Article packaging device, packaging device, and packaging system

Abstract

An article packaging device according to an embodiment includes an identification unit and a packaging unit. The recognition unit recognizes whether or not the article is a specific article that is not suitable for gripping by the robot arm. When the article is a specific article, the packaging unit packages the article such that the specific article can be gripped by means of the robot arm.

Description

Technical Field

[0001] The disclosed embodiments relate to a packaging device for articles, a packaging device, and a packaging system. Background Art

[0002] Conventionally, there is known a technique in which, for example, articles are placed in a storage container and the storage container containing the articles is stored in a storage warehouse (for example, refer to Patent Document 1).

[0003] Patent Document 1: Japanese Patent Application Laid-Open No. 2022-180082.

[0004] When taking out an article from a storage container, a robot arm may be used to take out the article from the storage container. However, depending on the article, it may be difficult to grasp the article with the robot arm. Summary of the Invention

[0005] The present invention is made in view of the above situation, and its object is to facilitate grasping objects with the help of a robot arm.

[0006] An article packaging device according to one embodiment of the technical solution includes an identification unit and a packaging unit. The identification unit identifies whether an article is a specific article not suitable for grasping by a robot arm. If the article is a specific article, the packaging unit packages the article so that the specific article can be grasped by the robot arm.

[0007] A packaging device according to one embodiment of the technical solution includes an identification unit and a packaging unit. The identification unit identifies whether at least one item contained in a box is a specific item not suitable for grasping by a robot arm. If the item is a specific item, the packaging unit removes the specific item from the box and packages the removed item so that the specific item can be grasped by the robot arm.

[0008] An article packaging device according to one embodiment of the technical solution includes an identification unit, a selection unit, and a packaging unit. The identification unit identifies whether a predetermined article among a plurality of articles is a specific article not suitable for grasping by a robot arm. If the selection unit identifies the predetermined article as a specific article, it selects an article from the plurality of articles that can be packaged together with the specific article. The packaging unit gathers the specific article and the items that can be packaged together and packages the specific article in a manner suitable for grasping by the robot arm.

[0009] According to one embodiment of the technical solution, objects can be easily grasped with the help of a robot arm. BRIEF DESCRIPTION OF THE DRAWINGS

[0010] Figure 1 This is a block diagram showing the overview of a logistics center.

[0011] Figure 2 This figure shows an overview of the shipping department.

[0012] Figure 3 A diagram showing an outline of a packaging device.

[0013] Figure 4 This is a control system block diagram of an information processing device.

[0014] Figure 5 This is a flowchart illustrating the packaging process according to the first embodiment.

[0015] Figure 6 This is a diagram schematically showing an example of the hardware configuration of a computer functioning as an information processing device.

[0016] Figure 7 This is a block diagram showing the overview of a logistics center.

[0017] Figure 8 A diagram showing an overview of a packaging system and packaging equipment.

[0018] Figure 9 This is a flowchart illustrating the packaging process according to the second embodiment.

[0019] Figure 10 A diagram showing an outline of a packaging device.

[0020] Figure 11 This is a diagram showing an example of packaged information.

[0021] Figure 12 This is a diagram showing an example of order information.

[0022] Figure 13 This is a flowchart illustrating the packaging process according to the third embodiment. DETAILED DESCRIPTION

[0023] The present invention will be described below by way of embodiments, but the following embodiments do not limit the invention of the claims. In addition, not all combinations of features described in the embodiments are necessarily essential to the technical solution of the invention.

[0024] (First embodiment)

[0025] The packaging device 4 of the first embodiment is, for example, Figure 1 As shown, it is located in Logistics Center 1. Figure 1 This is a block diagram showing an overview of the logistics center 1.

[0026] The logistics center 1 includes a storage unit 2, a shipping unit 3, and a packaging device 4. The storage unit 2 is a shelf or the like for storing items. The items are, for example, merchandise. In the storage unit 2, the items are stored in merchandise boxes 5 (transfer boxes and baskets).

[0027] Based on the dispatch information, the items stored in the storage unit 2 are removed from the storage unit 2 by, for example, a cart robot and transported to the shipping unit 3. The cart robot, for example, removes a merchandise box 5 containing the items from the storage unit 2 and transports the removed merchandise box 5 to the shipping unit 3. The dispatch information is information related to the dispatch of items, including, for example, a list of items for which dispatch has been previously instructed, a list of items to be dispatched in response to an order for the items (order information), and the like.

[0028] The shipping unit 3 takes out the articles P from the transported commodity box 5 and transfers the commodities to the shipping box 6 (for example, a cardboard box) for shipping. Figure 2 A robot arm 7 is shown. Figure 2 1 is a diagram schematically showing the shipping unit 3. The shipping unit 3 takes out articles P from a product box 5 using a robot arm 7 and stores the articles P in a shipping box 6 using the robot arm 7. The shipping box 6 containing the articles is shipped from the logistics center 1.

[0029] The robot arm 7 includes multiple rod-shaped sections 7a and multiple joint sections 7b. A joint section 7b is provided, for example, between two rod-shaped sections 7a, enabling relative rotation of the two rod-shaped sections 7a. Each joint section 7b includes a motor. The joint sections 7b allow the rod-shaped sections 7a to rotate relative to each other, extending and retracting the robot arm 7, allowing it to rotate 360 ​​degrees.

[0030] The distal end of the robot arm 7 is provided with a suction portion 7c. The robot arm 7 uses suction from the suction portion 7c to attract and hold the object P. Furthermore, the robot arm 7 is not limited to holding the object P by suction alone. For example, the robot arm 7 can also grasp the object P. Furthermore, the robot arm 7 can also lift and hold the object P.

[0031] Depending on the shape of the articles P or the material of the outer components of the articles P, the storage unit 2 may store articles P that are difficult to grasp (grasp) using the robot arm 7. Therefore, before storage in the storage unit 2, the packaging device 4 of the embodiment packages at least a portion of the articles P so that the articles P can be grasped easily by the robot arm 7. As a result, the articles P are stored in the storage unit 2 in a state that allows them to be grasped easily by the robot arm 7.

[0032] Next reference Figure 3 The packaging device 4 will be described. Figure 3 1 is a diagram schematically showing the packaging device 4. The packaging device 4 includes a camera 10, a sorting unit 11, a packaging unit 12, and an information processing device 13.

[0033] Camera 10 captures images of items being transported by conveyor unit 30. Camera 10 includes an imaging element, such as a charge-coupled device (CCD) or a complementary metal oxide semiconductor (CMOS), and a lens. Image data of the items captured by camera 10 is transmitted to information processing device 13. Conveyor unit 30 is, for example, a belt conveyor or a roller conveyor.

[0034] The sorting unit 11 sorts specific items from the items P. Specific items are items that are not suitable for grasping by the robotic arm 7 of the transport unit 30, which is located near the transport unit 30. Specific items are items that are difficult to grasp by suction using the suction unit 7c. For example, specific items are items that are difficult to grasp by suction due to the shape of the item P or the material of its external components. Specifically, specific items are items whose shape does not have a flat surface that can be grasped, or items whose external components are not made of a material that can be grasped. Furthermore, specific items are determined based on how the robotic arm 7 grasps the item P.

[0035] The sorting unit 11 transfers specific items from the items P being conveyed by the conveying unit 30 to the packaging lane 31. For example, the sorting unit 11 is a change plate or a change rod that changes the conveying direction of the items P being conveyed by the conveying unit 30. The sorting unit 11 is, for example, rotatable. When transferring specific items to the packaging lane 31, the sorting unit 11 rotates from its initial position to a predetermined rotation position, thereby changing the conveying direction of the items P being conveyed by the conveying unit 30.

