Method for conveying article and device for conveying article

Abstract

An item conveyance method according to an embodiment includes a first turning step of turning a first container in which an item is packed such that the first container is inverted; a cutting step of cutting the turned first container along an entire circumference and forming an opening in the first container; a placing step of covering he first container with a second container such that the opening of the first container is covered; a second turning step of turning the first container and the second container while pressing the first container and the second container such that the first container and the second container are inverted; and a taking-out step of taking the first container out upward, wherein a surface of placement of the second container is larger than a surface of placement of the first container.

Description

Field

[0001] A disclosed embodiment relates to an item conveyance method and an item conveyance apparatus. Background

[0002] For example, a technique of packing items in a container for storage and storing the container for storage in which items are packed in a storage has been known (for example, refer to Patent Literature 1).Citation ListPatent Literature

[0003] Patent Literature: Japanese Laid-open Patent Publication No. 05-12345SummaryTechnical Problem

[0004] Items that are stored in the storage are conveyed from another container, or the like, to the container for storage and then are packed. In other words, the items are conveyed between the containers. Transfer of items between containers however is not taken into consideration in the conventional technique and thus there is room for improvement. For example, in the case where a plurality of items are packed in a container and the items are conveyed from a first container to a second container has a risk that, when the items are conveyed, a conveyance time for conveying the items will be long.

[0005] The present invention was made in view of the above-described circumstances and an object of the present invention is to transfer items between containers speedily.Solution to Problem

[0006] An item conveyance method according to one aspect of embodiments includes: a first turning step, a cutting step, a placing step, a second turning step, and a taking-out step. The first turning step includes turning a first container in which an item is packed such that the first container is inverted. The cutting step includes cutting the turned first container along an entire circumference and forming an opening in the first container. The placing step includes covering the first container with a second container such that the opening of the first container is covered. The second turning step of turning the first container and the second container while pressing the first container and the second container such that the first container and the second container are inverted. The taking-out step includes taking the first container out upward. A surface of placement of the second container is larger than a surface of placement of the first container.

[0007] An item conveyance method according to one aspect of embodiments includes a setting step, a first turning step, a cutting step, a placing step, a second turning step, and a taking-out step. The setting step includes setting a rotational speed of a first container in which an item is packed according to a type of the item. The first turning step includes turning the first container in which the item is packed at the rotational speed such that the first container is inverted. The cutting step includes cutting the turned first container along an entire circumference and forming an opening in the first container. The placing step includes covering the first container with a second container such that the opening of the first container is covered. The second turning step includes turning the first container and the second container at the rotational speed while pressing the first container and the second container such that the first container and the second container are inverted. The taking-out step includes taking the first container out upward.

[0008] An item conveyance method according to one aspect of embodiments includes a setting step, a first turning step, a cutting step, a placing step, a second turning step, and a taking-out step. The setting step includes setting a rotation angle of a first container in which an item is packed according to the item. The first turning step includes turning the first container in which the item is packed according to the rotation angle that is set. The cutting step includes cutting the first container that is turned along an entire circumference and forming an opening in the first container. The placing step includes covering the first container with a second container larger than the opening of the first container such that the opening of the first container is covered. The second turning step includes turning the first container and the second container while pressing the first container and the second container such that the first container and the second container are inverted. The taking-out step of taking the first container out upward.

[0009] An item conveyance method according to one aspect of embodiments includes a cutting step, a placing step, a turning step, and a taking-out step. The cutting step includes cutting a first container in which an item is packed and forming an opening in the first container. The placing step includes covering the first container with a second container such that the opening of the first container is covered. The turning step includes turning the first container and the second container while pressing the first container and the second container such that the first container and the second container are inverted. The taking-out step includes taking the first container out upward. An insertion hole into which a holding arm that presses the first container is inserted is formed in the second container. The turning step includes turning the first container and the second container with the holding arm being inserted into the insertion hole and the first container being pressed by the holding arm.Advantageous Effects of Invention

[0010] According to a mode of an embodiment, it is possible to transfer an item between containers speedily.Brief Description of Drawings

[0011] FIG. 1 is a diagram giving an overview of an item conveyance apparatus according to a first embodiment. FIG. 2 is a control system block diagram of an information processing apparatus according to the first embodiment. FIG. 3 is a flowchart illustrating an inversion process in the conveyance apparatus according to the first embodiment. FIG. 4 is a diagram illustrating a state in each step of the inversion process. FIG. 5 is a diagram schematically illustrating an example of a hardware configuration of a computer functioning as the information processing apparatus. FIG. 6 is a diagram giving an overview of an item conveyance apparatus according to a second embodiment. FIG. 7 is a diagram illustrating an example of rotational speed information. FIG. 8 is a flowchart illustrating an inversion process in the conveyance apparatus according to the second embodiment. FIG. 9 is a diagram giving an overview of an item conveyance apparatus according to a third embodiment. FIG. 10 is a flowchart illustrating an inversion process in the conveyance apparatus according to the third embodiment. FIG. 11 is a diagram illustrating a state in each step of the inversion process. FIG. 12 is an example illustrating a first container that is placed on a conveyance unit. FIG. 13 is an example illustrating the first container that is placed on the conveyance unit. FIG. 14 is a perspective view of a second container according to a fourth embodiment. FIG. 15 is a flowchart illustrating an inversion process in a conveyance apparatus according to the fourth embodiment. FIG. 16 is a diagram illustrating a state in each step of the inversion process. Description of Embodiments

[0012] The present invention will be described through embodiments, and the following embodiments do not limit the invention according to the scope of claims. All combinations of characteristics described in the embodiments need not necessarily be essential to solution of the invention.First Embodiment

[0013] A conveyance apparatus 1 for an item 100 according to a first embodiment will be described with reference to FIG. 1. FIG. 1 is a diagram giving an overview of the conveyance apparatus 1 for the item 100 according to the first embodiment.

[0014] The conveyance apparatus 1 includes a conveyance unit 2, a plurality of robot arms 3, and an information processing apparatus 4 (control device). The conveyance unit 2 transfers a container 10 in which the item 100 (refer to FIG. 4) is packed. The conveyance unit 2 is, for example, a belt conveyer.

[0015] The container 10 includes a first container 11 (refer to FIG. 4) and a second container 12 (refer to FIG. 4). The conveyance apparatus 1 conveys the item 100 from the first container 11 to the second container 12. Specifically, the conveyance apparatus 1 moves the item 100 from the first container 11 to the second container 12. In other words, the conveyance apparatus 1 shifts the item 100 from the first container 11 to the second container 12.

[0016] The first container 11 is cardboard. In the first container 11, for example, a plurality of the items 100 are packed. The second container 12, for example, is a container (tote) for managing the items 100 in a storage site (a repository, a shelf, or the like). An opening 12a (refer to FIG. 4) is formed on an upper side of the second container 12. The second container 12 is larger than the first container 11. For example, a surface of placement of the second container 12 is larger than a surface of placement of the first container 11. The surface of placement is a surface on which the items are placed in each of the containers 11 and 12. In other words, the surface of placement is a bottom surface in each of the containers 11 and 12.

[0017] The items 100 are packed in the second container 12 and is managed in the storage site. A picking operation is performed by a cart robot on the items 100 that is packed in the second container 12 and the item 100 is then conveyed.

[0018] Dispatch information is, for example, information on a list that is indicated previously and an order form, or the like. The pocking operation is a work of collecting (picking up) the items 100 (package) that are necessary. The cart robot is a picking staff. Picking staffs have a role necessary to ship the items 100 in a repository and thus are arranged in repositories of various genres. The picking staffs includes humanoid robots. The type of the container 10, the picking operation, etc., are not limited to the examples described above.

[0019] The robot arms 3 include a plurality of holding arms 20 and a cutting arm 21 (cutting device). The holding arms 20 are configured to turn the container 10. The holding arms 20 turn the container 10 such that the container 10 is inverted. The holding arms 20 are configured to hold the second container 12 and cover the first container 11 with the second container 12. The holding arms 20 are configured to convey part of the first container 11 that is cut by the cutting arm 21. The holding arms 20 are configured to cover the first container 11 with an underlay.

[0020] The holding arm 20 includes a plurality of rods 20a and a plurality of joints 20b. The joint 20b, for example, is set between two rods 20a and enable the two rods 20a to turn relatively. Each of the joints 20b has a motor. Drive power of the motors in the respective joints 20b causes the rods 20a to rotate relatively and accordingly the holding arms 20 extend and contract and is able to have 360-degree rotations.

[0021] A holder 20c is set at a tip of the holding arm 20. The holder 20c, for example, holds the container 10 by suction.

[0022] The holding arm 20 holds the container 10 by suction. The holding arm 20 pushes and supports the container 10.

[0023] The cutting arm 21 is configured to cut part of the first container 11. The cutting arm 21 is configured to cut the first container 11 along the entire circumference. The cutting arm 21 is configured to cut side surfaces of the first container 11 placed on the conveyance unit 2 along the entire circumference. Like the holding arm 20, the cutting arm 21 includes a plurality rods 21a and a plurality of joints 21b. A cutting unit 21c is set at a tip of the cutting arm 21. The cutting unit 21c is, for example, a cutter. A part that is cut in the first container 11 is a part where the items 100 packed in the first container 11 do not drop off the first container 11 or do not topple after the first container 11 is cut.

[0024] The robot arms 3 are provided with detectors, respectively. The detector is a camera. The camera, for example, includes an imaging device, such as a CCD (Charge Coupled Device) or a CMOS (Complementary Metal Oxide Semiconductor), and a lens. The detector may include at least one of a solid state LiDAR (light detection and ranging), a multi-color laser coaxial displacement meter, and other various sensors. The detector may include a MoPU (Motion Processing Unit). The MoPU is a unit that senses motions with a high-resolution camera. The MoPU, for example, outputs motion information indicating motions of an object of which images are captured at a frame rate of 1000 frames per second or higher from the images of the object captured at the frame rate of 1000 frames per second or higher. Furthermore, vector information on motions along given coordinate axes of a point indicating a position of presence of the object is output as motion information. In other words, the motion information that is output from the MoPU does not contain information necessary to identify what the object of which images are captured is (for example, a human or an obstacle) and contains only information indicating motions on the coordinate axes (an x-axis, a y-axis and a z-axis) of a center (or a center of gravity) of the object.

[0025] As illustrated in FIG. 2, the information processing apparatus 4 includes an information acquisition unit 30, a control unit 31, and an information storage unit 32. FIG. 2 is a control-system block diagram of the information processing apparatus 4 according to the first embodiment.

[0026] The information acquisition unit 30 acquires information that is sensed by the detector. The information acquisition unit 30 may acquire information on the item 100, or the like, that is transmitted from a control center, or the like.

[0027] The control unit 31 controls the conveyance unit 2. The control unit 31 controls each of the robot arms 3 based on the result of detection performed by the detector. By controlling each of the robot arms 3, the control unit 31 conveys the item 100 from the first container 11 to the second container 12. The control unit 31 controls each of the robot arms 3 according to types of the first container 11 and the second container 12. For example, using the result of detection performed by the detector and AI (Artificial Intelligence), the control unit 31 shifts the item 100 from the first container 11 to the second container 12.

[0028] The information storage unit 32, for example, is realized by a storage medium, such as a semiconductor memory device like a RAM (Random Access Memory) or a flash memory. The information storage unit 32 stores various types of programs that are executed by the control unit 31. The information storage unit 32 stores the information that is acquired by the information acquisition unit 30.

[0029] Next, an inversion process in the conveyance apparatus 1 according to the first embodiment will be described using FIG. 3 and FIG. 4. FIG. 3 is a flowchart illustrating the inversion process in the conveyance apparatus 1 according to the first embodiment. FIG. 4 is a diagram illustrating a state in each step of the inversion process.

[0030] The control unit 31 takes a first turning step (S100). The control unit 31 turns the first container 11 that is conveyed by the conveyance unit 2 such that the first container 11 is inverted. In the first container 11 that is conveyed by the conveyance unit 2, the item 100 is packed such that the item 100 faces in a given direction. The pre-set direction is a direction in which a pre-set upper part is on an upper side in a vertical direction and a pre-set lower part is on a lower side in the vertical direction. Specifically, the pre-set direction is a direction in which a surface of placement in the first container 11 is on a side of a lower part of the item 100.

[0031] For example, in the first container 11 illustrated in (a) in FIG. 4 that is conveyed by the conveyance unit 2, the items 100 are packed in a state of facing in the pre-set direction.

[0032] The control unit 31 holds the first container 11 with the holding arms 20 and turns the first container 11 to by 180 degrees such that the first container 11 is inverted. Accordingly, a first surface 11a of the first container 11 on an upper-surface side in FIG. 4(a) turns to be on a lower-surface side as illustrated in FIG. 4(b). A second surface 11b of the first container 11 on the lower-surface side in FIG. 4(a) turns to be on the upper-surface side as illustrated in FIG. 4(b). Turning the first container 11 by 180 degrees causes the surface of placement in the first container 11 to be positioned above the items 100.

[0033] After taking the first turning step, the control unit 31 takes a cutting step (S101). The control unit 31 cuts the first container 11 that is turned by the first turning step along an entire circumference. For example, as illustrated in FIG. 4(c), the control unit 31 cuts an upper side of the first container 11 along the entire circumference with the cutting arm 21. Accordingly, an opening 11c is formed in the first container 11. Note that part of the first container 11 that is cut, specifically, part of the upper side of the first container 11 including the second surface 11b is removed with the holding arms 20.

[0034] The part to be cut in the first container 11 is set in the cutting arm 21 according to the item 100 that is packed in the first container 11. The part to be cut in the first container 11 is set according to characteristics of the item 100. The characteristics of the item 100 includes a shape of the item 100 and a height of the item 100. For example, in the case where the shape of the item 100 is cylindrical, the part to be cut in the first container 11 is set such that the side surfaces of the first container 11 that are equal to or higher than in height the half of the height of the item 100 is left. For example, in the case where the shape of the item 100 is spherical, the part to be cut in the first container 11 is set near an upper end of the first container 11 after being turned.

[0035] Information on the item 100 that is packed in the first container 11 is acquired via the information acquisition unit 30. Based on the acquired information on the item 100, the control unit 31 sets the part to be cut in the first container 11. The item 100 that is packed in the first container 11 may be detected by a device other than the detector with which the robot arm 3 is provided. For example, the item 100 that is packed in the first container 11 may be detected by an X-ray device.

[0036] The part to be cut in the first container 11 may be set in the cutting arm 21 according to a type of the first container 11. The type of the first container 11, for example, includes a size of the first container 11. For example, the type of the first container 11 and information on the part to be cut in the first container 11 is stored in the information storage unit 32 previously. For example, according to the type of the first container 11 that is detected by the detector, the control unit 31 reads the information on the part to be cut in the first container 11 from the information storage unit 32 and sets the part to be cut in the first container 11.

[0037] After taking the cutting step, the control unit 31 takes a placing step (S102). As illustrated in FIG. 4(d), the control unit 31 places an underlay 40 on the opening 11c that is formed in the first container 11. The control unit 31 places the underlay 40 with the holding arms 20 such that the opening 11c is covered. Specifically, the control unit 31 places the underlay 40 such that the items 100 that are packed in the first container 11 are covered over.

[0038] After placing the underlay 40, the control unit 31 covers the first container 11 with the second container 12. The control unit 31 covers the first container 11 with the second container 12 such that the opening 11c of the first container 11 is covered. Specifically, the control unit 31 puts the second container 12 over the first container 11 above the underlay 40. As illustrated in FIG. 4(e), the control unit 31 holds the second container 12 with the holding arm 20 and puts the second container 12 over the first container 11. The second container 12 is put over the first container 11 with the opening 12a facing down.

[0039] After performing the placing step, the control unit 31 takes a second turning step (S103). The control unit 31 turns the first container 11 and the second container 12 while pressing the first container 11 and the second container 12 such that the first container 11 and the second container 12 are inverted. Specifically, as illustrated in FIG. 4(f), the control unit 31 holds the first container 11 and the second container 12 with the holding arms 20 and turns the first container 11 and the second container 12 by 180 degrees such that the first container 11 and the second container 12 are inverted. Accordingly, the first surface 11a of the first container 11 turns to be on the upper-surface side again. The items 100 are in the pre-set direction.

