Information processing system

Abstract

To provide an information processing system capable of efficiently arranging a plurality of objects on a cargo handling platform.SOLUTION: An information processing system for stacking objects includes a control unit. The control unit acquires information regarding multiple kinds of objects having different size and / or weight that are mixed and conveyed sequentially, information regarding a first height limit value when stacking the objects on a cargo handling platform having a placement surface on which the objects are stacked, and ratio information of a reservation area to the placement surface. The control unit creates a plurality of blocks made up of objects whose size and weight differences are equal to or less than a predetermined threshold, and sets each block as a reservation block whose arrangement position on the cargo handling platform is scheduled in the reservation area or as a normal block whose arrangement position on the cargo handling platform is not scheduled, using one of the number of objects belonging to the block, the bottom area of the block, and the volume of the block as an indication.SELECTED DRAWING: Figure 2

Description

[Technical field]

[0001] The present invention relates to an information processing system relating to palletizing. [Background technology]

[0002] For example, in a shipping base that is responsible for stocking and shipping multiple products such as household goods such as laundry detergent and fabric softener, multiple identical products are stored in one cardboard box and stored in a warehouse, and the corresponding cardboard box is shipped based on an order from the shipping destination. In this shipping process, the cardboard box that is taken out of the warehouse based on the order is transported from the warehouse to a loading location by a belt conveyor or the like, and then loaded onto a pallet at the loading location. In general, since there are a wide variety of products, the cardboard boxes that contain the products have different dimensions, weight, load-bearing values, etc. depending on the type of product. In addition, although the type and number of cardboard boxes (products) to be shipped are known in advance from the order from the shipping destination, the order in which the cardboard boxes are transported from the warehouse to the loading location is not determined, and there are cases in which the order is not known until just before loading onto the pallet. In such cases, it is common for a worker to instantly determine a stable arrangement while looking at the dimensions and type of products of the cardboard boxes that are transported in sequence, and load them on the pallet. This work requires skill, and efficient loading is difficult for workers who lack skill.

[0003] In response to this, Patent Document 1 describes that loading of operation objects onto a pallet and / or unloading of operation objects from a pallet is performed by an operation robot. In Patent Document 1, when loading operation objects onto a pallet and / or unloading of operation objects from a pallet, the operation robot is controlled to create a control sequence based on data obtained in advance and execute the control sequence so that operation objects having the same or similar inventory management units are concentrated and arranged on a pallet. However, when the transport order of operation objects is unknown until immediately before loading onto a pallet, for example, it is unclear in what order the object to be loaded second in the sequence will actually be transported, making it difficult to execute the control sequence. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] JP 2020-196121 A Summary of the Invention [Problem to be solved by the invention]

[0005] It is desirable to efficiently arrange a plurality of objects, such as cardboard boxes, having different sizes and / or weights, on a loading platform such as a pallet, in an unknown order in which they will be transported one after the other.

[0006] The present invention relates to an information processing system that can efficiently arrange a plurality of objects having different sizes and / or weights, which are transported in sequence, on a loading platform. [Means for solving the problem]

[0007] An information processing system according to one aspect of the present invention is an information processing system for stacking objects. The information processing system includes a control unit. The control unit is acquire information regarding the number of objects of each type, the dimensions of the objects, the weights of the objects, and the load limits of the objects, for a plurality of objects of different types having different dimensions and / or weights that are transported in sequence, information regarding a first height limit value when the objects are stacked on a loading platform having a loading surface on which the plurality of objects are stacked, and information regarding the ratio of a reserved area to the loading surface; using information about the dimensions of the objects and the weights of the objects to classify the plurality of objects into a plurality of groups, each group consisting of objects whose differences in dimensions and weights are equal to or less than a predetermined threshold; setting a maximum stacking number for block creation representing a maximum stacking number for block creation of the objects for each group, which is used when virtually stacking the objects for each group to create a block, using information regarding the number of the objects, the dimensions of the objects, the load limit, and the first height limit value; For each group, objects belonging to the same group are virtually stacked up, and one or more positive number towers and / or one fractional number tower that is less than the maximum number for creating blocks are created by stacking the objects together until the maximum number for creating blocks is reached; For each group, if there is one positive tower, this is treated as a full block. If there are multiple positive towers, the adjacent towers are treated as a full block. If there are multiple positive towers, the adjacent towers are treated as not-full blocks. Then, one or more of the blocks are created. Using any one of the number of objects belonging to the block, the base area of ​​the block, and the volume of the block as an index, each of the blocks is set as a reserved block whose placement position on the loading platform is scheduled in the reserved area, or as a normal block whose placement position on the loading platform is not scheduled. Effect of the Invention

[0008] According to the present invention, a plurality of objects can be efficiently arranged on a loading platform. [Brief description of the drawings]

