Working equipment

Abstract

The present invention is a work facility provided with: a container arrangement unit (4) in which a plurality of containers (3) are arranged; a work area; and a work support device (5) that supports the entry / exit work of a worker. A work support device (5) is provided with: a display device (6) which is worn in front of the eyes of a worker and which allows the worker to see an augmented reality image; an article information acquisition system which acquires article information, which is information about articles (W) accommodated in containers (3) disposed in a container alignment unit (4); and a control system which controls the display device (6). The control system generates a container transmission image (9) on the basis of the article information acquired by the article information acquisition system, and displays the container transmission image (9) on the display device (6), the container transmission image (9) being an augmented reality image that transmits at least a portion of the container (3) disposed in the container alignment unit (4) and allows an operator to see the appearance of the article (W) contained in the container (3).

Description

Technical Field

[0001] The present invention relates to a working device. Background Art

[0002] For example, in Japanese Unexamined Patent Application Publication No. 2014-043353 (Patent Document 1), a technique related to a working device is disclosed. Hereinafter, the symbols shown in parentheses in the description of the background art are the symbols of Patent Document 1.

[0003] The working device (picking device) of Patent Document 1 includes a storage rack (3) for storing a plurality of containers, a working area for an operator to perform a picking operation on these containers, and a working support device (augmented reality device) for supporting the picking operation. The working support device includes a display device (AR glasses 5) worn by the operator. In the display device, in addition to displaying the scene of the real space, a work instruction image is also displayed so as to overlap a part of the scene. In the work instruction image, information such as information specifying the container to be picked or the number of items to be taken out from the container is included. The operator performs the picking operation according to the content of the work instruction image displayed on the display device. Summary of the Invention

[0004] In the working device of Patent Document 1, the operator peeks into the inside of the container from the opening of the container, thereby grasping the state inside the container (for example, the position or shape of the item, etc.) and at the same time performing the item entry and exit operations. However, there may be a situation where the operator cannot easily observe the inside of the container. In such a case, the item entry and exit operations are performed by groping without being able to grasp the state inside the container as it is, it takes time to pick up the item in the container, or an item of a different type from the content of the work instruction image is accidentally taken out from the container, and there is a possibility that the efficiency of the work decreases.

[0005] Then, a technique is desired in which it is possible to easily perform the item entry and exit operations for the container in a working device having a container arrangement unit in which a plurality of containers are arranged.

[0006] The working device according to the present disclosure is a working device including the following components: a container arrangement unit in which a plurality of containers are arranged; a working area that is disposed adjacent to the container arrangement unit and in which an operator performs item entry and exit operations for the container; and a working support device that supports the entry and exit operations of the operator. The working support device includes: a display device that is worn by the operator in front of the eyes and enables the operator to see an augmented reality image; an item information acquisition system that acquires information on the item accommodated in the container disposed in the container arrangement unit, that is, item information; and a control system that controls the display device. The foregoing control system generates a container transmission image based on the foregoing article information obtained by the foregoing article information acquisition system, and causes the foregoing display device to display the container transmission image, which is the foregoing augmented reality image that allows the operator to see the appearance of the article contained in the foregoing container by transmitting at least a part of the foregoing container arranged in the foregoing container arrangement section.

[0007] According to this configuration, for example, in the case of performing the operation of taking in and out an article with respect to a container arranged on the upper layer of a shelf, even when the inside of the container arranged in the container arrangement section cannot be seen by the operator in the work area as it is, the operator can grasp the state of the inside of the container by observing the container transmission image, which is the augmented reality image displayed on the display device. In this way, according to this configuration, in a work device having a container arrangement section in which a plurality of containers are arranged, it is possible to easily perform the operation of taking in and out an article with respect to the container.

[0008] From the following description of exemplary and non-limiting embodiments with reference to the accompanying drawings, further features and advantages of the work device become apparent. Description of the Drawings

[0009] Figure 1 It is a side view schematically showing the work device. Figure 2 It is a top view schematically showing the work device. Figure 3 It is a control block diagram. Figure 4 It is an enlarged view of a main part schematically showing the augmented reality image (container transmission image). Figure 5 It is a control flow chart. Detailed Description of the Invention

[0010] Hereinafter, an embodiment of the work device 1 will be described based on the drawings. As Figure 1 and Figure 2 shown, the work device 1 includes: a container arrangement section 4 in which a plurality of containers 3 are arranged; a work area 10 that is arranged adjacent to the container arrangement section 4 and in which an operator P performs the operation of taking in and out an article W with respect to the container 3; and a work support device 5 that supports the taking in and out operation of the operator P. In addition, the work device 1 further includes a conveyor 15 arranged adjacent to the work area 10. Here, the container arrangement section 4 is arranged adjacent to the work area 10 on the side opposite to the conveyor 15. Thus, the work area 10 is arranged so as to be sandwiched between the container arrangement section 4 and the conveyor 15 when viewed in the vertical direction.