[0040] The control unit 31 takes a taking-out step after taking the second turning step (S104). The control unit 31 takes the first container 11 out upward. For example, as illustrated in FIG. 4(g), the control unit 31 holds the first surface 11a of the first container 11 with the holding arm 20 and takes the first container 11 out upward. Accordingly, in the second container 12, the items 100 are packed with the underlay 40 being laid under items 100.

[0041] The conveyance method for the item 100 includes the first turning step, the cutting step, the placing step, the second turning step, and the taking-out step. The first turning step turns the first container 11 such that the first container 11 in which the item 100 is packed is inverted. The cutting step cuts the turned first container 11 along an entire circumference and forms the opening 11c in the first container 11. The placing step covers the first container 11 with the second container 12 such that the opening 11c of the first container 11 is covered. The second turning step turns the first container 11 and the second container 12 while pressing the first container 11 and the second container 12 such that the first container 11 and the second container 12 are inverted. The taking-out step takes the first container 11 out upward. A surface of placement in the second container 12 is larger than a surface of placement in the first container 11.

[0042] Accordingly, the items 100 are packed in the second container 12 in a state of facing in the pre-set direction. In other words, the items 100 are packed in an aligned state in the second container 12 without inversion in the vertical direction. The conveyance apparatus 1 that executes the conveyance method for the item 100 thus enables speedy conveyance of the item 100 between the first container 11 and the second container 12. In other words, the conveyance apparatus 1 makes it possible to shift the item 100 from the first container 11 to the second container 12 speedily.

[0043] In the case where the items 100 are packed int eh first container 100, the conveyance apparatus 1 is able to shift the items 100 collectively from the first container 11 to the second container 12. For this reason, the conveyance apparatus 1 that executes the conveyance method for the item 100 is able to shift the items 100 from the first container 11 to the second container 12 speedily.

[0044] In the placing step, after the underlay 40 is placed on the opening 11c of the first container 11, the second container 12 is covered with the first container 11.

[0045] Accordingly, the items 100 are packed with the underlay 40 being laid under the items 100. For this reason, the conveyance apparatus 1 is able to shift the items 100 from the first container 11 to the second container 12 speedily while laying the underlay 40 under the items 100.

[0046] A part to be cut in the first container 11 in the cutting step is set according to the characteristics of the item 100.

[0047] The first container 11 is cut according to the characteristics of the item 100 and therefore, in the case where the first container 11 is cut, the conveyance apparatus 1 is able to inhibit the items 100 from dropping off the first container 11 or toppling.

[0048] In the above-described embodiment, the example where the underlay 40 is placed in the placing step has been described; however, it is not limited to this. In a modification, the underlay 40 need not be placed in the placing step. In other words, the underlay 40 need not be set in the second container 12.

[0049] FIG. 5 is a diagram schematically illustrating an example of a hardware configuration of a computer 1200 functioning as the information processing apparatus 4. A program that is installed in the computer 1200 causes the computer 1200 to function as one or a plurality of "units" of the apparatus according to the present embodiment and enables the computer 1200 to perform any one or both of executing operations associated with the apparatus according to the present embodiment or the one "unit" or the "units" and executing the process according to the embodiment or the steps of the process. Such a program may be executed by a CPU 1212 to cause the computer 1200 to execute specific operations associated with some of or all of the blocks in the flowchart and the block diagram described herein.

[0050] The computer 1200 according to the present embodiment includes the CPU 1212, a RAM 1214, and a graphic controller 1216 and they are connected mutually by a host controller 1210. The computer 1200 also includes a communication interface 1222, a storage device 1224, a DVD drive, and an input / output unit, such as an IC card drive, and they are connected to the host controller 1210 via an input / output controller 1220. The DVD drive may be a DVD-ROM drive, a DVD-RAM drive, or the like. The storage device 1224 may be a hard disk drive, a solid-state drive, or the like. The computer 1200 also includes a ROM 1230 and an input / output unit, such as a keyboard, and they are connected to the input / output controller 1220 via an input / output chip 1240.

[0051] The CPU 1212 operates according to programs that are stored in the ROM 1230 and the RAM 1214 and accordingly controls each unit. The graphic controller 1216 acquires image data that is generated by the CPU 1212 in a frame buffer that is provided in the RAM 1214, or the like, or in itself and causes the image data to be displayed on a display device 1218.

[0052] The communication interface 1222 communicates with another electronic device via a network. The storage device 1224 stores a program and data that are used by the CPU 1212 in the computer 1200. The DVD drive reads a program or data from a DVD-ROM and provides the program or data to the storage device 1224. The IC card drive performs any one or both of reading a program and data from an IC card and writing the program and the data in the IC card.

[0053] The ROM 1230 stores any one or both of a boot program that is executed by the computer 1200 in activation, or the like, and a program dependent on hardware of the computer 1200. The input / output chip 1240 also connects various input / output units to the input / output controller 1220 via a USB port, a parallel port, a serial port, a keyboard, a mouse port, and the like.

[0054] The programs are provided using a computer readable storage medium, such as a DVD-ROM or an IC card. The programs are read from the computer readable storage medium, are installed in the storage device 1224, the RAM 1214, or the ROM 1230 that is an example of the computer-readable storage medium, and are executed by the CPU 1212. Information processing written in these programs is read by the computer 1200 and leads to cooperation between the programs and the above-described various types of hardware resources. The apparatus or the method may be configured by realizing information operations or processing according to the use of the computer 1200.

[0055] For example, in the case where communication is executed between the computer 1200 and an external device, the CPU 1212 may execute a communication program that is loaded onto the RAM 1214 and, based on a process written in the communication program, may order the communication interface 1222 to perform a communication process. Under the control of the CPU 1212, the communication interface 1222 reads transmission data that is stored in a transmission buffer that is provided to the inside of the recording medium, such as the RAM 1214, the storage device 1224, the DVD-ROM, or the IC card and transmits the read transmission data to the network or writes reception data that is received from the network in a reception buffer area that is provided in the recording medium.

[0056] The CPU 1212 may cause all or necessary part of files or a database that are stored in the storage device 1224, the DVD drive (DVD-ROM), and an external recording medium, such as an IC card, to be read into the RAM 1214 and may execute various types of processing on the data in the RAM 1214. The CPU 1212 may then write the processed data back to the external recording medium.

[0057] Various types of information, such as various types of programs, data, tables, and a database, may be stored in a recording medium and undergo information processing. The CPU 1212 may execute various types of operations that are described through the disclosure and that are specified by instruction sequences of the programs and various types of processing including information processing, condition determination, conditional branching, unconditional branching, and information search / replacement on data that is read from the RAM 1214 and write the result back to the RAM 1214. The CPU 1212 may search information in the files in the recording media, the database, etc. For example, in the case where a plurality of entries each having an attribute value of a first attribute that is associated with an attribute value of a second attribute are stored in a recording medium, the CPU 1212 may search the entries for an entry that matches a condition in which an attribute value of the first attribute is specified, read an attribute value of the second attribute that is stored in the entry, and acquire the attribute value of the second attribute that is associated with the first attribute that meets the predetermined condition.

[0058] The above-described programs or a software module may be stored in the computer 1200 or a computer-readable recording medium near the computer 1200. A hard disk that is provided in a server system that is connected to a dedicated communication network or the Internet or a recording medium, such as a RAM, is usable as the computer-readable recording medium and the program is thus provided to the computer 1200 via the network.

[0059] The blocks in the flowchart and the block diagram in the preset embodiment may represent the "units" of the apparatus having roles of executing the steps of the process of executing the operations or the operations or the operations. The specific steps and the "units" may be implemented by any one, any two, or all of a dedicated circuit, a programmable circuit that is supplied together with a computer-readable instruction that is stored in the computer-readable storage medium, and a processor that is supplied together with a computer-readable instruction that is stored in the computer-readable storage medium. The dedicated circuit may include any one or both of a digital hardware circuit and an analog hardware circuit and may include any one or both of an integrated circuit (IC) and a discrete circuit. The programmable circuit, for example, may include a reconfigurable hardware circuit, such as a field programmable gate array (FPGA) and a programmable logic array (PLA), including AND, OR, XOR, NAND, NOR, and other logical operations, a flip-flop, a register, and memory elements.

[0060] The computer-readable storage medium may include any tangible device in which instructions that are executed by appropriate devices are storable and, as a result, the computer-readable storage medium having instructions that are stored therein includes a product containing instructions that can be executed to prepare means for executing operations that are specified in the flowchart or the block diagram. Examples of the computer-readable storage medium may include an electronic storage medium, a magnetic storage medium, an optical storage medium, an electromagnetic storage medium, and a semiconductor storage medium. More specific examples of the computer-readable storage medium may include a floppy (trademark) disk, a diskette, a hard disk, a random access memory (RAM), a read only memory (ROM), an erasable programmable read-only memory (EPPROM or a flash memory), an electrically erasable programmable read-only memory (EEPROM), a static random access memory (SRAM), a compact disc read only memory (CD-ROM), a digital versatile disc (DVD), a Blu-ray (trademark) disc, a memory stick, and an integrated circuit card.

[0061] The computer readable instruction may contain any of an assembler instruction, an instruction set architecture (ISA) instruction, a machine instruction, a machine-dependent instruction, a micro code, a firmware instruction, state setting data, or a source code or an object code that is written using one programming language or a freely-selected combination of a plurality of programming languages including an object-oriented programming language, such as Smalltalk (trademark), JAVA (trademark), or C++, and a conventional procedural programming language, such as a "C" programming language or a similar programming language.

[0062] The computer readable instruction may be provided to a processor of a general-purpose computer, a special-purpose computer, or a data processing device capable of programming, or to a programmable circuit locally or via a local area network (LAN) or a wide area network (WAN) like the Internet for the processor of the general-purpose computer, the special-purpose computer, or the another data processing device capable of programming, or the programmable circuit to execute the computer-readable instruction in order to generate means for executing operations that are specified in the flowchart or the block diagram. Examples of the processor includes a computer processor, a processing unit, a microprocessor, a digital signal processor, a controller, and a micro controller.Second Embodiment

[0063] The conveyance apparatus 1 for the item 100 according to a second embodiment will be described next with reference to FIG. 6. Description of the same configuration as that of the first embodiment, and the like, will be omitted. FIG. 6 is a diagram giving an overview of the conveyance apparatus 1 for the item 100 according to the second embodiment.

[0064] The conveyance apparatus 1 includes the conveyance unit 2, the robot arms 3, a camera 5, and the information processing apparatus 4 (control device).

[0065] The relationship between the second container 12 and the first container 11 will be further described: specifically, the second container 12 is larger than the opening 11c of the first container 11 (refer to FIG. 4). More specifically, the size of the second container 12 is a size allowing the first container 11 to be covered with the second container 12. Specifically, the first container 11 is insertable into the second container 12 from the opening 12a.

[0066] With the first container 11 being covered with the second container, the holding arms 20 turn the first and second containers 11 and 12 while pressing the first container 11 and the second container 12 such that the first container 11 and the second container 12 are inverted. Note that the rate at which the container 10 including the first and second containers 11 and 12 described above is turned (sometimes referred to as a "rotational speed" below) will be described below. The turning rate is a speed of a turning motion caused by the holding arms 20.

[0067] The holding arms 20 are configured to, in the state of holding the container 10 (for example, a side surface of the container 10) with the holders 20c, turn the container 10 while lifting the container 10. For example, the holder 20c is attached rotatably to the rod 20a. The holder 20c is attached rotatably on an axis in a longitudinal direction of the rod 20a to which the holder 20c is attached.

[0068] The camera 5 captures an image of the first container 11 that is conveyed on the conveyance unit 2 (refer to FIG. 4). The camera 5 outputs captured image data to the information processing apparatus 4. Note that the camera 5 may be single or include a plurality of cameras. FIG. 6 illustrates an example where the camera 5 is set above the first container 11 that is conveyed on the conveyance unit 2 and this is exemplification only and does not put any limitation. In other words, it is possible to set the camera 5 in a freely-selected position, such as a lateral side of the container 11 or the robot arm 3.

[0069] The information acquisition unit 30 (refer to FIG. 2) acquires image data. Note that the information acquisition unit 30 may acquire the information on the item 100, or the like, that is transmitted from the control center, or the like. The information on the item 100, or the like, may contain information indicating the type of the item 100.

[0070] The information storage unit 32 (refer to FIG. 2) stores rotational speed information 32a (refer to FIG. 7) indicating a rotational speed of the rotational speed of the container 10 (specifically, the first and second containers 11 and 12). FIG. 7 is a diagram illustrating an example of the rotational speed information 32a.

[0071] As illustrated in FIG. 7, the rotational speed information 32a contains items of "rotational speed ID", "type of item", "priority of stability", "rotational speed", etc., and sets of data of the respective items are related (are associated) with one another. Note that information contained in each of the items of "type of item", "priority of stability", and "rotational speed" is information that is previously set; however, it is not limited to this.

[0072] "Rotational speed information ID" is information that identifies rotational speed information. "Type of item" is information indicating the type of the item 100. "Type of item" is, for example, information on an electronic device, precision equipment, an electric appliance, clothing, food, a book, or the like, and they are exemplification only and do not put any limitation. In the example illustrated in FIG. 7, "type of item" is written as "B01" abstractly for convenience; however, specific information is stored in "B01".

[0073] In the present embodiment, the rotational speed of the container 10 is set according to the type of the item 100 described above and accordingly it is possible to convey the item 100 between the containers 10 appropriately, which will be described below.

[0074] "Priority of stability" is information indicating a degree at which stability is prioritized when the corresponding item 100 is conveyed between the containers 10. In other words, the container 10 in which the item 100 is packed is turned by the holding arms 20 and "priority of stability" is information indicating a degree at which stability during rotation is prioritized. "Priority of stability" is set in stages, such as high, intermediate, and low. FIG. 7 illustrates an example in which "priority of stability" is I three stages; however, it is not limited to this, and it may be in two stages or four or more stages.

[0075] It is specifically described that an electronic device, precision equipment, an electric appliance, etc., of "type of item" tend to be affected by vibrations during a turn (during conveyance) because of the nature of the item. For this reason, an electronic device, or the like, preferably has relatively less vibrations during the turn and thus stability during the turn is prioritized. In other words, an electric device, or the like, prioritizes stability over the speed during a turn. "Priority of stability" corresponding to an electronic device, or the like, of "type of item" therefore is set high.

[0076] Clothing, food, a book, etc., of "type of item" are more resistant to vibrations during a turn, or the like, than an electronic device, or the like, and thus speediness is more prioritized than stability during a turn. In other words, clothing, and the like, prioritize speediness while ensuring stability during a turn to some extent. "Priority of stability" corresponding to clothing, or the like, of "type of item" therefore is set intermediate or low. In other words, "priority of stability" corresponding to clothing, or the like, of "type of item" is set lower than "priority of stability" corresponding to an electronic device, or the like.

[0077] Note that an electronic device, a precision equipment, an electric appliance, etc., listed above are examples of an item of a given type. Clothing, food, a book, etc., listed above are examples of an item of another type. Thus, the item of the given type (an electronic device, or the like, here) is an item that prioritizes stability during conveyance more than the item of the another type (clothing, or the like, here).

[0078] "Rotational speed" is information indicating a rotational speed of the container 10. Specifically, "rotational speed" is a rotational speed of the container 10 (the first container 11) in which the item 100 is packed. In other words, "rotational speed" is information indicating a rotational speed at which the holding arms 20 turn the container 10 (the first container 11) in which the item 100 is packed.

[0079] "Rotational speed" is set in stages, such as high speed, intermediate speed, and low speed. Specifically, "rotational speed" corresponding to "type of item" whose priority of stability is high is set at low speed. "Rotational speed" corresponding to "type of item" whose priority of stability is intermediate is set at intermediate speed higher than low speed. "Rotational speed" corresponding to "type of item" whose priority of stability is low is set at high speed higher than intermediate speed. Note that FIG. 7 illustrates the example where "rotational speed" has the three stages; however, it is not limited to this, and it may have two stages or four or more stages.

[0080] In the example illustrated in FIG. 7, the rotational speed information that is identified by a rotational speed information ID "A01" indicates that the type of item is "B01", priority of stability is "high", and the rotational speed is "low speed". The rotational speed information that is identified by a rotational speed information ID "A02" indicates that the type of item is "B02", priority of stability is "intermediate", and the rotational speed is "intermediate speed". The rotational speed information that is identified by a rotational speed information ID "A03" indicates that the type of item is "B03", priority of stability is "low", and the rotational speed is "high speed".