[0009] [Figure 1] This is a schematic diagram showing a shipping process in which packages (objects) transported in sequence from a product warehouse are stacked on a pallet (loading platform). [Diagram 2] 1 is a functional block diagram of an information processing system according to an embodiment of the present invention; [Diagram 3] 1 is a diagram showing a hardware configuration of an information processing device included in an information processing system according to an embodiment of the present invention. [Figure 4] This is an example of a list of packages that can be loaded onto a pallet. [Diagram 5] This is an example (part 1) of the work order information for bales transported from a product warehouse to a loading area. [Figure 6] This is an example (part 2) of the work order information for bales transported from the product warehouse to the loading area. [Figure 7] FIG. 4 is a flow diagram of a stowage process by the information processing system. [Figure 8] 13 is a flow diagram of a process for generating reservation setting information by the information processing system. [Figure 9] FIG. 11 is a flow diagram of a process (first example) for setting the maximum stacking number for creating a block by the information processing system. [Figure 10] FIG. 11 is a flow diagram of a process (second example) for setting the maximum stacking number for creating a block by the information processing system. [Figure 11] FIG. 11 is a flow diagram of a stowage process A, which is a process of stowage onto a pallet by the information processing system. [Figure 12] FIG. 11 is a flow diagram of a stowing process B, which is a stowing process in a normal area or a temporary storage area by the information processing system. [Figure 13] 11 is a diagram for explaining the creation of blocks for a package by the information processing system. FIG. [Figure 14] 11 is a diagram for explaining a process for determining an index value performed by the information processing system. FIG. [Figure 15] 13 is a plan view showing the arrangement positions of reservation blocks on a pallet set by the information processing system. FIG. [Figure 16] FIG. 13 is a diagram illustrating the arrangement of packages in the first layer of a group of packages stacked on a pallet using reservation setting information set by the information processing system. [Figure 17] 16A and 16B are side views of a group of packages in which all the packages have been stacked on a pallet based on the reservation setting information set by the information processing system, where (a) shows the arrangement of the frontmost package when the group of packages is viewed from the direction of arrow 14a in FIG. 16, (b) shows the arrangement of the frontmost package when the group of packages is viewed from the direction of arrow 14b in FIG. 16, (c) shows the arrangement of the frontmost package when the group of packages is viewed from the direction of arrow 14c in FIG. 16, and (d) shows the arrangement of the frontmost package when the group of packages is viewed from the direction of arrow 14d in FIG. 16. [Figure 18] This is a diagram showing the arrangement of the stacked packages in the center of a group of packages in which all packages have been stacked on the last pallet based on the reservation setting information set by the information processing system, and is a side view seen from the direction of arrow 14A in Figure 16. [Figure 19] FIG. 1 is a diagram for explaining rules for stacking items into packages on a pallet. [Figure 20] FIG. 2 is a diagram for explaining XYZ coordinate axes set on a palette. [Figure 21] FIG. 13 is a plan view for explaining how to arrange positive towers when creating a full block. [Figure 22] FIG. 13 is a plan view for explaining how to arrange positive towers when creating a full block. [Figure 23] 13 is a plan view showing another arrangement position of reservation blocks on a pallet set by the above-mentioned information processing system. FIG. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0010] <Outline of information processing by the information processing system> An information processing system 100 according to an embodiment of the present invention performs a process of generating reservation setting information before stacking a plurality of types of objects of different weights and / or dimensions that are transported in sequence onto a loading platform. Then, when stacking of the objects onto the loading platform starts, the reservation setting information is used to set destinations for the objects that are transported in sequence, and instructions to stack the objects onto the loading platform are preferably given to a stacking robot 9 for stacking work. By controlling the stacking robot 9 in this manner, stacking of packages onto a pallet PL can be performed automatically.

[0011] The order in which the objects are transported is unknown until just before they are loaded onto the loading platform, and multiple types of objects are transported in a mixed order. Note that "transporting multiple types in a mixed order" includes cases where, for example, when two types of objects X and Y, three of each, are transported, the two types of objects are transported in a random order, such as X, Y, X, X, Y, Y, as well as cases where objects of the same type are grouped together and transported in succession, such as X, X, X, Y, Y, Y. In either case, the order in which the objects will be transported is unknown until just before they are loaded onto the loading platform.

[0012] In the reservation setting information generation process, a reserved area is set on the loading surface of the loading platform based on the ratio of the reserved area to the loading surface of the loading platform that is input in advance. Any area on the loading surface of the loading platform that is not set as a reserved area is a normal area. Then, a plurality of blocks are created using a plurality of objects, and the blocks are set as reserved blocks whose placement positions on the loading platform are scheduled to be in the reserved area, or as normal blocks whose placement positions on the loading platform are not scheduled to be in the reserved area. Information regarding the reserved area, the set reserved blocks, and the normal blocks is referred to as "reservation setting information." Details of block creation and setting of reserved blocks will be described later.

[0013] The reserved area is set on the loading platform. The reserved area is a three-dimensional space that is in contact with the loading platform's placement surface. The reserved area is an area in which the reserved block is scheduled to be placed as a placement destination for the object that belongs to the reserved block. The placement positions of one or more reserved blocks are assigned to the reserved area.

