Work assistance system

Abstract

The work support system supports a stacking work in which a worker stacks a plurality of articles on a support body capable of supporting the articles by giving an instruction to the worker. A work support system includes a projection device and a control device that controls the projection device. The control device controls the projection device so as to project a position instruction image (A) indicating the stacking position of the target article onto a projection target that is at least one of the support body (2) and the article (W) that has been stacked on the support body (2).

Description

TECHNICAL FIELD

[0001] The present application relates to a work support system that supports a work in which a worker stacks a plurality of articles on a support capable of supporting the articles, by giving an instruction to the worker. BACKGROUND

[0002] One example of such a work support system is disclosed in Japanese Patent No. 6074769 (Patent Literature 1). Hereinafter, in the description of the background art, the reference signs and names in Patent Literature 1 are introduced in parentheses.

[0003] In the stacking device of Patent Literature 1, it is configured in such a manner that a transfer device (transfer robot 4) that stacks articles on a placement portion (placement table 8) and a control device (H) that controls the work of the transfer device (4) are provided, the transfer device (4) stacks articles on a stacking portion (cage 3) in an arrangement decided by an arrangement decision method that decides an arrangement for stacking articles in a plurality of stages, and the stacking portion (cage 3) is provided with a placement portion (8) that is a rectangular shape in a plan view that supports articles, and a back portion and a pair of side portions that are provided in a state of standing from three of the four sides that form the outer edge of the placement portion (8). On the other hand, for example, in a case where the transfer device (4) cannot be used due to a limitation of a setting space or a failure, or the like, an image showing the decided stacking pattern is sometimes displayed on a monitor, and a worker manually stacks articles (W) on the stacking portion (3) based on the image displayed on the monitor.

[0004] PRIOR ART DOCUMENTS PATENT LITERATURE Patent Literature 1: Japanese Patent No. 6074769 SUMMARY

[0005] PROBLEMS TO BE SOLVED BY THE INVENTION However, in a case where a plurality of articles are stacked, it is sometimes difficult to intuitively grasp the detailed stacking position of each article only by the image displayed on the monitor, and a work error can occur. If such a work error occurs, since the articles are not stacked in accordance with the decided stacking pattern, a problem can occur in which all of the articles cannot be stacked on the stacking portion or the like.

[0006] Therefore, it is desirable to realize a work support system in which a worker can easily recognize in which position an object article should be stacked.

[0007] MEANS FOR SOLVING THE PROBLEMS In view of the above, the work support system is characterized by the following point: is a work support system that supports a worker in a stacking work of stacking a plurality of articles on a support body capable of supporting the articles by giving an instruction to the worker, comprising: a projection device; and a control device that controls the projection device, with an object article being an article to be stacked on the support body or the article already stacked on the support body from which the article is to be stacked, the control device controls the projection device to project a position indication image showing a stacking position of the object article to at least one of the projection object being the support body and the article already stacked on the support body.

[0008] According to this feature, in a case where the worker performs a stacking work of a plurality of articles on a support body, the worker can easily recognize in which position the object article should be stacked by observing the position indication image projected to the projection object. Therefore, it is easy to seek high efficiency of the stacking work of the articles by the worker. BRIEF DESCRIPTION OF DRAWINGS

[0009] Figure 1 is a schematic view of an article transport device.

[0010] Figure 2 is a perspective view of a cage car.

[0011] Figure 3 is a perspective view of a cage car in a stacking work.

[0012] Figure 4 is a control block diagram.

[0013] Figure 5 is an explanatory view of a work support system of the first embodiment.

[0014] Figure 6 is an explanatory view of a work support system of the second embodiment.

[0015] Figure 7 is an explanatory view of a work support system of the third embodiment.

[0016] Figure 8 is an explanatory view of a work support system of the fourth embodiment.

[0017] Figure 9 is an explanatory view of a work support system of the fifth embodiment.

[0018] Figure 10 is an explanatory view of a work support system of the sixth embodiment.

[0019] Figure 11 is an explanatory view of a work support system related to a modification of the sixth embodiment.

[0020] Figure 12 is a diagram of a work support system according to a modification of the 6th embodiment.