[0081] The control unit 31 (refer to FIG. 2) controls each of the robot arms 3 based on the result of detection by the detector and the camera 5.

[0082] Based on the image data that is acquired by the camera 5, the control unit 31 specifies a type of the item 100 that is packed in the first container 11. For example, the control unit 31 performs given image processing on the image data and thereby recognizes characters, and the like, on the container 11 and specifies the type of the item 100 that is packed in the first container 11. Note that the information, and the like, on the first container 11 may be detected and accordingly the type of the item 100 that is packed in the first container 11 may be specified. For example, a barcode on the first container 11 may be read by the camera 5 functioning as a barcode reader and accordingly the type of the item 100 that is packed in the first container 11 may be specified. The type of the item 100 that is packed in the first container 11 may be specified based on the information that is transmitted from the control center, or the like.

[0083] The control unit 31 sets (determines) a rotational speed of the first container 11 in which the item 100 is packed according to the type of the item 100 that is packed in the first container 11. For example, based on the specified type of the item 100 and the rotational speed information 32a described above (refer to FIG. 7), the control unit 31 sets a rotational speed of the first container 11 in which the item 100 is packed. Specifically, after specifying the type of the item 100, the control unit 31 refers to the rotational speed information 32a and sets the rotational speed information corresponding to the specified type of the item 100 for the rotational speed of the first container 11 in which the item 100 is packed.

[0084] The control unit 31 controls each of the robot arms 3 and thereby, when conveying the item 100 from the first container 11 to the second container 12, as described below, turns the first container 11 in which the item 100 is packed at the set rotational speed such that the first container 11 is inverted and turns the first and second containers 11 and 12 at the set rotational speed such that the first and second containers 11 and 12 are inverted, thereby conveying (shifting) the item 100 from the first container 11 to the second container 12.

[0085] Next, an inversion process in the conveyance apparatus 1 according to the second embodiment will be described using FIG. 8 and FIG. 4. FIG. 8 is a flowchart illustrating the inversion process in the conveyance apparatus 1 according to the second embodiment.

[0086] As illustrated in FIG. 8, first of all, the control unit 31 takes a setting step (step S200). The control unit 31 sets a rotational speed of the first container 11 in which the item 100 is packed. For example, based on the image data that is acquired by the camera 5, the control unit 31 specifies the type of the item 100 that is packed in the first container 11. The control unit 31 then sets a rotational speed of the first container 11 in which the item 100 is packed according to the specified type of the item 100.

[0087] After taking the setting step, the control unit 31 takes the first turning step (step S201). For example, the control unit 31 turns the first container 11 that is conveyed by the conveyance unit 2 at the set rotational speed such that the first container 11 is inverted.

[0088] With the holding arms 20, the control unit 31 holds and lifts the first container 11 and turns the first container 11 by 180 degrees at the set rotational speed such that the first container 11 is inverted.

[0089] The above-described rotational speed is set according to the type of the item 100 and thus it is possible to appropriately perform conveyance of the item 100 between the containers 10. In other words, the control unit 31 according to the present embodiment makes it possible to set the rotational speed of the first container 11 at a value fitting the type of the item 100 that is packed and is able to perform conveyance of the item 100 appropriately.

[0090] Specifically, the control unit 31 sets the rotational speed of the first container 11 in which the item 100, such as an electronic device, (the item 100 of the given type) is packed, and the rotational speed of the first container 11 in which the item 100, such as clothing, (the item 100 of the another type) is packed different from each other. Specifically, the control unit 31 sets the rotational speed of the first container 11 in the case where the type of the item 100 is electronic device, or the like, and priority of stability during a turn (conveyance) is relatively high and the rotational speed of the first container 11 in the case where the type of the item 100 is clothing, or the like, and priority of stability during a turn is lower than that of an electronic device, or the like, different from each other.

[0091] As described above, the control unit 31 sets the rotational speed of the first container different according to the type of the item 100. Accordingly, in the present embodiment, it is possible to set a rotational speed of the first container 11 fitting the type of the item 100 and accordingly it is possible to perform conveyance of the item 100 including turning the first container 11 appropriately.

[0092] It is more specifically described that, when the type of the item 100 that is packed in the first container 11 is an electronic device, or the like, and the item 100 more prioritizes stability during a turn than clothing, or the like, the control unit 31 sets the rotational speed of the first container 11 in which the item 100, such as an electronic device, (the item 100 of the given type) is packed lower than the rotational speed of the first container 11 in which clothing, or the like, (the item 100 of the another type) is packed. In other words, the control unit 31 sets the rotational speed of the first container 11 in which the item 100 of the given type is packed at a low speed.

[0093] Accordingly, in the present embodiment, because the first container 11 in which the item 100, such as an electronic device, (the item 100 of the given type) is packed is turned stably at a relatively low speed, vibrations on the item 100 tend not to be caused and it is possible to perform conveyance of the item 100 including a turn of the first container 11 more appropriately.

[0094] When the type of the item 100 that is packed in the first container 11 is clothing, or the like, and the item 100 more prioritizes speediness during a turn than an electronic device, or the like, the control unit 31 increases the rotational speed of the first container 11 in which the item 100, such as clothing, (the item 100 of the another type) is packed more than the rotational speed of the first container 11 in which an electronic device, or the like, (the item 100 of the given type) is packed. In other words, the control unit 31 sets the rotational speed of the first container 11 in which the item 100 of the another type is packed at an intermediate or high speed.

[0095] Accordingly, in the present embodiment, because the first container 11 in which the item 100, such as clothing, (the item 100 of the another type) is packed is turned at an intermediate speed or a high speed speedily while ensuring stability, it is possible to perform conveyance of the item 100 including a turning the first container 11 more appropriately.

[0096] As descried above, in the present embodiment, setting a rotational speed of the first container 11 according to the type of the item 100 that is packed enables both stability and speediness during conveyance of the item 100 including turning the first container 11.

[0097] After taking the first turning step, the control unit 31 takes the cutting step (step S202). For example, according to the specified type of the first container 11, the control unit 31 reads information on a part to be cut in the first container 11 from the information storage unit 32 and sets the part to be cut in the first container 11.

[0098] After taking the cutting step, the control unit 31 takes the placing step (step S203). As illustrated in FIG. 4(d), the control unit 31 places the underlay 40 on the opening 11c that is formed in the first container 11. Multiple types of the underlays 40 are set according to the sizes of the first container 11 and the second container 12. The control unit 31 selects the underlays 40 corresponding to the sizes of the first container 11 and the second container 12 from the multiple types of the underlays 40. The control unit 31 places the selected underlays 40.

[0099] After placing the underlays 40, the control unit 31 covers the first container 11 with the second container 12. The control unit 31 covers the first container 11 with the second container 12 larger than the opening 11c of the first container 11 such that the opening 11c of the first container 11 is covered.

[0100] After taking the placing step, the control unit 31 takes the second turning step (step S204). The control unit 31 turns the first container 11 and the second container 12 at the rotational speed that is set at step S100 while pressing the first container 11 and the second container 12 such that the first container 11 and the second container 12 are inverted. Specifically, as illustrated in FIG. 4(f), the control unit 31 holds and lifts the first container 11 and the second container 12 with the holding arms 20 and turns the first container 11 and the second container 12 at the set rotational speed by 180 degrees such that the first container 11 and the second container 12 are inverted.

[0101] Also in the second turning step, as in the first turning step, the above-described rotational speed is set according to the type of the item 100 and thus it is possible to appropriately perform conveyance of the item 100 between the containers 10. In other words, the control unit 31 according to the present embodiment makes it possible to set the rotational speed of the first container 11 (precisely, the first and second containers 11 and 12) at a value fitting the type of the item 100 that is packed and is able to perform conveyance of the item 100 appropriately as in the first turning step.

[0102] The example where the rotational speed at which the first container 11 is turned in the first turning step and the rotational speed at which the first container 11 and the second container 12 are turned in the second turning step are equal is presented above; however, it is not limited to this. In other words, the rotational speed of the first container in the first rotational step and the rotational speed of the first container 11 and the second container 12 in the second rotational step need not match safely, and they may be different rotational speeds. For example, the rotational speed of the first and second containers 11 and 12 in the second turning step may be set slower than the rotational speed at which only the first container 11 is turned in the first turning step for the turning while pressing the first and second containers 11 and 12.

[0103] The control unit 31 takes the taking-out step after taking the second turning step (step S205).

[0104] As described above, the conveyance method for the item 100 includes the setting step, the first turning step, the cutting step, the placing step, the second turning step, and the taking-out step. The setting step sets a rotational speed of the container 11 in which the item 100 is packed according to the type of the item 100. The first turning step turns the first container 11 in which the item 100 is packed at the rotational speed such that the first container 11 is inverted. The cutting step cuts the turned first container 11 along an entire circumference and forms the opening 11c in the first container 11. The placing step covers the first container 11 with the second container 12 larger than the opening 11c of the first container 11 such that the opening 11c of the first container 11 is covered. The second turning step turns the first container 11 and the second container 12 at the rotational speed while pressing the first container 11 and the second container 12 such that the first container 11 and the second container 12 are inverted. The taking-out step takes the first container 11 out upward.

[0105] As described above, the rotational speed of the first container 11 is set according to the type of the item 100 and thus it is possible to appropriately perform conveyance of the item 100 between the containers 10 (specifically, conveyance of the item 100 from the first container 11 to the second container 12). In other words, in the present embodiment, it is possible to set the rotational speed of the first container 11 at a value fitting the type of the item 100 that is packed and it is possible to perform conveyance of the item 100 appropriately.

[0106] Note that, in the above-described embodiment, the example where the underlay 40 is placed in the placing step has been described; however, it is not limited to this. In a modification, the underlay 40 need not be placed in the placing step. In other words, the underlay 40 need not be set in the second container 12.

[0107] Note that the second container 12 may be a flat plate of which area is larger than the opening 11c of the first container 11.Third Embodiment

[0108] The conveyance apparatus 1 for the item 100 according to a third embodiment will be described next with reference to FIG. 9. Description of the same configuration as that of the first embodiment, and the like, will be omitted. FIG. 9 is a diagram giving an overview of the conveyance apparatus 1 for the item 100 according to the third embodiment.

[0109] The conveyance apparatus 1 includes the conveyance unit 2, the robot arms 3, the information processing apparatus 4 (control device), and a camera 6.

[0110] The second container 12 is larger than the opening 11c (refer to FIG. 11) of the first container 11. The size of the second container 12 is a size allowing the first container 11 to be covered with the second container 12. Specifically, the first container 11 is insertable into the second container 12 from the opening 12a.

[0111] The holding arms 20 turn the first container 11 at a rotation angle that is set.

[0112] The camera 6 is set to capture an image of the first container 11 (refer to FIG. 11) that is conveyed on the conveyance unit 2. A plurality of the cameras 6 may be set. Note the robot arm 3 may be provided with the camera 6.

[0113] The information acquisition unit 30 (refer to FIG. 2) acquires data of the image captured by the camera 6 (referred to as "image data" below).

[0114] The control unit 31 (refer to FIG. 2) controls each of the robot arms 3 based on the result of detection by the detector and the camera 6.

[0115] Based on the image data that is acquired by the camera 6, the control unit 31 specifies the item 100 that is packed in the first container 11. For example, the control unit 31 performs given image processing on the image data and thereby recognizes characters, and the like, on the container 11 and specifies the item 100 that is packed in the first container 11. Note that the information, and the like, on the first container 11 may be detected by a sensor and accordingly the item 100 that is packed in the first container 11 may be specified. For example, a barcode on the first container 11 may be read by a barcode reader and accordingly the item 100 that is packed in the first container 11 may be specified. The item 100 that is packed in the first container 11 may be specified based on the information that is transmitted from the control center, or the like.

[0116] The control unit 31 sets a rotation angle of the first container 11 according to the item 100 that is packed in the first container 11. The control unit 31 sets a rotation angle of the first container 11 according to the specified item 100. The rotation angle according to the item 100 is set previously and is stored in the information storage unit 32.

[0117] Turning is turning that changes the surface of the first container 11 facing up. Turning the first container 11 does not include turning on a Z-axis in a Cartesian coordinate system in which the Z-axis is an axis parallel to a vertical direction. Turning the first container 11 is, for example, turning on an X-axis or a Y-axis.

[0118] The control unit 31 sets a rotation angle of the first container 11 such that the item 100 is packed in a state of facing in a direction that is set previously.

[0119] The pre-set direction is, for example, a direction in which, when the item 100 is taken out of the second container 12 by a cart robot, the taking out by the cart robot is easy.

[0120] The rotation angle that is set is an angle at which, when the item 100 is conveyed from the first container 11 to the second container 12, the item 100 can be conveyed without dropping off spilling off or toppling.

[0121] For example, in the case where the item 100 that is cylindrical is packed horizontally in the first container 11 and taking the cylindrical item 100 in the state of being packed vertically out by the cart robot is easy, the control unit 31 sets the rotation angle of the first container 11 at "90 degrees".

[0122] For example, the rotation angle of the first container 11 is selected from "0 degree", "90 degrees" and "180 degrees". Note that the rotation angle of the first container 11 is not limited to these angles.

[0123] When the rotation angle of the first container is "0 degree", the first container 11 is not turned. When the rotation angle of the first container is "90 degrees", it is turned such that the side surface of the first container 11 conveyed by the conveyance unit 2 faces up. When the rotation angle of the first container is "180 degrees", the first container 11 is turned such that the first container 11 is inverted.

[0124] For example, in the case where the item 100 that is cylindrical is packed horizontally in the first container 11 and the item 100 has a bottom surface having a shape that is easy to hold, the rotation angle is set at "180 degrees". In the case where the item 100 that is cylindrical is packed horizontally in the first container 11 and the item 100 has an upper surface having a shape that is easy to hold, the rotation angle is set at "0 degree".

[0125] By controlling each of the robot arms 3, the control unit 31 conveys the item 100 from the first container 11 to the second container 12. Based on the set rotation angle of the first container 11, the control unit 31 turns the first container 11 and conveys the item 100 from the first container 11 to the second container 12.

[0126] Next, an inversion process in the conveyance apparatus 1 according to the third embodiment will be described using FIG. 10 and FIG. 11. FIG. 10 is a flowchart illustrating the inversion process in the conveyance apparatus 1 according to the third embodiment. FIG. 11 is a diagram illustrating a state in each step of the inversion process.

[0127] The control unit 31 takes a setting step (S300). The control unit 31 sets a rotation angle of the first container 11. For example, based on the image data that is acquired by the camera 6, the control unit 31 specifies the item 100 that is packed in the first container 11. The control unit 31 then sets a rotation angle of the first container 11 corresponding to the specified item 100.

[0128] After taking the setting step, the control unit 31 takes the first turning step (S301). The control unit 31 turns the first container 11 that is conveyed by the conveyance unit 2 according to the rotation angle that is set.

[0129] For example, when the rotation angle that is set is "90 degrees", the control unit 31 holds the first container 11 with the holding arms 20. The control unit 31 then turns the first container 11 by 90 degrees with the holding arms 20. Accordingly, the first surface 11a of the first container 11 on the upper-surface side in FIG. 11(a) turns to be on a side-surface side as illustrated in FIG. 11(b). The second surface 11b of the first container 11 on the side-surface side in FIG. 11(a) turns to be on the upper-surface side as illustrated in FIG. 11(b).

[0130] After taking the first turning step, the control unit 31 takes the cutting step (S302).

[0131] After taking the cutting step, the control unit 31 takes the placing step (S303). As illustrated in FIG. 11(d), the control unit 31 places the underlay 40 on the opening 11c that is formed in the first container 11. Multiple types of the underlays 40 are set according to the sizes of the first container 11 and the second container 12. The control unit 31 selects the underlays 40 corresponding to the sizes of the first container 11 and the second container 12 from the multiple types of the underlays 40. The control unit 31 places the selected underlays 40.

[0132] After taking the placing step, the control unit 31 takes the second turning step (S304). Accordingly, for example, the item 100 that is packed in the second container 12 is easily taken out by the cart robot.

[0133] The control unit 31 takes the taking-out step after taking the second turning step (S305). The control unit 31 takes the first container 11 out upward. For example, as illustrated in FIG. 11(g), the control unit 31 holds a third surface 11d of the first container 11 with the holding arm 20 and takes the first container 11 out upward. For example, the third surface 11d is a surface opposed to the second surface 11b and is, when the first container 11 is turned by 90 degrees, a surface on the lower-surface side of the first container 11 through the first turning step. Accordingly, the item 100 is packed with the underlay 40 being laid thereunder in the second container 12.