[0014] On the other hand, the destination of an object belonging to a normal block is scheduled to be the normal area or the temporary storage area described below. The location of an object belonging to a normal block in the normal area or the temporary storage area is not predetermined, and the location of the object at the destination is calculated by the information processing system each time the object is transported. The normal area is a three-dimensional space that contacts the loading surface of the loading platform, and the temporary storage area is a three-dimensional space that contacts the loading surface in the temporary storage area.

[0015] In the information processing system of this embodiment, multiple blocks are created using multiple objects, and the blocks are set as reserved blocks or normal blocks, thereby securing space on the loading platform for multiple objects belonging to the reserved blocks. This allows multiple types of objects with different weights and / or dimensions to be transported in sequence to be efficiently placed on the loading platform.

[0016] Hereinafter, a more detailed explanation will be given with reference to the drawings. In the drawings, "stowage" is written as "stowage".

[0017] <Outline of shipping process> In this embodiment, an example of shipping processing at a shipping base where multiple bales are stocked is taken. In this embodiment, the loading platform is a pallet PL, the objects placed on the loading platform are bales, and the temporary storage area is a temporary storage pallet TPL. In this embodiment, a flat pallet is used as the pallet. A bale is typically a cardboard box that contains multiple products of the same type. The dimensions, weight, load capacity, etc. of a bale vary depending on the type and number of products it contains. A bale is typically an approximately rectangular parallelepiped.

[0018] In this specification, the "bottom surface" of an object (a package in this embodiment) is the surface that contacts the horizontal surface when the object is placed on the horizontal surface. Also, the "top surface" of an object is the surface that is located above the object when the object is placed on the horizontal surface. If the object is a roughly rectangular parallelepiped, the top surface is roughly parallel to the bottom surface.

[0019] As shown in Figure 20, pallet PL has a rectangular shape when viewed from above when laid flat. In pallet PL, X-axis and Y-axis are set parallel to each of two perpendicular sides, and Z-axis is set perpendicular to the X-axis and Y-axis. The Z-axis is parallel to the stacking direction when packages P are stacked on pallet PL. In other words, the plan view is when pallet PL is viewed from above in the height direction Z.

[0020] 20, when pallet PL is viewed from a stowage robot 9 (described later), the position coordinates (j, i) on the XY plane of the corner located at the rear left of pallet PL (upper left in FIG. 20) are set to (0, 0). The coordinate value of j increases toward the right in the figure, and the coordinate value of i increases toward the bottom (from the rear to the front when viewed from the stowage robot 9).

[0021] The shipping process at the shipping base involves unloading the package P, transporting the package P to a loading location, and loading the package P onto a pallet PL (hereinafter referred to as "loading process").

[0022] As shown in FIG. 1, at a product shipping base, a plurality of products are stored in a product warehouse S in the form of a package, and a plurality of packages P are delivered from the product warehouse S based on an order from a shipping destination (delivery of packages P). The delivered packages P are sorted for each shipping destination by a plurality of sorters 93 (931 to 93N), and then sequentially transported to a loading location 95 by a transport means such as a belt conveyor 92 (transportation to loading location of packages P). Note that, when there are many packages P to be shipped to one shipping destination, a plurality of sorters 93 may be used. Also, a sorter does not have to be provided, but providing a plurality of sorters 93 makes it possible to efficiently load packages for a plurality of shipping destinations. The plurality of packages P transported one by one by the belt conveyor 92 are loaded onto a pallet PL arranged at the loading location 95 (loading process). In this embodiment, the loading process is performed by a loading robot 9.

[0023] In this embodiment, pallets PL and temporary placement pallets TPL are provided at the loading area 95. The temporary placement pallets TPL may be provided at a location other than the loading area 95, for example, adjacent to the loading area 95.

[0024] The temporary storage pallet TPL has a rectangular shape in a plan view. In this embodiment, the temporary storage pallet TPL serves as the temporary storage area 25, and more specifically, the entire loading surface of the temporary storage pallet TPL serves as the temporary storage area 25. The temporary storage area 25 is an area in which packages P are temporarily stored as necessary when loading the packages P onto the pallet PL. The temporary storage area 25 is provided in an area different from the pallet PL. In this embodiment, the position of the temporary storage pallet TPL at the loading location 95 is fixed. Note that the temporary storage area does not need to be provided on the temporary storage pallet TPL, and a predetermined area may be secured in an empty space to serve as the temporary storage area.

[0025] It is preferable to arrange the temporary placement pallet TPL and the pallet PL so that the distance between the stowage robot 9 and the pallet PL to be stowed is approximately the same as the distance between the stowage robot 9 and the temporary placement pallet TPL. This allows efficient transport of the packages P from the belt conveyor 92 to the temporary placement pallet TPL, and from the temporary placement pallet TPL to the pallet PL to be stowed. Note that, from the perspective of efficient transport of the packages P by the stowage robot 9, it is necessary to determine the temporary placement area 25 so that it is within the transportable range of the stowage robot 9.