[0011] In this example, the "loading and unloading operation of article W with respect to container 3" is set as an operation (picking operation) of taking out article W from container 3 arranged in container arrangement section 4. Specifically, operator P takes out article W from one of the multiple containers 3 arranged in container arrangement section 4 and puts it into another container 3 arranged on conveyor 15. In this embodiment, as Figure 2 shown, container 3 is configured with an open upper surface. Therefore, operator P performs the loading and unloading operation of the article with respect to the inside of container 3 through the opening part on the upper surface. Here, container 3 is set as a rectangular cardboard box, but it is not limited thereto. Container 3 can also be set as a container (including a collapsible container), for example. In addition, the shape of container 3 can also be set as a shape other than a rectangular shape (for example, a cylinder, etc.).

[0012] As Figure 1 and Figure 2 shown, container arrangement section 4 is a working rack 14 in which multiple shelf sections 41 are arranged in the vertical direction and containers 3 are arranged in each shelf section 41. That is, container arrangement section 4 is configured to be able to arrange multiple containers 3 side by side in the vertical direction. In addition, each shelf section 41 of the multiple shelf sections 41 is configured to be able to arrange multiple containers 3 in the horizontal direction. In this example, each shelf section 41 of each layer is provided with an entrance / exit 40 for operator P to take out article W from container 3. Entrance / exit 40 is configured to be able to arrange multiple containers 3 side by side. Here, in entrance / exit 40, the direction in which multiple containers 3 are arranged side by side is set as arrangement direction Y. In addition, the direction orthogonal to arrangement direction Y when observed in the vertical direction is set as transfer direction X. In addition, in this example, working rack 14, working area 10, and conveyor 15 are arranged side by side in transfer direction X in the order described, and the side where working area 10 is arranged with respect to working rack 14 is set as transfer direction first side X1, and the opposite side (the side where working rack 14 is arranged with respect to working area 10) is set as transfer direction second side X2.

[0013] As Figure 1 and Figure 2As shown, the working rack 14 includes a plurality of support columns 43 and a plurality of support portions 42 that support the container 3 from below. The support portions 42 are configured as plate-shaped members that are long in the transfer direction X, and can support the plurality of containers 3 in a state where the plurality of containers 3 are arranged side by side in the transfer direction X. The plurality of support portions 42 are arranged side by side in the vertical direction and the arrangement direction Y, and are supported by the plurality of support columns 43. The interval between the support portions 42 arranged side by side in the vertical direction is larger than the size of the container 3 in the vertical direction supported by the support portions 42, and is sized such that the hand of the operator P can be inserted into the opening of the container 3 and the article W can be taken out from the inside of the container 3. Moreover, a rack portion 41 corresponding to one layer is formed by the plurality of support portions 42 arranged side by side in the arrangement direction Y on the same layer and the space in which the containers 3 are placed on these support portions 42. In this example, the entrances and exits 40 are formed at the ends on the first side X1 in the transfer direction in the rack portion 41 of each layer ( Figure 1 and Figure 2 ).

[0014] In the illustrated example, each of the plurality of support portions 42 is arranged so as to incline downward as it faces the first side in the transfer direction. Moreover, it is configured such that a plurality of containers 3 are arranged side by side along the transfer direction X on one support portion 42, and due to the own weight of the rearmost (the second side X2 closest to the transfer direction) container 3, the containers 3 on the more front side (the first side X1 in the transfer direction) are pressed and moved. As a result, the entrances and exits 40 are at the lowest position in the vertical direction in the rack portion 41 on the same layer. In addition, for example, a conveying device that conveys the article W to each support portion 42 may be arranged on the second side X2 in the transfer direction of the working rack 14. In addition, the support portion 42 may not be inclined as described above, and in this case, it is appropriate to provide a conveyor or the like that moves the container 3 along the transfer direction X on each support portion 42. In addition, the entrances and exits 40 may be provided at the end on one side in the arrangement direction Y of the rack portion 41, and in this case, it is appropriate that the working area 10 is adjacent to the working rack 14 on one side in the arrangement direction Y. In this way, the configuration in the working device 1 can be appropriately changed.

[0015] As Figure 1 , Figure 2 and Figure 3 shown, the working device 1 includes a moving device 12 that moves the camera 17 along the arrangement direction Y of the containers 3 in the container arrangement portion 4. In this example, the moving device 12 is provided corresponding to the entrance and exit 40 of the uppermost layer of the working rack 14 (container arrangement portion 4). Here, the moving device 12 includes a rail 12a and a moving portion 12b that supports the camera 17 from above. The moving portion 12b is guided by the rail 12a and moves. As Figure 1 and Figure 2As shown, the rail 12a extends along the arrangement direction Y and is disposed above the container 3 arranged at the entrance / exit 40. Further, the rail 12a is arranged so as to overlap the central region in the transfer direction X of all the containers 3 arranged at the entrance / exit 40 when viewed in the vertical direction. The configuration of the camera 17 will be described later.