[0021] Figure 13 is a diagram of a work support system according to a modification of the 2nd embodiment. DETAILED DESCRIPTION

[0022] 1. 1st Embodiment A 1st embodiment of a work support system 1 will be described based on the drawings. Hereinafter, an example in which the work support system 1 is applied to an article transportation device 100 will be described based on the drawings. In the present embodiment, as shown in FIG. 1, the article transportation device 100 is provided with the work support system 1, an in-feed section 3 for in-feeding articles W, a transportation conveyor 5, a work area 4, a storage section 9 for storing the articles W, a delivery conveyor 8, a labeling device 7 provided adjacently to the delivery conveyor 8, and a delivery work area 6. Figure 1

[0023] The articles W fed into the inside of the article transportation device 100 are stacked on a support (in this case, a cage car 2) via the work support system 1. Then, the articles W stacked on the support (cage car 2) are stored by the storage section 9. In addition, the articles W delivered from the inside of the article transportation device 100 are loaded from the storage section 9 to the delivery conveyor 8. Then, the articles W are transported by the delivery conveyor 8 to the delivery work area 6, and are delivered from the delivery work area 6 to the outside of the article transportation device 100. The delivered articles W are loaded into a truck or the like and are carried to a delivery destination, for example, while being transported by the delivery conveyor 8.

[0024] In addition, the articles W stacked on the support (cage car 2) via the work support system 1 are sometimes not stored by the storage section 9, but are transported as they are by the delivery conveyor 8 to the delivery work area 6. In addition, in the case of delivering the articles W, the articles W are sometimes not loaded on the delivery conveyor 8, but are directly transported to the delivery work area 6. In this case, the articles W are not subjected to the labeling of labels based on the labeling device 7.

[0025] In Figure 1 ​In the example, the shipping conveyor 8 includes a first outgoing conveyor 10, a second outgoing conveyor 11, and a third outgoing conveyor 12. Multiple first outgoing conveyors 10 are arranged adjacent to the storage section 9. Each of the multiple first outgoing conveyors 10 is connected to the second outgoing conveyor 11 downstream. An adhesive device 7 is arranged adjacent to the second outgoing conveyor 11. The second outgoing conveyor 11 is connected to multiple third outgoing conveyors 12 further downstream than the adhesive device 7. Each of the multiple third outgoing conveyors 12 is arranged to overlap with the shipping operation area 6 when viewed vertically. That is, the item W loaded on the first outgoing conveyor 10 is transported to any one of the multiple third outgoing conveyors 12 via the second outgoing conveyor 11. In the shipping operation area 6, the operator removes the item W from the third outgoing conveyor 12 and stacks it in a cage trolley 2, etc.

[0026] In addition to cage cart 2, other supporting structures include various containers and trolleys such as pallets, cardboard boxes, or collapsible containers. In the shipping area 6, trucks and other vehicles can park, and multiple stacked items W are loaded onto the vehicles for shipment. Furthermore, in... Figure 1 In the example, the labeling device 7 is a label applicator that automatically affixes a label indicating the shipping destination. Furthermore, the configuration of the shipping conveyor 8 can be appropriately modified.

[0027] In storage section 9, multiple items W, stacked on a support structure (cage cart 2) by the operation support system 1, are stored. Figure 1 In the example, multiple support structures (cage carts 2) are arranged side by side in the storage section 9, and multiple items W are stacked on each support structure (cage cart 2). The storage section 9 is located between the operation support system 1 and the shipping conveyor 8 (here, the first shipping conveyor 10). That is, the storage section 9 is adjacent to both the operation support system 1 and the shipping conveyor 8. Furthermore, when transporting multiple items W loaded on the support structures (cage carts 2) or items not loaded on the support structures (cage carts 2) within the item transport equipment 100 without using a conveyor, it is appropriate to use not only manual transport but also forklifts or automated guided vehicles (AGVs).

[0028] In this embodiment, the article W is a container that can be stacked on the support (carriage 2). For example, the article W is a corrugated cardboard box that serves as a container for holding objects. Besides clothing or books, drinking water, and food, mechanical parts can also be listed as objects that can be held in a cardboard box container.

[0029] Further, the articles W are not limited to a single kind, and can be a plurality of kinds of articles W. The same kind of article W means an article W that is identical in size (length, width, height), shape, and weight, and a different kind of article W means an article W that is different in some or all of the size, shape, and weight.

[0030] The work support system 1 is a device that supports the work of a worker who stacks a plurality of articles W on a support (cage 2) that can support the articles W by giving an instruction to the worker.

[0031] Further, as shown in Figure 2 In the cage 2 in the present embodiment, a placement table 20 on which an article W is placed and which is rectangular in plan view, three peripheral wall portions 21 provided in a state of standing from three of the four sides that form the outer edge of the placement table 20, and a plurality of movement wheels 22 provided on the lower surface of the placement table 20 are provided. Each of the two opposing peripheral wall portions 21 of the three peripheral wall portions 21 is referred to as a side portion 21a, and the remaining one peripheral wall portion 21 is referred to as a back portion 21b. Further, the direction in which the pair of side portions 21a are arranged side by side is referred to as the left-right direction, and the horizontal direction orthogonal to the left-right direction is referred to as the front-rear direction.

