Loading pattern generating device

Abstract

A loading pattern generation device connected to a robot that performs a palletizing operation of placing a load on a pallet, the loading pattern generation device including: a display capable of displaying an image; and a pattern generation section that generates a loading pattern by displaying, on the display, a generation screen including a virtual pallet virtually representing an area in which the load can be arranged on the pallet and a virtual load virtually representing the load, and providing a user interface that moves the virtual load on the generation screen in accordance with a user's operation, wherein the pattern generation section displays the generation screen in which the virtual load is not arranged on the virtual pallet as an initial state.

Description

Technical Field

[0001] This disclosure relates to a loading pattern generation device. Background Technology

[0002] To improve logistics efficiency, pallets carrying multiple goods are utilized. Generally, to enhance space efficiency during transport and storage, multiple goods are arranged planarly on the pallet and stacked in multiple layers. For loading such goods onto the pallet, a robotic palletizing system is used, where a robot stacks the goods onto the pallet. To utilize the robotic palletizing system, the following operations are required: determining how the goods are arranged on the pallet from a planar perspective (loading pattern), and teaching the robot's movements in a manner that enables the robot to position the goods in the determined locations. Regarding the determination of the loading pattern, a device has also been proposed that determines the loading pattern on the pallet based on information such as the pallet size and the size of the goods (see, for example, Patent Document 1). Existing technical documents Patent documents

[0003] Patent Document 1: Japanese Patent Application Publication No. 8-85628 Summary of the Invention The problem the invention aims to solve

[0004] In the apparatus of Patent Document 1, since the loading pattern is selected from multiple pre-stored reference patterns, it is not necessarily the optimal loading pattern for the pallet. Therefore, an apparatus capable of generating the optimal loading pattern for the pallet is desired. Solution for solving the problem

[0005] One aspect of the loading pattern generation apparatus disclosed herein is a loading pattern generation apparatus connected to a robot performing a palletizing operation of placing cargo on a pallet. It comprises: a display capable of displaying images; and a pattern generation unit that generates a loading pattern by displaying a generated screen on the display containing a virtual pallet including an area virtually representing where the cargo can be placed on the pallet and a virtual cargo virtually representing the cargo, and providing a user interface for moving the virtual cargo on the generated screen according to user operation. The pattern generation unit displays the generated screen with no virtual cargo placed on the virtual pallet as an initial state.

[0006] Another aspect of the loading pattern generation apparatus disclosed herein is a loading pattern generation apparatus connected to a robot performing a palletizing operation of placing cargo on a pallet. It includes: a display capable of displaying images; and a pattern generation unit that generates loading patterns by displaying a generated screen on the display containing a virtual pallet that virtually represents an area where the cargo can be placed on the pallet and a virtual cargo that virtually represents the cargo, and providing a user interface for moving the virtual cargo on the generated screen according to user operation. The pattern generation unit displays a plurality of pre-set initial patterns on the display in a manner selectable by the user. When the user selects any of the initial patterns, the generated screen showing the virtual cargo placed on the virtual pallet according to the selected initial pattern is displayed as the initial state. Attached Figure Description

[0007] Figure 1 This is a schematic diagram illustrating the configuration of a robotic palletizing system equipped with a loading pattern generation apparatus according to one embodiment of the present disclosure. Figure 2 It is shown Figure 1 A schematic diagram of the loading pattern generation device for a robotic palletizing system. Figure 3 It is shown Figure 2 A schematic diagram of the loading mode generation device for the alternative. Figure 4 This is an example shown in Figure 2 or Figure 3 A schematic diagram of the display screen of the loading mode generation device. Figure 5 This is an example and Figure 4 Illustrations of different generated screens. Figure 6 This is an example and Figure 4 and Figure 5 Illustrations of different generated screens. Figure 7 This is an example and Figures 4 to 6 Illustrations of different generated screens. Figure 8 This is an example and Figures 4 to 7 Illustrations of different generated screens. Figure 9 This is an example and Figures 4 to 8 Illustrations of different generated screens. Detailed Implementation

[0008] Below, refer to the appendix. Figure 1 The following describes the implementation of this disclosure. Figure 1This is a schematic diagram illustrating the configuration of a robotic palletizing system equipped with a loading pattern generation device 10 according to an embodiment of the present disclosure. The robotic palletizing system includes: a robot R, which performs palletizing operations by placing goods on pallets; and a loading pattern generation device 10, which is connected to the robot R and generates loading patterns (configuration patterns of multiple goods on the pallet).