[0134] The conveyance method for the item 100 includes the setting step, the first turning step, the cutting step, the placing step, the second turning step, and the taking-out step. The setting step sets a rotation angle of the container 11 in which the item 100 is packed according to the item 100. The first turning step turns the first container 11 in which the item 100 is packed at the rotation angle that is set. The cutting step cuts the turned first container 11 along an entire circumference and forms the opening 11c in the first container 11. The placing step covers the first container 11 with the second container 12 larger than the opening 11c of the first container 11 such that the opening 11c of the first container 11 is covered. The first turning step turns the first container 11 and the second container 12 while pressing the first container 11 and the second container 12 such that the first container 11 and the second container 12 are inverted. The taking-out step takes the first container 11 out upward.

[0135] Accordingly, the conveyance apparatus 1 that executes the conveyance method for the item 100 is able to shift the item 100 from the first container 11 to the second container 12 after turning the item 100 that is packed in the first container 11 at a rotation angle corresponding to the item 100. For this reason, the conveyance apparatus 1 is able to convey the item 100 from the first container 11 to the second container 12. In other words, the conveyance apparatus 1 is able to shift the item 100 from the first container 11 to the second container 12 speedily. The conveyance apparatus 1 also makes it possible to pack the item 100 in the second container 12 with the cart robot that takes the item 100 out of the second container 12 in a state where catching the item 100 is easy.

[0136] The rotational speed includes 0 degree. It is thus possible to, in the case where it is not necessary to turn the first container 11, form the opening 11c in the first container 11 and conveys the item 100 from the first container 11 to the second container 12 without turning the first container 11.

[0137] In the above-described embodiment, the example where the underlay 40 is placed in the placing step has been described; however, it is not limited to this. In a modification, the underlay 40 need not be placed in the placing step. In other words, the underlay 40 need not be set in the second container 12.

[0138] Note that the second container 12 may be a flat plate of which area is larger than the opening 11c of the first container 11.

[0139] The conveyance apparatus 1 may set a rotation angle based on a state of placement of the first container 11 that is placed on the conveyance unit 2. The state of placement varies depending on which of a plurality of surfaces of the first container 11 the surface of contact of the first container 11 making contact with the conveyance unit 2 is. In other words, the state of placement varies depending on the surface of the first container 11 that faces up. For example, the state of placement differs between the state where an open-close surface 11e of the first container 11 faces up as illustrated in FIG. 12 and the state where the open-close surface 11e of the first container 11 faces a lateral side as illustrated in FIG. 13. FIG. 12 is an example illustrating the first container 11 placed on the conveyance unit 2. FIG. 13 is an example illustrating the first container 11 placed on the conveyance unit 2.

[0140] For example, in the state of placement where the open-close surface 11e of the first container 11 faces up, the conveyance apparatus 1 turns the first container 11 by 90 degrees to cause the first container 11 to enter a state where the open-close surface 11e of the first container 11 faces a lateral side and then forms the opening 11c in the first container 11. In the state of placement where the open-close surface 11e of the first container 11 faces a lateral side, the conveyance apparatus 1 forms the opening 11c in the first container 11 without turning the first container 11.

[0141] This enables the conveyance apparatus 1 to form the opening 11c in a preferable part in the first container 11 regardless of the state of placement of the first container 11 placed on the conveyance unit 2. For this reason, the item 100 is packed in a state of facing in a pre-set direction in the second container 12 regardless of the state of placement of the first container 11 placed on the conveyance unit 2. For example, even in the case where the first container 11 is placed on the conveyance unit 2 without inconsistency in the state of placement of the first container 11 or in the case where the state of placement of the first container 11 changes during conveyance by the conveyance unit 2, the conveyance apparatus 1 is able to pack the item 100 in a state of facing in the pre-set direction in the second container 12.Fourth Embodiment

[0142] The conveyance apparatus 1 for the item 100 according to a fourth embodiment will be described next. Description of the same configuration as that of the first embodiment, and the like, will be omitted.

[0143] The opening 12a is formed on an upper side of the second container 12 as illustrated in FIG. 14. An insertion hole 12b is formed on a side surface 12c of the second container 12. The insertion hole 12b is formed on each of the side surfaces 12c in a pair opposed to each other in the second container 12. In other words, two insertion holes 12b are formed in the second container 12. FIG. 14 is a perspective view of the second container 12 in the fourth embodiment. The insertion hole 12b is formed such that the holding arm 20 is insertable.

[0144] Note that the number of the insertion holes 12b in the second container 12 is not limited to this. For example, the insertion holes 12b may be formed on another pair of side surfaces that are opposed to each other in the second container 12. A plurality of the insertion holes 12b may be formed on the single side surface 12c.

[0145] The opening 12a of the second container 12 is formed such that at least part of the first container 11 is insertable into the second container 12. Specifically, the opening 12a of the second container 12 is larger than the opening 11c that is formed in the first container 11 (refer to FIG. 16).

[0146] The holding arm 20 is configured to be able to turn the container 10 in a state of holding the container 10 with the holder 20c. For example, the holder 20c is attached to the rod 20a rotatably. The holder 20c is attached to be rotatable on an axis in a longitudinal direction of the rod 20a to which the holder 20c is attached.

[0147] Next, an inversion process in the conveyance apparatus 1 according to the fourth embodiment will be described using FIG. 15 and FIG. 16. FIG. 15 is a flowchart illustrating the inversion process in the conveyance apparatus 1 according to the fourth embodiment. FIG. 16 is a diagram illustrating a state in each step of the inversion process.

[0148] The control unit 31 takes a first turning step (S400). The control unit 31 turns the first container 11 that is conveyed by the conveyance unit 2 by 180 degrees such that the first container 11 that is conveyed by the conveyance unit 2 is inverted.

[0149] After performing the first turning step, the control unit 31 performs a cutting step (S401).

[0150] After performing the cutting step, the control unit 31 performs a placing step (S402). Because of the placing step, the first container 11 is inserted into the opening 12a of the second container 12.

[0151] After taking the placing step, the control unit 31 tales a second turning step (turning step) (S403). The control unit 31 turns the first container 11 and the second container 12 while pressing the first container 11 and the second container 12 such that the first container 11 and the second container 12 are inverted. Specifically, as illustrated in FIG. 16(f), the control unit 31 inserts the holding arms 20 into the through-holes 12b and holds the second container 12 with the holding arms 20. The control unit 31 holds the first container 11 with the holding arms 20. The control unit 31 lifts the first container 11 and the second container 12 and controls the holding arms 20 such that the first container 11 and the second container 12 are inverted and turns the first container 11 and the second container 12 by 180 degrees. Accordingly, the first surface 11a of the first container 11 turns to be on the upper-surface side again. The item 100 is in the pre-set direction.

[0152] The control unit 31 takes a taking-out step after taking the second turning step (S404). The control unit 31 pulls the holding arms 20 out of the through-holes 12b of the first container 11 and releases the holding of the second container 12 with the holding arms 20. The control unit 31 then takes the first container 11 out upward.

[0153] A conveyance method for the item 100 includes the cutting step, the placing step, the second turning step, and the taking-out step. The cutting step cuts the first container 11 in which the item 100 is packed along an entire circumference and forms the opening 11c in the first container 11. The placing step covers the first container 11 with the second container 12 such that the opening 11c of the first container 11 is covered. The second turning step turns the first container 11 and the second container 12 while pressing the first container 11 and the second container 12 such that the first container 11 and the second container 12 are inverted. The taking-out step takes the first container 11 out upward. The through-holes 12b into which the holding arms 20 that press the first container 11 are insertable are formed in the second container 12. In the second turning step, the holding arms 20 are inserted into the through-holes 12b and the first container 11 and the second container 12 are turned in a state where the first container 11 is @pressed by the holding arms 20.

[0154] Accordingly, the conveyance apparatus 1 that executes the conveyance method for the item 100 is able to turn the first container 11 and the second container 12 while pressing the first container 11 with the holding arms 20 that are inserted from the through-holes 12b of the second container 12 when conveying the item 100 from the first container 11 to the second container 12. The conveyance apparatus 1 is able to press the first container 11 with the holding arms 20 assuredly and turn the first container 11 and the second container 12 and is able to turn the first container 11 stably. For this reason, when the conveyance apparatus 1 turns the first container 11 and the second container 12, it is possible to inhibit the item 100 from dropping off the first container 11 or the second container 12 and convey the item 100 from the first container 11 to the second container 12 assuredly. By turning the first container 11 and the second container 12, the conveyance apparatus 1 is able to convey the item 100 from the first container 11 to the second container 12 speedily. In other words, the conveyance apparatus 1 is able to shift the item 100 from the first container 11 to the second container 12 speedily.

[0155] The insertion hole 12b is formed on each of the side surfaces 12c in a pair opposed to each other in the second container 12. In the second turning step, the holding arms 20 are inserted into the through-holes 12b, respectively.

[0156] Accordingly, the conveyance apparatus 1 is able to turn the first container 11 and the second container 12 in the state of inserting the holding arms 20 from the respective insertion holes 12b that are formed in the second container 12 and pressing the first container 11 from both side with the holding arms 20. The conveyance apparatus 1 thus is able to, when turning the first container 11 and the second container 12, inhibit the item 100 from dropping off the first container 11 or the second container 12 and convey the item 100 from the first container 11 to the second container 12 assuredly.

[0157] In the above-described embodiment, the example where the underlay 40 is placed in the placing step has been described; however, it is not limited to this. In a modification, the underlay 40 need not be placed in the placing step. In other words, the underlay 40 need not be set in the second container 12.

[0158] In the above, the first turning step turns the first container 11 by 180 degrees such that the first container 11 is inverted; however, the rotation angle of the first container 11 is not limited to 180 degrees. The rotation angle of the first container 11 may be set according to the item 100 that is packed in the first container 11 and the state of the first container 11 placed on the conveyance unit 2. The opening 11c may be formed in the first container 11 by the cutting step without turning the first container 11. When the opening 11c is formed in the first container 11 by the cutting step without turning the first container 11, the first turning step need not be executed.

[0159] The present invention has been described using the embodiment; however, the technical scope of the present invention is not limited to the scope described in the above-described embodiments. It is clear to those skilled in the art that a variety of changes and modifications can be added to the above-described embodiments. It is clear from the description of the scope of claims that the technical scope of the present invention covers such modes to which a variety of changes or modifications are added.

[0160] As for the order of execution of each process, such as an operation, a procedure, a step, and a step, in the apparatus, the system, the program, or the method presented in the scope of claims, the description, and the drawings, it should be noted that "before", "prior to", etc., are not presented clearly, and they may be realized in any order as long as an output of a previous process is not used in the following process. As for the operation flows in the scope of claims, the description, and the drawings, even when description is given using "first of all", "next", etc., for convenience, it does not mean that execution in the order is necessary.Reference Signs List

[0161] 1CONVEYANCE APPARATUS 3ROBOT ARM 4INFORMATION PROCESSING DEVICE (CONTROL DEVICE) 10CONTAINER 11FIRST CONTAINER 11cOPENING 12SECOND CONTAINER 20HOLDING ARM 21CUTTING ARM (CUTTING DEVICE) 31CONTROL UNIT 100ITEM

Examples

first embodiment

[0013]A conveyance apparatus 1 for an item 100 according to a first embodiment will be described with reference to FIG. 1. FIG. 1 is a diagram giving an overview of the conveyance apparatus 1 for the item 100 according to the first embodiment.

[0014]The conveyance apparatus 1 includes a conveyance unit 2, a plurality of robot arms 3, and an information processing apparatus 4 (control device). The conveyance unit 2 transfers a container 10 in which the item 100 (refer to FIG. 4) is packed. The conveyance unit 2 is, for example, a belt conveyer.

[0015]The container 10 includes a first container 11 (refer to FIG. 4) and a second container 12 (refer to FIG. 4). The conveyance apparatus 1 conveys the item 100 from the first container 11 to the second container 12. Specifically, the conveyance apparatus 1 moves the item 100 from the first container 11 to the second container 12. In other words, the conveyance apparatus 1 shifts the item 100 from the first container 11 to the second containe...

second embodiment

[0063]The conveyance apparatus 1 for the item 100 according to a second embodiment will be described next with reference to FIG. 6. Description of the same configuration as that of the first embodiment, and the like, will be omitted. FIG. 6 is a diagram giving an overview of the conveyance apparatus 1 for the item 100 according to the second embodiment.

[0064]The conveyance apparatus 1 includes the conveyance unit 2, the robot arms 3, a camera 5, and the information processing apparatus 4 (control device).

[0065]The relationship between the second container 12 and the first container 11 will be further described: specifically, the second container 12 is larger than the opening 11c of the first container 11 (refer to FIG. 4). More specifically, the size of the second container 12 is a size allowing the first container 11 to be covered with the second container 12. Specifically, the first container 11 is insertable into the second container 12 from the opening 12a.

[0066]With the first c...

third embodiment

[0108]The conveyance apparatus 1 for the item 100 according to a third embodiment will be described next with reference to FIG. 9. Description of the same configuration as that of the first embodiment, and the like, will be omitted. FIG. 9 is a diagram giving an overview of the conveyance apparatus 1 for the item 100 according to the third embodiment.

[0109]The conveyance apparatus 1 includes the conveyance unit 2, the robot arms 3, the information processing apparatus 4 (control device), and a camera 6.

[0110]The second container 12 is larger than the opening 11c (refer to FIG. 11) of the first container 11. The size of the second container 12 is a size allowing the first container 11 to be covered with the second container 12. Specifically, the first container 11 is insertable into the second container 12 from the opening 12a.

[0111]The holding arms 20 turn the first container 11 at a rotation angle that is set.

[0112]The camera 6 is set to capture an image of the first container 11 (...

Field

[0001] A disclosed embodiment relates to an item conveyance method and an item conveyance apparatus. Background

[0002] For example, a technique of packing items in a container for storage and storing the container for storage in which items are packed in a storage has been known (for example, refer to Patent Literature 1).Citation ListPatent Literature

[0003] Patent Literature: Japanese Laid-open Patent Publication No. 05-12345SummaryTechnical Problem

[0004] Items that are stored in the storage are conveyed from another container, or the like, to the container for storage and then are packed. In other words, the items are conveyed between the containers. Transfer of items between containers however is not taken into consideration in the conventional technique and thus there is room for improvement. For example, in the case where a plurality of items are packed in a container and the items are conveyed from a first container to a second container has a risk that, when the items are conveyed, a conveyance time for conveying the items will be long.

[0005] The present invention was made in view of the above-described circumstances and an object of the present invention is to transfer items between containers speedily.Solution to Problem

[0006] An item conveyance method according to one aspect of embodiments includes: a first turning step, a cutting step, a placing step, a second turning step, and a taking-out step. The first turning step includes turning a first container in which an item is packed such that the first container is inverted. The cutting step includes cutting the turned first container along an entire circumference and forming an opening in the first container. The placing step includes covering the first container with a second container such that the opening of the first container is covered. The second turning step of turning the first container and the second container while pressing the first container and the second container such that the first container and the second container are inverted. The taking-out step includes taking the first container out upward. A surface of placement of the second container is larger than a surface of placement of the first container.

[0007] An item conveyance method according to one aspect of embodiments includes a setting step, a first turning step, a cutting step, a placing step, a second turning step, and a taking-out step. The setting step includes setting a rotational speed of a first container in which an item is packed according to a type of the item. The first turning step includes turning the first container in which the item is packed at the rotational speed such that the first container is inverted. The cutting step includes cutting the turned first container along an entire circumference and forming an opening in the first container. The placing step includes covering the first container with a second container such that the opening of the first container is covered. The second turning step includes turning the first container and the second container at the rotational speed while pressing the first container and the second container such that the first container and the second container are inverted. The taking-out step includes taking the first container out upward.

[0008] An item conveyance method according to one aspect of embodiments includes a setting step, a first turning step, a cutting step, a placing step, a second turning step, and a taking-out step. The setting step includes setting a rotation angle of a first container in which an item is packed according to the item. The first turning step includes turning the first container in which the item is packed according to the rotation angle that is set. The cutting step includes cutting the first container that is turned along an entire circumference and forming an opening in the first container. The placing step includes covering the first container with a second container larger than the opening of the first container such that the opening of the first container is covered. The second turning step includes turning the first container and the second container while pressing the first container and the second container such that the first container and the second container are inverted. The taking-out step of taking the first container out upward.