[0032] As shown in Figure 3 The article W is first stacked on the placement table 20 of the cage 2, and then further articles W are sequentially stacked on the stacked article W.

[0033] As shown in Figure 4 In the present embodiment, the work support system 1 includes a projection device 14 and a control device 13 that controls the projection device 14.

[0034] Further, the control device 13 inputs article information related to the size (length, width, height), shape, weight, number, and the like of the article W. Further, the control device 13 determines a stacking arrangement pattern for stacking the plurality of articles W on the cage 2 based on a predetermined reference, and stores the same.

[0035] The work support system 1 operates when the article W is taken out from the transport conveyor 5 by the worker and stacked on the cage 2 in the work area 4. Then, the control device 13 controls the projection device 14 based on the stacking arrangement pattern so that the position indication image A that shows the stacking position of the target article is projected to the projection target. Here, the projection target is at least one of the support (cage 2) and the article W that has been stacked on the support (cage 2). The target article is the article W that is to be stacked on the support (cage 2) or the article W that has been stacked on the support (cage 2) from this point. Further, in the present embodiment, as shown in Figure 5As illustrated, a position indication image A indicating the stacking position of the object article is projected by MR (Mixed Reality) via the goggles worn by the operator, with the article W already stacked in the cage car 2 being the projection target.

[0036] Thus, when the operator performs the stacking operation of the plurality of articles W on the support (cage car 2), the operator can easily recognize which position the object article should be stacked in, by observing the position indication image A projected to the projection target. Therefore, it is easy to seek the efficiency of the stacking operation of the articles W by the operator.

[0037] As the projection device 14 applicable to the present application, it is not limited to MR, and examples of other projection devices include a laser pointer, projection mapping, and the like. That is, "projection" refers to the concept of not being limited to the projection in such a manner that the image is superimposed on the support (cage car 2) or the article W by the MR goggles or the like as in the present embodiment, but also includes direct projection on the support (cage car 2) or the article W.

[0038] In the present embodiment, the projection target is the lower-level article W, which is the support surface of the place where the object article is loaded, but is not limited thereto, and can be the support (for example, the placement table 20 of the cage car 2, or the like) of the support surface of the place where the object article is loaded. Furthermore, the projection target can be the support of the side wall surface (for example, the peripheral wall portion 21 of the cage car 2, or the like) of the place where the object article is loaded or the side surface of the same-level article W, in addition to the support surface or the lower-level article W. Also, it can be the case that the position indication image is not projected to the support surface, but only the side wall surface (for example, the peripheral wall portion 21 of the cage car 2, or the like) is the projection target. That is, "position indication image" refers to the concept of not being limited to the projection to the stacking position of the object article as in the present embodiment, but also includes the projection in such a manner that the stacking position is indicated in the vicinity of the stacking position of the object article.

[0039] Furthermore, as the "position indication image", for example, it can be the case that only the stacking position of the object article is displayed in such a manner as a dot or an arrow (an arrow projected to the support of the side wall surface of the place where the object article is loaded, or the like).

[0040] In addition, in the above-described embodiment, a configuration is shown in which the articles W are not stacked by the transfer robot, but only by the operator. However, the embodiment is not limited thereto. For example, the embodiment can be the case where the operator performs the stacking operation instead of the transfer robot during the recovery operation when the transfer robot fails and an error in the stacking operation occurs, or during the maintenance operation of the transfer robot, or the like.

[0041] 2. Second Embodiment Next, a second embodiment of the work support system 1 will be described using Figure 6 In the present embodiment, the article W is rectangular in plan view. Also, the present embodiment differs from the above-described first embodiment in that the control device 13 causes a direction indication image B, which indicates a direction along which a long side of the target article in plan view is to be aligned, to be projected onto the projection target in addition to or together with the position indication image A. Hereinafter, the work support system 1 according to the present embodiment will be described focusing on the points of difference from the above-described first embodiment. Note that the points not specifically described are the same as in the above-described first embodiment.

[0042] The rectangular shape in the present embodiment can not be a strict rectangle, but can be a shape that is approximately rectangular.

[0043] In the present embodiment, the position indication image A and the direction indication image B are combined and represented as one image. The position indication image A is a rectangular image, and the direction indication image B is a linear image. Also, desirably, the direction indication image B is represented in a color that is easy for the worker to visually recognize, such as red or the like. The position of the article W that is rectangular in plan view and the orientation of the article W are simultaneously indicated by the position of the position indication image A and the orientation of the direction indication image B.

[0044] According to the present configuration, in the case where the stacking work of the article W that is rectangular in plan view is performed, the worker can easily recognize the direction along which the long side of the article W in plan view is to be aligned by observing the direction indication image B projected onto the projection target. Thus, it is possible to reduce the likelihood that the worker will stack the article W with the orientation thereof mistaken, and to easily seek further efficiency in the stacking work of the article W by the worker.