[0009] The loading pattern generation device 10 includes a display 11, an input device 12, a pattern generation unit 13, a sequence determination unit 14, and a teaching operation unit 15. The loading pattern generation device 10 can be implemented using a computer device having a memory, a processor, an input / output interface, etc., and executing an appropriate control program. In the loading pattern generation device 10, the pattern generation unit 13, the sequence determination unit 14, and the teaching operation unit 15 can be categorized according to the functions of the processor, etc., in the control program, rather than being clearly distinguished in terms of physical and program configuration. The loading pattern generation device 10 can be a portable terminal or can be stationary near the robot R. Furthermore, the loading pattern generation device 10 can be integrated with a control device for controlling the robot R, a teaching operation panel for teaching operations of the robot R, and an operation terminal for manual operation of the robot R.

[0010] The display 11 is a display device that displays images (including characters and graphics) required by the user to realize the functions of the loading pattern generation device 10, such as loading pattern generation, robot R teaching, and manual operation of robot R. For example, an LCD panel or OLED panel can be used as the display 11.

[0011] The input device 12 is a device for the user to input necessary operations to realize the functions of the loading pattern generation device 10, such as loading pattern generation, robot R teaching, and manual operation of robot R. As a preferred embodiment, the display 11 and the input device 12 can be integrated as a touch panel capable of touch input to the display device. In this case, the loading pattern generation device 10... Figure 2 As shown, it can be constructed from a portable tablet-type terminal. Furthermore, the input device 12 can be configured independently of the display 11, or as... Figure 3 As shown, it includes a mechanically configured physical button 121 that can be pressed by the user.

[0012] The pattern generation unit 13 generates a loading pattern by displaying a generation screen V on the display 11, which includes a virtual pallet P that virtually represents an area where cargo can be placed on the pallet, and a virtual cargo L that virtually represents the cargo. It also provides a user interface that allows the user to move the virtual cargo L on the generation screen V according to their actions. The pattern generation unit 13 can display a two-dimensional top view or a three-dimensional perspective view, or as shown in the image. Figure 4As shown, the virtual pallet P and virtual cargo L are displayed as a two-dimensional top view and a three-dimensional perspective view, and can also be displayed as either a two-dimensional top view or a three-dimensional perspective view according to the user's selection. The pattern generation unit 13 can also set the size of the virtual pallet P to be different from the size of the actual pallet in order to set an area on the outer periphery of the pallet where no cargo is loaded, or to allow the cargo to exceed the pallet within a certain range. In addition to the virtual pallet P, the robot R can also be virtually displayed on the generation screen V.

[0013] Pattern generation unit 13 can be configured such that, as an initial state, it can generate patterns as follows: Figure 5 The generated screen V, as shown, displays a virtual loading screen V on the virtual pallet P without a virtual cargo L configured. Therefore, any loading pattern can be generated. Alternatively, the pattern generation unit 13 can also be configured as follows: Figure 6 As shown, multiple pre-set initial modes are displayed on the screen in a user-selectable manner. When the user selects any initial mode, a generation screen V, which configures the virtual cargo L on the virtual tray P according to the selected initial mode, is displayed as the initial state. This allows for the editing of existing loading modes to efficiently generate loading modes. For ease of user understanding, the initial mode overview preferably includes at least one of a string and an image corresponding to each initial mode. Furthermore, the initial mode overview can be displayed on a different screen than the generation screen V, or it can be overlaid on the generation screen V via methods such as pop-ups or drop-down menus.

[0014] The pattern generation unit 13 is preferably configured to move the virtual cargo L according to input on the generation screen V, that is, the position of the virtual cargo L displayed on the generation screen V changes continuously. This allows the user to easily determine whether the configuration of the virtual cargo L is appropriate before finalizing it. Specifically, the pattern generation unit 13 can be configured to move the virtual cargo L via drag-and-drop operations. Alternatively, the pattern generation unit 13 can be configured to display a button or icon-like movement operation component Bm on the generation screen V, indicating how to move the virtual cargo L, and move the virtual cargo L based on operations such as tapping or clicking the movement operation component Bm on the screen. Furthermore, the pattern generation unit 13 can be configured to move the virtual cargo L by pressing a specific physical button 121. Thus, by operating on components virtually arranged on the generation screen V or physically arranged as input devices 12, the movement of the virtual cargo L is indicated, allowing the user to easily understand the operation method.