[0009] An item conveyance method according to one aspect of embodiments includes a cutting step, a placing step, a turning step, and a taking-out step. The cutting step includes cutting a first container in which an item is packed and forming an opening in the first container. The placing step includes covering the first container with a second container such that the opening of the first container is covered. The turning step includes turning the first container and the second container while pressing the first container and the second container such that the first container and the second container are inverted. The taking-out step includes taking the first container out upward. An insertion hole into which a holding arm that presses the first container is inserted is formed in the second container. The turning step includes turning the first container and the second container with the holding arm being inserted into the insertion hole and the first container being pressed by the holding arm.Advantageous Effects of Invention

[0010] According to a mode of an embodiment, it is possible to transfer an item between containers speedily.Brief Description of Drawings

[0011] FIG. 1 is a diagram giving an overview of an item conveyance apparatus according to a first embodiment. FIG. 2 is a control system block diagram of an information processing apparatus according to the first embodiment. FIG. 3 is a flowchart illustrating an inversion process in the conveyance apparatus according to the first embodiment. FIG. 4 is a diagram illustrating a state in each step of the inversion process. FIG. 5 is a diagram schematically illustrating an example of a hardware configuration of a computer functioning as the information processing apparatus. FIG. 6 is a diagram giving an overview of an item conveyance apparatus according to a second embodiment. FIG. 7 is a diagram illustrating an example of rotational speed information. FIG. 8 is a flowchart illustrating an inversion process in the conveyance apparatus according to the second embodiment. FIG. 9 is a diagram giving an overview of an item conveyance apparatus according to a third embodiment. FIG. 10 is a flowchart illustrating an inversion process in the conveyance apparatus according to the third embodiment. FIG. 11 is a diagram illustrating a state in each step of the inversion process. FIG. 12 is an example illustrating a first container that is placed on a conveyance unit. FIG. 13 is an example illustrating the first container that is placed on the conveyance unit. FIG. 14 is a perspective view of a second container according to a fourth embodiment. FIG. 15 is a flowchart illustrating an inversion process in a conveyance apparatus according to the fourth embodiment. FIG. 16 is a diagram illustrating a state in each step of the inversion process. Description of Embodiments

[0012] The present invention will be described through embodiments, and the following embodiments do not limit the invention according to the scope of claims. All combinations of characteristics described in the embodiments need not necessarily be essential to solution of the invention.First Embodiment

[0013] A conveyance apparatus 1 for an item 100 according to a first embodiment will be described with reference to FIG. 1. FIG. 1 is a diagram giving an overview of the conveyance apparatus 1 for the item 100 according to the first embodiment.

[0014] The conveyance apparatus 1 includes a conveyance unit 2, a plurality of robot arms 3, and an information processing apparatus 4 (control device). The conveyance unit 2 transfers a container 10 in which the item 100 (refer to FIG. 4) is packed. The conveyance unit 2 is, for example, a belt conveyer.

[0015] The container 10 includes a first container 11 (refer to FIG. 4) and a second container 12 (refer to FIG. 4). The conveyance apparatus 1 conveys the item 100 from the first container 11 to the second container 12. Specifically, the conveyance apparatus 1 moves the item 100 from the first container 11 to the second container 12. In other words, the conveyance apparatus 1 shifts the item 100 from the first container 11 to the second container 12.

[0016] The first container 11 is cardboard. In the first container 11, for example, a plurality of the items 100 are packed. The second container 12, for example, is a container (tote) for managing the items 100 in a storage site (a repository, a shelf, or the like). An opening 12a (refer to FIG. 4) is formed on an upper side of the second container 12. The second container 12 is larger than the first container 11. For example, a surface of placement of the second container 12 is larger than a surface of placement of the first container 11. The surface of placement is a surface on which the items are placed in each of the containers 11 and 12. In other words, the surface of placement is a bottom surface in each of the containers 11 and 12.

[0017] The items 100 are packed in the second container 12 and is managed in the storage site. A picking operation is performed by a cart robot on the items 100 that is packed in the second container 12 and the item 100 is then conveyed.

[0018] Dispatch information is, for example, information on a list that is indicated previously and an order form, or the like. The pocking operation is a work of collecting (picking up) the items 100 (package) that are necessary. The cart robot is a picking staff. Picking staffs have a role necessary to ship the items 100 in a repository and thus are arranged in repositories of various genres. The picking staffs includes humanoid robots. The type of the container 10, the picking operation, etc., are not limited to the examples described above.

[0019] The robot arms 3 include a plurality of holding arms 20 and a cutting arm 21 (cutting device). The holding arms 20 are configured to turn the container 10. The holding arms 20 turn the container 10 such that the container 10 is inverted. The holding arms 20 are configured to hold the second container 12 and cover the first container 11 with the second container 12. The holding arms 20 are configured to convey part of the first container 11 that is cut by the cutting arm 21. The holding arms 20 are configured to cover the first container 11 with an underlay.

[0020] The holding arm 20 includes a plurality of rods 20a and a plurality of joints 20b. The joint 20b, for example, is set between two rods 20a and enable the two rods 20a to turn relatively. Each of the joints 20b has a motor. Drive power of the motors in the respective joints 20b causes the rods 20a to rotate relatively and accordingly the holding arms 20 extend and contract and is able to have 360-degree rotations.

[0021] A holder 20c is set at a tip of the holding arm 20. The holder 20c, for example, holds the container 10 by suction.

[0022] The holding arm 20 holds the container 10 by suction. The holding arm 20 pushes and supports the container 10.

[0023] The cutting arm 21 is configured to cut part of the first container 11. The cutting arm 21 is configured to cut the first container 11 along the entire circumference. The cutting arm 21 is configured to cut side surfaces of the first container 11 placed on the conveyance unit 2 along the entire circumference. Like the holding arm 20, the cutting arm 21 includes a plurality rods 21a and a plurality of joints 21b. A cutting unit 21c is set at a tip of the cutting arm 21. The cutting unit 21c is, for example, a cutter. A part that is cut in the first container 11 is a part where the items 100 packed in the first container 11 do not drop off the first container 11 or do not topple after the first container 11 is cut.

[0024] The robot arms 3 are provided with detectors, respectively. The detector is a camera. The camera, for example, includes an imaging device, such as a CCD (Charge Coupled Device) or a CMOS (Complementary Metal Oxide Semiconductor), and a lens. The detector may include at least one of a solid state LiDAR (light detection and ranging), a multi-color laser coaxial displacement meter, and other various sensors. The detector may include a MoPU (Motion Processing Unit). The MoPU is a unit that senses motions with a high-resolution camera. The MoPU, for example, outputs motion information indicating motions of an object of which images are captured at a frame rate of 1000 frames per second or higher from the images of the object captured at the frame rate of 1000 frames per second or higher. Furthermore, vector information on motions along given coordinate axes of a point indicating a position of presence of the object is output as motion information. In other words, the motion information that is output from the MoPU does not contain information necessary to identify what the object of which images are captured is (for example, a human or an obstacle) and contains only information indicating motions on the coordinate axes (an x-axis, a y-axis and a z-axis) of a center (or a center of gravity) of the object.

[0025] As illustrated in FIG. 2, the information processing apparatus 4 includes an information acquisition unit 30, a control unit 31, and an information storage unit 32. FIG. 2 is a control-system block diagram of the information processing apparatus 4 according to the first embodiment.

[0026] The information acquisition unit 30 acquires information that is sensed by the detector. The information acquisition unit 30 may acquire information on the item 100, or the like, that is transmitted from a control center, or the like.

[0027] The control unit 31 controls the conveyance unit 2. The control unit 31 controls each of the robot arms 3 based on the result of detection performed by the detector. By controlling each of the robot arms 3, the control unit 31 conveys the item 100 from the first container 11 to the second container 12. The control unit 31 controls each of the robot arms 3 according to types of the first container 11 and the second container 12. For example, using the result of detection performed by the detector and AI (Artificial Intelligence), the control unit 31 shifts the item 100 from the first container 11 to the second container 12.

[0028] The information storage unit 32, for example, is realized by a storage medium, such as a semiconductor memory device like a RAM (Random Access Memory) or a flash memory. The information storage unit 32 stores various types of programs that are executed by the control unit 31. The information storage unit 32 stores the information that is acquired by the information acquisition unit 30.

[0029] Next, an inversion process in the conveyance apparatus 1 according to the first embodiment will be described using FIG. 3 and FIG. 4. FIG. 3 is a flowchart illustrating the inversion process in the conveyance apparatus 1 according to the first embodiment. FIG. 4 is a diagram illustrating a state in each step of the inversion process.

[0030] The control unit 31 takes a first turning step (S100). The control unit 31 turns the first container 11 that is conveyed by the conveyance unit 2 such that the first container 11 is inverted. In the first container 11 that is conveyed by the conveyance unit 2, the item 100 is packed such that the item 100 faces in a given direction. The pre-set direction is a direction in which a pre-set upper part is on an upper side in a vertical direction and a pre-set lower part is on a lower side in the vertical direction. Specifically, the pre-set direction is a direction in which a surface of placement in the first container 11 is on a side of a lower part of the item 100.

[0031] For example, in the first container 11 illustrated in (a) in FIG. 4 that is conveyed by the conveyance unit 2, the items 100 are packed in a state of facing in the pre-set direction.

[0032] The control unit 31 holds the first container 11 with the holding arms 20 and turns the first container 11 to by 180 degrees such that the first container 11 is inverted. Accordingly, a first surface 11a of the first container 11 on an upper-surface side in FIG. 4(a) turns to be on a lower-surface side as illustrated in FIG. 4(b). A second surface 11b of the first container 11 on the lower-surface side in FIG. 4(a) turns to be on the upper-surface side as illustrated in FIG. 4(b). Turning the first container 11 by 180 degrees causes the surface of placement in the first container 11 to be positioned above the items 100.

[0033] After taking the first turning step, the control unit 31 takes a cutting step (S101). The control unit 31 cuts the first container 11 that is turned by the first turning step along an entire circumference. For example, as illustrated in FIG. 4(c), the control unit 31 cuts an upper side of the first container 11 along the entire circumference with the cutting arm 21. Accordingly, an opening 11c is formed in the first container 11. Note that part of the first container 11 that is cut, specifically, part of the upper side of the first container 11 including the second surface 11b is removed with the holding arms 20.

[0034] The part to be cut in the first container 11 is set in the cutting arm 21 according to the item 100 that is packed in the first container 11. The part to be cut in the first container 11 is set according to characteristics of the item 100. The characteristics of the item 100 includes a shape of the item 100 and a height of the item 100. For example, in the case where the shape of the item 100 is cylindrical, the part to be cut in the first container 11 is set such that the side surfaces of the first container 11 that are equal to or higher than in height the half of the height of the item 100 is left. For example, in the case where the shape of the item 100 is spherical, the part to be cut in the first container 11 is set near an upper end of the first container 11 after being turned.

[0035] Information on the item 100 that is packed in the first container 11 is acquired via the information acquisition unit 30. Based on the acquired information on the item 100, the control unit 31 sets the part to be cut in the first container 11. The item 100 that is packed in the first container 11 may be detected by a device other than the detector with which the robot arm 3 is provided. For example, the item 100 that is packed in the first container 11 may be detected by an X-ray device.

[0036] The part to be cut in the first container 11 may be set in the cutting arm 21 according to a type of the first container 11. The type of the first container 11, for example, includes a size of the first container 11. For example, the type of the first container 11 and information on the part to be cut in the first container 11 is stored in the information storage unit 32 previously. For example, according to the type of the first container 11 that is detected by the detector, the control unit 31 reads the information on the part to be cut in the first container 11 from the information storage unit 32 and sets the part to be cut in the first container 11.

[0037] After taking the cutting step, the control unit 31 takes a placing step (S102). As illustrated in FIG. 4(d), the control unit 31 places an underlay 40 on the opening 11c that is formed in the first container 11. The control unit 31 places the underlay 40 with the holding arms 20 such that the opening 11c is covered. Specifically, the control unit 31 places the underlay 40 such that the items 100 that are packed in the first container 11 are covered over.

[0038] After placing the underlay 40, the control unit 31 covers the first container 11 with the second container 12. The control unit 31 covers the first container 11 with the second container 12 such that the opening 11c of the first container 11 is covered. Specifically, the control unit 31 puts the second container 12 over the first container 11 above the underlay 40. As illustrated in FIG. 4(e), the control unit 31 holds the second container 12 with the holding arm 20 and puts the second container 12 over the first container 11. The second container 12 is put over the first container 11 with the opening 12a facing down.

[0039] After performing the placing step, the control unit 31 takes a second turning step (S103). The control unit 31 turns the first container 11 and the second container 12 while pressing the first container 11 and the second container 12 such that the first container 11 and the second container 12 are inverted. Specifically, as illustrated in FIG. 4(f), the control unit 31 holds the first container 11 and the second container 12 with the holding arms 20 and turns the first container 11 and the second container 12 by 180 degrees such that the first container 11 and the second container 12 are inverted. Accordingly, the first surface 11a of the first container 11 turns to be on the upper-surface side again. The items 100 are in the pre-set direction.

[0040] The control unit 31 takes a taking-out step after taking the second turning step (S104). The control unit 31 takes the first container 11 out upward. For example, as illustrated in FIG. 4(g), the control unit 31 holds the first surface 11a of the first container 11 with the holding arm 20 and takes the first container 11 out upward. Accordingly, in the second container 12, the items 100 are packed with the underlay 40 being laid under items 100.

[0041] The conveyance method for the item 100 includes the first turning step, the cutting step, the placing step, the second turning step, and the taking-out step. The first turning step turns the first container 11 such that the first container 11 in which the item 100 is packed is inverted. The cutting step cuts the turned first container 11 along an entire circumference and forms the opening 11c in the first container 11. The placing step covers the first container 11 with the second container 12 such that the opening 11c of the first container 11 is covered. The second turning step turns the first container 11 and the second container 12 while pressing the first container 11 and the second container 12 such that the first container 11 and the second container 12 are inverted. The taking-out step takes the first container 11 out upward. A surface of placement in the second container 12 is larger than a surface of placement in the first container 11.

[0042] Accordingly, the items 100 are packed in the second container 12 in a state of facing in the pre-set direction. In other words, the items 100 are packed in an aligned state in the second container 12 without inversion in the vertical direction. The conveyance apparatus 1 that executes the conveyance method for the item 100 thus enables speedy conveyance of the item 100 between the first container 11 and the second container 12. In other words, the conveyance apparatus 1 makes it possible to shift the item 100 from the first container 11 to the second container 12 speedily.

[0043] In the case where the items 100 are packed int eh first container 100, the conveyance apparatus 1 is able to shift the items 100 collectively from the first container 11 to the second container 12. For this reason, the conveyance apparatus 1 that executes the conveyance method for the item 100 is able to shift the items 100 from the first container 11 to the second container 12 speedily.

[0044] In the placing step, after the underlay 40 is placed on the opening 11c of the first container 11, the second container 12 is covered with the first container 11.

[0045] Accordingly, the items 100 are packed with the underlay 40 being laid under the items 100. For this reason, the conveyance apparatus 1 is able to shift the items 100 from the first container 11 to the second container 12 speedily while laying the underlay 40 under the items 100.

[0046] A part to be cut in the first container 11 in the cutting step is set according to the characteristics of the item 100.

[0047] The first container 11 is cut according to the characteristics of the item 100 and therefore, in the case where the first container 11 is cut, the conveyance apparatus 1 is able to inhibit the items 100 from dropping off the first container 11 or toppling.

[0048] In the above-described embodiment, the example where the underlay 40 is placed in the placing step has been described; however, it is not limited to this. In a modification, the underlay 40 need not be placed in the placing step. In other words, the underlay 40 need not be set in the second container 12.

[0049] FIG. 5 is a diagram schematically illustrating an example of a hardware configuration of a computer 1200 functioning as the information processing apparatus 4. A program that is installed in the computer 1200 causes the computer 1200 to function as one or a plurality of "units" of the apparatus according to the present embodiment and enables the computer 1200 to perform any one or both of executing operations associated with the apparatus according to the present embodiment or the one "unit" or the "units" and executing the process according to the embodiment or the steps of the process. Such a program may be executed by a CPU 1212 to cause the computer 1200 to execute specific operations associated with some of or all of the blocks in the flowchart and the block diagram described herein.