[0036] There are multiple sorting units 11. There are multiple packaging lanes 31. The sorting units 11 are arranged according to the number of packaging lanes 31. For example, when there are three packaging lanes 31, there are three sorting units 11. The sorting units 11 sort specific items into the packaging lanes 31 based on their characteristics. The characteristics of the specific items include at least one of the shape of the specific item and the material of the specific item's external components. The characteristics of the specific item may include the contents of the specific item. The packaging lanes 31 may be provided with a conveying unit such as a belt conveyor. In addition, the operation of the sorting unit 11 is controlled by the information processing device 13, which will be described in detail later.

[0037] The packaging unit 12 includes multiple packaging robot arms 15. Each packaging robot arm 15 is installed for each packaging lane 31. The number of packaging robot arms 15 installed in each packaging lane 31 is determined based on the packaging method used to package the specific item. The packaging unit 12 packages the specific item by changing the packaging method based on the characteristics of the specific item.

[0038] The packaging robot arm 15 has the same structure as the robot arm 7 of the transport unit 30. A gripper 15a is provided at the distal end of the packaging robot arm 15. The gripper 15a includes multiple fingers 15b. The packaging robot arm 15 uses these fingers 15b to, for example, lift an item. Furthermore, the packaging robot arm 15 can use these fingers 15b to package specific items.

[0039] The gripping portion 15a, for example, the number of fingers 15b and the shape of the fingers 15b, is set according to each packaging lane 31. That is, the gripping portion 15a is set according to the packaging method for packaging a specific article.

[0040] The packaging method for a specific item includes, for example, primary packaging, secondary packaging, and tertiary packaging. In the primary packaging, adhesive tape is applied to the specific item. The adhesive tape is a strip-shaped member having a suction portion 7c capable of being sucked by the robot arm 7 of the shipping unit 3. Alternatively, the suction portion 7c of the robot arm 7 of the shipping unit 3 may be capable of sucking the strip-shaped member.

[0041] In the second package, the specific article is compressed and wrapped. The wrapped member is a member that can be sucked by the suction portion 7 c of the robot arm 7 of the delivery unit 3 .

[0042] The third package includes a specific article wrapped around a portion that can be sucked by the suction portion 7 c of the robot arm 7 of the delivery unit 3 , similar to the second package.

[0043] The multiple packaging robot arms 15 are robots capable of performing first to third packaging. Furthermore, the packaging method for the specific item can be any of the first to third packaging methods. The packaging method for the specific item includes at least one of the first to third packaging methods. The packaging method for the specific item is not limited to the above methods.

[0044] refer to Figure 4 The information processing device 13 will be described. Figure 4 2 is a block diagram of a control system of the information processing device 13. The information processing device 13 includes an information acquisition unit 20, a storage unit 21, and a control unit 22. The information processing device 13 is an identification unit that identifies a specific object.

[0045] The information acquisition unit 20 acquires image data of the acquired article P by imaging with the camera 10 . The information acquisition unit 20 outputs the acquired image data to the control unit 22 .

[0046] The storage unit 21 is implemented by a storage medium such as a random access memory (RAM) or a semiconductor memory element such as a flash memory. The storage unit 21 stores various programs and the like executed by the control unit 22.

[0047] The control unit 22 controls the camera 10, the sorting unit 11, and the packaging unit 12. The control unit 22 operates the camera 10. The control unit 22 operates the sorting unit 11. The information processing device 13 operates each packaging robot arm 15.

[0048] The control unit 22 identifies whether an object is a specific object. The control unit 22 identifies the specific object based on image data of the object P captured by the camera 10. The control unit 22 performs predetermined image processing on the image data of the object to identify the specific object. For example, the control unit 22 identifies the specific object using pattern matching. However, the predetermined image processing is not limited to pattern matching.

[0049] Furthermore, the control unit 22 recognizes the features of the specific item. The control unit 22 performs predetermined image processing to recognize the features of the specific item. The image processing for recognizing the specific item and the image processing for recognizing the features of the specific item may be the same image processing or different image processing.

[0050] The control unit 22 recognizes the specific article and its features based on the image data of the article P acquired by the camera 10 , but the present invention is not limited thereto. The specific article and its features can be recognized by a sensor or the like.

[0051] Furthermore, if the item is a specific item, the control unit 22 sets a packaging method for the specific item based on its characteristics. The control unit 22 sets a packaging method for the item from the first to third packaging methods based on the characteristics of the specific item. Specifically, the control unit 22 sets the operation of the sorting unit 11 based on the characteristics of the specific item.

[0052] For example, when the control unit 22 sets the packaging method of a specific article to the first packaging based on the characteristics of the specific article, the control unit 22 controls the sorting unit 11 to transport the specific article to the packaging lane 31 provided with the packaging robot arm 15 that performs the first packaging.

[0053] The control unit 22 controls the packaging robot arm 15 to package the specific items conveyed to the packaging lane 31 according to the set packaging method. For example, if the packaging method for the specific items is set to first packaging, the control unit 22 controls the packaging robot arm 15 to apply tape to the specific items sorted to the packaging lane 31, where the packaging robot arm 15 performing the first packaging is located.

[0054] The specific articles packaged by the packaging robot arm 15 are placed in the product boxes 5 and stored in the storage unit 2 .

[0055] Next, refer to Figure 5 The packaging process of the first embodiment will be described. Figure 5 This is a flowchart illustrating the packaging process according to the first embodiment.

[0056] The information processing device 13 captures an image of an object using the camera 10 (S100). The information processing device 13 identifies a specific object based on image data of the object captured by the camera 10 (S101). The information processing device 13 recognizes features of the specific object (S102).

[0057] The information processing device 13 sets a packaging method for the identified specific article (S103). Specifically, the information processing device 13 sets a packaging method based on the characteristics of the identified specific article.

[0058] The information processing device 13 sorts the specific articles ( S104 ) Specifically, the information processing device 13 controls the sorting unit 11 so that the specific articles are conveyed to the packaging lane 31 , which is provided with the packaging robot arm 15 that executes the set packaging method.

[0059] The information processing device 13 packages the specific article conveyed to the packaging lane 31 (S105). The information processing device 13 controls the packaging robot arm 15 to package the specific article according to the set packaging method.

[0060] The packaging device 4 includes an information processing device 13 and a packaging unit 12. The information processing device 13 identifies whether the article is a specific article not suitable for grasping by the robot arm 7. If the article is a specific article, the packaging unit 12 packages the article so that the robot arm 7 can grasp the specific article.

[0061] Thus, when the packaging device 4 ships the articles from the storage unit 2 based on the shipping information, the articles can be easily grasped by the robot arm 7. Therefore, the efficiency of the shipping operation of the articles in the logistics center 1 can be improved.

[0062] The packaging unit 12 changes the packaging method for the specific article according to at least one of the shape of the specific article and the material of the external components of the specific article.

[0063] Thus, the packaging device 4 can perform packaging according to specific articles. Therefore, the packaging device 4 can make the articles easy to grasp by the robot arm 7.

[0064] The robot arm 7 provided in the delivery unit 3 has a suction portion 7 c , and grasps an article by suctioning the article with the suction portion 7 c .

[0065] The packaging device 4 packages specific items so that they can be easily grasped by the robot arm 7, which grasps the items by suction. Consequently, in the shipping unit 3 of the logistics center 1, the time required to move items from the product boxes 5 to the shipping boxes 6 can be shortened. In other words, the logistics center 1 can shorten the time required to ship items.

[0066] The packaging device 4 may not include the sorting unit 11 and multiple packaging lanes 31, but may instead package specific items conveyed by the conveying unit 30 according to a predetermined packaging method. For example, multiple packaging robot arms 15 may be positioned along the conveying unit 30 to package the specific items according to a packaging method tailored to their characteristics. Alternatively, the packaging device 4 may convey specific items to a single packaging lane 31 and package the specific items according to the predetermined packaging method.