[0015] The pattern generation unit 13 is preferably configured to rotate the virtual cargo L (e.g., every 90 degrees, every 180 degrees) according to the input on the generation screen V. This allows for the generation of an appropriate loading pattern. The pattern generation unit 13 can be configured to display a button or icon-shaped rotation operation component Br on the generation screen V, indicating the rotation of the virtual cargo L, and to rotate the virtual cargo L based on operations performed on the rotation operation component Br on the screen. The rotation operation component Br can be displayed at a preset position outside the virtual pallet P, or it can be displayed on the virtual cargo L being configured. Alternatively, the pattern generation unit 13 can be configured to rotate the virtual cargo L based on pressing a specific physical button 121. Furthermore, the pattern generation unit 13 can be configured to rotate the operated virtual cargo L based on operations performed on the virtual cargo L on the screen.

[0016] The pattern generation unit 13 can also determine the configuration of the virtual cargo L based on the input on the generation screen V. After confirming the configuration of the virtual cargo L through user input, the next virtual cargo L is configured, thereby reliably generating an appropriate loading pattern. The pattern generation unit 13 can be configured to display a determination operation component Be for determining the configuration of the virtual cargo L on the generation screen V, and determine the configuration of the virtual cargo L based on the operation of the determination operation component Be on the screen. Alternatively, the pattern generation unit 13 can be configured to determine the configuration of the virtual cargo L based on the pressing operation of a specific physical button 121. Preferably, the pattern generation unit 13 is configured to reject the determination of the configuration of the virtual cargo L if prohibitive conditions such as the virtual cargo L whose configuration is to be determined overlaps with other virtual cargo Ls whose configuration has been determined previously are met.

[0017] The pattern generation unit 13 can also automatically adjust the position of the virtual cargo L operated by the user so that its position matches that of the other virtual cargo L operated by the user at least in one side direction of the virtual tray P when the virtual cargo L enters a predetermined proximity range of another configured virtual cargo L through user operation. The automatically adjusted position can be the end position of the virtual cargo L or the center position. The proximity range can be arbitrarily determined. In addition, the pattern generation unit 13 can also automatically adjust the position of the virtual cargo L operated by the user so that it is adjacent to another configured virtual cargo L when the virtual cargo L overlaps with another configured virtual cargo L through user operation. The pattern generation unit 13 can also display on the display 11 that the virtual cargo L has entered the proximity range (automatically adjusted position) or overlapped with another configured virtual cargo L when the virtual cargo L operated by the user enters the proximity range or overlaps with another configured virtual cargo L. As such a display, it is possible to change the type, color, pattern, etc. of the lines to display, for example, the virtual cargo L before automatic adjustment. This reduces the burden on the user.

[0018] The pattern generation unit 13 can be configured to add virtual cargo L to the generation screen V according to the input on the generation screen V. Thus, virtual cargo L can be added sequentially to generate a loading pattern with the required number of virtual cargo L. The pattern generation unit 13 can also be configured to display an addition operation component Ba on the generation screen V indicating the addition of virtual cargo L, and add virtual cargo L based on the operation of the addition operation component Ba on the screen. Alternatively, the pattern generation unit 13 can be configured to add virtual cargo L based on pressing a specific physical button 121. Furthermore, the pattern generation unit 13 can also be configured to display a deletion operation component Bd on the generation screen V indicating the deletion of virtual cargo L, and delete virtual cargo L based on the operation of the deletion operation component Bd. Alternatively, the pattern generation unit 13 can be configured to display a cancellation operation component Bu on the generation screen V that indicates the cancellation (undo) of the operation, and to cancel the operation based on the operation of the cancellation operation component Bu, or it can be configured to cancel the operation based on the pressing operation of a specific physical button 121.