[0050] The computer 1200 according to the present embodiment includes the CPU 1212, a RAM 1214, and a graphic controller 1216 and they are connected mutually by a host controller 1210. The computer 1200 also includes a communication interface 1222, a storage device 1224, a DVD drive, and an input / output unit, such as an IC card drive, and they are connected to the host controller 1210 via an input / output controller 1220. The DVD drive may be a DVD-ROM drive, a DVD-RAM drive, or the like. The storage device 1224 may be a hard disk drive, a solid-state drive, or the like. The computer 1200 also includes a ROM 1230 and an input / output unit, such as a keyboard, and they are connected to the input / output controller 1220 via an input / output chip 1240.

[0051] The CPU 1212 operates according to programs that are stored in the ROM 1230 and the RAM 1214 and accordingly controls each unit. The graphic controller 1216 acquires image data that is generated by the CPU 1212 in a frame buffer that is provided in the RAM 1214, or the like, or in itself and causes the image data to be displayed on a display device 1218.

[0052] The communication interface 1222 communicates with another electronic device via a network. The storage device 1224 stores a program and data that are used by the CPU 1212 in the computer 1200. The DVD drive reads a program or data from a DVD-ROM and provides the program or data to the storage device 1224. The IC card drive performs any one or both of reading a program and data from an IC card and writing the program and the data in the IC card.

[0053] The ROM 1230 stores any one or both of a boot program that is executed by the computer 1200 in activation, or the like, and a program dependent on hardware of the computer 1200. The input / output chip 1240 also connects various input / output units to the input / output controller 1220 via a USB port, a parallel port, a serial port, a keyboard, a mouse port, and the like.

[0054] The programs are provided using a computer readable storage medium, such as a DVD-ROM or an IC card. The programs are read from the computer readable storage medium, are installed in the storage device 1224, the RAM 1214, or the ROM 1230 that is an example of the computer-readable storage medium, and are executed by the CPU 1212. Information processing written in these programs is read by the computer 1200 and leads to cooperation between the programs and the above-described various types of hardware resources. The apparatus or the method may be configured by realizing information operations or processing according to the use of the computer 1200.

[0055] For example, in the case where communication is executed between the computer 1200 and an external device, the CPU 1212 may execute a communication program that is loaded onto the RAM 1214 and, based on a process written in the communication program, may order the communication interface 1222 to perform a communication process. Under the control of the CPU 1212, the communication interface 1222 reads transmission data that is stored in a transmission buffer that is provided to the inside of the recording medium, such as the RAM 1214, the storage device 1224, the DVD-ROM, or the IC card and transmits the read transmission data to the network or writes reception data that is received from the network in a reception buffer area that is provided in the recording medium.

[0056] The CPU 1212 may cause all or necessary part of files or a database that are stored in the storage device 1224, the DVD drive (DVD-ROM), and an external recording medium, such as an IC card, to be read into the RAM 1214 and may execute various types of processing on the data in the RAM 1214. The CPU 1212 may then write the processed data back to the external recording medium.

[0057] Various types of information, such as various types of programs, data, tables, and a database, may be stored in a recording medium and undergo information processing. The CPU 1212 may execute various types of operations that are described through the disclosure and that are specified by instruction sequences of the programs and various types of processing including information processing, condition determination, conditional branching, unconditional branching, and information search / replacement on data that is read from the RAM 1214 and write the result back to the RAM 1214. The CPU 1212 may search information in the files in the recording media, the database, etc. For example, in the case where a plurality of entries each having an attribute value of a first attribute that is associated with an attribute value of a second attribute are stored in a recording medium, the CPU 1212 may search the entries for an entry that matches a condition in which an attribute value of the first attribute is specified, read an attribute value of the second attribute that is stored in the entry, and acquire the attribute value of the second attribute that is associated with the first attribute that meets the predetermined condition.

[0058] The above-described programs or a software module may be stored in the computer 1200 or a computer-readable recording medium near the computer 1200. A hard disk that is provided in a server system that is connected to a dedicated communication network or the Internet or a recording medium, such as a RAM, is usable as the computer-readable recording medium and the program is thus provided to the computer 1200 via the network.

[0059] The blocks in the flowchart and the block diagram in the preset embodiment may represent the "units" of the apparatus having roles of executing the steps of the process of executing the operations or the operations or the operations. The specific steps and the "units" may be implemented by any one, any two, or all of a dedicated circuit, a programmable circuit that is supplied together with a computer-readable instruction that is stored in the computer-readable storage medium, and a processor that is supplied together with a computer-readable instruction that is stored in the computer-readable storage medium. The dedicated circuit may include any one or both of a digital hardware circuit and an analog hardware circuit and may include any one or both of an integrated circuit (IC) and a discrete circuit. The programmable circuit, for example, may include a reconfigurable hardware circuit, such as a field programmable gate array (FPGA) and a programmable logic array (PLA), including AND, OR, XOR, NAND, NOR, and other logical operations, a flip-flop, a register, and memory elements.

[0060] The computer-readable storage medium may include any tangible device in which instructions that are executed by appropriate devices are storable and, as a result, the computer-readable storage medium having instructions that are stored therein includes a product containing instructions that can be executed to prepare means for executing operations that are specified in the flowchart or the block diagram. Examples of the computer-readable storage medium may include an electronic storage medium, a magnetic storage medium, an optical storage medium, an electromagnetic storage medium, and a semiconductor storage medium. More specific examples of the computer-readable storage medium may include a floppy (trademark) disk, a diskette, a hard disk, a random access memory (RAM), a read only memory (ROM), an erasable programmable read-only memory (EPPROM or a flash memory), an electrically erasable programmable read-only memory (EEPROM), a static random access memory (SRAM), a compact disc read only memory (CD-ROM), a digital versatile disc (DVD), a Blu-ray (trademark) disc, a memory stick, and an integrated circuit card.

[0061] The computer readable instruction may contain any of an assembler instruction, an instruction set architecture (ISA) instruction, a machine instruction, a machine-dependent instruction, a micro code, a firmware instruction, state setting data, or a source code or an object code that is written using one programming language or a freely-selected combination of a plurality of programming languages including an object-oriented programming language, such as Smalltalk (trademark), JAVA (trademark), or C++, and a conventional procedural programming language, such as a "C" programming language or a similar programming language.

[0062] The computer readable instruction may be provided to a processor of a general-purpose computer, a special-purpose computer, or a data processing device capable of programming, or to a programmable circuit locally or via a local area network (LAN) or a wide area network (WAN) like the Internet for the processor of the general-purpose computer, the special-purpose computer, or the another data processing device capable of programming, or the programmable circuit to execute the computer-readable instruction in order to generate means for executing operations that are specified in the flowchart or the block diagram. Examples of the processor includes a computer processor, a processing unit, a microprocessor, a digital signal processor, a controller, and a micro controller.Second Embodiment

[0063] The conveyance apparatus 1 for the item 100 according to a second embodiment will be described next with reference to FIG. 6. Description of the same configuration as that of the first embodiment, and the like, will be omitted. FIG. 6 is a diagram giving an overview of the conveyance apparatus 1 for the item 100 according to the second embodiment.

[0064] The conveyance apparatus 1 includes the conveyance unit 2, the robot arms 3, a camera 5, and the information processing apparatus 4 (control device).

[0065] The relationship between the second container 12 and the first container 11 will be further described: specifically, the second container 12 is larger than the opening 11c of the first container 11 (refer to FIG. 4). More specifically, the size of the second container 12 is a size allowing the first container 11 to be covered with the second container 12. Specifically, the first container 11 is insertable into the second container 12 from the opening 12a.

[0066] With the first container 11 being covered with the second container, the holding arms 20 turn the first and second containers 11 and 12 while pressing the first container 11 and the second container 12 such that the first container 11 and the second container 12 are inverted. Note that the rate at which the container 10 including the first and second containers 11 and 12 described above is turned (sometimes referred to as a "rotational speed" below) will be described below. The turning rate is a speed of a turning motion caused by the holding arms 20.

[0067] The holding arms 20 are configured to, in the state of holding the container 10 (for example, a side surface of the container 10) with the holders 20c, turn the container 10 while lifting the container 10. For example, the holder 20c is attached rotatably to the rod 20a. The holder 20c is attached rotatably on an axis in a longitudinal direction of the rod 20a to which the holder 20c is attached.

[0068] The camera 5 captures an image of the first container 11 that is conveyed on the conveyance unit 2 (refer to FIG. 4). The camera 5 outputs captured image data to the information processing apparatus 4. Note that the camera 5 may be single or include a plurality of cameras. FIG. 6 illustrates an example where the camera 5 is set above the first container 11 that is conveyed on the conveyance unit 2 and this is exemplification only and does not put any limitation. In other words, it is possible to set the camera 5 in a freely-selected position, such as a lateral side of the container 11 or the robot arm 3.

[0069] The information acquisition unit 30 (refer to FIG. 2) acquires image data. Note that the information acquisition unit 30 may acquire the information on the item 100, or the like, that is transmitted from the control center, or the like. The information on the item 100, or the like, may contain information indicating the type of the item 100.

[0070] The information storage unit 32 (refer to FIG. 2) stores rotational speed information 32a (refer to FIG. 7) indicating a rotational speed of the rotational speed of the container 10 (specifically, the first and second containers 11 and 12). FIG. 7 is a diagram illustrating an example of the rotational speed information 32a.

[0071] As illustrated in FIG. 7, the rotational speed information 32a contains items of "rotational speed ID", "type of item", "priority of stability", "rotational speed", etc., and sets of data of the respective items are related (are associated) with one another. Note that information contained in each of the items of "type of item", "priority of stability", and "rotational speed" is information that is previously set; however, it is not limited to this.

[0072] "Rotational speed information ID" is information that identifies rotational speed information. "Type of item" is information indicating the type of the item 100. "Type of item" is, for example, information on an electronic device, precision equipment, an electric appliance, clothing, food, a book, or the like, and they are exemplification only and do not put any limitation. In the example illustrated in FIG. 7, "type of item" is written as "B01" abstractly for convenience; however, specific information is stored in "B01".

[0073] In the present embodiment, the rotational speed of the container 10 is set according to the type of the item 100 described above and accordingly it is possible to convey the item 100 between the containers 10 appropriately, which will be described below.

[0074] "Priority of stability" is information indicating a degree at which stability is prioritized when the corresponding item 100 is conveyed between the containers 10. In other words, the container 10 in which the item 100 is packed is turned by the holding arms 20 and "priority of stability" is information indicating a degree at which stability during rotation is prioritized. "Priority of stability" is set in stages, such as high, intermediate, and low. FIG. 7 illustrates an example in which "priority of stability" is I three stages; however, it is not limited to this, and it may be in two stages or four or more stages.

[0075] It is specifically described that an electronic device, precision equipment, an electric appliance, etc., of "type of item" tend to be affected by vibrations during a turn (during conveyance) because of the nature of the item. For this reason, an electronic device, or the like, preferably has relatively less vibrations during the turn and thus stability during the turn is prioritized. In other words, an electric device, or the like, prioritizes stability over the speed during a turn. "Priority of stability" corresponding to an electronic device, or the like, of "type of item" therefore is set high.

[0076] Clothing, food, a book, etc., of "type of item" are more resistant to vibrations during a turn, or the like, than an electronic device, or the like, and thus speediness is more prioritized than stability during a turn. In other words, clothing, and the like, prioritize speediness while ensuring stability during a turn to some extent. "Priority of stability" corresponding to clothing, or the like, of "type of item" therefore is set intermediate or low. In other words, "priority of stability" corresponding to clothing, or the like, of "type of item" is set lower than "priority of stability" corresponding to an electronic device, or the like.

[0077] Note that an electronic device, a precision equipment, an electric appliance, etc., listed above are examples of an item of a given type. Clothing, food, a book, etc., listed above are examples of an item of another type. Thus, the item of the given type (an electronic device, or the like, here) is an item that prioritizes stability during conveyance more than the item of the another type (clothing, or the like, here).

[0078] "Rotational speed" is information indicating a rotational speed of the container 10. Specifically, "rotational speed" is a rotational speed of the container 10 (the first container 11) in which the item 100 is packed. In other words, "rotational speed" is information indicating a rotational speed at which the holding arms 20 turn the container 10 (the first container 11) in which the item 100 is packed.

[0079] "Rotational speed" is set in stages, such as high speed, intermediate speed, and low speed. Specifically, "rotational speed" corresponding to "type of item" whose priority of stability is high is set at low speed. "Rotational speed" corresponding to "type of item" whose priority of stability is intermediate is set at intermediate speed higher than low speed. "Rotational speed" corresponding to "type of item" whose priority of stability is low is set at high speed higher than intermediate speed. Note that FIG. 7 illustrates the example where "rotational speed" has the three stages; however, it is not limited to this, and it may have two stages or four or more stages.

[0080] In the example illustrated in FIG. 7, the rotational speed information that is identified by a rotational speed information ID "A01" indicates that the type of item is "B01", priority of stability is "high", and the rotational speed is "low speed". The rotational speed information that is identified by a rotational speed information ID "A02" indicates that the type of item is "B02", priority of stability is "intermediate", and the rotational speed is "intermediate speed". The rotational speed information that is identified by a rotational speed information ID "A03" indicates that the type of item is "B03", priority of stability is "low", and the rotational speed is "high speed".

[0081] The control unit 31 (refer to FIG. 2) controls each of the robot arms 3 based on the result of detection by the detector and the camera 5.

[0082] Based on the image data that is acquired by the camera 5, the control unit 31 specifies a type of the item 100 that is packed in the first container 11. For example, the control unit 31 performs given image processing on the image data and thereby recognizes characters, and the like, on the container 11 and specifies the type of the item 100 that is packed in the first container 11. Note that the information, and the like, on the first container 11 may be detected and accordingly the type of the item 100 that is packed in the first container 11 may be specified. For example, a barcode on the first container 11 may be read by the camera 5 functioning as a barcode reader and accordingly the type of the item 100 that is packed in the first container 11 may be specified. The type of the item 100 that is packed in the first container 11 may be specified based on the information that is transmitted from the control center, or the like.

[0083] The control unit 31 sets (determines) a rotational speed of the first container 11 in which the item 100 is packed according to the type of the item 100 that is packed in the first container 11. For example, based on the specified type of the item 100 and the rotational speed information 32a described above (refer to FIG. 7), the control unit 31 sets a rotational speed of the first container 11 in which the item 100 is packed. Specifically, after specifying the type of the item 100, the control unit 31 refers to the rotational speed information 32a and sets the rotational speed information corresponding to the specified type of the item 100 for the rotational speed of the first container 11 in which the item 100 is packed.

[0084] The control unit 31 controls each of the robot arms 3 and thereby, when conveying the item 100 from the first container 11 to the second container 12, as described below, turns the first container 11 in which the item 100 is packed at the set rotational speed such that the first container 11 is inverted and turns the first and second containers 11 and 12 at the set rotational speed such that the first and second containers 11 and 12 are inverted, thereby conveying (shifting) the item 100 from the first container 11 to the second container 12.

[0085] Next, an inversion process in the conveyance apparatus 1 according to the second embodiment will be described using FIG. 8 and FIG. 4. FIG. 8 is a flowchart illustrating the inversion process in the conveyance apparatus 1 according to the second embodiment.

[0086] As illustrated in FIG. 8, first of all, the control unit 31 takes a setting step (step S200). The control unit 31 sets a rotational speed of the first container 11 in which the item 100 is packed. For example, based on the image data that is acquired by the camera 5, the control unit 31 specifies the type of the item 100 that is packed in the first container 11. The control unit 31 then sets a rotational speed of the first container 11 in which the item 100 is packed according to the specified type of the item 100.

[0087] After taking the setting step, the control unit 31 takes the first turning step (step S201). For example, the control unit 31 turns the first container 11 that is conveyed by the conveyance unit 2 at the set rotational speed such that the first container 11 is inverted.

[0088] With the holding arms 20, the control unit 31 holds and lifts the first container 11 and turns the first container 11 by 180 degrees at the set rotational speed such that the first container 11 is inverted.

[0089] The above-described rotational speed is set according to the type of the item 100 and thus it is possible to appropriately perform conveyance of the item 100 between the containers 10. In other words, the control unit 31 according to the present embodiment makes it possible to set the rotational speed of the first container 11 at a value fitting the type of the item 100 that is packed and is able to perform conveyance of the item 100 appropriately.