[0016] As Figure 3 shown, the operation support device 5 includes: a display device 6 that is worn by the operator P in front of the eyes to enable the operator P to view an augmented reality image; an article information acquisition system 7 that acquires information on the article W contained in the container 3 arranged in the container arrangement unit 4, i.e., article information; and a control system 8 that controls the display device 6. Further, the operation support device 5 also includes a voice guidance device 13 and a container detection device 61 that detects the container 3 arranged at the entrance / exit 40.

[0017] In the present embodiment, the display device 6 includes: a display unit 6a that displays an augmented reality image; a communication unit (not shown) that communicates with the control system 8; and a support member 6b that supports the display unit 6a and the communication unit. The communication unit communicates with the control system 8 wirelessly. In the present example, the support member 6b is configured to be able to support the container detection device 61 and the voice guidance device 13. The support member 6b is configured to be able to be worn on the head of the operator P (here, the face of the operator P is also included in the head). Further, the communication unit is configured to be able to transmit and receive information between the display unit 6a, the container detection device 61, the voice guidance device 13, and the control system 8. Moreover, at least the display unit 6a, the container detection device 61, the voice guidance device 13, and the communication unit are provided on the support member 6b. Here, the display unit 6a, the container detection device 61, the voice guidance device 13, the communication unit, and the support member 6b may be collectively referred to as an external terminal 60. In the illustrated example, the external terminal 60 is configured as goggles, and the display unit 6a (display screen) is provided in the lens portion (the portion arranged in front of the eyes of the operator P). The external terminal 60 may also be configured as a helmet having a lens portion, for example. Further, in the present example, the display device 6 has the display unit 6a arranged in the lens portion of the goggles, but is not limited thereto. For example, the display device 6 may be configured as a contact lens type device. In this case, the display device 6 is worn in a state of being in contact with the cornea of the eye. Therefore, in the present specification, the phrase "worn in front of the eyes" is defined to include the meaning of "worn in a state of being in contact with the eyes".

[0018] In this example, the container detection device 61 detects each of the plurality of containers 3 arranged side by side at the upper most entrance and exit 40 in the container arrangement unit 4 (work rack 14). Here, the container detection device 61 is configured as a camera sensor (imaging device). The container detection device 61 is configured to detect at least the outer shape of the container 3. In addition, the container detection device 61 can detect the container 3 that is the object of the access work by the operator P as the target container 30. The voice guidance device 13 is provided in the external terminal 60 in a manner corresponding to the position of the ear of the operator P, and gives voice guidance such as work instructions to the operator P wearing the external terminal 60.

[0019] In this example, the work equipment 1 includes a control device 100 ( Figure 3 ). The control device 100 is configured to implement the functions of the article information acquisition system 7 and the control system 8 respectively. The control device 100 includes a processor such as a microcomputer, and peripheral circuits such as a memory. Moreover, through the cooperation of these hardware and the programs executed on a processor such as a computer, each function is realized.

[0020] As Figure 1 and Figure 3 shown, the article information acquisition system 7 includes: a camera 17 that photographs the inside of the container 3 from above; and an image recognition processing unit 71 that performs image recognition processing on the image photographed by the camera 17. The camera 17 is configured to be able to photograph the inside of each of the plurality of containers 3 arranged side by side in the arrangement direction Y at the entrance and exit 40 from above. In this example, as described above, the camera 17 is supported by the moving unit 12b of the moving device 12 and guided by the rail 12a, so as to move along the arrangement direction Y. In addition, when observed in the vertical direction, the movement trajectory of the camera 17 overlaps with the central region of the transfer direction X of each of the containers 3 arranged at the entrance and exit 40. Thereby, the camera 17 can photograph the entire area of the opening portion of the container 3 from above for each of the plurality of containers 3 at the entrance and exit 40 ( Figure 3 ). The image recognition processing unit 71 is provided in the control device 100. The control device 100 is configured to be able to communicate wirelessly with the camera 17, and the image recognition processing unit 71 acquires the image photographed by the camera 17 as the imaging information D. The image recognition processing unit 71 obtains information (hereinafter, sometimes simply referred to as "container internal configuration information") related to the shapes and configurations (more specifically, the shapes, forms, positions, and quantities of the articles W) of the plurality of articles W accommodated in the container 3 within the range that can be confirmed when observed in the vertical direction from the imaging information D (image data).