[0026] The pallet PL is loaded with packages P and transported to the shipping destination. The pallet PL has a loading surface 20 on which the packages P are loaded. Information on the dimensions of the pallet PL and the first height limit value when the packages are stacked on the pallet PL is acquired in advance. Hereinafter, the information on the pallet dimensions and the first height limit value associated with each pallet is referred to as "pallet information (loading platform information)". The information on the dimensions of the pallet PL includes information on the X-axis dimension and the Y-axis dimension when the pallet PL is viewed in a plane. In this embodiment, the X-axis dimension of the pallet PL is 1100 mm, and the Y-axis dimension is 1100 mm. In addition, the first height limit value a (see Figs. 17 and 18) is the maximum allowable height of a group of packages (representing all the multiple stacked packages) on the pallet when the packages are stacked on the pallet, and in this embodiment, the first height limit value a is 1800 mm. Note that the dimension values ​​and the first height limit value of the pallet PL are not limited to the values ​​in this embodiment.

[0027] One or more pallets PL are prepared for one shipping destination. Stowage instruction information generated based on an order from the shipping destination is finalized prior to the stowage process (for example, two hours prior). The stowage instruction information includes package information to be shipped to the shipping destination (hereinafter sometimes referred to as "shipping package information"). The shipping package information includes information on how many packages of which products are to be shipped (quantity information for each type of package to be shipped). Specifically, the shipping package information includes the package code assigned to each type of package P and the shipping quantity. The number of pallets PL required for one shipping destination is calculated based on the shipping package information and pallet information. If there are many packages to be shipped, multiple pallets PL are prepared taking into account the volume ratio and weight, and if one pallet PL is sufficient, one pallet PL is prepared.

[0028] As shown in Figure 1, when multiple pallets PL are prepared, loading of packages P onto the pallets PL is completed sequentially one pallet PL at a time. Shipping package information is also presented for each pallet. In other words, loading onto the next pallet PL does not begin until loading onto one pallet PL is completed, and packages are not loaded onto multiple pallets PL in parallel. The pallet PL onto which the packages P are to be loaded is prepared at a loading location 95 near the downstream of the belt conveyor 92. In the loading location 95, the position of the pallet PL onto which the packages P are to be loaded is referred to as the loading position 95a (see Figure 1).

[0029] When the stacking process is started, first, the package P is stacked on the first pallet 1st PL located at the stacking position 95a. When stacking on the first pallet 1st PL is completed, the first pallet 1st PL is moved to another location, and the second pallet 2nd PL is placed at the stacking position 95a and the package P is stacked on it. In this manner, stacking on the pallet PL is completed one by one, and the packages are stacked. Furthermore, the work of moving the packages P to the pallet PL or the temporary placement pallet TPL is performed in the transport order of the packages P that are transported sequentially. In other words, the work of moving the nth (n is an integer of 1 or more) package P that has been transported is not performed before the nth (n is an integer of 1 or more) package P that has been transported is stacked on the pallet PL, which is the work of moving the package P to the pallet PL, or is temporarily placed on the temporary placement pallet TPL, which is the work of moving the package P to the temporary placement pallet TPL. The transport order of the packages is, in other words, the order of the package movement work.

[0030] If multiple pallets PL are required for one shipping destination, the pallet PL on which the last package is loaded becomes the last pallet Last PL. On the other hand, if only one pallet PL is required for one shipping destination, that pallet PL becomes the last pallet Last PL. Note that when there is no need to distinguish between 1st PL, 2nd PL, Last PL, etc., they are simply called PL.

[0031] In the following description, an example will be given in which one pallet PL is required for one shipping destination.

[0032] In this embodiment, the shipping package information is finalized about two hours before the stowage process. The packages P are removed from the product warehouse S based on the shipping package information, but the order in which the packages P are transported to the stowage location 95 is not yet determined. The package identification sensor 8, which is provided near the sorter 93 and will be described later, detects the package codes attached to the packages P to be detected as they are transported in sequence, thereby identifying the type of package P. In this embodiment, the transport time of the packages from the sensing position of the package identification sensor 8 to the stowage position is about one minute, and the interval between the removal of the packages P is about three seconds. That is, the detection result of the package code attached to the leading (first) package P by the package identification sensor 8 can be obtained about one minute before the start of the stowage process, and the detection results of the package codes attached to the subsequent packages P can be obtained sequentially at intervals of about three seconds thereafter. In this way, by obtaining the package code information (package type information) attached to the packages P in sequence in the transport order, the package type information (package order information) of the transport order of the packages P that is successively updated can be obtained.

[0033] In this way, the transport order of the packages P is unknown until immediately before they are stowed onto the pallet PL. Note that in this embodiment, specific time values ​​have been given to explain that the shipping package information is determined well before (about two hours before) the start of the stowage process, whereas the transport order of the packages P is determined immediately before (about one minute or later: the point in time when the package identification sensor 8 detects the type of package P), but these values ​​are merely examples and are not limiting.