[0067] Figure 6 This diagram schematically illustrates an example of the hardware configuration of a computer 1200 functioning as an information processing device 13. A program installed in computer 1200 can cause computer 1200 to function as one or more "units" of the apparatus of this embodiment, or can cause computer 1200 to perform operations associated with the apparatus of this embodiment or one or more "units," and / or can cause computer 1200 to execute the process of this embodiment or a stage of such a process. Such a program can be executed by CPU 1212 to cause computer 1200 to perform specific operations associated with some or all of the blocks in the flowcharts and block diagrams described in this specification.

[0068] The computer 1200 of this embodiment includes a CPU 1212, a RAM 1214, and a graphics controller 1216, which are interconnected via a main controller 1210. The computer 1200 also includes a communication interface 1222, a storage device 1224, and input / output units such as a DVD drive and an IC card drive, which are connected to the main controller 1210 via an input / output controller 1220. The DVD drive may be a DVD-ROM drive or a DVD-RAM drive. The storage device 1224 may be a hard disk drive or a solid-state drive. The computer 1200 also includes a ROM 1230 and an input / output unit such as a keyboard, which are connected to the input / output controller 1220 via an input / output chip 1240.

[0069] The CPU 1212 controls each unit by operating according to programs stored in the ROM 1230 and the RAM 1214. The graphics controller 1216 acquires image data generated by the CPU 1212 from a frame buffer provided in the RAM 1214 or from the graphics controller itself, and displays the image data on the display device 1218.

[0070] Communication interface 1222 communicates with other electronic devices via a network. Storage device 1224 stores programs and data used by CPU 1212 within computer 1200. A DVD drive reads programs and data from a DVD-ROM, etc., and provides them to storage device 1224. An IC card drive reads programs and data from an IC card and / or writes programs and data to an IC card.

[0071] The ROM 1230 stores a boot program, etc., which is executed by the computer 1200 upon activation, and / or programs that depend on the hardware of the computer 1200. The input / output chip 1240 can also connect various input / output components to the input / output controller 1220 via a USB port, a parallel port, a serial port, a keyboard port, a mouse port, etc.

[0072] The program is provided on a computer-readable storage medium such as a DVD-ROM or an IC card. The program is read from the computer-readable storage medium or installed in the storage device 1224, RAM 1214, or ROM 1230, also examples of computer-readable storage media, and executed by the CPU 1212. The information processing described in these programs is read by the computer 1200, enabling cooperation between the programs and the various types of hardware resources described above. By implementing information manipulation or processing based on the use of the computer 1200, a device or method can be constructed.

[0073] For example, when communication is performed between the computer 1200 and an external device, the CPU 1212 can execute a communication program loaded in the RAM 1214 and, based on the processing described in the communication program, instruct the communication interface 1222 to perform communication processing. Under the control of the CPU 1212, the communication interface 1222 reads transmission data stored in a transmission buffer provided in the RAM 1214, the storage device 1224, a DVD-ROM, or a recording medium such as an IC card, and transmits the read transmission data to the network, or writes reception data received from the network to a reception buffer provided on the recording medium.

[0074] Furthermore, the CPU 1212 can read all or a required portion of a file or database stored in an external recording medium such as the storage device 1224, a DVD drive (DVD-ROM), or an IC card from the RAM 1214, and perform various types of processing on the data in the RAM 1214. The CPU 1212 can then write the processed data back to the external recording medium.

[0075] Various types of information such as various types of programs, data, tables, and databases are stored in the recording medium and can be processed. CPU1212 can perform various types of processing on the data read from RAM1214 and write the results back to RAM1214. The above-mentioned various types of processing include various types of operations, information processing, conditional judgments, conditional branches, unconditional branches, information retrieval / replacement, etc. specified by the instruction sequence of the program described anywhere in this disclosure. In addition, CPU1212 can retrieve information from files, databases, etc. in the recording medium. For example, in the case where a plurality of entries each having an attribute value of a first attribute associated with an attribute value of a second attribute are stored in the recording medium, CPU1212 can retrieve an entry that is consistent with the condition specifying the attribute value of the first attribute from the plurality of entries, and read the attribute value of the second attribute stored in the entry, thereby obtaining the attribute value of the second attribute associated with the first attribute that meets the pre-set condition.

[0076] The above-mentioned program or software module can be stored in a computer-readable storage medium on or near the computer 1200. In addition, a recording medium such as a hard disk or RAM provided in a server system connected to a dedicated communication network or the Internet can be used as a computer-readable storage medium, thereby providing the program to the computer 1200 via the network.

[0077] The boxes in the flowcharts and block diagrams of this embodiment may represent stages of the process of performing an operation or "parts" of a device having the function of performing an operation. Specific stages and "parts" may be implemented by dedicated circuits, programmable circuits provided together with computer-readable instructions stored on a computer-readable storage medium, and / or processors provided together with computer-readable instructions stored on a computer-readable storage medium. Dedicated circuits may include both digital and / or analog hardware circuits and integrated circuits (ICs) and / or discrete circuits. Programmable circuits may include, for example, field programmable gate arrays (FPGAs) and programmable logic arrays (PLAs), such as reconfigurable hardware circuits including logical AND, logical OR, logical XOR, logical NAND, logical NOR, and other logical operations, flip-flops, registers, and storage elements.

[0078] A computer-readable storage medium may include any tangible device capable of storing instructions to be executed by an appropriate device. As a result, a computer-readable storage medium having instructions stored therein will have a product containing instructions that can be executed to create a solution for performing the operations specified in the flowchart or block diagram. Examples of computer-readable storage media include electronic storage media, magnetic storage media, optical storage media, electromagnetic storage media, semiconductor storage media, etc. More specific examples of computer-readable storage media include floppy disks (registered trademark), magnetic disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), electrically erasable programmable read-only memory (EEPROM), static random access memory (SRAM), compact disc read-only memory (CD-ROM), digital versatile disc (DVD), Blu-ray discs (registered trademark), memory sticks, integrated circuit cards, etc.

[0079] The computer-readable instructions may include any of source code or object code described in any combination of one or more programming languages, including assembly instructions, instruction set architecture (ISA) instructions, machine instructions, machine-dependent instructions, microcode, firmware instructions, state-setting data, or object-oriented programming languages ​​such as Smalltalk (registered trademark), JAVA (registered trademark), C++, and existing procedural programming languages ​​such as the "C" programming language or similar programming languages.

[0080] The computer-readable instructions are provided to a processor or programmable circuit of a general-purpose computer, a special-purpose computer, or other programmable data processing device locally or via a wide area network (WAN) such as a local area network (LAN) or the Internet, so that the processor or programmable circuit generates a program for executing the operations specified in the flowchart or block diagram. Examples of the processor include a computer processor, a processing unit, a microprocessor, a digital signal processor, a controller, and a microcontroller.

[0081] (Second embodiment)

[0082] Next, the second embodiment will be described. The description will be centered around the differences from the first embodiment. The description of the same configurations as the first embodiment will be omitted. The packaging system 50 and packaging device 51 of the second embodiment are, for example, Figure 7 As shown, it is located in Logistics Center 1. Figure 7 This is a block diagram showing an overview of the logistics center 1.

[0083] The distribution center 1 includes a storage unit 2, a shipping unit 3, and a packaging system 50. The packaging system 50 includes a packaging device 51.

[0084] Next reference Figure 8 The packaging system 50 and the packaging device 51 will be described. Figure 8 5 is a diagram showing an overview of a packaging system 50 and a packaging device 51. Figure 8 As shown, the packaging system 50 includes a packaging device 51 and a conveying unit 30 .