[0021] The article information acquisition system 7 further includes: an inventory information acquisition unit 72 that acquires inventory information indicating the types and quantities of articles W in each of the plurality of containers 3 arranged in the container arrangement unit 4; and an appearance data acquisition unit 73 that acquires article appearance data which is data of an appearance image of each type of article W. The inventory information acquisition unit 72 and the appearance data acquisition unit 73 are provided in the control device 100. Here, the inventory information and the article appearance data are stored in the article database 99 provided in the control device 100. The inventory information acquisition unit 72 accesses the article database 99 to acquire the inventory information (here, the types of articles W and the quantity of each type) contained in each container 3. The article appearance data is acquired by accessing the article database 99. The article database 99 stores, in association with the types of articles W, images showing the shapes, sizes, patterns, etc. of the appearances of articles W as the article appearance data. In addition, the article database 99 may store the shapes, sizes, etc. of the entire outer surfaces of articles W for one type, or may select and store the outer surfaces having features in shape or pattern. Furthermore, in this example, the article database 99 stores container information showing the shapes, sizes, etc. of the containers 3. The shape or size of the container 3 includes not only the appearance of the container 3 but also the shape or size of the interior of the container 3 (i.e., the interior area for containing the article W). In addition, in this example, the plurality of containers 3 arranged at the entrance / exit 40 are of the same type (same shape, same size).

[0022] The article information acquisition system 7 specifically designates the container 3 to be the object of the entry / exit operation by the operator P as the target container 30, and moves the camera 17 to a position where the interior of the target container 30 can be photographed by the moving device 12. Here, one of the plurality of containers 3 arranged at the entrance / exit 40 is specifically designated as the target container 30. In this example, the control device 100 includes a control unit 82. Moreover, the control unit 82 controls the moving device 12 to move the camera 17 to a position corresponding to the target container 30 (here, directly above the target container 30). In this way, the control unit 82 is configured to implement a part of the functions of the article information acquisition system 7.

[0023] The control system 8 generates a container transmission image 9 based on the article information obtained by the article information acquisition system 7, and causes the display device 6 to display the container transmission image 9, which is an augmented reality image that allows the operator P to see the appearance of the article W accommodated in the container 3 by transmitting at least a part of the container 3 arranged in the container arrangement unit 4. In the present embodiment, the control unit 82 controls the display device 6. That is, the control unit 82 causes the display device 6 to display the container transmission image 9. In this way, the control unit 82 is configured to implement a part of the function of the control system 8 in addition to the article information acquisition system 7. Further, the article information includes information showing the shape and arrangement of the article W as a result of the image recognition process. More specifically, the article information includes the shape and arrangement of the article W (the shape, form, position, and quantity of the article W) as a result of the image recognition process. Further, the article information includes the type and quantity of the article W shown in the inventory information and the article appearance data acquired by the appearance data acquisition unit 73. Moreover, the control system 8 generates the container transmission image 9 based on the shape and arrangement of the article W as a result of the image recognition process, the type and quantity of the article W shown in the inventory information, and the article appearance data acquired by the appearance data acquisition unit 73.

[0024] In this example, the control system 8 further includes an image generation unit 81. Moreover, in the image generation unit 81, a container transmission image 9 is generated. Here, the image generation unit 81 is provided in the control device 100. Specifically, the image generation unit 81 obtains information related to the shape and arrangement (more specifically, the shape, form, position, and quantity) of the article W contained in the target container 30 within the range that can be confirmed when observed in the vertical direction (hereinafter referred to as "container internal arrangement information") from the image recognition processing unit 71. In addition, the image generation unit 81 obtains the inventory information of the target container 30 (the types of articles W contained in the target container 30 and the quantity of each type) from the inventory information acquisition unit 72. Furthermore, the image generation unit 81 obtains article appearance data corresponding to each type of article W included in the inventory information (image data showing the shape, size, pattern, etc. of the appearance of the article W) from the appearance data acquisition unit 73. Furthermore, the image generation unit 81 obtains container information from the article database 99. The image generation unit 81 generates the container transmission image 9 by associating the container internal arrangement information, the inventory information, the article appearance data, and the container information. Specifically, the image generation unit 81 specifies the type (here, the article name) of each of the multiple articles W included in the container internal arrangement information by comparing the shape of the article W included in the container internal arrangement information, the article appearance data, and the article W included in the inventory information. If the image generation unit 81 specifies the type of the article W in the container internal arrangement information, the appearance of each type of the specified article W is specified as image data. Moreover, the image generation unit 81 creates a container transmission image 9 of the article W in the interior of the target container 30 that faces the surface (the inner end face 30a) disposed on the operation area 10 side (the first side X1 in the transfer direction). The image generation unit 81 infers the visible appearance of the article W to the operator P based on the article appearance data, the container internal arrangement information, and the detection information of the container detection device 61, and simultaneously creates the container transmission image 9. Here, for each article W facing the inner end face 30a, the container transmission image 9 is displayed as a hypothetical appearance image corresponding to the position, form, and size of the article W included in the container internal arrangement information (refer to Figure 4 ). In this example, as the container transmission image 9, the peripheral portion and the pattern (including characters) of the facing surface of the article W facing the inner end face 30a are displayed.

