent from the airport controller 35. The tag ID is issued when the boarding pass is issued at the check-in counter. The tag ID records information about the passenger, the boarding flight, and the carry-on baggage 3, and the like.

[0192] The tag information update unit 34 binds the loading data including the loading position of the carry-on baggage 3 to the tag ID acquired by the tag information acquisition unit 27. At this time, the tag information update unit 34 binds the loading data including the address (described later) of the loading position of the carry-on baggage 3 to the tag ID.

[0193] Figure 14 is a flowchart showing the steps of the loading process performed by the loading processing unit 25. This process shows the steps of the processing of each carry-on baggage 3. The loading processing unit 25 first acquires the tag ID of the carry-on baggage 3 from the tag information acquisition unit 27 (step S501). In addition, the loading processing unit 25 acquires the photographed image of the carry-on baggage 3 by the upstream camera 23 (step S502). The loading processing unit 25 detects the kind and the size of the carry-on baggage 3 based on the photographed image of the carry-on baggage 3 by the upstream camera 23 (step S503).

[0194] The loading processing unit 25 judges whether the carry-on baggage 3 is the loading object (the luggage case) based on the kind of the carry-on baggage 3 (step S504). The loading processing unit 25 binds the loading object flag to the tag ID of the carry-on baggage 3 when it is judged that the carry-on baggage 3 is the loading object (step S505).

[0195] Next, the loading processing unit 25 acquires the photographed image of the carry-on baggage 3 by the downstream camera 24 (step S506). The loading processing unit 25 detects the size and the orientation of the carry-on baggage 3 based on the photographed image of the carry-on baggage 3 by the downstream camera 24 (step S507). The loading processing unit 25 judges whether the size of the carry-on baggage 3 is equal to the size detected in step S503 (step S508). The loading processing unit 25 performs an alarm when it is judged that the sizes of the carry-on baggage 3 are not equal (step S509).

[0196] The loading processing unit 25 performs the loading control operation process of finding the control signal for sequentially loading the carry-on baggage 3 into the accommodation region corresponding to the size of the carry-on baggage 3 in the container 2 by the loading robot 15 when it is judged that the sizes of the carry-on baggage 3 are equal (step S510). The loading control operation process of step S510 is the same as that of the first embodiment (refer to Figure 15 ).

[0197] Next, the loading processing unit 25 binds the address of the loading position (described later) to the tag ID of the carry-on baggage 3 (step S511). Next, the loading processing unit 25 saves the tag ID to which the loading object flag and the loading data including the address of the loading position are bound, to the memory (step S512). At this time, the loading processing unit 25 saves the tag ID to the memory of the loading processing unit 25, and sends the tag ID to the airport controller 35 and saves it to the memory of the airport controller 35.

[0198] When the loading processing unit 25 determines in step S504 that the carry-on baggage 3 is not a loading object, the loading processing unit 25 binds the non-loading object flag to the tag ID of the carry-on baggage 3 (step S513). Next, the loading processing unit 25 saves the tag ID to which the non-loading object flag is bound, to the memory (step S512).

[0199] In the above, the first carry-on baggage detection unit 28 performs steps S502, S503. The second carry-on baggage detection unit 29 performs steps S506, S507. The loading calculation unit 33 performs step S510. The tag information update unit 34 performs steps S501, S504, S505, S511 to S513.

[0200] In the cargo loading device 1C, the tag ID of the carry-on baggage 3 issued at the time of issuance of the boarding pass is transmitted from the airport controller 35 to the control panel 26, and the carry-on baggage 3 is carried by the airport-side conveyor 16. The carry-on baggage 3 is handed over from the airport-side conveyor 16 to the main conveyor 5, and the carry-on baggage 3 is carried toward the container 2 by the main conveyor 5.

[0201] When the carry-on baggage 3 is handed over to the main conveyor 5, the carry-on baggage 3 placed by the sequential transfer conveyor 17 of the most upstream side of the main conveyor 5 is imaged by the upstream camera 23. The imaged image of the carry-on baggage 3 taken by the upstream camera 23 is transmitted to the loading processing unit 25, and the kind and size of the carry-on baggage 3 are detected on the basis of the imaged image of the carry-on baggage 3. At this time, the tag ID of the carry-on baggage 3 is tracked in the loading processing unit 25.

[0202] When the carry-on baggage 3 is a loading object, the carry-on baggage 3 of the loading object is moved from the sorting conveyor 6 to the receipt conveyor 8 by the pusher 9, and further, the carry-on baggage 3 of the loading object is moved from the receipt conveyor 8 to the turntable 10 by the pusher 11. When the carry-on baggage 3 is a non-loading object, the carry-on baggage 3 of the non-loading object is moved from the sorting conveyor 6 to the retreat conveyor 7.

[0203] The carry-on baggage 3 of the loading object placed on the turntable 10 is imaged by the downstream camera 24. The imaged image of the carry-on baggage 3 taken by the downstream camera 24 is transmitted to the loading processing unit 25, and the size and orientation of the carry-on baggage 3 are detected based on the imaged image of the carry-on baggage 3. At this time, the tag ID of the carry-on baggage 3 is tracked in the loading processing unit 25 together with the data of the kind and size of the carry-on baggage 3.

[0204] When the size of the carry-on baggage 3 detected from the imaged image of the downstream camera 24 is equal to the size of the carry-on baggage 3 detected from the imaged image of the upstream camera 23, the turntable 10 is rotated so that the handle 3a of the carry-on baggage 3 of the loading object faces the buffer conveyor 12 side. Then, the carry-on baggage 3 of the loading object is moved from the turntable 10 to the buffer conveyor 12 by the pusher 13. By pressing the carry-on baggage 3 of the loading object to the wall portion 18 by the pusher 14, the carry-on baggage 3 is positioned to the container 2 side in the Y-axis direction.

[0205] Next, the carry-on baggage 3 of the loading object is loaded into the container 2 by the loading robot 15. Specifically, in a state where the carry-on baggage 3 placed on the buffer conveyor 12 is held by the robot hand 22, the robot arm 20 is moved in the directions of the 3 axes and rotated around the 3 axes, so that the carry-on baggage 3 is loaded into the accommodation region in the container 2 corresponding to the size of the carry-on baggage 3.

[0206] At this time, the large-sized carry-on baggage 3A is first loaded in the address order to the far side accommodation region SI and the auxiliary accommodation region S3 of the front container 2A, and next loaded in the address order to the near side accommodation region S2 of the rear container 2B. The medium-sized carry-on baggage 3B is first loaded in the address order to the far side accommodation region SI of the rear container 2B, and next loaded in the address order to the near side accommodation region S2 of the front container 2A. The small-sized carry-on baggage 3C is loaded in the address order to the auxiliary accommodation region S3 of the front container 2A and the rear container 2B.

[0207] When the carry-on baggage 3 is loaded to the front container 2A, the traveling car 19 is kept stopped in a state of stopping at the near position of the front container 2A (refer to Figure 5 ). When the carry-on baggage 3 is loaded to the rear container 2B, the traveling car 19 travels along the rail 21 to the near position of the rear container 2B in a state where the carry-on baggage 3 is held by the robot hand 22. The carry-on baggage 3 is loaded into the container 2 in a state where the handle 3a faces the near side of the container 2. The loading operation of the carry-on baggage 3 by the loading robot 15 is performed in a state of inheriting the tag ID of the carry-on baggage 3. The tag ID of the loaded carry-on baggage 3 is bound to the loading data including the loading position of the carry-on baggage 3. The tag ID bound to the loading data is saved to the memory of the loading processing unit 25 and the airport controller 35.

[0208] In the above cargo loading device 1C, when the carry-on baggage 3 is carried toward the container 2 by the main conveyor 5, the tag ID of the carry-on baggage 3 is acquired, so that the operator no longer needs to read the tag ID by a bar code reader or the like before the loading of the carry-on baggage 3 into the container 2. In addition, by binding the loading data including the loading position of the carry-on baggage 3 to the tag ID, the operator no longer needs to attach a tag seal to the container list, for example, after the loading of the carry-on baggage 3 into the container 2. Therefore, the work of the operator is reduced. Due to the reduction of the work of the operator, the work failure of the operator such as loading the carry-on baggage 3 into a different container 2 is suppressed, so that the reliability relating to the loading of the carry-on baggage 3 into the container 2 is improved.