[0085] The packaging device 51 includes a camera 10, a sorting unit 52, a packaging unit 12, and an information processing device 13. The camera 10 captures images of the incoming cargo box 9 and articles conveyed by the conveying unit 30.

[0086] The sorting unit 52 sorts specific articles ( Figure 8 Item P1).

[0087] The sorting unit 52 moves specific items P from the incoming cargo box 9 being transported by the conveying unit 30 to the packaging lane 31. In the sorting unit 52, the specific items are moved from the incoming cargo box 9 to the packaging lane 31 by the packaging robot arm 15. Furthermore, the sorting unit 52 includes a stopper 52a that uses the packaging robot arm 15 on the conveying surface of the conveying unit 30 to stop the incoming cargo box 9 at a position where the specific items are sorted. The stopper 52a is, for example, a plate-like member or a rod-like member that blocks the incoming cargo box 9 being transported by the conveying unit 30.

[0088] The stop member 52a has, for example, a rotation axis (not shown), and is rotatably arranged along the conveying surface of the conveying section 30 about the rotation axis. When the delivery box 9 is stopped, the stop member 52a rotates from an initial position to a predetermined rotation position. Specifically, the stop member 52a is moved to a position intersecting the conveying direction of the delivery box 9, thereby stopping the delivery box 9. Furthermore, the stop member 52a is moved to a position approximately parallel to the conveying direction of the delivery box 9, thereby allowing the delivery box 9 to pass. The delivery box 9 that passes is conveyed further downstream in the conveying direction.

[0089] Furthermore, the sorting section 52 includes a packing lane 31. The packing lane 31 is a lane branching off from the conveying section 30, and is a lane extending in a direction perpendicular to the conveying direction of the incoming cargo box 9 relative to the conveying section 30, for example.

[0090] Furthermore, multiple sorting units 52 are provided. In this case, multiple packaging lanes 31 are provided to match the number of sorting units 52. Each of the packaging lanes 31 uses a different packaging method. The sorting units 52 are provided corresponding to each of the multiple packaging lanes 31. The sorting units 52 move specific items to the corresponding packaging lane 31.

[0091] In the sorting section 52, the packaging robot arm 15 moves specific items in the incoming cargo box 9 to the packaging lane 31 based on their characteristics. Furthermore, boxes other than the incoming cargo box 9 (e.g., the product box 5) may be prepared in the packaging lane 31 to accommodate the specific items held by the packaging robot arm 15.

[0092] The transport unit 30 transports a delivery box 9 containing at least one article P. The transport unit 30 directly receives the delivery box 9 transported by a transport vehicle 40 such as a truck. In other words, the transport unit 30 directly transports the delivery box 9 unloaded from the transport vehicle 40.

[0093] The control unit 22 of the information processing device 13 of the second embodiment controls the camera 10, the sorting unit 52, and the packaging unit 12. The control unit 22 operates the sorting unit 52.

[0094] The control unit 22 recognizes the object P as a specific object when, for example, the shape of the object P does not have a suckable flat surface. Furthermore, the control unit 22 recognizes the object P as a specific object when, for example, the material of the outer component of the object P is not a suckable material.

[0095] Furthermore, when the control unit 22 recognizes the article P stored in the receiving box 9 as a specific article, it recognizes the characteristics of the specific article.

[0096] Furthermore, when the article P contained in the incoming cargo box 9 is a specific article, the control unit 22 sets a packaging method for the specific article based on the characteristics of the specific article. The control unit 22 sets a packaging method for the article P from the first to third packages based on the characteristics of the specific article. Specifically, when the shape of the article P does not have a flat surface that can be attracted, the control unit 22 sets the second package as the packaging method for the article P. Furthermore, when the shape of the article P is box-shaped and the material of the outer components of the article P is not a material that can be attracted, the control unit 22 sets the first package as the packaging direction for the article P. Furthermore, when the shape of the article P has a flat surface that can be attracted but is not box-shaped and the material of the outer components of the article P is not a material that can be attracted, the control unit 22 sets the third package as the packaging method.

[0097] The control unit 22 sets the operation of the sorting unit 52 based on the characteristics of the specific item. For example, when the control unit 22 sets the packaging method of the specific item to the first packaging method based on the characteristics of the specific item, the control unit 22 controls the stopping member 52a of the sorting unit 52 to stop the incoming container 9 at the sorting position of the packaging robot arm 15 performing the first packaging.

[0098] The control unit 22 controls the packaging robot arm 15 to package the specific item removed from the incoming cargo box 9 according to the set packaging method. For example, when the packaging method for the specific item is set to first packaging, the control unit 22 controls the packaging robot arm 15 to apply tape to the specific item removed from the incoming cargo box 9 by the packaging robot arm 15 performing the first packaging.

[0099] The specific items packaged by the packaging robot arm 15 are placed in the merchandise box 5 and stored in the storage unit 2. Furthermore, the specific items packaged by the packaging robot arm 15 are placed in the merchandise box 5 prepared on the packaging lane 31 by the packaging robot arm 15. For example, when the merchandise box 5 is full, the entire merchandise box 5 can be moved to the storage unit 2.

[0100] Next, refer to Figure 9 The packaging process according to the second embodiment will be described. Figure 9 This is a flowchart illustrating the packaging process according to the second embodiment.

[0101] The information processing device 13 uses the camera 10 to photograph the article P contained in the incoming cargo box 9 (step S201). Based on the image data of the article P captured by the camera 10, the information processing device 13 identifies whether the article P is a specific article (step S202). Furthermore, if the incoming cargo box 9 contains multiple articles P, for example, only one of the multiple articles P contained in the incoming cargo box 9 may be a specific article, or more than one of the multiple articles P may be specific articles.

[0102] When the information processing device 13 recognizes the specific article (step S202 : Yes), the information processing device 13 recognizes the features of the specific article (step S203 ).

[0103] The information processing device 13 sets a packaging method for the identified specific article (step S204). Specifically, the information processing device 13 sets a packaging method based on the characteristics of the identified specific article.

[0104] The information processing device 13 sorts the specific items (step S205). Specifically, the information processing device 13 controls the sorting unit 52 to stop the incoming cargo box 9 at the sorting position, where the packaging robot arm 15 is located, performing the specified packaging method. The information processing device 13 then controls the packaging robot arm 15 to remove the specific items from the incoming cargo box 9.

[0105] The information processing device 13 packages the specific item removed from the incoming cargo box 9 (step S206). The information processing device 13 controls the packaging robot arm 15 to package the specific item according to the set packaging method. If the information processing device 13 determines that the item P is not a specific item during step S202 (step S202: No), the item P is not sorted (step S207). The information processing device 13 controls the sorting unit 52 to not sort the item P. As a result, the item P passes the sorting position.

[0106] In addition, when the packaging method of a specific item includes the above-mentioned first packaging, second packaging and third packaging, for example, when the items P contained in the incoming box 9 are mixed with two or more of the first to third packages, the information processing device 13 transports the incoming box 9 in sequence to the classification position of the packaging robot arm 15 corresponding to each package.

[0107] As described above, the packaging device 51 of the embodiment includes the information processing device 13 and the packaging unit 12. The information processing device 13 identifies whether at least one article P contained in the incoming container 9 is a specific article that is not suitable for grasping by the robot arm 7. If the article P is a specific article, the packaging unit 12 removes the specific article (article P1) from the incoming container 9 and packages the article (article P1) removed from the incoming container 9 so that the specific article can be grasped by the robot arm 7.

[0108] With this configuration, when shipping items from storage unit 2 based on shipping information, packaging device 51 facilitates the grasping of items P by robot arm 7. This improves the efficiency of shipping items P within logistics center 1. Furthermore, when packaging specific items, the specific items P are identified from the items P stored in incoming bin 9, and the items P (items P1) are directly removed from incoming bin 9 for packaging. This eliminates the need for, for example, identifying and packaging specific items P individually. This simplifies packaging operations.