[0045] In addition, for example, as shown in Figure 13 the linear image indicating the position of the target article and the direction of the target article can be projected onto the upper surface of the article W or the placement table 20 of the cage car 2, or the like, which is the support surface of the place where the target article is to be loaded. Such a linear image can be said to be the position indication image A indicating the stacking position of the target article, can be said to be the direction indication image B indicating the direction of the target article, and can be said to be a linear image in which the position indication image A and the direction indication image B are combined. Such a linear image is simple in shape, and thus is suitable, for example, in the case where a laser pointer or a light engraving projector is used as the projection device 14.

[0046] Also, in the present embodiment, the configuration is not limited to the case where the direction indication image B and the position indication image A are represented as one image, but can be configured such that the direction indication image B and the position indication image A are separated and each represented individually.

[0047] 3. Third Embodiment Next, the third embodiment of the work support system 1 will be described using Figure 7 In the present embodiment, the next position indicator image N is represented by a shape, a color, or a luminance, or the like, which is different from the position indicator image A, or by a combination thereof. Further, with respect to the next position indicator image N, it is not necessarily limited to one, and a plurality of next position indicator images N can be projected, for example, in the case of #1, #2, #3,...., in a manner in which numbers corresponding to the order of stacking are noted.

[0048] In the present embodiment, the next position indicator image N is represented by a shape, a color, or a luminance, or the like, which is different from the position indicator image A, or by a combination thereof. Further, with respect to the next position indicator image N, it is not necessarily limited to one, and a plurality of next position indicator images N can be projected, for example, in the case of #1, #2, #3,...., in a manner in which numbers corresponding to the order of stacking are noted.

[0049] According to the present configuration, in the case where the worker performs the stacking work of a plurality of articles W on the support body, it is possible to grasp in advance the stacking position of the article W that should be stacked next. Therefore, it is easy to seek the efficiency of the stacking work of the article W by the worker.

[0050] Further, according to the present configuration, the worker can also exchange the stacking order of the current object article and the next object article, and it is easy to improve the degree of freedom of the work of the worker.

[0051] 4. Fourth Embodiment Next, the fourth embodiment of the work support system 1 will be described using Figure 8 In the present embodiment, the work support system 1 differs from the above-described first embodiment in that the control device 13 projects at least one of the order display image H that shows the stacking order of the object article among all of the articles W stacked on the support body (the cage car 2) and the order display image h of the article W that has been stacked, to the projection object. Hereinafter, the work support system 1 according to the present embodiment will be described focusing on the point of difference from the above-described first embodiment. Further, with respect to the points not particularly described, the same as the above-described first embodiment.

[0052] As the order display image H that shows the stacking order of the object article and the order display image h of the article W that has been stacked, for example, as shown in Figure 8 , a number or the like that shows the order of stacking can be listed. Further, as another way of the order display image, for example, a bar chart or the like figure that shows the position corresponding to the order in which the object article occupies the entirety of the stacked articles W can be.

[0053] In addition, as shown in Figure 8 , the order display image H and the position indication image A that show the stacking order of the target articles can also be represented as one image (for example, using numbers instead of colored lines). Alternatively, the order display image H and the position indication image A can also be represented as separate images.

[0054] 5. Fifth Embodiment Next, the fifth embodiment of the work support system 1 will be described using Figure 9 . In the present embodiment, the control device 13 sets a reference point E at a support surface that supports the surface of the plurality of articles W of the support body (cage 2), and sets an X-axis and a Y-axis that intersect at the reference point E along the horizontal surface. Further, in the present embodiment, the control device 13 projects the first reference line image C that is disposed at a position overlapping the X-axis when viewed in the up-down direction and the second reference line image D that is disposed at a position overlapping the Y-axis when viewed in the up-down direction to the entirety of the support body (cage 2) and the articles W that have been stacked on the support body (cage 2). Hereinafter, the work support system 1 related to the present embodiment will be described focusing on the points that differ from the above-described first embodiment. Further, regarding the points that are not specifically described, the same as the above-described first embodiment applies.

[0055] In the present embodiment, for example, as shown in Figure 9 , the support body (cage 2) is rectangular (square or rectangular) when viewed from above, the X-axis and the Y-axis are set in directions parallel to the respective sides of the support body (cage 2), and the intersection point (reference point E) of the X-axis and the Y-axis is set at the center of the support surface (the center of gravity of the figure). Of course, in the case where the support body (cage 2) has articles W stacked thereon, the X-axis and the Y-axis and the intersection point thereof are projected to the upper surface of the stacked articles W.