[0034] 4 is an example of shipping package information. The shipping package information includes information such as the package code, product name, package length (L), package width (W), package height (H), and package number (number of each type of package) for each package. In this example, the packages to be loaded onto the pallet are 8 packages of bleach A, 2 packages of laundry detergent B, 1 package of bleach C, 9 packages of laundry detergent D, 1 package of toilet sheet E, 13 packages of laundry detergent F, 13 packages of laundry detergent G, 18 packages of laundry detergent H, 1 package of disinfectant J, 1 package of fabric softener K, 1 package of laundry detergent M, and 1 package of bleach Q.

[0035] 5 and 6 are examples of work order information indicating the order in which the individual packages included in the shipping package information shown in FIG. 4 have been transported.

[0036] In this embodiment, multiple blocks are created using the shipping package information shown in Fig. 4 and the ratio information of the reserved area to the loading surface 20 described later, and then the multiple blocks are classified into reserved blocks and normal blocks. A reserved block is a block that is scheduled to be placed on a pallet PL. A normal block is a block that is not scheduled to be placed on a pallet PL. Details of block creation and setting of reserved blocks will be described later.

[0037] As shown in Fig. 15, the pallet PL has, on the placement surface 20, reservation areas 21 corresponding to the respective reserved blocks, and a normal area 22 which is not a reserved area. In this embodiment, the pallet PL has a reservation area 21A where a reserved block of bleach A is scheduled to be placed, a reservation area 21F where a reserved block of laundry detergent F is scheduled to be placed, a reservation area 21G where a reserved block of laundry detergent G is scheduled to be placed, reservation areas 21Ha and 21Hb where a reserved block of laundry detergent H is scheduled to be placed, and a normal area 22. When there is no particular need to distinguish between the respective reserved areas, they are referred to as the reserved area 21. The normal area 22 is an area on the pallet PL which is not a reserved area 21.

[0038] Furthermore, the upper part of the reserved area 21 may ultimately function as a normal area 22 in which packages belonging to normal blocks may be placed. In the example shown in Fig. 15, the upper part of the reserved area 21Hb becomes the normal area 22 in which packages belonging to normal blocks may be placed.

[0039] Packets belonging to the reserved block are reserved items. Packets belonging to the regular block are regular items.

[0040] In Figures 5 and 6, reserved packages are indicated by dots, with the density of the dots varying for different reservation blocks. In Figure 15, the area of ​​the reservation area 21 is indicated by dots, with the density of the dots varying for the reservation areas individually provided corresponding to the different reservation blocks. In Figure 15, the area of ​​the normal area 22 is indicated by diagonal lines. Note that Figure 15 shows the reserved area and the normal area on the placement surface 20.

[0041] In Figures 13, 17, and 18, "A" on package P represents "Bleach A" shown in Figure 4. "B" represents "Laundry Detergent B". "C" represents "Bleach C". "D" represents "Laundry Detergent D". "E" represents "Toilet Sheet E". "F" represents "Laundry Detergent F". "G" represents "Laundry Detergent G". "H" represents "Laundry Detergent H". "J" represents "Disinfectant J". "K" represents "Fabric Softener K". "L" represents "Fabric Softener L". "M" represents "Laundry Detergent M". "N" represents "Laundry Detergent N". "Q" represents "Bleach Q".

[0042] <Overall configuration of information processing system> 2, the information processing system 100 of this embodiment includes an information processing device 1, an automated warehouse control server 6, a shipping management server 7, a package identification sensor 8, and a stowage robot 9. The information processing device 1 is a stowage server that performs processing related to stowage.

[0043] <Function block configuration of the shipping management server> The shipping management server 7 generates shipping instruction information and stowage instruction information based on an order (order data) from a shipping destination. The shipping management server 7 has a communication unit 70, a generation unit 71, and a storage unit 72. The storage unit 72 has a shipping instruction information DB 73, a stowage instruction information DB 74, and a warehouse information DB 75. DB means database.

[0044] The communication unit 70 receives orders (order data) from shipping destinations. The communication unit 70 is configured to be able to communicate with the automated warehouse control server 6, the information processing device 1, etc., via, for example, the Internet. The communication unit 70 transmits shipping instruction information to be stored in a shipping instruction information DB 73 to the automated warehouse control server 6. The communication unit 70 transmits stowage instruction information to be stored in a stowage instruction information DB 74 to the information processing device 1.

[0045] The shipping instruction information DB 73 stores, for each shipping destination, shipping instruction information generated by the generation unit 71 based on orders from the shipping destination. The shipping instruction information includes attribute information of the shipping destination such as the shipping destination name and shipping destination address, the bale code of the bale to be shipped to the shipping destination (bale to be shipped), the shipping quantity, the bale removal opening which is the position from which the bale P is removed in the product warehouse S, and other information.

[0046] The stowage instruction information DB 74 stores, for each shipping destination, the stowage instruction information generated by the generation unit 71 based on orders from the shipping destinations. The stowage instruction information includes information such as the number of pallets used for stowage, identification information for each pallet (hereinafter referred to as "pallet ID"), the pallet code of the pallet to be shipped to the shipping destination, and the shipping quantity.