[0209] In the present embodiment, the loading data including the address of the loading position of the carry-on baggage 3 in the container 2 is bound to the tag ID of the carry-on baggage 3. Therefore, from the tag ID of the carry-on baggage 3, it is easy to know which position in the container 2 the carry-on baggage 3 is loaded. Therefore, it is easy to investigate the cause in the case where the carry-on baggage 3 is damaged, to trace in the case where the carry-on baggage 3 is missing, and the like. In addition, it is possible to immediately notify the passenger of the whereabouts of the carry-on baggage 3. Furthermore, when the work of loading and unloading the carry-on baggage 3 is performed, the tag ID can be flexibly used as prior data.

[0210] In the present embodiment, the same various modifications as the first embodiment can also be applied. In the present embodiment, the control panel 26 has the tag information acquisition section 27, the movement control section 30, the rotation control section 31, the position control section 32, and the loading control section 38, but is not particularly limited to such a manner. For example, in the case where the control panel 26 is not provided, the tag information acquisition section 27, the movement control section 30, the rotation control section 31, the position control section 32, and the loading control section 38 can be provided to the loading processing unit 25.

[0211] [Fourth Embodiment]

[0212] A fourth embodiment of the present disclosure will be described. A cargo loading device 1D (refer to Figure 1 ) of the fourth embodiment is different from the first embodiment in the configuration of the robot hand 22. The other aspects are the same as the first embodiment.

[0213] Figure 19 is a perspective view showing the appearance of the robot hand. As Figure 16As shown, the robot hand 22 has a first conveying section 123 and a second conveying section 124 configured in an L-shape with the first conveying section 123. The second conveying section 124 is vertically erected on one side edge of the first conveying section 123 in the width direction via a connecting portion 125. The first conveying section 123 and the second conveying section 124 are configured in an L-shape when viewed from the front side of the robot hand 22. A thin conveyor is used as the first conveying section 123 and the second conveying section 124.

[0214] The first conveyor section 123 is a horizontal conveyor section for carrying and moving carry-on baggage 3. The first conveyor section 123 engages with the main surface 3a of the carry-on baggage 3. The second conveyor section 124 is a vertical conveyor section for carrying and moving carry-on baggage 3. The second conveyor section 124 engages with the side surface 3d of the carry-on baggage 3.

[0215] The width W1 of the first conveying section 123 is greater than the width W2 of the second conveying section 124. The width W1 of the first conveying section 123 is, for example, smaller than the lateral dimension of a large carry-on baggage 3A. The width W2 of the second conveying section 124 is, for example, smaller than the longitudinal dimension of a large carry-on baggage 3A. As a result, miniaturization of the robotic hand 22 is achieved.

[0216] A housing 126 is provided at the base of the robot hand 22. The base of the robot hand 22 is the robot arm 20 of the robot hand 22 (see reference). Figure 16 The housing 126 is disposed across the first conveying section 123 and the second conveying section 124.

[0217] The housing 126 houses: a motor roller 127 that drives the first conveyor section 123; a motor roller 128 that drives the second conveyor section 124; and a control board 129 that controls the first conveyor section 123 and the second conveyor section 124 by controlling the motor rollers 127 and 128.

[0218] The storage housing 126 has a wall portion 130 that positions the carry-on baggage 3 relative to the first transport section 123 and the second transport section 124 in the driving direction (length direction) of the first transport section 123 and the second transport section 124. The wall portion 130 is provided on the base end side of the robot hand 22.

[0219] When carrying carry-on baggage 3 to the robotic arm 22, such as Figure 1 As shown in (a), carry-on baggage 3 is placed horizontally in the first transport section 123. The horizontal placement of carry-on baggage 3 means that the two main surfaces 3a of carry-on baggage 3 are positioned vertically. At this time, carry-on baggage 3 is placed in the first transport section 123 with the handle 131 facing the wall 130 side.

[0220] When loading the carry-on baggage 3 held in the robotic arm 22 into the container 2, such as Figure 17 As shown in (a), carry-on baggage 3 is placed horizontally in the first conveyor section 123, or as... Figure 17 As shown in (b), carry-on baggage 3 is placed longitudinally in the second transport section 124. The longitudinal placement of carry-on baggage 3 means that the two sides 3d of carry-on baggage 3 are positioned vertically. At this time, carry-on baggage 3 is also placed in the second transport section 124 with the handle 131 facing the wall 130.

[0221] When carrying carry-on baggage 3 to the robotic arm 22, such as Figure 17 As shown in (a), the first conveying unit 123 and the second conveying unit 124 are driven toward the wall 130 side (the base end side of the robot hand 22). In this case, the carry-on bag 3 moves toward the wall 130.

[0222] When loading the carry-on baggage 3 held in the robotic arm 22 into the container 2, such as Figure 18 As shown in (b), the first conveying section 123 and the second conveying section 124 are driven toward the opposite side of the wall section 130 (the top side of the robot arm 22). That is, when loading the carry-on baggage 3 into the container 2, they are driven in the opposite direction to when the carry-on baggage 3 is held to the robot arm 22. In this case, the carry-on baggage 3 moves away from the wall section 130.

[0223] The loading robot 15 has a first drive unit 133, a second drive unit 134, and a control board 135 (see reference). Figure 18 The first drive unit 133 is a drive unit that moves the robot hand 22 in three axes (X-axis, Y-axis, and Z-axis). The second drive unit 134 is a drive unit that rotates the robot hand 22 about three axes (about the X-axis, Y-axis, and Z-axis). The control board 135 controls the first drive unit 133 and the second drive unit 134.

[0224] The X, Y, and Z axes are represented by a robot coordinate system with the origin at a predetermined position of the loading robot 15. This predetermined position is, for example, the base position of the robot arm 20. The X-axis direction corresponds to the forward / backward direction of the loading robot 15. The front side of the loading robot 15 is the side facing which the robot arm 20 is directed. The Y-axis direction corresponds to the left / right direction of the loading robot 15. The Z-axis direction corresponds to the up / down direction (height) of the loading robot 15.

[0225] Figure 19 This is a control system configuration diagram of the cargo loading device 1D. (For example...) Figure 19As shown, the constituent elements of the control system in the cargo loading device 1C are the same as in the first embodiment. The loading control section 38 drives the buffer conveyor 12 in accordance with the control signal from the loading arithmetic section 33 of the loading processing unit 25. In addition, the loading control section 38 controls the first conveying section 123, the second conveying section 124, the first drive section 133, and the second drive section 134 via the control boards 129, 135.

[0226] The loading arithmetic section 33 of the loading processing unit 25 and the loading control section 38 of the control panel 26 perform a first control process of controlling the buffer conveyor 12, the first conveying section 123, the second conveying section 124, and the second drive section 134 so that the carry-on baggage 3 is held to the first control process. The loading arithmetic section 33 and the loading control section 38 perform a second control process of controlling the first drive section 133 so that the robot hand 22 is moved into the container 2 after the first control process.

[0227] The loading arithmetic section 33 and the loading control section 38 perform a third control process of controlling the first conveying section 123, the second conveying section 124, and the second drive section 134 so that the carry-on baggage 3 held to the robot hand 22 is loaded into the container 2 after the second control process. The loading arithmetic section 33 and the loading control section 38 cooperate with the control boards 129, 135 to constitute a control section that performs the first control process, the second control process, and the third control process.

[0228] Figure 19 is a flowchart showing the details of the steps of the loading arithmetic process performed by the loading arithmetic section 33. This process shows the steps of the arithmetic process for each carry-on baggage 3.

[0229] When this process is performed, the robot hand 22 of the loading robot 15 is in a holding position that holds the carry-on baggage 3 placed on the buffer conveyor 12. The holding position is a position at which the carry-on baggage 3 can be handed over from the buffer conveyor 12 to the first conveying section 123 of the robot hand 22 on the downstream side of the buffer conveyor 12. At this time, the first conveying section 123 can also be inclinedly disposed in a manner of slightly descending toward the wall section 130 side.