[0019] The generated image V can also be like Figure 5As shown, in addition to the virtual pallet P, the system also includes a virtual standby area S, which displays a virtual cargo L that can be configured on the virtual pallet P. Furthermore, the mode generation unit 13 can be configured to add a corresponding cargo to the loading mode by moving the virtual cargo L from the virtual standby area S to the virtual pallet P. Alternatively, the mode generation unit 13 can be configured to remove a corresponding cargo from the loading mode by moving the virtual cargo L from the virtual pallet P to the virtual standby area S. In this case, the mode generation unit 13 is preferably configured to display on the generation screen V that the corresponding cargo has been removed from the loading mode when the virtual cargo L on the virtual pallet P is configured on the virtual standby area S. With these configurations, loading modes can be generated efficiently.

[0020] The pattern generation unit 13 can also be configured to: accept input of the size of the prohibited area where cargo loading is prohibited, and as... Figure 7 As shown, a virtual prohibited area N corresponding to the prohibited area is displayed on the generation screen V. This allows for the generation of a more suitable loading pattern by avoiding areas where loading cannot be configured. To facilitate the configuration of the virtual prohibited area N, the pattern generation unit 13 can also be configured to allow setting the position of the virtual prohibited area N via the same user interface as for configuring the virtual cargo L. The prohibited area can be set in relation to, for example, components of the robot R that hold the cargo (e.g., grippers), spaces for inserting cushioning material to protect the cargo, or spaces that ensure the cargo's ventilation. Therefore, the virtual prohibited area N can also be set in association with any virtual cargo L around the virtual cargo L. The pattern generation unit 13 is preferably configured to refuse to determine the configuration of the virtual cargo L if the virtual cargo L overlaps with the virtual prohibited area N. This allows for the reliable generation of a loading pattern that avoids prohibited areas. The pattern generation unit 13 can also be configured to automatically adjust the position of the virtual cargo L operated by the user so that the virtual cargo L operated by the user is adjacent to the virtual prohibited area N when the virtual cargo L overlaps with the virtual prohibited area N due to the user's operation.

[0021] The pattern generation unit 13 can also be configured to accept input of the size of the overlapping area that allows for the overlap of cargo, such as... Figure 8As shown, a virtual overlapping area Q corresponding to the overlapping area is displayed on the generation screen V. Examples of cargo that allows for overlapping of cargo include bags that can deform due to the flow of contents. While the virtual cargo L of the bag is set to its maximum size to prevent the cargo from exceeding the pallet's limit, it can actually improve cargo stability and volumetric efficiency by placing it with its ends overlapping. Therefore, by setting a virtual overlapping area Q for the virtual cargo L, an optimal cargo pattern can be generated where bags and other cargo are partially overlapped. To facilitate easy movement of the virtual overlapping area Q on the generation screen V according to user operation, the pattern generation unit 13 can also be configured such that the position of the virtual overlapping area Q can be set via the same user interface as the configuration of the virtual cargo L. Preferably, the pattern generation unit 13 allows the determination of the configuration of the virtual cargo L when the moved virtual cargo L overlaps with other virtual cargo L only within the virtual overlapping area Q. This enables the reliable generation of loading patterns that allow for proper overlap of cargo.

[0022] The pattern generation unit 13 can also be configured to copy one or more virtual cargoes L arranged on the generation screen V and paste them to any location. In this case, the pattern generation unit 13 preferably maintains the positional relationship of the multiple virtual cargoes L during pasting. This improves the efficiency of generating loading patterns.

[0023] The pattern generation unit 13 can also display, for example, a virtual cargo L located at a position on the generated screen V that corresponds to a position that the robot R cannot reach by changing the color. This allows the user to identify actual cargo that the robot cannot load, thus preventing job rework and efficiently generating loading patterns.

[0024] The pattern generation unit 13 can also be configured to: determine whether the robot R can simultaneously hold multiple loads, such as... Figure 9 As shown, multiple virtual loads L corresponding to multiple loads that can be held simultaneously by robot R are grouped, displayed, and configured. By automatically identifying loads that can be configured simultaneously and generating a loading pattern for simultaneous loading, palletizing operation time can be reduced. In addition, it is not necessary to set up individual loading of each load by robot R or to load multiple loads together, and loading patterns can be generated efficiently.

[0025] The pattern generation unit 13 can also calculate the area ratio of the total area of ​​the virtual cargo L configured on the virtual pallet P to the area of ​​the virtual pallet P, and display the calculated area ratio on the display 11. The area ratio is an indicator representing the area efficiency (pallet area utilization rate) of the loading pattern.