[0056] In the present embodiment, the configuration in which the reference point E is set at the center of the support surface is not limiting, and the reference point can also be set at a position offset from the center of the support surface. In addition, the X-axis and the Y-axis can also be set in directions intersecting the respective sides of the support body (cage 2).

[0057] In addition, in the present embodiment, the configuration in which two reference line images, the first reference line image C and the second reference line image D, are provided. However, the embodiments are not limited to this configuration. For example, the embodiments can also set a grid-shaped reference line image or a radial reference line image, and project a third reference line image, a fourth reference line image, and further reference line images.

[0058] According to this configuration, the first reference line image C and the second reference line image D are projected onto the support surface of the support body (cage 2) or the upper surface of the items W already stacked on the support surface, so that the operator can stack the items W based on these reference line images. Therefore, it is easy to optimize the position of the items W stacked by the operator.

[0059] 6. Sixth Implementation Method Next, use Figure 10 The sixth embodiment of the work support system 1 will now be described. This embodiment differs from the first embodiment in the following two ways. First, in this embodiment, the work support system 1 further includes an image display device 15 that displays images on a display screen. Furthermore, in this embodiment, the control device 13 displays a status display image F, which is an image corresponding to the items W already stacked on the support (cage trolley 2), and a position indication image G, showing the stacking position of the target items, on the display screen. Second, in this embodiment, the work support system 1 displays a projection image K, corresponding to the image projected by the projection device 14 onto the projection object, superimposed on the status display image F on the display screen. Hereinafter, the work support system 1 according to this embodiment will be described focusing on the differences from the first embodiment. Furthermore, points not specifically described are the same as in the first embodiment or other embodiments.

[0060] exist Figure 10 In the example shown, projection images A1, B1, C1, D1, and E1 are displayed on the screen as corresponding projection images K to the position indicator image A, direction indicator image B, first reference line image C (X-axis), second reference line image D (Y-axis), and the intersection point (reference point E) of the first reference line image C and the second reference line image D projected onto the projection object by the projection device 14. Additionally, the image labeled W1 is the image corresponding to the item W.

[0061] In the present embodiment, as the image display device 15, for example, a monitor or a projector or the like is used. Also, a three-dimensional image showing the same state as the actual stacking state is displayed as the state display image F on the display screen together with the position indication image G showing the stacking position of the target article. Furthermore, the projection image K corresponding to the image projected by the projection device 14 to the projection target is displayed on the display screen in superposition with the state display image F. In addition, the displayed projection image K can not necessarily be the entirety of the projected image, but can display only a part thereof. Also, an image of the same purpose can be displayed in a different manner from the projected image. For example, the position indication image A can be a red line in the projected image, and in the projection image Al, the color of the article W itself is made different from the color (for example, blue) of the other articles W (for example, red). Also, it can be that, as the state display image F, not only the stacked articles W but also an image of at least a part of the support (the cage car 2) is further displayed.

[0062] In addition, the projection image K can include the position indication image G, or can not include the position indication image G. For example, in a case where the position indication image A and the direction indication image B are projected to the projection target as shown in Figure 6 Figure 10 In a case where the projection image Al corresponding to the position indication image A and the projection image Bl corresponding to the direction indication image B are displayed on the display screen as the projection image K as shown in Figure 13 In a case where the projection image Al corresponding to the position indication image A and the projection image Bl corresponding to the direction indication image B are displayed on the display screen as the projection image K as shown in

[0063] According to the present configuration, the operator is also able to easily recognize, by observing the image displayed on the display screen, which position the target article should be stacked in and the like, and is able to easily recognize the current state of the articles W already stacked in the support (the cage car 2). Therefore, further efficiency of the stacking work of the articles W by the operator is easily sought. ​

[0064] Further, as shown in FIG. 1, in the present embodiment, the control device 13 can be configured in such a manner that the image display device 15 is controlled to display, on the display screen, both of a three-dimensional image (a three-dimensional image 1 in FIG. 1) that is three-dimensionally represented (a left side of the paper surface in FIG. 1) and a plan view image (a plan view image 1 in FIG. 1) that is represented in a plan view (a right side of the paper surface in FIG. 1) with respect to the status display image F, the position indication image G, and the projection image Al, Bl. Figure 10 Figure 10 Further, as shown in FIG. 1, in the present embodiment, the control device 13 can be configured in such a manner that the image display device 15 is controlled to display, on the display screen, both of a three-dimensional image (a three-dimensional image 1 in FIG. 1) that is three-dimensionally represented (a left side of the paper surface in FIG. 1) and a plan view image (a plan view image 1 in FIG. 1) that is represented in a plan view (a right side of the paper surface in FIG. 1) with respect to the status display image F, the position indication image G, and the projection image Al, Bl. Figure 10

[0065] According to the present configuration, the operator can more easily recognize, by observing the images displayed on the display screen, which position the target article should be stacked at and the like, and the current status of the articles W that have been stacked on the support (the cage car 2).