[0230] The robot hand 22 is in an initial state in which the carry-on baggage 3 can be received from the buffer conveyor 12 when it is in the holding position. In addition, the first conveying section 123 and the second conveying section 124 of the robot hand 22 are in a stopped state.

[0231] In the third control process, the loading arithmetic section 33 and the loading control section 38 perform the following processes. Figure 20In this case, the loading operation section 33 first sends a control signal to the loading control section 38 to drive the buffer conveyer 12 for a prescribed time (step S601). In addition, the loading operation section 33 sends a control signal to the loading control section 38 to simultaneously drive the first conveyer section 123 and the second conveyer section 124 toward the wall section 130 for a prescribed time (step S602). As a result, the buffer conveyer 12 is driven, and the first conveyer section 123 and the second conveyer section 124 are driven toward the wall section 130, so the carry-on baggage 3 is transferred from the buffer conveyer 12 to the first conveyer section 123.

[0232] Next, as shown in FIG. 6, the loading operation section 33 sends a control signal to the loading control section 38 to rotate the robot hand 22 around the Y axis to a state in which the wall section 130 is located on the lower side (step S603). As a result, the robot hand 22 is rotated around the Y axis, and becomes a state in which the robot hand 22 is inclined with the wall section 130 on the lower side. Figure 20

[0233] The loading operation section 33 sends a control signal to the loading control section 38 to rotate the robot hand 22 around the X axis to a state in which the carry-on baggage 3 placed on the first conveyer section 123 touches the second conveyer section 124 (step S604). As a result, the robot hand 22 is rotated around the X axis, and the carry-on baggage 3 touches the second conveyer section 124.

[0234] Next, the loading operation section 33 determines whether the storage area in which the carry-on baggage 3 is loaded is not the auxiliary storage area Sa3 of the front container 2A and the auxiliary storage area Sb3 of the rear container 2B (step S605). The loading operation section 33 sends a control signal to the loading control section 38 to move the robot hand 22 to the vicinity of the loading position of the carry-on baggage 3 when it is determined that the storage area in which the carry-on baggage 3 is loaded is not the auxiliary storage area Sa3 or Sb3 (step S606). As a result, the robot hand 22 is moved to the vicinity of the loading position of the carry-on baggage 3.

[0235] The loading operation section 33 determines whether the loading position of the carry-on baggage 3 corresponds to an address in which the baggage is loaded in a horizontal state (step S607). The loading operation section 33 sends a control signal to the loading control section 38 to simultaneously drive the first conveyer section 123 and the second conveyer section 124 toward the opposite side of the wall section 130 for a prescribed time when it is determined that the loading position of the carry-on baggage 3 corresponds to an address in which the baggage is loaded in a horizontal state (step S608). As a result, the carry-on baggage 3 is transferred from the first conveyer section 123 to the loading position in the container 2 in a horizontal state.

[0236] ​When the loading position of the carry-on baggage 3 is judged to correspond to an address that does not correspond to the address loaded in the horizontal state, i.e., the loading position of the carry-on baggage 3 corresponds to the address loaded in the vertical state, the loading operation section 33 sends a control signal to the loading control section 38 to rotate the robot hand 22 by 90 degrees around the X axis (step S609). Thereby, the posture of the robot hand 22 is changed from the horizontal state to the vertical state. Then, the loading operation section 33 executes the above-mentioned step S608. Thereby, the carry-on baggage 3 is transferred from the first conveyer 123 to the loading position in the container 2 in the vertical state.

[0237] When the loading operation section 33 judges in step S105 that the storage area of the carry-on baggage 3 is the auxiliary storage area Sa3, Sb3, as shown in (a) of Figure 21 , the loading operation section 33 sends a control signal to the loading control section 38 to move the robot hand 22 to the right upper side of the loading position of the carry-on baggage 3 (step S610). Thereby, the robot hand 22 is moved to the right upper side of the loading position of the carry-on baggage 3.

[0238] As shown in (b) of Figure 22 and (c) of Figure 22 , the loading operation section 33 sends a control signal to the loading control section 38 to rotate the robot hand 22 counterclockwise around the X axis as viewed in the front direction of the loading robot 15 (step S611). Thereby, the carry-on baggage 3 is transferred from the robot hand 22 to the loading position in the container 2 in the horizontal state. Further, in Figure 22 , the storage housing 126 of the robot hand 22 is omitted.

[0239] After executing the above-mentioned step S608 or step S611, the loading operation section 33 sends a control signal to the loading control section 38 to move the robot hand 22 to the holding position in the initial state (step S612). Thereby, the robot hand 22 is moved to the holding position, so that the carry-on baggage 3 carried next can be loaded.

[0240] The steps S601 to S604, S612 correspond to the above-mentioned first control process. The steps S605, S606, S610 correspond to the above-mentioned second control process. The steps S607 to S609, S611 correspond to the above-mentioned third control process.

[0241] In the cargo loading device ID, when the carry-on baggage 3 as a loading object is loaded to the container 2, first, the robot hand 22 of the loading robot 15 holds the carry-on baggage 3. Specifically, in the state where the robot hand 22 is in the holding position, the buffer conveyer 12 is driven, and as shown in Figure 22As shown in (a) of FIG. 27, the first conveyance section 123 and the second conveyance section 124 of the robot hand 22 are driven toward the wall section 130 side, and thus the carry-on baggage 3 is carried from the buffer conveyer 12 to the first conveyance section 123 of the robot hand 22.

[0242] Then, as shown in (a) of FIG. 28, the robot hand 22 is tilted by rotating around the Y axis so that the carry-on baggage 3 is located on the lower side, and thus the carry-on baggage 3 is lowered along the first conveyance section 123 due to the weight thereof, with the handle 131 of the carry-on baggage 3 abutting against the wall section 130. Thus, the carry-on baggage 3 becomes a state of being positioned with respect to the first conveyance section 123 with the wall section 130 as a reference in the driving direction of the first conveyance section 123. Figure 18

[0243] In addition, the robot hand 22 is rotated around the X axis so that the carry-on baggage 3 touches the second conveyance section 124, and thus the side surface 3d of the carry-on baggage 3 abuts against the second conveyance section 124. Thus, the carry-on baggage 3 becomes a state of being positioned with respect to the first conveyance section 123 also in the direction perpendicular to the driving direction of the first conveyance section 123. In this state, the robot hand 22 is moved in the directions of the three axes and is rotated around the three axes, and thus the carry-on baggage 3 held by the robot hand 22 is loaded into the accommodation region in the container 2 corresponding to the size of the carry-on baggage 3.

[0244] The loading control operation process is the same as that of the first embodiment (refer to Figure 21 ). When the large-sized carry-on baggage 3A is loaded into the far side accommodation region S al and the near side accommodation region Sb2, the robot hand 22 is moved to the near side of the loading position of the carry-on baggage 3A. At this time, in the case where the loading position of the carry-on baggage 3A corresponds to the address loaded in the horizontal state, as shown in (a) of FIG. 29 and (b) of FIG. 30, the first conveyance section 123 and the second conveyance section 124 of the robot hand 22 are driven toward the opposite side of the wall section 130, and thus the carry-on baggage 3A is carried from the robot hand 22 to the loading position in the horizontal state. Figure 5 Figure 17 In the case where the loading position of the carry-on baggage 3A corresponds to the address loaded in the vertical state, as shown in (b) of FIG. 29, the robot hand 22 is rotated around the X axis by 90 degrees in the near side of the loading position of the carry-on baggage 3A, and thus the posture of the robot hand 22 is changed from the horizontal state to the vertical state. The address loaded in the vertical state is the 5th, 8th, 23rd, and 28th (refer to

[0245] In the case where the loading position of the carry-on baggage 3A corresponds to the address loaded in the vertical state, as shown in (b) of FIG. 29, the robot hand 22 is rotated around the X axis by 90 degrees in the near side of the loading position of the carry-on baggage 3A, and thus the posture of the robot hand 22 is changed from the horizontal state to the vertical state. The address loaded in the vertical state is the 5th, 8th, 23rd, and 28th (refer to Figure 18 Figure 17 In this state, the first conveyance section 123 and the second conveyance section 124 are driven toward the opposite side of the wall section 130, and thus the carry-on baggage 3A is carried from the robot hand 22 to the loading position in the vertical state.