[0109] Furthermore, in the packaging device 51 of the embodiment, the packaging unit 12 changes the packaging method for the specific article according to at least one of the shape of the specific article and the material of the outer component of the specific article.

[0110] According to this configuration, the packaging device 51 can package specific articles. Therefore, the packaging device 51 can make it easier for the robot arm 7 to grasp the articles P.

[0111] Furthermore, in the packaging device 51 of the embodiment, the robot arm 7 provided in the shipping unit 3 includes the suction unit 7 c , and the robot arm 7 grasps the article by suctioning the article with the suction unit 7 c .

[0112] With this configuration, specific items are packaged so that they can be easily grasped by the robot arm 7, which grasps the items P by suction. Consequently, in the shipping unit 3 of the logistics center 1, the time required to move the items P from the merchandise boxes 5 to the shipping boxes 6 can be shortened. In other words, the logistics center 1 can shorten the time required to ship the items P.

[0113] The packaging system 50 of the embodiment includes a packaging device 51 and a conveying unit 30. The packaging device 51 includes an information processing device 13 and a packaging unit 12. The information processing device 13 identifies whether at least one item P contained in the incoming box 9 is a specific item that is not suitable for grasping by the robot arm 7. In the case where the item P is a specific item, the packaging unit 12 takes out the specific item, that is, the item P (item P1) from the incoming box 9, and packages the item P (item P1) taken out from the incoming box 9 so that the specific item can be grasped by the robot arm 7. The conveying unit 30 conveys the incoming box 9. The conveying unit 30 directly conveys the incoming box 9 unloaded from the conveying vehicle 40 that transports the incoming box 9. The information processing device 13 identifies whether the item P contained in the incoming box 9 conveyed by the conveying unit 30 is a specific item.

[0114] According to this configuration, since the transport unit 30 directly transports the incoming cargo box 9 unloaded from the transport vehicle 40, that is, since the incoming cargo box 9 unloaded from the transport vehicle 40 is immediately transported, the time required for the incoming cargo box 9 to reach the sorting position of the specific article can be shortened. As a result, the time required for the packaging operation can be shortened.

[0115] Furthermore, the packaging system 50 includes a plurality of conveying units 30, and each conveying unit 30 may be configured to include a packaging device 51. In this way, each conveying unit 30 conveys the incoming box 9, and the time required for the packaging operation can be further shortened.

[0116] Furthermore, the packaging robot arm 15 of the packaging device 51 can handle two or more packages among the first to third packages described above with one packaging robot arm 15. This can simplify the packaging system 50.

[0117] (Third embodiment)

[0118] Next, the third embodiment will be described. The description will focus on the differences from the first embodiment, and descriptions of the same configurations as the first embodiment will be omitted.

[0119] The packaging device 4 of the third embodiment is configured to be able to efficiently package the articles P when packaging them.

[0120] refer to Figure 10 A packaging device 4 according to a third embodiment will be described. Figure 10 It is a diagram showing the outline of the packaging device 4.

[0121] The transport unit 30 is, for example, a belt conveyor or a roller conveyor. A plurality of articles P are transported to the transport unit 30. Specifically, after being stored in the storage unit 2 (refer to Figure 1 ) in the previous stage, the transport unit 30 transports a plurality of articles P to the storage unit 2. Figure 10 In the example, for ease of understanding, four items P are shown. Although the four items P may be described as "first item P1," "second item P2," "third item P3," and "fourth item P4," they will be described as "items P" unless otherwise specified. In addition, the first item P1 and the fourth item P4 are items of the same type, while the first and fourth items P1 and P4, the second item P2, and the third item P3 are items of different types. Figure 10 In the example of , although it is set to be carried in the order of the first article P1, the second article P2, the third article P3, and the fourth article P4, it is not limited to this. Figure 10 The number and shape of the articles P shown are merely examples and are not limiting.

[0122] The classification unit 11 classifies specific articles from a plurality of articles P. Figure 10 In the example of FIG, the first article P1 and the fourth article P4 are assumed to be specific articles.

[0123] The sorting unit 11 transfers specific articles from the plurality of articles P transferred by the transfer unit 30 to the packaging lane 31. Since the first article P1, which is a specific article, is transferred to the sorting unit 11 first, the sorting unit 11 first sorts the first article P1.

[0124] When conveying a specific article (here, the first article P1 ) to the packaging lane 31 , the sorting unit 11 rotates from an initial position to a predetermined rotation position to change the conveying direction of the specific article conveyed by the conveying unit 30 .

[0125] When the sorting unit 11 is in the initial position indicated by the dotted line, the conveying direction of the articles P is not changed and the articles P pass through. The passed articles P are conveyed further downstream in the conveying direction.

[0126] In addition, the classification unit 11 classifies, in addition to specific items, items P that can be packaged together with specific items. Items that can be packaged together (hereinafter referred to as "items that can be packaged together") are, for example, items sold as a set with a specific item, or items ordered together with a specific item. Items that can be packaged together are selected from a plurality of items P transported in the transport unit 30. The process of selecting items that can be packaged together is performed with the aid of the information processing device 13, but this will be described later. In addition, Figure 10In the example of FIG, the second article P2 is selected as an article that can be packaged together. The sorting unit 11 conveys the selected article that can be packaged together (here, the second article P2) to the packaging lane 31.

[0127] The packaging device 4 is provided with a plurality of packaging lanes 31 , each of which uses a different packaging method. A sorting unit 11 is provided corresponding to each of the plurality of packaging lanes 31 , and the sorting unit 11 moves specific articles or the like to the corresponding packaging lane 31 .

[0128] When packaging a specific article, the packaging unit 12 also packages the articles that can be packaged together. Figure 10 As shown by the double-dashed line in the middle, the packaging unit 12 packs the specific article (here, the first article P1) and the articles that can be packed together (here, the second article P2). In detail, the packaging unit 12 packs the specific article and the articles that can be packed together, and packs the specific article into a shape that can be moved by the robot arm 7 (refer to FIG. Figure 2 ) is grasped. Thus, the packaging unit 12 of this embodiment packages not only the specific article but also the co-packaged articles, thereby enabling efficient packaging of articles (specific articles). Furthermore, if there are no co-packaged articles among the plurality of articles P, the packaging unit 12 only packages the specific article.

[0129] The robot arm 15 for performing the packaging can, for example, lift an article P (specific article or a packaged article) using a plurality of fingers 15b. Furthermore, the packaging robot arm 15 can package specific articles and a packaged article using a plurality of fingers 15b.

[0130] In addition, a box (e.g., a commodity box 5) containing specific items etc. packaged by the packaging robot arm 15 may be prepared in the packaging lane 31. The packaging robot arm 15 places the packaged specific items into the commodity box 5. The commodity box 5 containing the packaged specific items etc. is transported to the storage unit 2 (see FIG. 2 ) by a cart robot (not shown). Figure 1 ) for safekeeping.

[0131] The information processing device 13 will be described. The information processing device 13 is a selection unit that selects articles that can be packaged together.

[0132] The information acquisition unit 20 acquires the order information included in the delivery information. The information acquisition unit 20 acquires the order information from a device that receives orders for items (for example, an external device such as a server), but is not limited thereto and may acquire the information from any device. The information acquisition unit 20 stores the acquired order information in the storage unit 21. In addition, the details of the order information will be described in detail in the following text. Figure 12 To be described later.

[0133] The storage unit 21 stores the co-packing information related to the items packaged together with the specific item and the order information related to the order for the item. Figure 11 Explain the package information. Figure 11 It is a figure which shows an example of the collective packaging information 21a.