[0025] In Figure 4In the example, as the article W, a box-shaped article W1, a bag-shaped article W2, a small article W3, and an unidentified article Wt are exemplified. Moreover, for the box-shaped article W1, the bag-shaped article W2, and the small article W3, the pattern recorded on the surface (the opposed surface opposed to the inner end surface 30a) of each article W and the peripheral portion of the surface are displayed as the container transmission image 9. For the unidentified article Wt disposed below the small article W3, no pattern is marked as the container transmission image 9. Thus, when the type of the article W is unknown based on the imaging information D obtained by photographing using the camera 17, no pattern is displayed as the container transmission image 9. On the other hand, when the outer shape of the article W can be grasped from the imaging information D, as shown in the figure, for the unidentified article Wt, the outer shape (peripheral portion) is displayed as the container transmission image 9. In addition, when the outer shape of the unidentified article Wt cannot be inferred, the image generation unit 81 can also display, for example, a dotted line or gray smear to indicate the area where the unidentified article Wt is inferred to be disposed. Further, when the type of the article W cannot be specifically specified based on the imaging information D, regardless of whether the outer shape of the article W can be grasped, the container transmission image 9 for the article W is not displayed. In addition, when the presence of the article W can be grasped based on the imaging information D, but the outer shape and the pattern cannot be grasped, a mark, a pattern, a color, etc. indicating the presence of the article W can be displayed as the container transmission image 9. In addition, the closer the position of the article W in the object container 30 is to the inner end surface 30a, the thicker the peripheral portion or the pattern of the article W can be displayed. In addition, as the container transmission image 9, in addition to the peripheral portion and the pattern of the article W, the accommodation area of the article W in the object container 30 can be imaginarily displayed. Thus, it is appropriate that the display content in the container transmission image 9 can be appropriately changed.

[0026] In this example, the display unit 6a of the display device 6 has a transmissive display screen. Therefore, the container transmission image 9 generated by the image generation unit 81 is arranged in the display unit 6a so as to coincide with the real scenery visually recognizable by the operator P. Specifically, in the display screen of the display unit 6a, the container transmission image 9 is projected so as to coincide with the surface (surface 30b) of the real object container 30 facing the work area 10 side (transfer direction first side X1) from the second side X2 in the transfer direction. By such processing, the container transmission image 9 is projected so as to overlap the scenery of the real surface 30b, thereby generating an augmented reality image. In addition, an image captured by the container detection device 61 (camera sensor) may be projected on the display screen of the display unit 6a and the container transmission image 9 may be combined with the image to generate an augmented reality image (using a composite reality generated image). Thus, in this specification, the augmented reality image also includes an image generated by composite reality.

[0027] In this embodiment, as Figure 1 shown, the control system 8 causes the display device 6 to display a container transmission image 9 of the container 3 at a height equal to or higher than a preset height H. Here, it is appropriate to set the height H corresponding to the position in the vertical direction of the container 3 at the height of the operator P's line of sight. In this example, the height H is set to the height of the support portion 42 corresponding to the uppermost entrance 40. Further, the control unit 82 controls the display device 6 so that the container transmission image 9 is displayed only on the target container 30 among the plurality of containers 3 arranged at the uppermost entrance 40. Therefore, the container detection device 61 is configured to detect only the containers 3 arranged at the uppermost entrance 40. With this configuration, compared with the case where the container transmission image 9 is displayed for all the containers 3 at the uppermost entrance 40 regardless of whether they are target containers 30, the arithmetic processing load on the control device 100 can be reduced. In addition, the operator P can easily identify the target container 30, and the efficiency of the access operation can be improved. Here, in a state where the target container 30 is detected by the container detection device 61, a state is achieved in which the surface 30b of the target container 30 can be visually recognized within the range of the display screen of the display unit 6a. Further, if the container detection device 61 detects the target container 30, the container transmission image 9 is displayed in the range that the operator P can visually recognize on the surface 30b (that is, the area within the display screen on the surface 30b). As described above, the container transmission image 9 is displayed in a manner corresponding to the position, form, and size of the article W arranged inside the target container 30. Further, it is appropriate that the container transmission image 9 is displayed in a manner corresponding to the change in the relative form of the surface 30b with respect to the display unit 6a. Specifically, for example, in a state where the operator P wears the external terminal 60, when visually recognizing the surface 30b from an obliquely upper direction, it is appropriate that the container transmission image 9 is also changed to a form corresponding to the form of the surface 30b and displayed within the range of the display screen. That is, the image generation unit 81 generates the container transmission image 9 in real time, and the control unit 82 is configured to be able to change the container transmission image 9 displayed on the display unit 6a in real time. With this configuration, the operator P can always observe the container transmission image 9 in a natural state as an augmented reality image. In addition, the control unit 82 can also display the container transmission image 9 for all the containers 3 at the uppermost entrance 40 regardless of whether they are target containers 30.