[0246] ​​​When the carry-on baggage 3A is loaded to the auxiliary storage area Sa3, Sb3, as shown in (a) of FIG. 27, the robot hand 22 is moved to the right upper side of the loading position of the carry-on baggage 3A. Then, as shown in (b) of FIG. 28 and (c) of FIG. 29, the robot hand 22 is rotated counterclockwise around the X axis as viewed from the robot arm 20 side, so that the carry-on baggage 3A is moved away from the robot hand 22. The carry-on baggage 3A is placed to the loading position in a horizontal state while rolling. Figure 4 Figure 22 Figure 22 As shown in (b) of FIG. 28 and (c) of FIG. 29, the robot hand 22 is rotated counterclockwise around the X axis as viewed from the robot arm 20 side, so that the carry-on baggage 3A is moved away from the robot hand 22. The carry-on baggage 3A is placed to the loading position in a horizontal state while rolling.

[0247] When the medium-sized carry-on baggage 3B is loaded to the far side storage area Sb1 and the near side storage area Sa2, the robot hand 22 is moved to the near side of the loading position of the carry-on baggage 3B. Then, as shown in (b) of FIG. 32, the first conveyance section 123 and the second conveyance section 124 are driven to the opposite side of the wall section 130, so that the carry-on baggage 3B is moved from the robot hand 22 to the loading position in a horizontal state. Figure 22

[0248] When the small-sized carry-on baggage 3C is loaded to the auxiliary storage area Sa3, Sb3, as shown in (a) of FIG. 35, the robot hand 22 is moved to the right upper side of the loading position of the carry-on baggage 3C. Then, as shown in (b) of FIG. 36 and (c) of FIG. 37, the robot hand 22 is rotated counterclockwise around the X axis as viewed from the robot arm 20 side, so that the carry-on baggage 3C is moved away from the robot hand 22, and the carry-on baggage 3C is placed to the loading position in a horizontal state while rolling. Figure 18 Figure 22 Figure 22 As shown in (b) of FIG. 36 and (c) of FIG. 37, the robot hand 22 is rotated counterclockwise around the X axis as viewed from the robot arm 20 side, so that the carry-on baggage 3C is moved away from the robot hand 22, and the carry-on baggage 3C is placed to the loading position in a horizontal state while rolling.

[0249] In the above cargo loading device 1D, by moving the carry-on baggage 3 from the robot hand 22 to the container 2 by the first conveyance section 123 and the second conveyance section 124, it is possible to easily load the carry-on baggage 3 into the container 2 from the side of the container 2. In addition, the second conveyance section 124 is arranged in an L shape with the first conveyance section 123. Therefore, by rotating the robot hand 22 around the X axis parallel to the driving direction of the first conveyance section 123 and the second conveyance section 124 by the second driving section 134, it is possible to change the posture of the carry-on baggage 3 by 90 degrees. Therefore, it is possible to load the carry-on baggage 3 not only in a horizontal state but also in a vertical state. Thus, it is possible to reduce the void space in the container 2, and improve the carry-on baggage loading rate in the container 2.

[0250] In the present embodiment, the robot hand 22 having the first conveyance section 123 and the second conveyance section 124 is used. Therefore, it is possible to cope with various sizes and shapes of carry-on baggage 3 such as hard suitcases, soft suitcases, and cardboard boxes. Therefore, it is possible to operate the loading robot 15 without changing to a dedicated robot hand depending on the size and shape of the carry-on baggage 3. ​​​​​

[0251] In the present embodiment, by rotating the robot hand 22 around an axis parallel to the driving directions of the first and second conveyors 123 and 124 by the second driving section 134, it is possible to change the posture of the carry-on baggage 3 by 90 degrees. Therefore, it is possible to easily and reliably load the carry-on baggage 3 in either of the horizontal and vertical states.

[0252] In the present embodiment, on the proximal end side of the robot hand 22, a wall section 130 that positions the carry-on baggage 3 with respect to the first and second conveyors 123 and 124 in the driving directions of the first and second conveyors 123 and 124 is provided. Therefore, by abutting the carry-on baggage 3 placed on the first conveyor 123 against the wall section 130, the carry-on baggage 3 held by the robot hand 22 is positioned with respect to the first and second conveyors 123 and 124 with the wall section 130 as a reference. Thus, it is possible to load the carry-on baggage 3 into the loading position in the container 2 with high precision.

[0253] In the present embodiment, by the second driving section 134, the robot hand 22 is rotated to a state in which the wall section 130 is on the lower side. Therefore, even in a state in which the carry-on baggage 3 is roughly placed on the first conveyor 123, the robot hand 22 is inclined with the wall section 130 on the lower side, and thus the carry-on baggage 3 is reliably abutted against the wall section 130 due to the weight of the carry-on baggage 3. Therefore, the carry-on baggage 3 held by the robot hand 22 is easily positioned in the driving directions of the first and second conveyors 123 and 124.

[0254] In the present embodiment, by the second driving section 134, the robot hand 22 is rotated to a state in which the carry-on baggage 3 placed on the first conveyor 123 touches the second conveyor 124. Therefore, the carry-on baggage 3 is positioned with respect to the first and second conveyors 123 and 124 not only in the driving directions of the first and second conveyors 123 and 124 but also in a direction perpendicular to the driving directions. Thus, it is possible to load the carry-on baggage 3 into the loading position in the container 2 with higher precision.

[0255] In the present embodiment, the first and second conveyors 123 and 124 are simultaneously driven in the same direction. Therefore, when the carry-on baggage 3 placed on the first conveyor 123 is moved in a state of abutting against the second conveyor 124, it is possible to prevent the carry-on baggage 3 from being rubbed by the second conveyor 124.

[0256] In the present embodiment, the width dimension W1 of the first conveyor 123 is larger than the width dimension W2 of the second conveyor 124. Therefore, it is possible to not only miniaturize the robot hand 22 but also easily load the carry-on baggage 3 in the cuboid shape into the container 2 in the horizontal and vertical states.

[0257] In the present embodiment, the same various modifications as in the first embodiment can also be applied. In the present embodiment, when the carry-on baggage 3 is held to the robot hand 22, the first conveying section 123 and the second conveying section 124 are simultaneously driven to the wall section 130 side, but are not particularly limited to this manner, and only the first conveying section 123 can be driven to the wall section 130 side.

[0258] In the present embodiment, when the carry-on baggage 3 is loaded to the deep side storage region S al, Sb l and the near side storage region Sa2, Sb2 in the container 2, the first conveying section 123 and the second conveying section 124 are simultaneously driven to the opposite side of the wall section 130, but are not particularly limited to this manner. When the carry-on baggage 3 is loaded to the deep side storage region S al, Sb l and the near side storage region Sa2, Sb2 in the container 2 in the horizontal state, only the first conveying section 123 can be driven to the opposite side of the wall section 130. When the carry-on baggage 3 is loaded to the deep side storage region S al, Sb l and the near side storage region Sa2, Sb2 in the container 2 in the vertical state, only the second conveying section 124 can be driven to the opposite side of the wall section 130.

[0259] In the present embodiment, the width dimension Wl of the first conveying section 123 is larger than the width dimension W2 of the second conveying section 124, but is not particularly limited to this manner, and the width dimensions of the first conveying section 123 and the second conveying section 124 can be equal. In this case, as the shape of the carry-on baggage 3 loaded to the container 2, it is not particularly limited to a rectangular parallelepiped shape, and can be a cubic shape. That is, as the shape of the carry-on baggage 3, it is only necessary to be a quadrangular prism shape. Further, the quadrangular prism shape can include a perfect quadrangular prism shape and an approximately quadrangular prism shape.

[0260] In the present embodiment, the operations of the first drive section 133 and the second drive section 134 are performed individually, but are not particularly limited to this manner, and the operations of the first drive section 133 and the second drive section 134 can be performed simultaneously. The loading robot 15 can have only the first drive section 133. In this case, for example, the operator can rotate the robot hand 22 manually.