[0134] The packing information 21a is pre-set information indicating the items that can be packed together according to the type of specific items. Figure 11 As shown, the co-packing information 21a includes items such as "co-packing information ID," "specific item," "number of specific items," "items that can be co-packed," and "number of items that can be co-packed," and the data for each item is associated with each other. The co-packing information 21a is information pre-stored in the storage unit 21, but is not limited thereto.

[0135] "Packaging information ID" is information for identifying packaging information. "Specific item" is information indicating the type of specific item. In other words, "specific item" is information indicating the type of item that is not suitable for being grasped by the robot arm 7. "Specific item" includes, for example, an item ID for identifying a specific item, but is not limited thereto and may also include information such as the product name of the item. Figure 11 In the example shown, for convenience, "specific article" is described abstractly as "B01", but "B01" stores specific information. Other information may also be described abstractly.

[0136] The number of specific items is information indicating the number of specific items to be packaged together. The number of specific items to be packaged together by the packaging robot arm 15 is not limited to one, but may be two or more. Figure 10 In the example, the items that can be packaged together with a specific item are items other than the specific item (specifically, items of a different type from the specific item (second items P2)), but the present invention is not limited to this. Specifically, depending on the type of item, multiple specific items may be sold as a set. In this case, the "number of specific items" is set to multiple. When these multiple specific items are packaged together, the items other than the specific item (second items P2) may or may not be packaged together.

[0137] "Items that can be packaged together" is information indicating the types of items that can be packaged together with a specific item. Specifically, a specific item may be sold as a set with items of different types. For example, when the specific item is a toothbrush, this toothbrush may be sold as a set with toothpaste. As another example, when the specific item is a writing instrument, this writing instrument may be sold as a set with a notebook. In the "items that can be packaged together" of this embodiment, information about items sold as a set with the specific item as described above is set. In addition, the "items that can be packaged together" corresponding to the specific item is not limited to one type, but may also be multiple types.

[0138] The “items that can be packaged together” include, for example, item IDs that identify the items that can be packaged together, but the information is not limited thereto and may include information on the product names of the items.

[0139] The "number of co-packable items" is information indicating the number of co-packable items packaged together with the specific item (co-packed). As described above, if multiple specific items are co-packed and items other than the specific items (i.e., co-packable items) are not co-packed, no data is registered in the "co-packable items" and "number of co-packable items" fields of the co-packing information 21a.

[0140] exist Figure 11 In the example, the co-packing information identified by the co-packing information ID "A01" indicates that the specific item is "B01," the number of specific items is "1," the co-packable item is "C01," and the number of co-packable items is "1." The co-packing information identified by the co-packing information ID "A02" indicates that the specific item is "B02," the number of specific items is "1," the co-packable items are "C02 and C03," and the number of co-packable items is "1 each." In other words, the co-packing information with the co-packing information ID "A02" indicates that there are two types of co-packable items.

[0141] Furthermore, the co-packing information identified by the co-packing information ID "A03" indicates that the specific item is "B03," the number of specific items is "2," and no data is registered regarding the co-packable items or the number of co-packable items. In other words, the co-packing information with the co-packing information ID "A03" indicates that two specific items "B03" are packaged and sold as a set.

[0142] Next, refer to Figure 12 Describe the order information. Figure 12 It is a figure which shows an example of order information 21b.

[0143] like Figure 12As shown, the order information 21b includes items such as "order information ID", "order items", and "designated packaging method", and the data of the respective items are associated (correlated) with each other.

[0144] "Order Information ID" is information identifying order information. "Order Item" is information indicating the type of item ordered by the user. "Order Item" may include, for example, an item ID identifying the ordered item, but is not limited thereto and may also include information such as the product name of the item.

[0145] The "Specified Packaging Method" is information related to the packaging method specified by the user for the ordered items. Specifically, if a user-specified packaging is present, information related to the specified packaging is set in the "Specified Packaging Method." This includes information related to gift packaging, such as birthday or Christmas packaging. The ordered items are packaged in the specified packaging. However, if the ordered items include specific items, the ordered items (specific items) are packaged in the specified packaging and are also packaged so that they can be grasped by the robot arm 7.

[0146] exist Figure 12 In the example, the order information identified by the order information ID "D01" indicates that the order information is "B01, C01" and the specified packaging method is "F01." For example, if the order items "B01, C01" are specific items and co-packable items, these specific items and co-packable items are packaged using the packaging specified in the specified packaging method "F01" and packaged so that they can be grasped by the robot arm 7.

[0147] Furthermore, the order information identified by the order information ID "D02" indicates that the order items are "B04, E01" and the designated packaging method is "F02." The order item "B04" is a specific item. The order item "E01" is neither a specific item nor an item that is included in the "items that can be packaged together" included in the packaging information 21a. In this case, the specific item (B01) and the item (E01) ordered together with the specific item are packaged in a manner that allows them to be grasped by the robot arm 7, using the packaging specified in the designated packaging method "F02." Furthermore, if the packaging method is not specified by the user, no data is registered in the "designated packaging method," and the specific item, etc., are packaged according to a general packaging method (a packaging method that allows them to be grasped by the robot arm 7).

[0148] The control unit 22 identifies whether an item is a specific item. Specifically, the control unit 22 identifies whether each of the multiple items is a specific item. More specifically, the control unit 22 identifies whether one of the multiple items (an example of a predetermined item) is a specific item that is not suitable for grasping by the robot arm 7. For example, the control unit 22 identifies whether one of the multiple items being conveyed by the conveying unit 30 (the predetermined item) is a specific item. The control unit 22 repeats this identification process for each number of items.

[0149] For example, the control unit 22 recognizes a specific article based on image data of the article captured by the camera 10 .

[0150] Furthermore, if the control unit 22 identifies the object as a specific object, it identifies the type of the specific object. The control unit 22 performs predetermined image processing to identify the type of the specific object. The image processing for identifying the specific object and the image processing for identifying the type of the specific object may be the same image processing or different image processing.

[0151] Furthermore, the control unit 22 recognizes the characteristics of the specific item. The control unit 22 performs predetermined image processing to recognize the characteristics of the specific item. The image processing for recognizing the specific item (or the type of the specific item) and the image processing for recognizing the characteristics of the specific item may be the same image processing or different image processing.

[0152] The control unit 22 also recognizes specific items and their features based on image data of the items acquired by the camera 10, but the present invention is not limited thereto. The specific items and their features can be recognized using sensors, etc. Furthermore, the control unit 22 can also perform functions such as identifying whether an item is a specific item, identifying the type of specific item, and identifying the features of a specific item by, for example, reading a barcode attached to an item with the camera 10 functioning as a barcode reader.

[0153] When the control unit 22 recognizes that the article (predetermined article) is a specific article, the control unit 22 selects an article that can be packaged together with the specific article from a plurality of articles. For example, the control unit 22 selects an article that can be packaged together with the specific article based on the type of the recognized specific article and the co-packing information 21a (refer to Figure 11 ) to select items that can be packed together.

[0154] Specifically, regarding the type of the identified specific article, if the "item that can be packaged together" is set in the co-packing information 21a, the control unit 22 selects the article set as the "item that can be packaged together" ( Figure 10 In the example of FIG, the second article P2) is selected as an article that can be packaged together with the specific article. At this time, the control unit 22 also determines the number of selected articles that can be packaged together based on the "number of articles that can be packaged together" of the package-together information 21a.

[0155] Furthermore, when the specific item is an item that can be packaged together in groups, that is, when the "number of specific items" in the package-together information 21a is set to plural, the control unit 22 selects a specific item different from the identified specific item as an item that can be packaged together. For example, when the "number of specific items" in the package-together information 21a is set to two, the control unit 22 selects a specific item different from the identified specific item ( Figure 10 In the example of the first item P1) different specific items ( Figure 10 In the example of FIG, the fourth item P4) is an item that can be packaged together.