[0066] Further, in the present embodiment, the control device 13 can be configured in such a manner that the image display device 15 is controlled to make the position indication image G an image of a shape corresponding to the actual target article, and to make the image included in the status display image F that shows the articles W that have been stacked on the support (the cage car 2) and the position indication image G be displayed on the display screen in different manners (for example, shapes, colors, luminances, and the like).

[0067] According to the present configuration, the operator can more easily recognize, by observing the images displayed on the display screen, which position the target article should be stacked at. Thus, it is easy to seek the high efficiency of the stacking work of the articles W by the operator.

[0068] Further, as shown in FIG. 1, in the present embodiment, the control device 13 can be configured in such a manner that the image display device 15 is controlled to display, on the display screen, both of a three-dimensional image (a three-dimensional image 1 in FIG. 1) that is three-dimensionally represented (a left side of the paper surface in FIG. 1) and a plan view image (a plan view image 1 in FIG. 1) that is represented in a plan view (a right side of the paper surface in FIG. 1) with respect to the status display image F, the position indication image G, and the projection image Al, Bl. Figure 11 According to the present configuration, the orientation of each of the images displayed on the display image can be freely changed, and thus each of the images can be displayed at an angle that is easy for the operator to observe. Further, even in a case where the orientation of each of the images displayed on the display screen is thus changed, the standing position of the operator within the images displayed on the display screen is easily known.

[0069]

[0070] Further, as shown in FIG. 1, in the present embodiment, the control device 13 can be configured in such a manner that the image display device 15 is controlled to display, on the display screen, both of a three-dimensional image (a three-dimensional image 1 in FIG. 1) that is three-dimensionally represented (a left side of the paper surface in FIG. 1) and a plan view image (a plan view image 1 in FIG. 1) that is represented in a plan view (a right side of the paper surface in FIG. 1) with respect to the status display image F, the position indication image G, and the projection image Al, Bl. Figure 12 ​​​As shown, in this embodiment, when multiple levels of items W are stacked on the support (cage 2), the control device 13 can also be configured to control the image display device 15 so that the image of the items W included in the status display image F is displayed on the display screen in a different manner depending on which level of the multi-level the item W belongs to. Figure 12 In the example shown, a side view image is presented in a side-view perspective, corresponding to the layers formed by stacking items W. Figure 12 (the bottom side of the paper) and the top view image as seen from above ( Figure 12 The two (on the upper side of the paper) are arranged in a way that each layer is displayed on the screen in turn according to the degree of stacking, and the following gradient-based method is shown: in the layers of stacked items W, the lower the layer, the more intense the color.

[0071] Based on this configuration, the operator can easily and intuitively identify the height position of the stacked items by observing the image displayed on the screen. Therefore, it is easy to achieve high efficiency in the stacking operation of items W based on the operator's perspective.

[0072] Furthermore, the configurations disclosed in the above embodiments can be combined with the configurations disclosed in other embodiments, provided that they do not create contradictions. Regarding other configurations, the embodiments disclosed in this specification are merely illustrative at all points. Therefore, various modifications can be made appropriately without departing from the spirit of this disclosure.

[0073] 7. Summary of this implementation method The following is a summary of the implementation methods of the operation support system described above.

[0074] A work support system is a system that supports operators in stacking operations by issuing instructions to them, allowing them to place multiple items onto supports that can support those items. It includes: Projection device; and The control device controls the aforementioned projection device. The object is the aforementioned articles that are stacked from the aforementioned support or on the aforementioned articles already stacked on the aforementioned support. The aforementioned control device controls the aforementioned projection device to project a position indicator image showing the stacking position of the aforementioned object articles onto a projection object that is either the aforementioned support or the aforementioned articles already stacked on the aforementioned support.

[0075] According to the present configuration, in a case where the worker performs the stacking work of the plurality of articles on the support, the worker can easily recognize which position the target article should be stacked in, by observing the position indication image projected to the projection target. Therefore, it is easy to achieve the efficiency of the stacking work of the articles by the worker.

[0076] Here, it is appropriate that the aforementioned article is rectangular in plan view, The aforementioned control device controls the aforementioned projection device to project, in addition to or together with the aforementioned position indication image, a direction indication image that indicates a direction in which the long side of the aforementioned target article in plan view is aligned, to the aforementioned projection target.