[0026] The loading sequence determination unit 14 determines the order in which the robot R places goods on the virtual pallet P based on the positions of the multiple virtual goods L arranged on the virtual pallet P. This eliminates the need for the user to consider the loading order, allowing for efficient palletizing setup. The loading sequence determination unit 14 can also determine the loading order by sequentially placing goods on the pallet starting from those furthest from the robot R. This minimizes the obstruction caused by previously placed goods when placing new goods, simplifying the setup of the robot R's movements. Furthermore, since newly placed goods do not need to bypass previously placed goods, the movement distance of the goods can be shortened, resulting in a shorter palletizing cycle time. The loading sequence determination unit 14 can also... Figure 9 As shown, assign a loading order to multiple virtual cargoes L simultaneously configured on virtual pallet P.

[0027] The teaching operation unit 15 provides the function of a teaching operation panel for teaching the actions of the teaching robot R. By using the loading pattern data generated by the pattern generation unit 13 to teach the actions of the robot R, it is easy to teach the robot R to perform appropriate actions.

[0028] As described above, the loading pattern generation device 10 includes a pattern generation unit 13 that provides a graphical user interface for generating loading patterns by placing virtual cargo L on virtual pallet P on the generation screen V, thus enabling efficient and good generation of loading patterns.

[0029] The following notes further disclose the above-described embodiments and variations. (Postscript 1) A loading pattern generation device (10) is connected to a robot R that performs palletizing operations by placing cargo on pallets. The loading pattern generation device (10) includes: a display (11) capable of displaying images; and a pattern generation unit (13) that generates loading patterns by displaying a generation screen (V) on the display (11) containing a virtual pallet (P) that virtually represents an area where cargo can be placed on the pallet and a virtual cargo (L) that virtually represents the cargo, and providing a user interface for moving the virtual cargo (L) on the generation screen (V) according to the user's operation. The pattern generation unit (13) displays a generation screen (V) in which no virtual cargo (L) is placed on the virtual pallet (P) as the initial state.

[0030] (Postscript 2) A loading pattern generation device (10) is connected to a robot (R) that performs palletizing operations by placing cargo on pallets. The loading pattern generation device (10) includes: a display (11) capable of displaying images; and a pattern generation unit (13) that generates loading patterns by displaying a generation screen (V) on the display (11) that includes a virtual pallet (P) that virtually represents an area where cargo can be placed on the pallet and a virtual cargo (L) that virtually represents the cargo, and providing a user interface for moving the virtual cargo (L) on the generation screen (V) according to the user's operation. The pattern generation unit (13) displays a plurality of preset initial patterns on the display (11) in a manner selectable by the user. When the user selects any initial pattern, the generation screen (V) in which the virtual cargo (L) is placed on the virtual pallet (P) according to the selected initial pattern is displayed as the initial state.

[0031] (Note 3) In the loading pattern generation device (10) in Appendix 1 to 2, the pattern generation unit (13) may move the virtual cargo (L) according to the input on the generation screen (V).

[0032] (Note 4) In the loading pattern generation device (10) in Appendix 3, the pattern generation unit (13) may move the virtual cargo (L) according to the drag and drop operation.

[0033] (Note 5) In the loading pattern generation device (10) in Appendix 1 to 4, the pattern generation unit (13) may accept the input of the size of the prohibited area where loading is prohibited, and display the virtual prohibited area (N) corresponding to the prohibited area on the generation screen (V).

[0034] (Note 6) In the loading pattern generation device (10) in Appendix 5, the pattern generation unit (13) may refuse to determine the configuration of the virtual cargo (L) when the virtual cargo (L) overlaps with the virtual prohibited area (N).

[0035] (Note 7) In the loading pattern generation device (10) in Appendix 1 to 6, if the virtual cargo (L) overlaps with the virtual prohibited area (N) through the user's operation, the pattern generation unit (13) may automatically adjust the position of the virtual cargo (L) operated by the user so that the virtual cargo (L) operated by the user is adjacent to the virtual prohibited area (N).

[0036] (Postscript 8) In the loading pattern generation device (10) in Appendix 1 to 7, the pattern generation unit (13) may rotate the virtual cargo (L) according to the input on the generation screen (V).