[0047] The warehouse information DB75 stores information such as the type and number of bales stocked in the product warehouse S, and the location within the product warehouse S. The contents stored in the warehouse information DB75 are updated successively based on orders from the shipping destination, excluding the number of items to be shipped from the inventory currently in the product warehouse S (inventory allocation).

[0048] The generating unit 71 generates warehousing instruction information and stowage instruction information based on an order from a shipping destination. The generating unit 71 calculates the number of pallets included in the stowage instruction information based on the order from the shipping destination and the pallet information.

[0049] <Sensor for package identification> The package identification sensor 8 is provided near the sorter 93. The package identification sensor 8 is, for example, a code reader that reads a package code attached to the surface of the package P that is sorted by the sorter 93 and supplied to the belt conveyor 92. When the package P passes in front of the package identification sensor 8, the package code is read. A plurality of packages P pass in front of the package identification sensor 8 one by one in sequence. The type of package P that has passed in front of the package identification sensor 8 can be identified based on the detection result (reading result) of the package identification sensor 8. In other words, the order in which the packages P are conveyed can be identified. Note that the package identification sensor 8 is not limited to a code reader. For example, it may be a camera, and the type of package P may be identified using image information acquired by the camera. The detection result of the package identification sensor 8 is output to the automated warehouse control server 6.

[0050] <Function block configuration of the automated warehouse control server> An retrieval robot (not shown) is responsible for the task of retrieving the package P from the product warehouse S. The automated warehouse control server 6 controls the retrieval robot based on retrieval instruction information generated by the shipping management server 7, and retrieves the package P. The automated warehouse control server 6 also successively updates the package sequence information based on the detection results (package type information) of the package identification sensor 8.

[0051] As shown in FIG. 2, the automated warehouse control server 6 includes a communication unit 60, a shipping control unit 61, a sequence information generation unit 62, and a packing sequence information DB 63.

[0052] The communication unit 60 is configured to be able to communicate with the package identification sensor 8, the shipping management server 7, the information processing device 1, etc., for example, via an in-house network. The communication unit 60 receives the detection result of the package code output from the package identification sensor 8. The communication unit 60 transmits package sequence information to be stored in the package sequence information DB 63 to the information processing device 1. The communication unit 60 receives shipping instruction information from the shipping management server 7.

[0053] The delivery control unit 61 controls the delivery robot based on the delivery instruction information received from the shipping management server 7, and delivers the package P to be shipped from the product warehouse S.

[0054] The sequence information generation unit 62 generates updated packing sequence information based on the detection results successively output from the packing identification sensor 8, and stores it in the packing sequence information DB 63. The packing sequence information includes packing type information, which is the packing code detection result of the packing identification sensor 8, and packing movement work sequence information. In this embodiment, the packing sequence information is updated approximately every 3 seconds. The updated packing sequence information is successively transmitted to the information processing device 1.

[0055] <Information processing device> <<Hardware configuration of information processing device>> As shown in FIG. 3, the information processing device (loading server) 1 includes a CPU (Central Processing Unit) 11, a ROM (Read Only Memory) 12, a RAM (Random Access Memory) 13, an input / output interface 15, and a bus 14 connecting these to each other.

[0056] The CPU 11 appropriately accesses the RAM 13 etc. as necessary, and performs various arithmetic processing while controlling all the blocks of the information processing device (loading server) 1. The ROM 12 is a non-volatile memory that stores firmware such as the OS program and various parameters to be executed by the CPU 11. The RAM 13 is used as a working area for the CPU 11, and temporarily stores the OS, various applications being executed, various data being processed, etc.

[0057] The input / output interface 15 is connected to a display unit 16, an operation reception unit 17, a storage unit 18, a communication unit 19, and the like.

[0058] The display unit 16 is a display device using, for example, an LCD (Liquid Crystal Display) or an OELD (Organic Electro Luminescence Display).

[0059] The operation reception unit 17 is, for example, a pointing device such as a mouse, a keyboard, a touch panel, or other input device. When the operation reception unit 17 is a touch panel, the touch panel can be integrated with the display unit 16.

[0060] The storage unit 18 is, for example, a non-volatile memory such as a hard disk drive (HDD), a flash memory (SSD; Solid State Drive), or other solid-state memory. The storage unit 18 stores the OS, various applications, various data, and the like.

[0061] The communication unit 19 is, for example, a NIC (Network Interface Card) for Ethernet or various modules for wireless communication such as wireless LAN, and is responsible for communication processing with the automated warehouse control server 6, the shipment management server 7, and the like.

[0062] Although not shown, the basic hardware configurations of the automated warehouse control server 6 and the shipping management server 7 are also substantially the same as the hardware configuration of the information processing device 1.

[0063] <<Function block configuration of information processing device>> As shown in FIG. 2, the information processing device 1 includes a communication unit 2, a control unit 3, and a storage unit 4.