[0028] In this embodiment, the article information acquisition system 7 further includes an operation instruction information acquisition unit 74 that acquires operation instruction information, which is information indicating the content of an instruction for the access operation of the operator P. Here, the operation instruction information is set for each of the plurality of containers 3 arranged at the entrance / exit 40. Specifically, the types and quantities of the articles W that the operator P should take out for each container 3 are stored in the operation instruction information acquisition unit 74 as operation instruction information. Here, the operation instruction information is input in advance by the operator P, and the operation instruction information acquisition unit 74 acquires and stores the input operation instruction information. Here, as the type of the article W, the article name (product name) ( Figure 4 ) is exemplified, but it is not limited thereto. In addition, in this embodiment, as shown in Figure 4 , the control system 8 generates an operation instruction image 11, which is an image showing the operation instruction information, and causes the display device 6 to display the operation instruction image 11 in a manner distinguishable from the container transmission image 9. The image generation unit 81 creates the operation instruction image 11 based on the operation instruction information in the target container 30. Here, in the operation instruction image 11, the product name of the article W that the operator P should take out, the number of each product, and the container number of the container specified by the target container 30 are displayed. The operation instruction image 11 is generated each time the target container 30 is changed and is displayed on the display screen of the display unit 6a. Therefore, at the entrance / exit 40, which is the uppermost layer where the container 3 that is the display target of the container transmission image 9 is arranged, there is no digital display (an example of a display device) for displaying the operation instruction information. In addition, as described above, the containers 3 arranged at the entrance / exit 40 on the layers other than the uppermost layer are not the display targets of the container transmission image 9. Therefore, it is appropriate to provide a digital display at the entrance / exit 40 on the layers other than the uppermost layer. In addition, in this example, the content of the operation instruction information can also be guided by voice through the voice guidance device 13. The operator P can also perform the access operation according to the operation instruction information guided by the voice guidance device 13.

[0029] As shown in Figure 5As shown, if the control device 100 sets the target container 30 (S01), the control moves the moving device 12 to move the camera 17 to a position corresponding to the target container 30 (S02). Thereafter, if the control device 100 obtains the in-container configuration information based on the imaging information D (S03), a container transmission image 9 is produced based on the article information (in-container configuration information, inventory information, article appearance data) (S04), and a work instruction image 11 is produced based on the work instruction information (S05). Thereafter, if the control device 100 obtains the information that the target container 30 has been detected by the container detection device 61 (S06: Yes), the display device 6 is caused to display the container transmission image 9 and the work instruction image 11 (S07). In addition, the control device 100 audibly guides the content of the work instruction information (S08). Further, although not described in Figure 5 , if the target container 30 is not detected by the container detection device 61, the control device 100 controls so as not to display the container transmission image 9 and the work instruction image 11 on the display device 6. Further, the timing of producing the container transmission image 9 and the work instruction image 11 or the timing of displaying the container transmission image 9 and the work instruction image 11 may be simultaneous or may be in a different order from Figure 5 . Figure 5 Although not described in Figure 5 , if the target container 30 is not detected by the container detection device 61, the control device 100 controls so as not to display the container transmission image 9 and the work instruction image 11 on the display device 6. Further, the timing of producing the container transmission image 9 and the work instruction image 11 or the timing of displaying the container transmission image 9 and the work instruction image 11 may be simultaneous or may be in a different order from Figure 5 . Figure 5 a different order.

[0030] Here, as Figure 3 shown, on the display device 6 (here, the display screen of the display unit 6a), a completion button 93 indicating completion of the loading / unloading work is displayed. In the illustrated example, the completion button 93 is arranged at the lower right of the display screen in the drawing plane. The container detection device 61 (here, a camera sensor) is configured to be able to detect the actions of the operator P. If the operator P completes the loading / unloading work in the target container 30 according to the work instruction content, an action of pressing the completion button 93 is performed on the display screen. If the control device 100 receives from the container detection device 61 the information that the action of detecting that the completion button 93 has been pressed (S09: Yes), it is recognized that the loading / unloading work in the target container 30 has been completed (S10). If the control device 100 needs to newly set the next target container 30 (S11: Yes), the target container 30 is set (S01). In addition, the control device 100 may also recognize the completion of the loading / unloading work in the target container 30 by the voice emitted by the operator P.

[0031] 〔Other Embodiments〕(1) In the above-described embodiment, an example has been described in which the work of taking out the article W from the container 3 arranged in the container arrangement unit 4 is defined as the loading / unloading work of the article W with respect to the container 3, but it is not limited thereto. The work of putting the article W into the container 3 arranged in the container arrangement unit 4 can also be defined as the loading / unloading work of the article W with respect to the container 3.

[0032] (2) In the above-described embodiment, the following configuration has been described as an example: the upper surface of the container 3 is open, and the article information acquisition system 7 includes a camera 17 that photographs the inside of the container 3 from above the container 3, but it is not limited thereto. For example, the container 3 may be configured to be sealed with a non-open upper surface, and the article information acquisition system 7 may include a device (e.g., an X-ray inspection device, etc.) that transmits through the container 3 to detect the article W inside instead of the camera 17.

[0033] (3) In the above-described embodiment, the following configuration has been described as an example: the article information acquisition system 7 specifically designates the container 3 that is the object of the access operation by the operator P as the target container 30, and moves the camera 17 to a position where the inside of the target container 30 can be photographed by the moving device 12, but it is not limited thereto. For example, the article information acquisition system 7 may also be configured not to include the moving device 12. In this case, a plurality of cameras 17 corresponding to a plurality of containers 3 can be arranged at the uppermost entrance / exit 40.