[0037] (Note 9) In the loading pattern generation device (10) in Appendix 1 to 8, the pattern generation unit (13) may add or delete virtual cargo (L) according to the input on the generation screen (V).

[0038] (Postscript 10) In the loading pattern generation device (10) described in Appendices 1 to 9, the pattern generation unit (13) may also be able to copy one or more virtual cargoes (L) configured on the generation screen (V) and paste them to any location.

[0039] (Postscript 11) In the loading mode generation device (10) of Appendix 1 to 10, the generation screen (V) may include a virtual standby area (S) in addition to a virtual pallet (P), which displays a virtual cargo (L) that can be configured on the virtual pallet (P).

[0040] (Postscript 12) In the loading pattern generation device (10) in Appendix 11, the pattern generation unit (13) may add the corresponding cargo to the loading pattern by moving the virtual cargo (L) on the virtual standby area (S) to the virtual pallet (P).

[0041] (Postscript 13) According to the loading pattern generation apparatus (10) of the claims, in the loading pattern generation apparatus (10) of Appendix 11 to 12, the pattern generation unit (13) deletes the corresponding cargo from the loading pattern by moving the virtual cargo (L) on the virtual pallet (P) to the virtual standby area (S).

[0042] (Postscript 14) In the loading pattern generation device (10) in Appendix 1 to 13, the pattern generation unit (13) may accept the input of the size of the overlapping area that allows the cargo to overlap, and display the virtual overlapping area (Q) corresponding to the overlapping area on the generation screen (V).

[0043] (Postscript 15) In the loading pattern generation device (10) in Appendix 13 to 14, the pattern generation unit (13) may allow the determination of the configuration of the virtual cargo (L) when the virtual cargo (L) being moved overlaps with other virtual cargo (L) only within the virtual overlapable area (Q).

[0044] (Postscript 16) The loading pattern generation device (10) in Appendix 1 to 15 may also include a loading sequence determination unit (14), which determines the order in which the robot (R) loads goods on the pallet based on the positions of multiple virtual goods (L) arranged on the virtual pallet (P).

[0045] (Postscript 17) In the loading pattern generation device (10) in Appendix 1 to 16, it is also possible that when a virtual cargo (L) enters a predetermined proximity range of another virtual cargo (L) that has already been configured through the user's operation, the pattern generation unit (13) automatically adjusts the position of the virtual cargo (L) operated by the user in such a way that the position of the virtual cargo (L) operated by the user matches the position of the other virtual cargo (L) that has already been configured at least in one side direction of the virtual pallet (P).

[0046] (Postscript 18) In the loading pattern generation device (10) in Appendix 1 to 17, if the virtual cargo (L) overlaps with other virtual cargo (L) that has already been configured through the user's operation, the pattern generation unit (13) may automatically adjust the position of the virtual cargo (L) operated by the user so that the virtual cargo (L) operated by the user is adjacent to other virtual cargo (L) that has already been configured.

[0047] The present disclosure has been described in detail above, but it is not limited to the various embodiments described above. These embodiments may include various additions, substitutions, modifications, partial deletions, etc., without departing from the spirit of the present disclosure or from the intent derived from the claims and their equivalents. Furthermore, these embodiments may also be implemented in combination. For example, in the above embodiments, the order of actions or processes is shown as an example and is not limited to these orders. Similarly, the use of numerical values ​​or formulas in the description of the above embodiments is also consistent. Explanation of reference numerals in the attached figures

[0048] 10: Loading pattern generation device 11: Monitor 12: Input device 121: Physical Button 13: Pattern Generation Department 14: Order Decision Department 15: Teaching Operation Department Ba: Additional operating components Be: Determine the operating components Bd: Delete operation component Bm: Moving operating component Br: Rotary operating component Bu: Cancel operation components L: Virtual Cargo P: Virtual tray R: Robot S: Virtual standby area V: Generated screen

Claims

1. A loading pattern generation device, connected to a robot performing a palletizing operation of placing cargo on pallets, the loading pattern generation device comprising: A monitor that can display images; and The pattern generation unit generates a loading pattern by displaying a generation screen on the display screen that includes a virtual pallet, which virtually represents an area where the cargo can be configured on the pallet, and a virtual cargo, which virtually represents the cargo. It also provides a user interface that allows the user to move the virtual cargo on the generation screen according to their actions. in, The mode generation unit will display the generated screen with no virtual cargo configured on the virtual pallet as the initial state.