[0261] [Another Example of the Fourth Embodiment]

[0262] Another example of the fourth embodiment of the present disclosure will be described. In this other example, a part of the steps of the loading operation processing performed by the loading operation section 33 is different from the fourth embodiment. Figure 22 is a flowchart showing a detailed content of the steps of the loading operation processing performed by the loading operation section 33. As Figure 23As shown, in this embodiment, steps S701 and S702 are performed instead of step S608. The other steps are the same as in the fourth embodiment. Steps S606, S607, S609, and S701 correspond to the first control process. Step S702 corresponds to the second control process.

[0263] When the loading calculation unit 33 determines in step S607 that the loading position of the carry-on baggage 3 corresponds to the address for loading in a horizontal position, it sends a control signal to the loading control unit 38, causing the first conveying unit 123 and the second conveying unit 124 to simultaneously drive to the opposite side of the wall portion 130 for a predetermined time, thereby temporarily placing the carry-on baggage 3 at the approach position (step S701). Thus, the carry-on baggage 3 is transferred from the first conveying unit 123 to the approach position in a horizontal position.

[0264] For example, if carry-on baggage 3 is loaded in the first or second column from the right end of container 2, such as Figure 23 As shown in (a), the approach position P0 is a position offset by an arbitrary amount M from the loading position P towards the front and left side (one side in the left-right direction) of container 2. When the loading position of carry-on baggage 3 is the third column from the right end of container 2, the approach position P0, although not specifically shown, is a position offset by an arbitrary amount M from the loading position P towards the front side of container 2.

[0265] When the loading calculation unit 33 determines that the loading position of the carry-on baggage 3 is not equivalent to the address where it is loaded in a horizontal position, that is, the loading position of the carry-on baggage 3 is equivalent to the address where it is loaded in a vertical position, it sends a control signal to the loading control unit 38 to rotate the robot arm 22 90 degrees around the X-axis (step S609). As a result, the posture of the robot arm 22 changes from a horizontal position to a vertical position. Thereafter, the loading calculation unit 33 executes the above-described step S701. As a result, the carry-on baggage 3 is transferred from the first conveying unit 123 to the approach position in a vertical position.

[0266] After the loading and processing unit 33 executes step S701, as follows: Figure 24 As shown, a control signal is sent to the loading control unit 38 to push the carry-on baggage 3 toward the loading position by the robot arm 22 (step S702). As a result, the carry-on baggage 3 moves from the approach position P0 to the loading position P, which is the final target position.

[0267] Figure 24 It is shown Figure 25 A flowchart illustrating an example of the detailed content of step S702 is shown. (See attached flowchart.) Figure 23 As shown, the loading and processing unit 33 first performs the following steps: Figure 25As shown in (b), a control signal is sent to the loading control unit 38 (step S721) to indicate that the robot arm 22 will press the carry-on baggage 3 towards the far side (arrow side) of the container 2. At this time, the loading calculation unit 33 sends a control signal to indicate that the top surface 22a of the robot arm 22 will press the flat portion of the upper surface 3b of the carry-on baggage 3. As a result, the carry-on baggage 3 is smoothly pressed towards the far side of the container 2 by the robot arm 22.

[0268] Next, the loading calculation unit 33 determines whether the loading position of the carry-on baggage 3 is the first column position from the right end of the container 2 (step S722). When the loading calculation unit 33 determines that the loading position of the carry-on baggage 3 is the first column position from the right end of the container 2, if... Figure 24 As shown in (c), a control signal is sent to the loading control unit 38 (step S723) to indicate that the robotic arm 22 will press the carry-on baggage 3 towards the right side (the opposite side in the left-right direction) of the container 2. At this time, as... Figure 24 As shown in (a), the loading calculation unit 33 sends out a control signal that presses the flat portion of the side 3d of the carry-on baggage 3 by the side 123a of the first conveying unit 123 of the robot arm 22. As a result, the carry-on baggage 3 is smoothly pressed by the robot arm 22 toward the right side of the container 2.

[0269] When the loading calculation unit 33 determines that the loading position of the carry-on baggage 3 is not the first column from the right end of the container 2, it determines whether the loading position of the carry-on baggage 3 is the second column from the right end of the container 2 (step S724).

[0270] When the loading calculation unit 33 determines that the loading position of the carry-on baggage 3 is the second column from the right end of the container 2, if... Figure 26 As shown in (b), a control signal is sent to the loading control unit 38 to rotate the robot hand 22 90 degrees around the X-axis so that the second conveying unit 124 is positioned on the upper side (step S725). Furthermore, in Figure 26 For convenience, the storage shell 126 of the robot hand 22 has been omitted.

[0271] like Figure 26 As shown in (b), the loading calculation unit 33 sends a control signal to the loading control unit 38 (step S726) that the robot arm 22 presses the carry-on baggage 3 toward the right side of the container 2. At this time, the loading calculation unit 33 sends a control signal that the loading surface 123b of the first conveying section 123 of the robot arm 22 presses the flat portion of the side 3d of the carry-on baggage 3. As a result, the carry-on baggage 3 is smoothly pressed toward the right side of the container 2 by the robot arm 22.

[0272] The loading operation section 33 does not execute steps S723 and S726 when it is determined that the loading position of the carry-on baggage 3 is not the position of the second column from the right end of the container 2, that is, when it is determined that the loading position of the carry-on baggage 3 is the position of the third column from the right end of the container 2.

[0273] In the present processing, when the loading position of the carry-on baggage 3 is the position of the second column from the right end of the container 2, the robot hand 22 is turned by 90 degrees around the X axis regardless of the size of the carry-on baggage 3, but is not particularly limited to such a manner. It can also be that, when the loading position of the large-sized carry-on baggage 3A is the position of the second column from the right end of the container 2, the robot hand 22 is turned by 90 degrees around the X axis, but when the loading position of the medium-sized carry-on baggage 3B is the position of the second column from the right end of the container 2, the robot hand 22 is not turned by 90 degrees around the X axis because the loading space in the left-right direction of the container 2 is large, and the carry-on baggage 3B is pressed toward the right side of the container 2.

[0274] In this manner, the carry-on baggage 3 held by the robot hand 22 of the loading robot 15 is moved in the directions of the three axes and turned around the three axes, so that the carry-on baggage 3 held by the robot hand 22 is loaded into the accommodation region corresponding to the size of the carry-on baggage 3 in the container 2.

[0275] In the case where the carry-on baggage 3 is loaded into the deep-side accommodation regions S al, Sb l and the near-side accommodation regions Sa2, Sb2 of the container 2, first, the robot hand 22 is moved to the near side of the loading position of the carry-on baggage 3. Then, a loading operation corresponding to the loading position of the carry-on baggage 3 is performed.

[0276] When the loading position of the carry-on baggage 3 is the position of the first column from the right end of the container 2, first, the first and second conveyance sections 123 and 124 of the robot hand 22 are driven toward the opposite side of the wall section 130, so that the carry-on baggage 3 is moved from the robot hand 22 to the approach position P0 as shown in (a) of Fig. 10. Figure 26 Then, as shown in (b) of Fig. 10, the carry-on baggage 3 is pressed toward the container 2 by the top end surface 22a of the robot hand 22. Thereafter, as shown in (c) of Fig. 10 and (a) of Fig. 11, the carry-on baggage 3 is pressed toward the container 2 by the side surface 123a of the first conveyance section 123 of the robot hand 22. Thus, the carry-on baggage 3 is aligned to the loading position P as the final target position. Figure 24 Figure 24 Figure 24

[0277] ​​​When the loading position of the carry-on baggage 3 is the position of the 2nd column from the right end of the container 2, the carry-on baggage 3 is moved from the robot hand 22 to the approach position P0. In addition, the carry-on baggage 3 is pressed toward the deep side of the container 2 by the top end face 22a of the robot hand 22. Then, for example, as shown in (b) of FIG. 13, the carry-on baggage 3 is pressed toward the right side of the container 2 by the placement face 123b of the 1st conveyance portion 123 of the robot hand 22 in a state where the robot hand 22 is turned by 90 degrees around the X axis. Thus, the carry-on baggage 3 is aligned to the loading position P as the final target position. Figure 26

[0278] When the loading position of the carry-on baggage 3 is the position of the 3rd column from the right end of the container 2, the carry-on baggage 3 is moved from the robot hand 22 to the approach position P0. Then, the carry-on baggage 3 is pressed toward the deep side of the container 2 by the top end face 22a of the robot hand 22. Thus, the carry-on baggage 3 is aligned to the loading position P as the final target position.