[0064] [Communications Department] The communication unit 2 is configured to be able to communicate with the automated warehouse control server 6, the shipment management server 7, etc., for example, via an in-house network. The communication unit 2 corresponds to the communication unit 19 in the hardware configuration. The communication unit 2 receives stowage instruction information from the shipment management server 7. The communication unit 2 receives packing order information (including packing type information and packing movement work order information) from the automated warehouse control server 6. The communication unit 2 receives the packing order information from the automated warehouse control server 6 successively (about every 3 seconds in this embodiment) from about 1 minute before the start of the stowage process on the pallet PL. The communication unit 2 outputs a robot control signal generated by the control unit 3 to the stowage robot 9. The communication unit 2 receives input operation information from the operation reception unit 17 by the user. For example, the communication unit 2 receives ratio information of the reserved area to the placement surface (hereinafter simply referred to as "reserved area ratio information") as input operation information. For example, the communication unit 2 receives a numerical value of 0.5 input by the user as the ratio information of the reserved area, and the control unit 3 acquires the numerical value as the ratio information of the reserved area.

[0065] [Storage] The storage unit 4 includes a DB unit 40 and a program storage unit 48. The storage unit 4 corresponds to the storage unit 18 of the hardware configuration shown in FIG.

[0066] (DB Unit) The DB unit 40 has a package master DB 41, a stowage instruction information DB 43, a stowage information DB 44, a pallet information DB 45, a stowage calculation parameter table DB 46, and a reservation setting information DB 47.

[0067] ((Packing Master DB)) The package master DB 41 stores information about packages P for each type of package P as package master information. Packages P are classified into types according to the type and number of products contained in the package P. For example, if there are two packages P containing the same number of fabric softeners with different scents (e.g., rose scent and soap scent), the same volume per product, and the same product name, then there are two types of packages P. Also, if there is a package containing six units of the exact same product and a package containing 12 units, then there are two types of packages P.

[0068] The information related to the package P includes a package code given to the surface of the package P, the type of product contained in the package P (product name, etc.), the dimensions of the package P (package length (L), package width (W), package height (H)), the weight of the package P, the load limit, etc. The package master DB 41 stores this information in association with one another.

[0069] The bale code is identification information for identifying different types of packages P, and is assigned differently for each type of package P. The bale code makes it possible to know the type of product contained in the package P. For example, the bale code is a one-dimensional code such as a barcode or a QR code (registered trademark), or a two-dimensional code.

[0070] The load limit is set in advance for each package P. The load limit indicates the maximum total weight of packages that can be placed on a package. The load limit can be set, for example, by the following methods. Two methods are given below as examples. Note that in this embodiment, the load limit set by adopting the second method is used, but the load limit set by adopting the first method may also be used.

[0071] First, the live load limit can be set based on a load test. Specifically, the load at which the bale buckles is measured, and the live load limit is set by multiplying the measured load by a certain safety factor.

[0072] The second method is to set a loading weight limit based on the actual stock information of the bales at the product warehouse S of the shipping base.

[0073] In the product warehouse S, multiple pallets (normal pallets) are stored, each containing a certain number of layers of one type of packaging. The number of layers of the normal pallets when stored can be one more than the number of layers when the normal pallets are transported, taking into consideration the absence of shaking during transport.

[0074] The load limit is calculated from the maximum number of stacked bales when in stock (the product of the above-mentioned specified number of bales and the maximum number of stacked bales on a normal pallet when in stock). In other words, the load limit is the load that the bottommost bales bears in this state. Specifically, it is calculated by multiplying the maximum number of stacked bales when in stock by 1 (the number of bales supported by the bottommost bales) and the weight of the bales. The number of bales when in stock is the maximum number that can be stacked based on the load limit.

[0075] As an example, a 12.21 kg bales of bleach A are used. A regular pallet on which bales of bleach A are stacked is composed of 4 tiers, with 10 bales per tier, for a total of 40 bales of bleach A. The number of tiers of the regular pallet at the time of delivery is 2. Therefore, at the time of stocking, a maximum of 3 regular pallets are stacked. The maximum number of bales stacked at the time of stocking is calculated as 12, which is the product of 4, which is the number of tiers of bales stacked on one regular pallet, and 3, which is the number of tiers of regular pallets at the time of stocking. Then, the product of 11 (the number of bales supported by the bales at the bottom tier), which is the calculated number of tiers, minus 1, is calculated, and 12.21 kg, which is the weight of the bales, is calculated. The product of 134.31 kg, which is the value of the product, is set as the load limit for bales of bleach A. The maximum number of bales of bleach A that can be stacked based on the load limit is 12.

[0076] The package master DB 41 may also have information about a regular pallet on which packages of the same stock keeping unit (SKU) are stacked. The information about the regular pallet includes the maximum number of packages that can be arranged on one pallet PL, the maximum number of packages P that can be arranged on one layer, the number of loaded layers, and the number of layers.

[0077] ((Loading Instructions Information DB)) The stowage instruction information DB 43 stores stowage instruction information received from the shipping management server 7. As described above, the stowage instruction information includes the number of pallets used for stowage, the pallet ID, shipping package information, etc. The shipping package information includes information such as the package code of the package to be shipped to the shipping destination and the shipping quantity. The control unit 3 can use the package code included in the stowage instruction information to refer to the package master information stored in the package master DB 41, and obtain information related to the dimensions, weight, loading weight limit, etc. of the package P to which the package code is assigned.