[0090] Specifically, the control unit 31 sets the rotational speed of the first container 11 in which the item 100, such as an electronic device, (the item 100 of the given type) is packed, and the rotational speed of the first container 11 in which the item 100, such as clothing, (the item 100 of the another type) is packed different from each other. Specifically, the control unit 31 sets the rotational speed of the first container 11 in the case where the type of the item 100 is electronic device, or the like, and priority of stability during a turn (conveyance) is relatively high and the rotational speed of the first container 11 in the case where the type of the item 100 is clothing, or the like, and priority of stability during a turn is lower than that of an electronic device, or the like, different from each other.

[0091] As described above, the control unit 31 sets the rotational speed of the first container different according to the type of the item 100. Accordingly, in the present embodiment, it is possible to set a rotational speed of the first container 11 fitting the type of the item 100 and accordingly it is possible to perform conveyance of the item 100 including turning the first container 11 appropriately.

[0092] It is more specifically described that, when the type of the item 100 that is packed in the first container 11 is an electronic device, or the like, and the item 100 more prioritizes stability during a turn than clothing, or the like, the control unit 31 sets the rotational speed of the first container 11 in which the item 100, such as an electronic device, (the item 100 of the given type) is packed lower than the rotational speed of the first container 11 in which clothing, or the like, (the item 100 of the another type) is packed. In other words, the control unit 31 sets the rotational speed of the first container 11 in which the item 100 of the given type is packed at a low speed.

[0093] Accordingly, in the present embodiment, because the first container 11 in which the item 100, such as an electronic device, (the item 100 of the given type) is packed is turned stably at a relatively low speed, vibrations on the item 100 tend not to be caused and it is possible to perform conveyance of the item 100 including a turn of the first container 11 more appropriately.

[0094] When the type of the item 100 that is packed in the first container 11 is clothing, or the like, and the item 100 more prioritizes speediness during a turn than an electronic device, or the like, the control unit 31 increases the rotational speed of the first container 11 in which the item 100, such as clothing, (the item 100 of the another type) is packed more than the rotational speed of the first container 11 in which an electronic device, or the like, (the item 100 of the given type) is packed. In other words, the control unit 31 sets the rotational speed of the first container 11 in which the item 100 of the another type is packed at an intermediate or high speed.

[0095] Accordingly, in the present embodiment, because the first container 11 in which the item 100, such as clothing, (the item 100 of the another type) is packed is turned at an intermediate speed or a high speed speedily while ensuring stability, it is possible to perform conveyance of the item 100 including a turning the first container 11 more appropriately.

[0096] As descried above, in the present embodiment, setting a rotational speed of the first container 11 according to the type of the item 100 that is packed enables both stability and speediness during conveyance of the item 100 including turning the first container 11.

[0097] After taking the first turning step, the control unit 31 takes the cutting step (step S202). For example, according to the specified type of the first container 11, the control unit 31 reads information on a part to be cut in the first container 11 from the information storage unit 32 and sets the part to be cut in the first container 11.

[0098] After taking the cutting step, the control unit 31 takes the placing step (step S203). As illustrated in FIG. 4(d), the control unit 31 places the underlay 40 on the opening 11c that is formed in the first container 11. Multiple types of the underlays 40 are set according to the sizes of the first container 11 and the second container 12. The control unit 31 selects the underlays 40 corresponding to the sizes of the first container 11 and the second container 12 from the multiple types of the underlays 40. The control unit 31 places the selected underlays 40.

[0099] After placing the underlays 40, the control unit 31 covers the first container 11 with the second container 12. The control unit 31 covers the first container 11 with the second container 12 larger than the opening 11c of the first container 11 such that the opening 11c of the first container 11 is covered.

[0100] After taking the placing step, the control unit 31 takes the second turning step (step S204). The control unit 31 turns the first container 11 and the second container 12 at the rotational speed that is set at step S100 while pressing the first container 11 and the second container 12 such that the first container 11 and the second container 12 are inverted. Specifically, as illustrated in FIG. 4(f), the control unit 31 holds and lifts the first container 11 and the second container 12 with the holding arms 20 and turns the first container 11 and the second container 12 at the set rotational speed by 180 degrees such that the first container 11 and the second container 12 are inverted.

[0101] Also in the second turning step, as in the first turning step, the above-described rotational speed is set according to the type of the item 100 and thus it is possible to appropriately perform conveyance of the item 100 between the containers 10. In other words, the control unit 31 according to the present embodiment makes it possible to set the rotational speed of the first container 11 (precisely, the first and second containers 11 and 12) at a value fitting the type of the item 100 that is packed and is able to perform conveyance of the item 100 appropriately as in the first turning step.

[0102] The example where the rotational speed at which the first container 11 is turned in the first turning step and the rotational speed at which the first container 11 and the second container 12 are turned in the second turning step are equal is presented above; however, it is not limited to this. In other words, the rotational speed of the first container in the first rotational step and the rotational speed of the first container 11 and the second container 12 in the second rotational step need not match safely, and they may be different rotational speeds. For example, the rotational speed of the first and second containers 11 and 12 in the second turning step may be set slower than the rotational speed at which only the first container 11 is turned in the first turning step for the turning while pressing the first and second containers 11 and 12.

[0103] The control unit 31 takes the taking-out step after taking the second turning step (step S205).

[0104] As described above, the conveyance method for the item 100 includes the setting step, the first turning step, the cutting step, the placing step, the second turning step, and the taking-out step. The setting step sets a rotational speed of the container 11 in which the item 100 is packed according to the type of the item 100. The first turning step turns the first container 11 in which the item 100 is packed at the rotational speed such that the first container 11 is inverted. The cutting step cuts the turned first container 11 along an entire circumference and forms the opening 11c in the first container 11. The placing step covers the first container 11 with the second container 12 larger than the opening 11c of the first container 11 such that the opening 11c of the first container 11 is covered. The second turning step turns the first container 11 and the second container 12 at the rotational speed while pressing the first container 11 and the second container 12 such that the first container 11 and the second container 12 are inverted. The taking-out step takes the first container 11 out upward.

[0105] As described above, the rotational speed of the first container 11 is set according to the type of the item 100 and thus it is possible to appropriately perform conveyance of the item 100 between the containers 10 (specifically, conveyance of the item 100 from the first container 11 to the second container 12). In other words, in the present embodiment, it is possible to set the rotational speed of the first container 11 at a value fitting the type of the item 100 that is packed and it is possible to perform conveyance of the item 100 appropriately.

[0106] Note that, in the above-described embodiment, the example where the underlay 40 is placed in the placing step has been described; however, it is not limited to this. In a modification, the underlay 40 need not be placed in the placing step. In other words, the underlay 40 need not be set in the second container 12.

[0107] Note that the second container 12 may be a flat plate of which area is larger than the opening 11c of the first container 11.Third Embodiment

[0108] The conveyance apparatus 1 for the item 100 according to a third embodiment will be described next with reference to FIG. 9. Description of the same configuration as that of the first embodiment, and the like, will be omitted. FIG. 9 is a diagram giving an overview of the conveyance apparatus 1 for the item 100 according to the third embodiment.

[0109] The conveyance apparatus 1 includes the conveyance unit 2, the robot arms 3, the information processing apparatus 4 (control device), and a camera 6.

[0110] The second container 12 is larger than the opening 11c (refer to FIG. 11) of the first container 11. The size of the second container 12 is a size allowing the first container 11 to be covered with the second container 12. Specifically, the first container 11 is insertable into the second container 12 from the opening 12a.

[0111] The holding arms 20 turn the first container 11 at a rotation angle that is set.

[0112] The camera 6 is set to capture an image of the first container 11 (refer to FIG. 11) that is conveyed on the conveyance unit 2. A plurality of the cameras 6 may be set. Note the robot arm 3 may be provided with the camera 6.

[0113] The information acquisition unit 30 (refer to FIG. 2) acquires data of the image captured by the camera 6 (referred to as "image data" below).

[0114] The control unit 31 (refer to FIG. 2) controls each of the robot arms 3 based on the result of detection by the detector and the camera 6.

[0115] Based on the image data that is acquired by the camera 6, the control unit 31 specifies the item 100 that is packed in the first container 11. For example, the control unit 31 performs given image processing on the image data and thereby recognizes characters, and the like, on the container 11 and specifies the item 100 that is packed in the first container 11. Note that the information, and the like, on the first container 11 may be detected by a sensor and accordingly the item 100 that is packed in the first container 11 may be specified. For example, a barcode on the first container 11 may be read by a barcode reader and accordingly the item 100 that is packed in the first container 11 may be specified. The item 100 that is packed in the first container 11 may be specified based on the information that is transmitted from the control center, or the like.

[0116] The control unit 31 sets a rotation angle of the first container 11 according to the item 100 that is packed in the first container 11. The control unit 31 sets a rotation angle of the first container 11 according to the specified item 100. The rotation angle according to the item 100 is set previously and is stored in the information storage unit 32.

[0117] Turning is turning that changes the surface of the first container 11 facing up. Turning the first container 11 does not include turning on a Z-axis in a Cartesian coordinate system in which the Z-axis is an axis parallel to a vertical direction. Turning the first container 11 is, for example, turning on an X-axis or a Y-axis.

[0118] The control unit 31 sets a rotation angle of the first container 11 such that the item 100 is packed in a state of facing in a direction that is set previously.

[0119] The pre-set direction is, for example, a direction in which, when the item 100 is taken out of the second container 12 by a cart robot, the taking out by the cart robot is easy.

[0120] The rotation angle that is set is an angle at which, when the item 100 is conveyed from the first container 11 to the second container 12, the item 100 can be conveyed without dropping off spilling off or toppling.

[0121] For example, in the case where the item 100 that is cylindrical is packed horizontally in the first container 11 and taking the cylindrical item 100 in the state of being packed vertically out by the cart robot is easy, the control unit 31 sets the rotation angle of the first container 11 at "90 degrees".

[0122] For example, the rotation angle of the first container 11 is selected from "0 degree", "90 degrees" and "180 degrees". Note that the rotation angle of the first container 11 is not limited to these angles.

[0123] When the rotation angle of the first container is "0 degree", the first container 11 is not turned. When the rotation angle of the first container is "90 degrees", it is turned such that the side surface of the first container 11 conveyed by the conveyance unit 2 faces up. When the rotation angle of the first container is "180 degrees", the first container 11 is turned such that the first container 11 is inverted.

[0124] For example, in the case where the item 100 that is cylindrical is packed horizontally in the first container 11 and the item 100 has a bottom surface having a shape that is easy to hold, the rotation angle is set at "180 degrees". In the case where the item 100 that is cylindrical is packed horizontally in the first container 11 and the item 100 has an upper surface having a shape that is easy to hold, the rotation angle is set at "0 degree".

[0125] By controlling each of the robot arms 3, the control unit 31 conveys the item 100 from the first container 11 to the second container 12. Based on the set rotation angle of the first container 11, the control unit 31 turns the first container 11 and conveys the item 100 from the first container 11 to the second container 12.

[0126] Next, an inversion process in the conveyance apparatus 1 according to the third embodiment will be described using FIG. 10 and FIG. 11. FIG. 10 is a flowchart illustrating the inversion process in the conveyance apparatus 1 according to the third embodiment. FIG. 11 is a diagram illustrating a state in each step of the inversion process.

[0127] The control unit 31 takes a setting step (S300). The control unit 31 sets a rotation angle of the first container 11. For example, based on the image data that is acquired by the camera 6, the control unit 31 specifies the item 100 that is packed in the first container 11. The control unit 31 then sets a rotation angle of the first container 11 corresponding to the specified item 100.

[0128] After taking the setting step, the control unit 31 takes the first turning step (S301). The control unit 31 turns the first container 11 that is conveyed by the conveyance unit 2 according to the rotation angle that is set.

[0129] For example, when the rotation angle that is set is "90 degrees", the control unit 31 holds the first container 11 with the holding arms 20. The control unit 31 then turns the first container 11 by 90 degrees with the holding arms 20. Accordingly, the first surface 11a of the first container 11 on the upper-surface side in FIG. 11(a) turns to be on a side-surface side as illustrated in FIG. 11(b). The second surface 11b of the first container 11 on the side-surface side in FIG. 11(a) turns to be on the upper-surface side as illustrated in FIG. 11(b).

[0130] After taking the first turning step, the control unit 31 takes the cutting step (S302).

[0131] After taking the cutting step, the control unit 31 takes the placing step (S303). As illustrated in FIG. 11(d), the control unit 31 places the underlay 40 on the opening 11c that is formed in the first container 11. Multiple types of the underlays 40 are set according to the sizes of the first container 11 and the second container 12. The control unit 31 selects the underlays 40 corresponding to the sizes of the first container 11 and the second container 12 from the multiple types of the underlays 40. The control unit 31 places the selected underlays 40.

[0132] After taking the placing step, the control unit 31 takes the second turning step (S304). Accordingly, for example, the item 100 that is packed in the second container 12 is easily taken out by the cart robot.

[0133] The control unit 31 takes the taking-out step after taking the second turning step (S305). The control unit 31 takes the first container 11 out upward. For example, as illustrated in FIG. 11(g), the control unit 31 holds a third surface 11d of the first container 11 with the holding arm 20 and takes the first container 11 out upward. For example, the third surface 11d is a surface opposed to the second surface 11b and is, when the first container 11 is turned by 90 degrees, a surface on the lower-surface side of the first container 11 through the first turning step. Accordingly, the item 100 is packed with the underlay 40 being laid thereunder in the second container 12.

[0134] The conveyance method for the item 100 includes the setting step, the first turning step, the cutting step, the placing step, the second turning step, and the taking-out step. The setting step sets a rotation angle of the container 11 in which the item 100 is packed according to the item 100. The first turning step turns the first container 11 in which the item 100 is packed at the rotation angle that is set. The cutting step cuts the turned first container 11 along an entire circumference and forms the opening 11c in the first container 11. The placing step covers the first container 11 with the second container 12 larger than the opening 11c of the first container 11 such that the opening 11c of the first container 11 is covered. The first turning step turns the first container 11 and the second container 12 while pressing the first container 11 and the second container 12 such that the first container 11 and the second container 12 are inverted. The taking-out step takes the first container 11 out upward.

[0135] Accordingly, the conveyance apparatus 1 that executes the conveyance method for the item 100 is able to shift the item 100 from the first container 11 to the second container 12 after turning the item 100 that is packed in the first container 11 at a rotation angle corresponding to the item 100. For this reason, the conveyance apparatus 1 is able to convey the item 100 from the first container 11 to the second container 12. In other words, the conveyance apparatus 1 is able to shift the item 100 from the first container 11 to the second container 12 speedily. The conveyance apparatus 1 also makes it possible to pack the item 100 in the second container 12 with the cart robot that takes the item 100 out of the second container 12 in a state where catching the item 100 is easy.

[0136] The rotational speed includes 0 degree. It is thus possible to, in the case where it is not necessary to turn the first container 11, form the opening 11c in the first container 11 and conveys the item 100 from the first container 11 to the second container 12 without turning the first container 11.

[0137] In the above-described embodiment, the example where the underlay 40 is placed in the placing step has been described; however, it is not limited to this. In a modification, the underlay 40 need not be placed in the placing step. In other words, the underlay 40 need not be set in the second container 12.

[0138] Note that the second container 12 may be a flat plate of which area is larger than the opening 11c of the first container 11.

[0139] The conveyance apparatus 1 may set a rotation angle based on a state of placement of the first container 11 that is placed on the conveyance unit 2. The state of placement varies depending on which of a plurality of surfaces of the first container 11 the surface of contact of the first container 11 making contact with the conveyance unit 2 is. In other words, the state of placement varies depending on the surface of the first container 11 that faces up. For example, the state of placement differs between the state where an open-close surface 11e of the first container 11 faces up as illustrated in FIG. 12 and the state where the open-close surface 11e of the first container 11 faces a lateral side as illustrated in FIG. 13. FIG. 12 is an example illustrating the first container 11 placed on the conveyance unit 2. FIG. 13 is an example illustrating the first container 11 placed on the conveyance unit 2.

[0140] For example, in the state of placement where the open-close surface 11e of the first container 11 faces up, the conveyance apparatus 1 turns the first container 11 by 90 degrees to cause the first container 11 to enter a state where the open-close surface 11e of the first container 11 faces a lateral side and then forms the opening 11c in the first container 11. In the state of placement where the open-close surface 11e of the first container 11 faces a lateral side, the conveyance apparatus 1 forms the opening 11c in the first container 11 without turning the first container 11.