[0279] In the case where the carry-on baggage 3 is loaded to the auxiliary storage areas Sa3, Sb3, first, the robot hand 22 moves to the right upper side of the loading position of the carry-on baggage 3 (refer to (a) of FIG. 14). Then, the robot hand 22 is turned around the X axis, and thus the carry-on baggage 3 is separated from the robot hand 22, and the carry-on baggage 3 is placed to the loading position while rolling (refer to (b) and (c) of FIG. 14). Figure 26 Figure 22 Figure 22

[0280] As described above, in the present embodiment, first, the carry-on baggage 3 held by the robot hand 22 is temporarily placed to the approach position deviated from the loading position in the container 2. Then, the carry-on baggage 3 temporarily placed to the approach position is pressed toward the loading position by the robot hand 22, and thus the carry-on baggage 3 reaches the loading position. Thus, the carry-on baggage 3 is accurately loaded to the loading position in the container 2. As a result, without using a special device, an additional device for accurately loading the carry-on baggage 3 to the loading position in the container 2, cost reduction can be achieved.

[0281] In the present embodiment, the carry-on baggage 3 is pressed toward the deep side of the container 2 by the robot hand 22, and thus the carry-on baggage 3 is accurately loaded to the loading position in the container 2 in the depth direction of the container 2.

[0282] In the present embodiment, according to the loading position of the carry-on baggage 3, the carry-on baggage 3 is pressed toward the deep side and the right side of the container 2 by the robot hand 22, and thus the carry-on baggage 3 is accurately loaded to the loading position in the container 2 in the depth direction and the right direction of the container 2.

[0283] ​​​​In this embodiment, after the robotic arm 22 presses the carry-on baggage 3 towards the far side of the container 2, the robotic arm 22 then presses the carry-on baggage 3 to the right. Therefore, if the casters 132 of the carry-on baggage 3 interfere with existing carry-on baggage 3 located on or adjacent to the far side inner wall of the container 2, the carry-on baggage 3 will be pressed to the right. Therefore, if the side 3d of the carry-on baggage 3 interferes with existing carry-on baggage 3 located on or adjacent to the right side inner wall of the container 2, pressing the carry-on baggage 3 towards the far side of the container 2 by the robotic arm 22 is prevented. Thus, damage to the side 3d of the carry-on baggage 3 can be prevented.

[0284] In this embodiment, the posture of the robotic arm 22 is changed by 90 degrees according to the lateral space of the container 2 surrounding the loading position, so the robotic arm 22 presses the carry-on baggage 3 to the right. Therefore, the position where the robotic arm 22 presses the carry-on baggage 3 changes according to the lateral space of the container 2 surrounding the loading position. Therefore, even when the lateral space of the container 2 surrounding the loading position is narrow, the carry-on baggage 3 can be accurately loaded into the loading position inside the container 2 in the lateral direction.

[0285] Figure 22 It is shown Figure 27 A flowchart illustrating another example of the detailed content of step S702. This process demonstrates the steps for loading medium-sized carry-on baggage 3B into container 2. (As shown...) Figure 23 As shown, the loading calculation unit 33 first executes step S721 as described above. As a result, the carry-on baggage 3B is pressed towards the far side of the container 2 by the robotic arm 22. Next, the loading calculation unit 33 executes step S722 as described above.

[0286] When the loading calculation unit 33 determines that the loading position of the carry-on baggage 3B is the first column from the right end of the container 2, it does not execute the above-described step S723. In this case, the carry-on baggage 3B will not be pressed towards the right side of the container 2 by the robotic arm 22.

[0287] When the loading calculation unit 33 determines that the loading position of carry-on baggage 3B is not the first column from the right end of container 2, it executes step S724. When the loading calculation unit 33 determines that the loading position of carry-on baggage 3B is the second column from the right end of container 2, it executes step S726. Therefore, carry-on baggage 3B, along with the carry-on baggage 3B in the first column from the right end of container 2, is pressed together by the robotic arm 22 towards the right side of container 2. When the loading calculation unit 33 determines that the loading position of carry-on baggage 3B is the third column from the right end of container 2, it does not execute step S726.

[0288] In the above, when the carry-on baggage 3B is loaded to the 1st column from the right end of the container 2, as shown in (a) of FIG. 10, after the carry-on baggage 3B is temporarily placed to the approach position, the carry-on baggage 3B is pressed toward the deep side of the container 2 by the robot hand 22. Figure 27

[0289] After that, when the carry-on baggage 3B is loaded to the 2nd column from the right end of the container 2, as shown in (a) of FIG. 11, after the carry-on baggage 3B is temporarily placed to the approach position, the carry-on baggage 3B is pressed toward the deep side of the container 2 by the robot hand 22. Then, as shown in (b) of FIG. 11, the two carry-on baggage 3B are pressed toward the right side of the container 2 by the robot hand 22. Thus, the two carry-on baggage 3 are simultaneously aligned to the loading position P. Figure 28 Figure 28

[0290] In this other example, the plurality of (here, two) carry-on baggage 3B are simultaneously pressed toward the right side of the container 2, and thus, the control processing of pressing the carry-on baggage 3B toward the right side of the container 2 is omitted in part. Therefore, the time of loading the carry-on baggage 3B into the container 2 is shortened.

[0291] Figure 28 is a flowchart showing another example of the detailed contents of the loading operation processing. In Figure 29 , the loading operation section 33 judges whether the loading position of the carry-on baggage 3 corresponds to the address at which the carry-on baggage 3 needs to be temporarily placed to the approach position after the step S607 or the step S609 is executed (step S700).

[0292] For the medium-sized carry-on baggage 3B loaded to the 3rd column from the right end of the container 2, temporary placement to the approach position is not needed. Therefore, the position of the address corresponding to the medium-sized carry-on baggage 3B loaded to the 3rd column from the right end of the container 2 is the position at which temporary placement to the approach position is not needed. The positions of the addresses corresponding to the other medium-sized carry-on baggage 3B and the large-sized carry-on baggage 3A are the positions at which temporary placement to the approach position is needed.

[0293] The loading operation section 33 executes the above-described step S701 when it is judged that the loading position of the carry-on baggage 3 corresponds to the address at which the carry-on baggage 3 needs to be temporarily placed to the approach position. The loading operation section 33 does not execute the above-described step S701 but executes the above-described step S702 when it is judged that the loading position of the carry-on baggage 3 does not correspond to the address at which the carry-on baggage 3 needs to be temporarily placed to the approach position.

[0294] Figure 29 is a flowchart showing the detailed contents of the step S702 shown in Figure 30 . This processing shows the steps of loading the medium-sized carry-on baggage 3B to the container 2.​​​

[0295] In Figure 29 which, the loading operation section 33 first judges whether the loading position of the carry-on baggage 3B is any one position of the 1st column and the 2nd column from the right end of the container 2 (step S731). The loading operation section 33, when judging that the loading position of the carry-on baggage 3B is any one position of the 1st column and the 2nd column from the right end of the container 2, sends out to the loading control section 38 a control signal such that the carry-on baggage 3B is pressed toward the deep side of the container 2 by the robot hand 22 (step S732). Thereby, the carry-on baggage 3B is pressed toward the deep side of the container 2 by the robot hand 22.

[0296] The loading operation section 33, when judging that the loading position of the carry-on baggage 3B is not the position of the 1st column and the 2nd column from the right end of the container 2, i.e., the loading position of the carry-on baggage 3B is the position of the 3rd column from the right end of the container 2, sends out to the loading control section 38 a control signal such that the carry-on baggage 3B is pressed toward the right side of the container 2 by the robot hand 22 (step S733). Thereby, as shown in FIG. 7B, the two carry-on baggage 3B placed to the 1st column and the 2nd column from the right end of the container 2 are pressed toward the right side of the container 2 by the robot hand 22 in the state where the carry-on baggage 3 is held by the robot hand 22. Figure 30

[0297] Next, the loading operation section 33 sends out to the loading control section 38 a control signal such that the 1st conveyance section 123 and the 2nd conveyance section 124 are simultaneously driven to the opposite side of the wall section 130 for a prescribed time, thereby placing the carry-on baggage 3 to the container 2 (step S734). Specifically, the loading operation section 33, after sending out to the loading control section 38 a control signal such that the robot hand 22 is moved to the left side and the near side of the container 2, sends out to the loading control section 38 a control signal such that the 1st conveyance section 123 and the 2nd conveyance section 124 are driven to the opposite side of the wall section 130.