[0077] According to the present configuration, in a case where the worker performs the stacking work of the article that is rectangular in plan view, the worker can easily recognize the direction in which the long side of the article in plan view is aligned, by observing the direction indication image projected to the projection target. Therefore, it is possible to reduce the possibility that the worker stacks the article with the orientation mistaken, and it is easy to achieve further efficiency of the stacking work of the article by the worker.

[0078] In addition, it is appropriate that the aforementioned article that is stacked after the aforementioned target article is a next target article, The aforementioned control device controls the aforementioned projection device to project, in addition to the aforementioned position indication image, a next position indication image that indicates the stacking position of the aforementioned next target article in a different manner from the aforementioned position indication image, to the aforementioned projection target.

[0079] According to the present configuration, in a case where the worker performs the stacking work of the plurality of articles on the support, it is possible to grasp in advance the stacking position of the article that should be stacked next. Therefore, it is easy to achieve the efficiency of the stacking work of the articles by the worker.

[0080] In addition, according to the present configuration, the worker can also exchange the stacking order of the current target article and the next target article, and it is easy to improve the degree of freedom of the work of the worker.

[0081] In addition, it is appropriate that the aforementioned control device controls the aforementioned projection device to project, to the aforementioned projection target, at least one of an order display image that indicates the stacking order of the aforementioned target article among all of the aforementioned articles stacked on the aforementioned support and the aforementioned order display image of the aforementioned article that has been stacked.

[0082] According to the present configuration, in a case where the worker performs the stacking work of the plurality of articles on the support, the worker can easily grasp at least one of the fact that the current target article is the first among all of the articles stacked on the support and the stacking order of each of the articles that have been stacked.

[0083] Additionally, it is suitable that the aforementioned control device sets a reference point on the support surface of the surface supporting the plurality of the aforementioned items, which serves as the aforementioned support body, and sets an X-axis and a Y-axis along the horizontal plane and intersecting at the aforementioned reference point, and controls the aforementioned projection device to project a first reference line image positioned at a position overlapping with the aforementioned X-axis when viewed from above and below, and a second reference line image positioned at a position overlapping with the aforementioned Y-axis when viewed from above and below, onto the aforementioned support body and the entirety of the aforementioned items already stacked on the aforementioned support body.

[0084] According to this configuration, the first reference line image and the second reference line image are projected onto the support surface of the support or the upper surface of the items already stacked on the support surface, so that the operator can stack the items based on these reference line images. Therefore, it is easy to optimize the position of the items stacked by the operator.

[0085] Additionally, it is suitable to also have an image display device that displays images on the display screen. The aforementioned control device displays a status display image corresponding to the aforementioned items already stacked on the aforementioned support and a position indication image showing the stacking position of the aforementioned object items on the aforementioned display screen.

[0086] Based on this configuration, operators can easily identify where to stack items by observing the images displayed on the screen, and can also easily identify the current status of items already stacked on the support. Therefore, it is easy to further improve the efficiency of the operator-based item stacking operation.

[0087] Alternatively, it is appropriate to control the aforementioned image display device so that the projected image corresponding to the image projected by the aforementioned projection device onto the aforementioned projection object is displayed on the aforementioned display screen in an overlapping manner with the aforementioned status display image.

[0088] According to this configuration, the projected image corresponding to the image projected onto the projected object by the projection device is also displayed on the display screen, thus enabling the operator to identify the image of the projected object projected onto the actual projected object and the projected image displayed on the display screen accordingly. Therefore, it is easy to further improve the efficiency of the operator-based stacking operation of goods.

[0089] Additionally, it is suitable that the aforementioned control device controls the aforementioned image display device to display the aforementioned situation image, the aforementioned position indication image, and the aforementioned projection image, so that both the three-dimensional image represented in three dimensions and the top-view image represented under a top-down view are displayed on the aforementioned display screen.

[0090] Based on this configuration, by observing the images displayed on the screen, the operator can more easily identify where the object should be stacked, as well as the current status of the objects already stacked on the support.

[0091] Further, it is appropriate that the aforementioned control device control the aforementioned image display device so that the aforementioned position indication image is an image of a shape corresponding to the actual aforementioned object article, and that the aforementioned status display image and the aforementioned position indication image showing the aforementioned article already stacked on the aforementioned support are displayed differently on the aforementioned display screen.

[0092] According to this configuration, the worker can more easily recognize in which position the object article should be stacked by observing the images displayed on the display screen. Therefore, it is easy to seek the efficiency of the stacking work of the articles based on the worker.

[0093] Further, it is appropriate that the aforementioned control device be configured so that the orientation in which the aforementioned status display image, the aforementioned position indication image, and the aforementioned projection image are displayed on the aforementioned display screen can be changed in accordance with an instruction from the worker, and that the aforementioned image display device be controlled so that a worker position image showing the standing position of the worker performing the aforementioned stacking work is displayed on the aforementioned display screen.