[0156] In addition, the control unit 22 may also select items that can be packaged together based on the order information 21b that includes specific items. When the "order items" of the order information 21b include specific items and items other than specific items, the control unit 22 may select items other than specific items as items that can be packaged together. Items other than specific items are items that are not included in the "items that can be packaged together" in the package information 21a. Figure 10 In the example, the third item P3), but not limited to this.

[0157] Furthermore, the control unit 22 may select items that can be packaged together based on both the co-packing information 21a and the order information 21b, or may select items that can be packaged together based on either the co-packing information 21a or the order information 21b. In other words, the control unit 22 may select items that can be packaged together based on at least one of the co-packing information 21a and the order information 21b.

[0158] In addition, when the article is a specific article, the control unit 22 sets a packaging method for the specific article based on the characteristics of the specific article. The control unit 22 sets the packaging method for the article from the first to third packages based on the characteristics of the specific article. For example, when the shape of the article (specific article) does not have a plane that can be attracted, the control unit 22 sets the second package as the packaging method for the article. In addition, when the shape of the article (specific article) is a box-shaped and the material of the outer shape parts of the article is not a material that can be attracted, the control unit 22 sets the first package as the packaging method for the article. In addition, when the shape of the article (specific article) is not a box-shaped with a plane that can be attracted and the material of the outer shape parts of the article is not a material that can be attracted, the control unit 22 sets the third package as the packaging method.

[0159] Specifically, the control unit 22 sets the operation of the sorting unit 11 based on the characteristics of the specific item. For example, if the control unit 22 sets the packaging method for the specific item to first packaging based on the characteristics of the specific item, the control unit 22 controls the sorting unit 11 so that the specific item and items that can be packaged together are transported to the packaging lane 31, which is equipped with the packaging robot arm 15 that performs the first packaging.

[0160] The control unit 22 controls the packaging robot arm 15 to package the specific items and items that can be packaged together, which are conveyed to the packaging lane 31, according to the set packaging method. For example, if the packaging method for the specific items is set to primary packaging, the control unit 22 controls the packaging robot arm 15 to apply tape to the specific items and items that can be packaged together, which are sorted to the packaging lane 31 where the packaging robot arm 15 performing the primary packaging is located.

[0161] In this way, the control unit 22 controls the packaging unit 12 , that is, the packaging robot arm 15 , to gather the specific article and articles that can be packaged together, and to package the specific article so that it can be grasped by the robot arm 7 .

[0162] In addition, the control unit 22 can control the packing unit 12, that is, the packing robot arm 15, so that the packing unit 12 can be packed according to the order information 21b (refer to Figure 12 ) to change the packaging method for specific items.

[0163] For example, when the order information 21b includes specific items and items that can be packaged together and a packaging method is specified, the control unit 22 controls the packaging unit 12, i.e., the packaging robot arm 15, and uses the specified packaging method (such as gift packaging) to package the specific items and items that can be packaged together so that they can be grasped by the robot arm 7.

[0164] Specific items and items that can be packaged together with the packaging robot arm 15 are placed in a merchandise box 5 and stored in the storage unit 2. Furthermore, specific items and the like packaged by the packaging robot arm 15 can also be placed in a merchandise box 5 prepared in the packaging lane 31 by the packaging robot arm 15. For example, when the merchandise box 5 is full, the merchandise box 5 is moved to the storage unit 2.

[0165] Next, refer to Figure 13 The packaging process according to the third embodiment will be described. Figure 13 This is a flowchart illustrating the packaging process according to the third embodiment.

[0166] like Figure 13As shown, the information processing device 13 photographs an item using the camera 10 (step S300). The information processing device 13 identifies whether the item is a specific item based on the image data of the item photographed and obtained by the camera 10 (step S301). Specifically, the information processing device 13 identifies whether one item (a predetermined item) among multiple items is a specific item. If the information processing device 13 identifies the item as a specific item (step S301, yes), it identifies the type of the specific item (step S302). Next, the information processing device 13 selects items that can be packaged together with the specific item based on the type of the identified specific item (step S303). In the processing of step S303, if the specific item is an item that can be packaged together in multiple items, a specific item different from the identified specific item can be selected as an item that can be packaged together. In addition, in the processing of step S303, if the order information 21b includes a specific item, an item ordered together with the specific item can be selected as an item that can be packaged together.

[0167] Next, the information processing device 13 identifies the characteristics of the specific item (step S304). The information processing device 13 sets a packaging method for the identified specific item (step S305). Specifically, the information processing device 13 sets a packaging method based on the characteristics of the identified specific item. In the process of step S305, the order information 21b is referenced. If the order information 21b does not specify a packaging method, the packaging method can be changed to such a specified packaging method (for example, a packaging method using gift packaging). In addition, the packaging method after the change is the same as before the change, and is a packaging method that can be grasped by the robot arm 7.

[0168] The information processing device 13 classifies the specific items and items that can be packaged together (step S306). Specifically, the information processing device 13 controls the sorting unit 11 so that the specific items and items that can be packaged together are transported to the packaging lane 31, which is equipped with a packaging robot arm 15 that performs the set packaging method.

[0169] The information processing device 13 collects and packages the specific items and items that can be packaged together and transported to the packaging lane 31 (step S307). The information processing device 13 controls the packaging robot arm 15 to package the specific items and items that can be packaged together according to the set packaging method.

[0170] If the information processing device 13 recognizes that the article is not a specific article (step S301, No), the article is not sorted (step S308). That is, the information processing device 13 controls the sorting unit 11 not to sort the article. As a result, the article passes the sorting position.

[0171] As described above, the packaging device 4 of this embodiment includes an information processing device 13 and a packaging unit 12, which function as an identification unit and a selection unit. The information processing device 13 identifies whether a specific item among a plurality of items is a specific item not suitable for grasping by the robot arm 7. If the information processing device 13 identifies the specific item as a specific item, it selects an item from the plurality of items that can be packaged together with the specific item. The packaging unit 12 gathers the specific item and the items that can be packaged together and packages the specific item in a manner suitable for grasping by the robot arm 7.

[0172] Thus, when items are shipped from storage unit 2 based on the shipment information, packaging device 4 can facilitate the grabbing of the items by robot arm 7. This improves the efficiency of item shipment operations in logistics center 1. Furthermore, packaging device 4 packages not only specific items but also items that can be packaged together, enabling efficient packaging of items (specific items).

[0173] Furthermore, specific items and items that can be packaged together are packaged together before being stored in storage unit 2. Therefore, for example, in shipping unit 3 of logistics center 1, when robot arm 7 moves specific items from merchandise box 5 to shipping box 6, it can easily grab the specific items and items that can be packaged together and move them together, thus shortening the time it takes to move the specific items. In other words, logistics center 1 can shorten the time it takes to ship specific items.

[0174] Furthermore, the information processing device 13 functioning as a selection unit selects articles that can be packaged together according to the type of the specific article.

[0175] As a result, the information processing device 13 can select items that match the type of specific item, such as items sold as a set with the specific item, as items that can be packaged together. Consequently, the packaging unit 12 can package the specific item and the items sold as a set with the specific item (items that can be packaged together) together. Consequently, for example, the robot arm 7 can easily grasp items sold as a set with the specific item (items that can be packaged together) and move them together, shortening the time it takes to move the specific item. In other words, the logistics center 1 can shorten the time it takes to ship the specific item.

[0176] The information processing device 13 functioning as a selection unit selects items that can be packaged together based on at least either pre-defined co-packing information 21a indicating items that can be packaged together according to the type of specific items and order information 21b including specific items.