[0298] The loading operation section 33, for example, can also move the robot hand 22 to the left side of the container 2 at the time point when a certain reaction force is generated after continuously pressing the robot hand 22 to the right side of the container 2 using the torque limiting function of the loading robot 15.

[0299] The loading operation section 33 sends out to the loading control section 38 a control signal such that the carry-on baggage 3B is pressed toward the deep side of the container 2 by the robot hand 22 (step S735). Thereby, the carry-on baggage 3B is pressed toward the deep side of the container 2 by the robot hand 22.

[0300] In the above, when the carry-on baggage 3B is loaded to the 1st column and the 2nd column from the right end of the container 2, as Figure 31 ​As shown in (a) of FIG. 9, after temporarily placing the carry-on baggage 3B in the approach position, the carry-on baggage 3B is pressed toward the deep side of the container 2 by the robot hand 22.

[0301] After that, when the carry-on baggage 3B is loaded into the 3rd column from the right end of the container 2, as shown in (b) of FIG. 9, the two carry-on baggage 3B placed in the 1st and 2nd columns from the right end of the container 2 are pressed toward the right side of the container 2 by the robot hand 22 in the state where the carry-on baggage 3B is held by the robot hand 22. Thus, the two carry-on baggage 3 are simultaneously aligned to the loading position P. Figure 31

[0302] In this other example, the carry-on baggage 3B held by the robot hand 22 when the plurality of carry-on baggage 3B is pressed by the robot hand 22 is not temporarily placed in the approach position. Thus, it is possible to further shorten the time for loading the carry-on baggage 3B into the container 2.

[0303] In the present embodiment, the same various modifications as the 1st embodiment can also be applied. For example, in the present embodiment, the loading position of the carry-on baggage 3 is the position where the carry-on baggage 3 abuts against the inner wall surface of the container 2 or the existing carry-on baggage 3, but is not particularly limited to such a manner. The loading position of the carry-on baggage 3 can also be the position separated from the inner wall surface of the container 2 or the existing carry-on baggage 3. In this case, for example, the distance from the carry-on baggage 3 temporarily placed in the approach position to the loading position can also be detected, the pressing amount of the carry-on baggage 3 by the robot hand 22 is decided based on the detected value, and the 1st driving section 133 is controlled according to the pressing amount of the carry-on baggage 3.

[0304] In the present embodiment, when the loading position of the carry-on baggage 3 is the position of the 1st or 2nd column from the right end of the container 2, the carry-on baggage 3 is pressed toward the right side of the container 2 by the robot hand 22 after the carry-on baggage 3 is pressed toward the deep side of the container 2 by the robot hand 22, but is not particularly limited to such a manner. The carry-on baggage 3 can also be pressed toward the right side of the container 2 by the robot hand 22 after the carry-on baggage 3 is pressed toward the deep side of the container 2 by the robot hand 22. In this case, as shown in the above other example, the plurality of carry-on baggage 3 can also be pressed toward the deep side of the container 2 by the robot hand 22.

[0305] ​In the present embodiment, when the loading position of the carry-on baggage 3 is the position of the 2nd column from the right end of the container 2, the carry-on baggage 3 is pressed to the right side of the container 2 by the placement surface 123b of the 1st conveyance section 123 of the robot hand 22 in the state where the robot hand 22 is turned by 90 degrees around the X axis, but is not particularly limited to such a manner. For example, if there is a space in the right and left directions of the container 2 around the loading position, the carry-on baggage 3 can be pressed to the right side of the container 2 by the side surface 123a of the 1st conveyance section 123 of the robot hand 22 without turning the robot hand 22 by 90 degrees around the X axis.

[0306] In the present embodiment, the robot hand 22 has the 1st conveyance section 123 and the 2nd conveyance section 124 that move the carry-on baggage 3, but is not particularly limited to such a manner. For example, if the carry-on baggage 3 can be held to the robot hand 22 only by driving the buffer conveyer 12, the robot hand can not necessarily have a conveyance section that moves the carry-on baggage 3. In this case, the robot hand can be, for example, a structure having an L-shaped holding wall section.

[0307] Figure 31 Explanation of reference numerals

[0308] 1A to 1D … cargo loading device, 2 … container, 2A … front container (1st container), 2B … rear container (2nd container), 2f … cutout portion, 3 … carry-on luggage (cargo), 3A … carry-on luggage (1st cargo), 3B … carry-on luggage (2nd cargo), 3C … carry-on luggage (3rd cargo), 5 … main conveyor (conveying portion), 9 … pusher (1st drive portion), 10 … turntable (rotation table), 11 … pusher (1st drive portion), 12 … buffer conveyor (placement portion), 13 … pusher (2nd drive portion), 14 … pusher (positioning portion), 15 … loading robot (loading unit), 18 … wall portion (positioning portion), 22 … robot hand (holding portion), 23 … upstream camera (cargo detection portion), 24 … downstream camera (cargo detection portion), 25 … loading processing unit (control portion), 26 … control panel (control portion), 27 … label information acquisition portion, 28 … 1st carry-on luggage detection portion (cargo detection portion), 29 … 2nd carry-on luggage detection portion (cargo detection portion), 30 … movement control portion, 31 … rotation control portion, 32 … position control portion, 33 … loading calculation portion (control portion / loading control portion), 34 … label information update portion, 38 … loading control portion (control portion), 40 … storage conveyor, Sa1 … deep far-side storage area (1st deep far-side storage area), Sa2 … near front-side storage area (1st near front-side storage area), Sa3 … auxiliary storage area (1st auxiliary storage area), Sb1 … deep far-side storage area (2nd deep far-side storage area), Sb2 … near front-side storage area (2nd near front-side storage area), Sb3 … auxiliary storage area (2nd auxiliary storage area), 123 … 1st conveying portion, 124 … 2nd conveying portion, 129 … control substrate (control portion), 130 … wall portion, 133 … 1st drive portion (movement drive portion), 134 … 2nd drive portion (rotation drive portion), 135 … control substrate (control portion), W1, W2 … width dimension, P … loading position, P0 … approach position.

Claims

1. A cargo loading device, characterized by, Possessing: a cargo detection section that detects information of a cargo carried by a carrying section; a loading section that loads the cargo carried by the carrying section to a plurality of containers; and a control section that controls the loading section based on the information detected by the cargo detection section, so that at least one of a priority order of the container to which the cargo is loaded and a loading order of the cargo to the container with respect to a carrying order of the cargo is adjusted, the container includes a first container and a second container, the control section controls the loading section so that a first cargo is preferentially loaded to the first container, and controls the loading section so that a second cargo that is smaller in size than the first cargo is preferentially loaded to the second container, a first deep rear storage area and a first front near storage area that is located at a position closer to a front side of the first container than the first deep rear storage area are provided in the first container, a second deep rear storage area and a second front near storage area that is located at a position closer to a front side of the second container than the second deep rear storage area are provided in the second container, the control section controls the loading section so that the first cargo is loaded in the order of the first deep rear storage area and the second front near storage area, and controls the loading section so that the second cargo is loaded in the order of the second deep rear storage area and the first front near storage area.

2. The cargo loading apparatus according to claim 1, wherein the information is information related to a size of the cargo, the control section controls the loading section so that the cargo is preferentially loaded to different containers by each size based on the size of the cargo detected by the cargo detection section.

3. The cargo loading apparatus according to claim 1, wherein a cutout section having a structure in which a lower side corner portion of the container is cut out is provided on one side of the first container and the second container in the left and right direction, a first auxiliary storage area that is adjacent to the first deep rear storage area and the first front near storage area in the left and right direction of the first container is provided in the first container at a position corresponding to the cutout section, a second auxiliary storage area that is adjacent to the second deep rear storage area and the second front near storage area in the left and right direction of the second container is provided in the second container at a position corresponding to the cutout section, the control section controls the loading section so that a third cargo that is smaller in size than the second cargo is loaded to the first auxiliary storage area and the second auxiliary storage area.