[0094] According to this configuration, the orientation in which each image is displayed on the display image can be freely changed, and thus each image can be displayed at an angle that is easy for the worker to observe. Further, even in the case where the orientation of each image displayed on the display screen is thus changed, the standing position of the worker within the images displayed on the display screen is easy to know.

[0095] Further, it is appropriate that, in the case where the aforementioned articles are stacked on the aforementioned support over multiple levels, the aforementioned control device control the aforementioned image display device so that the image showing the aforementioned article included in the aforementioned status display image is displayed on the aforementioned display screen in a different manner in accordance with which level of the multiple levels the aforementioned article belongs to.

[0096] According to this configuration, the worker can easily intuitively recognize the position in the height direction in which the object article is to be stacked by observing the images displayed on the display screen. Therefore, it is easy to seek the efficiency of the stacking work of the articles based on the worker.

[0097] Industrial applicability The technology related to the present disclosure can be utilized in a stacking work of stacking a plurality of articles on a support.

[0098] Explanation of reference signs 100: article transport apparatus 1: work support system 2: cage car (support) 20: placement table (support surface) 21: peripheral wall portion 21a: side surface portion 21b: back surface portion 22: mobile wheels 3: in-feed section 4: work area 5: transport conveyor 6: out-feed work area 7: taping device 8: out-feed conveyor 9: storage section 10: first out-feed conveyor 11: second out-feed conveyor 12: third out-feed conveyor 13: control device 14: projection device 15: image display device A: position indication image B: direction indication image C: first reference line image (X axis) D: second reference line image (Y axis) E: intersection (reference point) F: status display image G: position indication image H: order display image showing stacking order of target article h: order display image of already stacked article N: next position indication image P: worker position image W: article K: projected image

Claims

1. A work support system that supports a stacking operation in which an operator stacks multiple items onto a support capable of supporting the items by giving instructions to the operator, comprising: Projection device; and A control device that controls the projection device. The object of this stacking refers to the articles that are stacked from the support or the articles already stacked on the support. The control device controls the projection device to project a position indicator image showing the stacking position of the object items onto a projection object that is at least one of the support and the items already stacked on the support.

2. The job support system according to claim 1, wherein, The item is rectangular when viewed from above. The control device controls the projection device to project a direction indicator image, showing the direction along which the long side of the object is viewed from above, onto the object, either in addition to or together with the position indicator image.

3. The job support system according to claim 1, wherein, The item stacked immediately following the object item is designated as the next object item. The control device controls the projection device to project a next position indicator image, which shows the stacking position of the next object item in a different manner from the position indicator image, onto the projection object, in addition to the position indicator image.

4. The job support system according to claim 1, wherein, The control device controls the projection device to project at least one of an image showing the stacking order of the object items among all the items stacked on the support and an image showing the order of the already stacked items onto the projection object.

5. The job support system according to claim 1, wherein, The control device sets a reference point on the support surface of the support body that supports the plurality of articles, and sets an X-axis and a Y-axis that intersect the horizontal plane at the reference point. The control device controls the projection device to project a first reference line image, which is positioned to overlap with the X-axis when viewed from above and below, and a second reference line image, which is positioned to overlap with the Y-axis when viewed from above and below, onto the support body and the entirety of the articles already stacked on the support body.

6. The operation support system according to any one of claims 1 to 5, wherein, It also has an image display device that displays images on the display screen. The control device displays a status display image corresponding to the items already stacked on the support and a position indication image showing the stacking position of the object items on the display screen.

7. The job support system according to claim 6, wherein, The image display device is controlled such that a projected image corresponding to the image projected by the projection device onto the projection object is displayed on the display screen in an overlapping manner with the status display image.

8. The job support system according to claim 7, wherein, The control device controls the image display device to display the status image, the position indication image, and the projected image, so that both the three-dimensional image and the top-view image displayed under a top-down view are displayed on the display screen.

9. The job support system according to claim 6, wherein, The control device controls the image display device to make the position indication image an image of a shape corresponding to the actual object, and to make the image of the object already stacked on the support and the position indication image included in the status display image displayed on the display screen in different ways.

10. The job support system according to claim 7, wherein, The control device is configured to change the orientation of the status display image, the position indication image, and the projected image displayed on the display screen according to instructions from the operator, and controls the image display device to display an operator position image showing the standing position of the operator performing the stacking operation on the display screen.

11. The job support system according to claim 6, wherein, When the articles are stacked in multiple levels on the support, The control device controls the image display device so that the images of the items included in the status display image are displayed on the display screen in different ways according to which level the item belongs to in the multi-level display.

Images