[0177] Thus, the information processing device 13 uses the pre-established co-packing information 21a to more accurately select items that match the type of specific item as items that can be packaged together. Furthermore, the information processing device 13 uses the order information 21b that includes the specific item to select items ordered together with the specific item as items that can be packaged together. Therefore, the packaging unit 12 can package the specific item and the selected co-packed items together. Therefore, for example, the robot arm 7 can easily grasp the specific item and the co-packed items and move them together, thereby shortening the time it takes to move the specific item. That is, the logistics center 1 can shorten the time it takes to ship the specific item.

[0178] Furthermore, if the specific item is one that can be packaged together, the information processing device 13, functioning as a selection unit, selects a specific item different from the identified specific item as an item to be packaged together. Furthermore, the packaging unit 12 packages the multiple specific items together, specifically packaging them so that they can be grasped by the robot arm 7.

[0179] Thus, the packaging unit 12 can collectively package multiple specific items sold in sets. Therefore, for example, the robot arm 7 can easily grasp multiple specific items sold in sets and move them together, shortening the time required to move the specific items. In other words, the logistics center 1 can shorten the time required to ship multiple specific items sold in sets.

[0180] Furthermore, the packaging unit 12 changes the packaging method for the specific article based on the order information for the specific article.

[0181] As a result, packaging unit 12 can package specific items using the packaging method specified in the order information. Specific items packaged using this packaging method are then stored in storage unit 2. Therefore, for example, in shipping unit 3 of logistics center 1, when specific items are moved from merchandise box 5 to shipping box 6, they are already packaged using the packaging method specified in the order information. Robot arm 7 can then grasp and move the specific items as is. In other words, since shipping unit 3 does not need to package specific items using the packaging method specified in the order information, the specific items can be shipped much sooner.

[0182] Furthermore, the packaging unit 12 changes the packaging method for the specific article according to at least one of the shape of the specific article and the material of the external components of the specific article.

[0183] Thus, the packaging device 4 can package specific articles. Therefore, the packaging device 4 can make the articles easy to grasp by the robot arm 7.

[0184] Furthermore, the information processing device 13 functioning as a recognition unit recognizes whether or not a predetermined article among a plurality of articles conveyed by the conveying unit 30 is a specific article.

[0185] Thus, for example, before the item is stored in the storage unit 2, the information processing device 13 can perform specific item identification processing while the item is being transported by the transport unit 30. Therefore, the information processing device 13 can identify the item as a specific item as early as possible (in other words, the item before being stored in the storage unit 2), and as a result, the packaging unit 12 can package the identified specific item earlier.

[0186] The robot arm 7 provided in the delivery unit 3 has a suction portion 7 c , and grasps an article by suctioning the article with the suction portion 7 c .

[0187] The packaging device 4 packages specific items so that they can be easily grasped by the robot arm 7, which grasps the items by suction. Consequently, in the shipping unit 3 of the logistics center 1, the time required to move items from the product boxes 5 to the shipping boxes 6 can be shortened. In other words, the logistics center 1 can shorten the time required to ship items.

[0188] The packaging device 4 may not include the sorting unit 11 and multiple packaging lanes 31. Instead, it packages specific items and other items that can be packaged together, transported by the transport unit 30, according to a predetermined packaging method. For example, multiple packaging robot arms 15 may be positioned along the transport unit 30 to package the specific items and other items according to a packaging method tailored to the characteristics of the specific items. Alternatively, the packaging device 4 may transport specific items, etc., to a single packaging lane 31, where the specific items, etc., are packaged according to the predetermined packaging method.

[0189] Although the present invention has been described above using the embodiments, the technical scope of the present invention is not limited to the scope described in the above embodiments. It is obvious to those skilled in the art that various changes or improvements can be made to the above embodiments. It is clear from the description of the claims that the addition of such changes or improvements is also included in the technical scope of the present invention.

[0190] It should be noted that the order in which actions, processes, steps, and stages, etc., are executed in the apparatus, system, program, or method described in the claims, specifications, and drawings may be implemented in any order, unless otherwise expressly stated as "before," "prior to," or the like, and the output of a preceding process is not used for a subsequent process. Even if the process flow in the claims, specifications, or drawings is described using the phrases "first," "next," or the like for convenience, it does not necessarily mean that the process must be executed in that order.

[0191] Description of Reference Numerals

[0192] 1 Logistics Center

[0193] 2 Storage

[0194] 3 Shipping Department

[0195] 4.51 Packaging device

[0196] 7 Robotic Arm

[0197] 7c Adsorption section

[0198] 10. Camera

[0199] 11, 52 Classification Department

[0200] 12 Packaging Department

[0201] 13 Information processing device

[0202] 15 Packaging Robot Arm

[0203] 20 Information Acquisition Department

[0204] 21 Storage

[0205] 22 Control Unit

[0206] 31 Packing Lane

[0207] 50 Packaging System

[0208] 52Aα stop component.

Claims

1. A packaging device for articles, characterized in that: Equipped with identification and packaging departments, The recognition unit recognizes whether the object is a specific object that is not suitable for grasping by the robot arm. In a case where the article is the specific article, the packaging unit packages the article so that the specific article can be grasped by the robot arm.

2. The packaging device according to claim 1, characterized in that The packaging unit changes a packaging method for the specific article according to at least one of a shape of the specific article and a material of an outer component of the specific article.

3. The article packaging device according to claim 1, characterized in that: The object is adsorbed by the adsorption portion of the robot arm and thus grasped.

4. A packaging device for articles, characterized in that: Equipped with identification and packaging departments, The recognition unit recognizes whether at least one item contained in the box is a specific item that is not suitable for grasping by the robot arm. If the article is the specific article, the specific article, ie, the article, is taken out from the box, and the article taken out from the box is packaged so that the specific article can be grasped by the robot arm.

5. The packaging device according to claim 4, characterized in that The packaging unit changes a packaging method for the specific article according to at least one of a shape of the specific article and a material of an outer component of the specific article.

6. The packaging device according to claim 4, characterized in that The object is adsorbed by the adsorption portion of the robot arm and thus grasped.

7. A packaging system, characterized in that: A packaging device according to any one of claims 4 to 6 and a conveying unit for conveying the box, The transport unit directly transports the box unloaded from the transport vehicle transporting the box. The recognition unit recognizes whether the article contained in the box conveyed by the conveying unit is the specific article.

8. A packaging device for articles, characterized in that: Equipped with identification, selection and packaging departments, The recognition unit recognizes whether a predetermined item among the plurality of items is a specific item that is not suitable for grasping by the robot arm. When the predetermined article is identified as the specific article, the selection unit selects an article that can be packaged together with the specific article from the plurality of articles. The packaging unit gathers the specific article and the articles that can be packaged together, and packages the specific article so that it can be grasped by the robot arm.

9. The article packaging device according to claim 8, characterized in that: The selection unit selects the articles that can be packaged together according to the type of the specific article.

10. The article packaging device according to claim 9, characterized in that: The selection unit selects the items that can be packaged together based on at least one of pre-defined co-packing information indicating the items that can be packaged together according to the type of the specific item and order information including the specific item.

11. The article packaging device according to claim 8, characterized in that: When the specific article is an article that can be packaged together in plurality, the selection unit selects the specific article that is different from the identified specific article as the article that can be packaged together. The packaging unit packages a plurality of the specific articles together.

12. The article packaging device according to claim 8, characterized in that: The packaging unit changes a packaging method for the specific article based on order information for the specific article.

13. The article packaging device according to claim 8, characterized in that: The packaging unit changes a packaging method for the specific article according to at least one of a shape of the specific article and a material of an outer component of the specific article.

14. The article packaging device according to claim 8, characterized in that: The recognition unit recognizes whether one of the predetermined articles among the plurality of articles conveyed by the conveying unit is the specific article.

15. The article packaging device according to claim 8, characterized in that: The object is adsorbed by the adsorption portion of the robot arm and thus grasped.

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