[0034] (4) In the above-described embodiment, the following configuration has been described as an example: the control system 8 generates the container transmission image 9 based on the shape and arrangement of the article W as a result of the image recognition process, the type and quantity of the article W shown in the inventory information, and the article appearance data already acquired by the appearance data acquisition unit 73, but it is not limited thereto. For example, the control system 8 may also generate the container transmission image 9 without using the article appearance data. In this case, for example, it is also possible to generate the container transmission image 9 so that in the container transmission image 9, a part where each article W is inferred to be arranged shows a product name or a mark of the product.

[0035] (5) In the above-described embodiment, the following configuration has been described as an example: the control system 8 causes the display device 6 to display the container transmission image 9 of the container 3 arranged at a height above a preset height H, but it is not limited thereto. For example, the control system 8 can also cause the display device 6 to display the container transmission image 9 for the containers 3 arranged at all the entrances / exit 40 of the container arrangement unit 4 (the work rack 14).

[0036] (6) In the above-described embodiment, the following configuration has been described as an example: the control system 8 generates the operation instruction image 11 as an image showing the operation instruction information, and causes the display device 6 to display the operation instruction image 11 in a manner distinguishable from the container transmission image 9, but it is not limited thereto. The control system 8 can, for example, also output the operation instruction image 11 to an output device different from the display device 6. For example, the control system 8 can also directly display it on the surface 30b of the target container 30 without passing through the display device 6, and can also set up a screen in the work area 10 and cause the screen to display the operation instruction screen.

[0037] (7) In addition, as long as there is no contradiction, the components disclosed in the above-described embodiments can also be combined with the components disclosed in other embodiments and applied. Regarding other components, the embodiments disclosed in this specification are merely illustrative in all aspects. Therefore, various changes can be appropriately made without departing from the gist of the present disclosure.

[0038] 〔Summary of the above embodiments〕 Hereinafter, a summary of the working device described above will be described.

[0039] The working device according to the present disclosure is a working device including the following components: a container arrangement unit that arranges a plurality of containers; a working area that is disposed adjacent to the container arrangement unit and where an operator performs an operation of an article entering and exiting the container; and a working support device that supports the operator's above-described entering and exiting operation. The working support device includes: a display device that is worn by the operator in front of the eyes and enables the operator to see an augmented reality image; an article information acquisition system that acquires information of the article accommodated in the container disposed in the container arrangement unit, that is, article information; and a control system that controls the display device. The control system generates a container transmission image based on the article information acquired by the article information acquisition system, and causes the display device to display the container transmission image, which is the augmented reality image that enables the operator to see the appearance of the article accommodated in the container as if at least a part of the container disposed in the container arrangement unit is transmitted.

[0040] According to this configuration, for example, when performing an operation of an article entering and exiting a container disposed on the upper layer of a shelf, even when the inside of the container disposed in the container arrangement unit cannot be seen by the operator in the working area as it is, the operator can grasp the state of the inside of the container by observing the container transmission image that is the augmented reality image displayed on the display device. In this way, according to this configuration, in a working device including a container arrangement unit that arranges a plurality of containers, it is possible to easily perform an operation of an article entering and exiting a container.

[0041] Here, it is appropriate that the upper surface of the container is open, the article information acquisition system includes a camera that photographs the inside of the container from above the container and an image recognition processing unit that performs image recognition processing on the image photographed by the camera, the article information includes information showing the shape and arrangement of the article as a result of the image recognition processing.

[0042] According to this configuration, information showing the shape and arrangement of an article based on the actual state of the inside of a container photographed by a camera can be obtained as article information. Therefore, an appropriate container transmission image can be generated.

[0043] In addition, preferably, a moving device is provided that moves the aforementioned camera along the arrangement direction of the aforementioned containers in the aforementioned container arrangement section, the aforementioned article information acquisition system specifically designates the aforementioned container that will be the object of the aforementioned entry / exit operation performed by the aforementioned operator as an object container, and moves the aforementioned camera to a position where the inside of the aforementioned object container can be photographed by the aforementioned moving device.

[0044] According to this configuration, the number of cameras can be suppressed to be less than the number of containers capable of displaying container transmission images. Therefore, it is easy to achieve cost reduction of the work equipment.

[0045] In addition, preferably, the aforementioned article information acquisition system further includes: an inventory information acquisition section that acquires inventory information showing the types and quantities of the aforementioned articles contained in each of the aforementioned containers arranged in the aforementioned container arrangement section; and an appearance data acquisition section that acquires article appearance data that is data of an appearance image of each type of the aforementioned article, the aforementioned control system generates the aforementioned container transmission image based on the shape and arrangement of the aforementioned article as a result of the aforementioned image recognition process, the types and quantities of the aforementioned articles shown in the aforementioned inventory information, and the aforementioned article appearance data that has been acquired by the aforementioned appearance data acquisition section.