[0141] This enables the conveyance apparatus 1 to form the opening 11c in a preferable part in the first container 11 regardless of the state of placement of the first container 11 placed on the conveyance unit 2. For this reason, the item 100 is packed in a state of facing in a pre-set direction in the second container 12 regardless of the state of placement of the first container 11 placed on the conveyance unit 2. For example, even in the case where the first container 11 is placed on the conveyance unit 2 without inconsistency in the state of placement of the first container 11 or in the case where the state of placement of the first container 11 changes during conveyance by the conveyance unit 2, the conveyance apparatus 1 is able to pack the item 100 in a state of facing in the pre-set direction in the second container 12.Fourth Embodiment

[0142] The conveyance apparatus 1 for the item 100 according to a fourth embodiment will be described next. Description of the same configuration as that of the first embodiment, and the like, will be omitted.

[0143] The opening 12a is formed on an upper side of the second container 12 as illustrated in FIG. 14. An insertion hole 12b is formed on a side surface 12c of the second container 12. The insertion hole 12b is formed on each of the side surfaces 12c in a pair opposed to each other in the second container 12. In other words, two insertion holes 12b are formed in the second container 12. FIG. 14 is a perspective view of the second container 12 in the fourth embodiment. The insertion hole 12b is formed such that the holding arm 20 is insertable.

[0144] Note that the number of the insertion holes 12b in the second container 12 is not limited to this. For example, the insertion holes 12b may be formed on another pair of side surfaces that are opposed to each other in the second container 12. A plurality of the insertion holes 12b may be formed on the single side surface 12c.

[0145] The opening 12a of the second container 12 is formed such that at least part of the first container 11 is insertable into the second container 12. Specifically, the opening 12a of the second container 12 is larger than the opening 11c that is formed in the first container 11 (refer to FIG. 16).

[0146] The holding arm 20 is configured to be able to turn the container 10 in a state of holding the container 10 with the holder 20c. For example, the holder 20c is attached to the rod 20a rotatably. The holder 20c is attached to be rotatable on an axis in a longitudinal direction of the rod 20a to which the holder 20c is attached.

[0147] Next, an inversion process in the conveyance apparatus 1 according to the fourth embodiment will be described using FIG. 15 and FIG. 16. FIG. 15 is a flowchart illustrating the inversion process in the conveyance apparatus 1 according to the fourth embodiment. FIG. 16 is a diagram illustrating a state in each step of the inversion process.

[0148] The control unit 31 takes a first turning step (S400). The control unit 31 turns the first container 11 that is conveyed by the conveyance unit 2 by 180 degrees such that the first container 11 that is conveyed by the conveyance unit 2 is inverted.

[0149] After performing the first turning step, the control unit 31 performs a cutting step (S401).

[0150] After performing the cutting step, the control unit 31 performs a placing step (S402). Because of the placing step, the first container 11 is inserted into the opening 12a of the second container 12.

[0151] After taking the placing step, the control unit 31 tales a second turning step (turning step) (S403). The control unit 31 turns the first container 11 and the second container 12 while pressing the first container 11 and the second container 12 such that the first container 11 and the second container 12 are inverted. Specifically, as illustrated in FIG. 16(f), the control unit 31 inserts the holding arms 20 into the through-holes 12b and holds the second container 12 with the holding arms 20. The control unit 31 holds the first container 11 with the holding arms 20. The control unit 31 lifts the first container 11 and the second container 12 and controls the holding arms 20 such that the first container 11 and the second container 12 are inverted and turns the first container 11 and the second container 12 by 180 degrees. Accordingly, the first surface 11a of the first container 11 turns to be on the upper-surface side again. The item 100 is in the pre-set direction.

[0152] The control unit 31 takes a taking-out step after taking the second turning step (S404). The control unit 31 pulls the holding arms 20 out of the through-holes 12b of the first container 11 and releases the holding of the second container 12 with the holding arms 20. The control unit 31 then takes the first container 11 out upward.

[0153] A conveyance method for the item 100 includes the cutting step, the placing step, the second turning step, and the taking-out step. The cutting step cuts the first container 11 in which the item 100 is packed along an entire circumference and forms the opening 11c in the first container 11. The placing step covers the first container 11 with the second container 12 such that the opening 11c of the first container 11 is covered. The second turning step turns the first container 11 and the second container 12 while pressing the first container 11 and the second container 12 such that the first container 11 and the second container 12 are inverted. The taking-out step takes the first container 11 out upward. The through-holes 12b into which the holding arms 20 that press the first container 11 are insertable are formed in the second container 12. In the second turning step, the holding arms 20 are inserted into the through-holes 12b and the first container 11 and the second container 12 are turned in a state where the first container 11 is @pressed by the holding arms 20.

[0154] Accordingly, the conveyance apparatus 1 that executes the conveyance method for the item 100 is able to turn the first container 11 and the second container 12 while pressing the first container 11 with the holding arms 20 that are inserted from the through-holes 12b of the second container 12 when conveying the item 100 from the first container 11 to the second container 12. The conveyance apparatus 1 is able to press the first container 11 with the holding arms 20 assuredly and turn the first container 11 and the second container 12 and is able to turn the first container 11 stably. For this reason, when the conveyance apparatus 1 turns the first container 11 and the second container 12, it is possible to inhibit the item 100 from dropping off the first container 11 or the second container 12 and convey the item 100 from the first container 11 to the second container 12 assuredly. By turning the first container 11 and the second container 12, the conveyance apparatus 1 is able to convey the item 100 from the first container 11 to the second container 12 speedily. In other words, the conveyance apparatus 1 is able to shift the item 100 from the first container 11 to the second container 12 speedily.

[0155] The insertion hole 12b is formed on each of the side surfaces 12c in a pair opposed to each other in the second container 12. In the second turning step, the holding arms 20 are inserted into the through-holes 12b, respectively.

[0156] Accordingly, the conveyance apparatus 1 is able to turn the first container 11 and the second container 12 in the state of inserting the holding arms 20 from the respective insertion holes 12b that are formed in the second container 12 and pressing the first container 11 from both side with the holding arms 20. The conveyance apparatus 1 thus is able to, when turning the first container 11 and the second container 12, inhibit the item 100 from dropping off the first container 11 or the second container 12 and convey the item 100 from the first container 11 to the second container 12 assuredly.

[0157] In the above-described embodiment, the example where the underlay 40 is placed in the placing step has been described; however, it is not limited to this. In a modification, the underlay 40 need not be placed in the placing step. In other words, the underlay 40 need not be set in the second container 12.

[0158] In the above, the first turning step turns the first container 11 by 180 degrees such that the first container 11 is inverted; however, the rotation angle of the first container 11 is not limited to 180 degrees. The rotation angle of the first container 11 may be set according to the item 100 that is packed in the first container 11 and the state of the first container 11 placed on the conveyance unit 2. The opening 11c may be formed in the first container 11 by the cutting step without turning the first container 11. When the opening 11c is formed in the first container 11 by the cutting step without turning the first container 11, the first turning step need not be executed.

[0159] The present invention has been described using the embodiment; however, the technical scope of the present invention is not limited to the scope described in the above-described embodiments. It is clear to those skilled in the art that a variety of changes and modifications can be added to the above-described embodiments. It is clear from the description of the scope of claims that the technical scope of the present invention covers such modes to which a variety of changes or modifications are added.

[0160] As for the order of execution of each process, such as an operation, a procedure, a step, and a step, in the apparatus, the system, the program, or the method presented in the scope of claims, the description, and the drawings, it should be noted that "before", "prior to", etc., are not presented clearly, and they may be realized in any order as long as an output of a previous process is not used in the following process. As for the operation flows in the scope of claims, the description, and the drawings, even when description is given using "first of all", "next", etc., for convenience, it does not mean that execution in the order is necessary.Reference Signs List

[0161] 1CONVEYANCE APPARATUS 3ROBOT ARM 4INFORMATION PROCESSING DEVICE (CONTROL DEVICE) 10CONTAINER 11FIRST CONTAINER 11cOPENING 12SECOND CONTAINER 20HOLDING ARM 21CUTTING ARM (CUTTING DEVICE) 31CONTROL UNIT 100ITEM

Examples

first embodiment

[0013]A conveyance apparatus 1 for an item 100 according to a first embodiment will be described with reference to FIG. 1. FIG. 1 is a diagram giving an overview of the conveyance apparatus 1 for the item 100 according to the first embodiment.

[0014]The conveyance apparatus 1 includes a conveyance unit 2, a plurality of robot arms 3, and an information processing apparatus 4 (control device). The conveyance unit 2 transfers a container 10 in which the item 100 (refer to FIG. 4) is packed. The conveyance unit 2 is, for example, a belt conveyer.

[0015]The container 10 includes a first container 11 (refer to FIG. 4) and a second container 12 (refer to FIG. 4). The conveyance apparatus 1 conveys the item 100 from the first container 11 to the second container 12. Specifically, the conveyance apparatus 1 moves the item 100 from the first container 11 to the second container 12. In other words, the conveyance apparatus 1 shifts the item 100 from the first container 11 to the second containe...

second embodiment

[0063]The conveyance apparatus 1 for the item 100 according to a second embodiment will be described next with reference to FIG. 6. Description of the same configuration as that of the first embodiment, and the like, will be omitted. FIG. 6 is a diagram giving an overview of the conveyance apparatus 1 for the item 100 according to the second embodiment.

[0064]The conveyance apparatus 1 includes the conveyance unit 2, the robot arms 3, a camera 5, and the information processing apparatus 4 (control device).

[0065]The relationship between the second container 12 and the first container 11 will be further described: specifically, the second container 12 is larger than the opening 11c of the first container 11 (refer to FIG. 4). More specifically, the size of the second container 12 is a size allowing the first container 11 to be covered with the second container 12. Specifically, the first container 11 is insertable into the second container 12 from the opening 12a.

[0066]With the first c...

third embodiment

[0108]The conveyance apparatus 1 for the item 100 according to a third embodiment will be described next with reference to FIG. 9. Description of the same configuration as that of the first embodiment, and the like, will be omitted. FIG. 9 is a diagram giving an overview of the conveyance apparatus 1 for the item 100 according to the third embodiment.

[0109]The conveyance apparatus 1 includes the conveyance unit 2, the robot arms 3, the information processing apparatus 4 (control device), and a camera 6.

[0110]The second container 12 is larger than the opening 11c (refer to FIG. 11) of the first container 11. The size of the second container 12 is a size allowing the first container 11 to be covered with the second container 12. Specifically, the first container 11 is insertable into the second container 12 from the opening 12a.

[0111]The holding arms 20 turn the first container 11 at a rotation angle that is set.

[0112]The camera 6 is set to capture an image of the first container 11 (...

Claims

1. An item conveyance method comprising: a first turning step of turning a first container in which an item is packed such that the first container is inverted; a cutting step of cutting the turned first container along an entire circumference and forming an opening in the first container; a placing step of covering the first container with a second container such that the opening of the first container is covered; a second turning step of turning the first container and the second container while pressing the first container and the second container such that the first container and the second container are inverted; and a taking-out step of taking the first container out upward, wherein a surface of placement of the second container is larger than a surface of placement of the first container.

2. The item conveyance method according to claim 1, wherein the placing step includes covering the first container with the second container after an underlay is placed on the opening of the first container.

3. The item conveyance method according to claim 1 or 2, wherein a part of cutting in the first container in the cutting step is set according to characteristics of the item.

4. An item conveyance apparatus comprising: a holding arm that holds a container in which an item is packed; a cutting device that cuts the container; and a control device that controls the holding arm and the cutting device, wherein the control device turns a first container in which the item is packed with the holding arm such that the first container is inverted, with the cutting device, cuts the turned first container along an entire circumference and form an opening in the first container, with the holding arm, covers the first container with a second container such that the opening of the first container is covered, and turns the first container and the second container with the holding arm while pressing the first container and the second container with the holding arm such that the first container and the second container are inverted, with the holding arm, takes the first container out upward, and a surface of placement of the second container is larger than a surface of placement of the first container.

5. An item conveyance method comprising: a setting step of setting a rotational speed of a first container in which an item is packed according to a type of the item; a first turning step of turning the first container in which the item is packed at the rotational speed such that the first container is inverted; a cutting step of cutting the turned first container along an entire circumference and forming an opening in the first container; a placing step of covering the first container with a second container such that the opening of the first container is covered; a second turning step of turning the first container and the second container at the rotational speed while pressing the first container and the second container such that the first container and the second container are inverted; and a taking-out step of taking the first container out upward.

6. The item conveyance method according to claim 5, wherein the item includes the item of a given type that is set previously and the item of another type different from the given type, the setting step includes setting the rotational speed of the first container in which the item of the given type is packed and the rotational speed of the first container in which the item of the another type is packed different from each other.

7. The item conveyance method according to claim 6, wherein the item of the given type is an item that prioritizes stability during a turn more than the item of the another type, and the setting step includes setting the rotational speed of the first container in which the item of the given type is packed lower than the rotational speed of the first container in which the item of the another type is packed.

8. An item conveyance apparatus comprising: a holding arm that holds a container in which an item is packed; a cutting device that cuts the container; and a control device that controls the holding arm and the cutting device, wherein the control device sets a rotational speed of a first container in which the item is packed according to a type of the item, turns a first container in which the item is packed with the holding arm such that the first container is inverted, cuts the turned first container along an entire circumference and forms an opening in the first container, covers the first container with a second container with the holding arm such that the opening of the first container is covered; turns the first container and the second container with the holding arm while pressing the first container and the second container with the holding arm such that the first container and the second container are inverted, and takes the first container out upward with the holding arm.

9. An item conveyance method comprising: a setting step of setting a rotation angle of a first container in which an item is packed according to the item; a first turning step of turning the first container in which the item is packed according to the rotation angle that is set; a cutting step of cutting the first container that is turned along an entire circumference and forming an opening in the first container; a placing step of covering the first container with a second container larger than the opening of the first container such that the opening of the first container is covered; a second turning step of turning the first container and the second container while pressing the first container and the second container such that the first container and the second container are inverted; and a taking-out step of taking the first container out upward.

10. The item conveyance method according to claim 9, wherein the rotation angle includes 0 degree.

11. The item conveyance method according to claim 9, wherein the rotation angle is set based on a state of placement of the first container that is placed on a conveyance unit that conveys the first container.

12. An item conveyance apparatus comprising: a holding arm that holds a container in which an item is packed; a cutting device that cuts the container; and a control device that controls the holding arm and the cutting device, wherein the control device sets a rotation angle of a first container in which the item is packed according to the item, turns the first container in which the item is packed according to the rotation angle that is set, cuts the turned first container along an entire circumference and forms an opening in the first container, covers the first container with a second container larger than the first container with the holding arm such that the opening of the first container is covered; turns the first container and the second container with the holding arm while pressing the first container and the second container with the holding arm such that the first container and the second container are inverted, and takes the first container out upward with the holding arm and13. An item conveyance method comprising: a cutting step of cutting a first container in which an item is packed and forming an opening in the first container; a placing step of overing the first container with a second container such that the opening of the first container is covered; and a turning step of turning the first container and the second container while pressing the first container and the second container such that the first container and the second container are inverted, wherein an insertion hole into which a holding arm that presses the first container is inserted is formed in the second container, and the turning step includes turning the first container and the second container with the holding arm being inserted into the insertion hole and the first container being pressed by the holding arm.

14. The item conveyance method according to claim 13, wherein the insertion hole is formed in each of side surfaces in a pair that are opposed to each other in the second container, and the turning step includes inserting the holding arm into each of the insertion holes.

15. An item conveyance apparatus, comprising: a holding arm that holds a container in which an item is packed; a cutting device that cuts the container; and a control device that controls the holding arm and the cutting device, wherein, with the cutting device, the control device cuts a first container along an entire circumference and forms an opening in the first container, with the holding arm, covers the first container with a second container such that the opening of the first container is covered, and turns the first container and the second container with the holding arm while pressing the first container and the second container with the holding arm such that the first container and the second container are inverted, and with the holding arm, takes the first container out upward, and an insertion hole into which the holding arm is insertable is formed in the second container, and the holding arm is inserted into the insertion hole and the first container and the second container are turned with the first container being pressed by the holding arm.

Images