2. A loading pattern generation device, connected to a robot performing a palletizing operation of placing cargo on pallets, the loading pattern generation device comprising: A monitor that can display images; and The pattern generation unit generates a loading pattern by displaying a generation screen on the display screen that includes a virtual pallet, which virtually represents an area where the cargo can be configured on the pallet, and a virtual cargo, which virtually represents the cargo. It also provides a user interface that allows the user to move the virtual cargo on the generation screen according to their actions. in, The mode generation unit displays a variety of pre-set initial modes on the display in a manner selectable by the user. When the user selects any of the initial modes, the generated screen with the virtual cargo configured on the virtual pallet according to the selected initial mode is displayed as the initial state.

3. The loading pattern generation device according to claim 1 or 2, wherein, The pattern generation unit moves the virtual cargo according to the input on the generated screen.

4. The loading pattern generation device according to claim 3, wherein, The pattern generation unit moves the virtual cargo according to drag-and-drop operations.

5. The loading pattern generation apparatus according to any one of claims 1 to 4, wherein, The mode generation unit accepts input specifying the size of the prohibited area for the cargo and displays a virtual prohibited area corresponding to the prohibited area on the generated screen.

6. The loading pattern generation device according to claim 5, wherein, If the virtual cargo overlaps with the virtual prohibited area, the mode generation unit refuses to determine the configuration of the virtual cargo.

7. The loading pattern generation apparatus according to claim 5 or 6, wherein, If the virtual cargo overlaps with the virtual prohibited area due to the user's operation, the pattern generation unit automatically adjusts the position of the virtual cargo operated by the user so that the virtual cargo operated by the user is adjacent to the virtual prohibited area.

8. The loading pattern generation apparatus according to any one of claims 1 to 7, wherein, The pattern generation unit rotates the virtual cargo according to the input on the generation screen.

9. The loading pattern generation apparatus according to any one of claims 1 to 8, wherein, The pattern generation unit adds or deletes the virtual cargo according to the input on the generation screen.

10. The loading pattern generation apparatus according to any one of claims 1 to 9, wherein, The pattern generation unit is capable of copying one or more of the virtual cargoes configured on the generation screen and pasting them to any location.

11. The loading pattern generation apparatus according to any one of claims 1 to 10, wherein, In addition to the virtual pallet, the generated screen also includes a virtual standby area, which displays the virtual cargo that can be configured on the virtual pallet.

12. The loading pattern generation device according to claim 11, wherein, The mode generation unit adds the corresponding cargo to the loading mode by moving the virtual cargo on the virtual standby area to the virtual pallet.

13. The loading pattern generation apparatus according to claim 11 or 12, wherein, The mode generation unit removes the corresponding cargo from the loading mode by moving the virtual cargo on the virtual pallet to the virtual standby area.

14. The loading pattern generation apparatus according to any one of claims 1 to 13, wherein, The pattern generation unit accepts input of the size of the overlapping area that allows the cargo to overlap with each other, and displays a virtual overlapping area corresponding to the overlapping area on the generation screen.

15. The loading pattern generation apparatus according to claim 14, wherein, When the virtual cargo being moved overlaps with other virtual cargoes only within the virtual overlapable area, the pattern generation unit allows for the determination of the configuration of the virtual cargoes.

16. The loading pattern generation apparatus according to any one of claims 1 to 15, wherein, It also includes a loading sequence determination unit, which determines the order in which the robot loads the goods on the virtual pallet based on the positions of the multiple virtual goods configured on the virtual pallet.

17. The loading pattern generation apparatus according to any one of claims 1 to 16, wherein, When a virtual cargo enters a predetermined proximity range of another configured virtual cargo through the user's operation, the pattern generation unit automatically adjusts the position of the virtual cargo operated by the user in a manner that matches the position of the virtual cargo operated by the user with the other configured virtual cargo in at least one side direction of the virtual pallet.

18. The loading pattern generation apparatus according to any one of claims 1 to 17, wherein, If the virtual cargo overlaps with other configured virtual cargoes due to the user's operation, the pattern generation unit automatically adjusts the position of the virtual cargo operated by the user so that the virtual cargo operated by the user is adjacent to other configured virtual cargoes.

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