[0046] According to this configuration, since it is based on the shape and arrangement of the article as a result of the image recognition process, the types and quantities of the articles shown in the inventory information, and the aforementioned article appearance data that has been acquired by the appearance data acquisition section, a container transmission image that accurately reproduces the inside of the container can be generated. Therefore, by observing such a container transmission image, the operator can more detailedly grasp the state of the inside of the container.

[0047] In addition, preferably, the aforementioned container arrangement section is a work rack in which a plurality of shelf sections are arranged in the vertical direction and the aforementioned containers are arranged in each of the aforementioned shelf sections, the aforementioned control system causes the aforementioned display device to display the aforementioned container transmission image for the aforementioned containers arranged at a height above a preset height.

[0048] According to this configuration, in the working rack, the display device can display the container transmission image for the container that is difficult for the operator to see inside because it is arranged on a relatively upper layer. Therefore, it is possible to facilitate the access operation of the article to the multiple containers arranged on the working rack.

[0049] In addition, it is preferable that the aforementioned article information acquisition system further includes an operation instruction information acquisition unit that acquires operation instruction information which is information showing the instruction content of the aforementioned access operation to the aforementioned operator, the aforementioned control system generates an operation instruction image which is an image showing the aforementioned operation instruction information, and causes the aforementioned display device to display the aforementioned operation instruction image in a manner distinguishable from the aforementioned container transmission image.

[0050] According to this configuration, in the display device, in addition to the container transmission image, an operation instruction image is also displayed. Thus, the operator can perform the access operation of the article to the container only by observing the image displayed on the display device. Thereby, it is easy to improve the efficiency of the access operation of the article to the container.

[0051] The working equipment related to this disclosure only needs to be able to achieve at least one of the above-mentioned various effects.

Symbol Explanation

[0052] 1: Working equipment 3: Container 4: Container arrangement unit 5: Operation support device 6: Display device 7: Article information acquisition system 8: Control system 9: Container transmission image 10: Working area 11: Operation instruction image 12: Mobile device 17: Camera 30: Target container 41: Rack part 71: Image recognition processing unit 72: Inventory information acquisition unit 73: Appearance data acquisition unit 74: Operation instruction information acquisition unit H: Height P: Operator W: Article Y: Arrangement direction

Claims

1. A work equipment comprising the following components: a container arrangement portion, in which a plurality of containers are arranged; a work area, which is arranged adjacent to the container arrangement portion and is used by an operator to perform an operation of taking articles into and out of the containers; and an operation support device, which supports the operator in the operation of taking articles into and out of the containers. The operating equipment has the following characteristics: The work support device comprises: a display device, which is worn by the operator in front of the eyes so that the operator can see an augmented reality image; an article information acquisition system, which acquires information about the article contained in the container arranged in the container arrangement portion, that is, article information; and a control system, which controls the display device. The control system generates a container transmission image based on the article information acquired by the article information acquisition system, and causes the display device to display the container transmission image, which is the augmented reality image that allows the operator to see the appearance of the article contained in the container by transmitting at least a portion of the container arranged in the container arrangement portion.

2. The working equipment according to claim 1, wherein: The upper surface of the container is open, The article information acquisition system includes a camera for photographing the interior of the container from above the container and an image recognition processing unit for performing image recognition processing on the image photographed by the camera. The article information includes information showing the shape and configuration of the article as a result of the image recognition process.

3. The working equipment according to claim 2, wherein: A moving device is provided for moving the camera along the arrangement direction of the containers in the container arrangement section, The article information acquisition system specifies the container that is the object of the taking-in and taking-out operation performed by the operator as a target container, and moves the camera to a position where the interior of the target container can be photographed by the moving device.

4. The working equipment according to claim 2, wherein: The article information acquisition system further comprises: a stock information acquisition unit that acquires stock information indicating the type and quantity of the article contained in each of the plurality of containers arranged in the container arrangement unit; and an appearance data acquisition unit that acquires article appearance data that is data of an appearance image of the article of each type, The control system generates the container transmission image based on the shapes and arrangements of the articles as a result of the image recognition processing, the types and quantities of the articles indicated by the inventory information, and the article appearance data acquired by the appearance data acquisition unit.

5. The working equipment according to any one of claims 1 to 4, wherein: The container arrangement section is a work rack having multiple layers of shelves arranged in the vertical direction and the containers are arranged on each shelf. The control system causes the display device to display the container transmission image for the container disposed at a height equal to or higher than a preset height.

6. The working equipment according to any one of claims 1 to 4, wherein: The article information acquisition system further includes a work instruction information acquisition unit that acquires work instruction information as information indicating the content of instructions for the operator to perform the entry and exit operations. The control system generates a work instruction image as an image showing the work instruction information, and causes the display device to display the work instruction image in a manner distinguishable from the container transmission image.

Images