4. The cargo loading apparatus according to claim 3, wherein The control section controls the loading unit to load the first goods toward the notch section side from the opposite side of the notch section when loading the first goods to the first deep far side storage area and the second near front side storage area, and controls the loading unit to load the second goods toward the notch section side from the opposite side of the notch section when loading the second goods to the second deep far side storage area and the first near front side storage area.

5. The goods loading apparatus according to claim 1, wherein The carrying section has a storage conveyor that temporarily stores the goods carried by the carrying section, The control section adjusts the loading order of the goods to the container by temporarily storing the goods to the storage conveyor, and then loading the goods stored in the storage conveyor.

6. The goods loading apparatus according to claim 5, wherein The control section adjusts the loading order of the goods to the container so that the difference in height of the goods that constitute the same layer in the container is equal to or less than a predetermined threshold.

7. The goods loading apparatus according to claim 5 or 6, wherein The control section removes the goods from the storage conveyor when the storage conveyor is full, so that the difference in height of the goods in the container is minimized.

8. The goods loading apparatus according to claim 5 or 6, wherein The control section gives a priority order to each part of the carrying section, and controls the loading unit so that the goods are removed from the part having a high priority order.

9. The goods loading apparatus according to claim 5 or 6, wherein The goods detection section detects the material of the goods as the information, The control section adjusts the loading order of the goods to the container so that the goods detected as having a soft material are loaded to an upper layer side.

10. The cargo loading device of any one of claims 1 to 6, wherein, provided with: a label information acquisition section that acquires label information of the goods; and a label information update section that binds loading data including a loading position of the goods to the label information acquired by the label information acquisition section.

11. The goods loading apparatus according to claim 10, wherein an address is set in advance in the container, the label information update section binds loading data including the address of the loading position of the goods to the label information.

12. The goods loading apparatus according to claim 11, wherein a plurality of storage areas corresponding to the size of the goods are set in the container, the address is set for each of the storage areas, the control section controls the loading unit so that the goods are loaded to the storage area corresponding to the size of the goods.

13. The cargo loading arrangement of claim 11 or 12, wherein, provided with: a rotation table disposed on a downstream side of the carrying section, on which the goods are placed; a first drive section that moves the goods carried by the carrying section to the rotation table; a movement control section that controls the drive of the first drive section; and a rotation control section that controls the rotation of the rotation table, the goods detection section detects the orientation of the goods placed on the rotation table, The rotation control section controls the rotation table based on the orientation of the cargo detected by the cargo detection section, so that the orientation of the cargo is fixed.

14. The cargo loading arrangement of claim 13, wherein, provided with: a placement section that is arranged on a downstream side of the rotation table and that places the cargo; a second drive section that moves the cargo from the rotation table to the placement section; a positioning section that positions the cargo placed on the placement section in a direction perpendicular to the arrangement direction of the rotation table and the placement section; and a position control section that controls the second drive section and the positioning section so that the cargo is positioned in the placement section after the rotation table is controlled so that the orientation of the cargo is fixed.

15. The cargo loading device according to claim 14, wherein the cargo detection section detects a kind of the cargo, the movement control section controls the first drive section so that the cargo is moved to the rotation table when it is determined based on the kind of the cargo detected by the cargo detection section that the cargo is a loading target to be loaded into the container by the loading unit. provided with:

16. The cargo loading device of any one of claims 1 to 6, 11, 12, 14, 15, wherein, a loading robot that has a robot hand that holds the cargo; a drive section that performs at least one of an operation of moving the robot hand in the directions of three axes and an operation of rotating the robot hand around three axes; and a control section that executes a first control process of controlling the robot hand so that the robot hand holds the cargo, executes a second control process of controlling the drive section so that the robot hand is moved into the container after the first control process is executed, and executes a third control process of controlling the robot hand so that the cargo held by the robot hand is loaded into the container after the second control process is executed, the robot hand has a first conveyance section that places and moves the cargo and a second conveyance section that is arranged in an L shape with the first conveyance section, places and moves the cargo, the control section controls so that at least one of the first conveyance section and the second conveyance section is driven toward a base end side of the robot hand when the first control process is executed, and controls so that at least one of the first conveyance section and the second conveyance section is driven toward a top end side of the robot hand when the third control process is executed.

17. The cargo loading device according to claim 16, wherein the drive section has a first drive section that moves the robot hand in the directions of three axes and a second drive section that rotates the robot hand around three axes, the control section controls the first drive section so that the robot hand is moved into the container when the second control process is executed, and controls the second drive section so that the robot hand is rotated around an axis parallel to the driving direction of the first conveyance section and the second conveyance section when the posture of the cargo is changed when the third control process is executed.

18. The cargo loading device according to claim 17, wherein ​ On the proximal end side of the robot hand, a wall portion that positions the article with respect to the first conveyance portion and the second conveyance portion in a driving direction of the first conveyance portion and the second conveyance portion is provided, The control portion controls at least one of the first conveyance portion and the second conveyance portion to be driven to the wall portion side when the first control processing is executed, and controls at least one of the first conveyance portion and the second conveyance portion to be driven to the opposite side of the wall portion when the third control processing is executed.

19. The article loading device according to claim 18, wherein The control portion controls the second driving portion so that the robot hand is turned to a state in which the wall portion is positioned on the lower side when the first control processing is executed.

20. The article loading device according to claim 19, wherein The control portion controls the second driving portion so that the robot hand is turned to a state in which the article placed on one of the first conveyance portion and the second conveyance portion touches the other of the first conveyance portion and the second conveyance portion when the first control processing is executed.

21. The article loading device according to any one of claims 17 to 20, wherein The control portion controls so that the first conveyance portion and the second conveyance portion are simultaneously driven in the same direction when the first control processing and the third control processing are executed.

22. The article loading device according to any one of claims 17 to 20, wherein The width dimension of the first conveyance portion is larger than the width dimension of the second conveyance portion.

23. The cargo loading device of any one of claims 1 to 6, 11, 12, 14, 15, wherein, provided with: a loading robot having an L-shaped robot hand that holds the article; a movement driving portion that moves the robot hand in the directions of three axes; and a control portion that executes first control processing of controlling the movement driving portion so that the article held by the robot hand is temporarily placed in a close position that is offset from a loading position in the container, and after the first control processing is executed, executes second control processing of controlling the movement driving portion so that the article temporarily placed in the close position is pressed toward the loading position by the robot hand.

24. The article loading device according to claim 23, wherein The close position is a position that is offset from the loading position toward a front side of the container, The control portion controls the movement driving portion so that the article is pressed toward a deep side of the container by the robot hand when the second control processing is executed.

25. The article loading device according to claim 23, wherein The close position is a position that is offset from the loading position toward one side of a front side and a left-right direction of the container, The control portion controls the movement driving portion so that the article is pressed toward a deep side of the container and the other side of the left-right direction by the robot hand when the second control processing is executed.

26. The article loading device according to claim 25, wherein The control section, when executing the second control process, first controls the movement drive section so that the cargo is pressed by the robot hand toward the further side of the depth direction of the container, and then controls the movement drive section so that the cargo is pressed by the robot hand toward the further side of the left-right direction.

27. The cargo loading apparatus according to claim 26, wherein a rotation drive section that rotates the robot hand around three axes is further provided, The control section, when executing the second control process, controls the rotation drive section so that the posture of the robot hand is changed by 90 degrees according to the space of the left-right direction of the container around the loading position, and then controls the movement drive section so that the cargo is pressed by the robot hand toward the further side of the left-right direction.

28. The cargo loading apparatus according to claim 25, wherein The control section, when executing the second control process, controls the movement drive section so that a plurality of the cargos are pressed by the robot hand toward the further side of the depth direction of the container or the further side of the left-right direction.

29. The cargo loading apparatus according to claim 28, wherein The control section, when executing the second control process, controls the movement drive section so that a plurality of the cargos are pressed by the robot hand toward the further side of the depth direction of the container or the further side of the left-right direction in a state where the cargos are held by the robot hand.

Images