[0078] ((Loading Information DB)) The stowage information DB 44 stores stowage information, which includes information about packages P that have already been stowed on pallets PL and information about packages P that have been temporarily placed on temporary placement pallets TPL.

[0079] More specifically, the stowage information DB 44 stores, for each pallet ID, information on the position on the pallet of the package P stowed on that pallet PL, in association with identification information such as the package code of that package P. From this information, the stowage status of the packages P in the XY plane of the pallet PL when the pallet PL is viewed in a plan view, and the pile-up status of the packages P in the height direction Z, can be grasped.

[0080] The position information of package P on the pallet includes information on the position coordinates (j, i) of a total of nine points - the four vertices of the rectangular bottom of package P, the midpoints of each side of the bottom, and the center point of the bottom - as well as the position in the height direction Z of the bottom, the package height (H) dimension, etc. The three-dimensional position of the bottom of package P can be calculated from the position coordinates of the above nine points and the information on the position in the height direction Z of the bottom. In addition, because package P is a rectangular parallelepiped, the three-dimensional position of the rectangular top of package P can be calculated from the position coordinates of the nine points, the position information in the height direction Z of the bottom, and the package height (H) dimension information.

[0081] The stowage information DB 44 also stores, in association with the temporary storage pallet TPL, placement position information of the package P temporarily stored on the temporary storage pallet TPL and identification information, such as the package code, of the package P.

[0082] Hereinafter, the appearance of the entire pallet PL when viewed from above in the height direction Z is referred to as the surface 26, and the loading status of the packages P when viewed from above the pallet PL is referred to as the "surface status." The "surface status" includes information about the arrangement of the packages on the XY plane. The same applies to the temporary placement pallet TPL.

[0083] The stowage information includes information on the state of the board. Every time a package P is stowed on the pallet PL, the state of the board changes, and the stowage information is updated accordingly. The stowage information DB 44 stores the updated stowage information accordingly. The stowage information of the temporary storage pallet TPL is also stored in the same manner.

[0084] Also, the type and number of packages P already loaded onto the pallet PL can be calculated from the information stored in the stowage information DB 44. For example, when loading onto multiple pallets PL, the calculation results and the stowage instruction information stored in the stowage instruction information DB are used to perform a calculation to obtain package information for loading onto the final pallet. Also, although shipping package information is presented for each pallet, it can be confirmed by checking it against the package information obtained by the calculation.

[0085] ((Pallet information DB)) A pallet ID for identifying the pallet is assigned to the pallet used for stacking. The pallet information DB 45 stores pallet information (loading platform information) including information on the pallet dimensions (x-axis dimension, y-axis dimension) and the first height limit value a for each pallet ID. As described above, the first height limit value a is the maximum allowable height of a group of packages on a pallet when the packages are stacked on the pallet, and in this embodiment, the first height limit value a is 1800 mm. The control unit 3 can acquire information on the dimensions of the pallet PL and the first height limit value by referring to the pallet information DB from the pallet ID included in the stacking instruction information stored in the stacking instruction information DB. All pallets PL used at the shipping base may be of the same type (flat pallets) and have the same dimensions, or the pallets may be of different types and / or dimensions.

[0086] ((Loading calculation parameter table DB)) The stowage calculation parameter table DB 46 stores information on an evaluation function used in the stowage calculation of the package P (hereinafter, referred to as "evaluation function information") The evaluation function information includes an evaluation function and parameter information associated with the evaluation function.

[0087] Here, the stowage calculation is a calculation for determining the placement position of package P on pallet PL. The evaluation function is an evaluation index for evaluating how stable the stowage is. For example, placing the packages to be stowed in a larger open area and at a lower position is advantageous for stable stowage, and the size of the placement area of ​​the packages and the height of the placement position, etc., are evaluation indexes. The stowage calculation unit 31, which will be described later, uses evaluation function information and information on the packages P to be stowed to determine the placement position of the packages P based on board state information.

[0088] The parameter information differs for each pallet, and the stowage calculation parameter table DB46 stores the parameter information for each pallet ID. The optimal parameters are calculated according to the number of types and numbers of packages to be stowed. In detail, a stowage difficulty label for each pallet is set using the shipped package information. For example, four difficulty labels are set. Different parameters are set for each difficulty label. The stowage calculation parameter table DB46 stores information on the parameters set for each pallet. Each time the pallet PL to be stowed changes, the parameters used when performing the stowage calculation can be changed.

[0089] ((Reservation setting information DB)) The reservation setting information DB 47 stores reservation setting information and temporary placement area priority arrangement information generated by a reservation setting information generating unit 33, which will be described later.

[0090] The reservation setting information is information used when loading packages to be loaded onto a pallet PL. The reservation setting information includes information regarding reserved areas, reserved blocks, and regular blocks. The information regarding reserved blocks includes information regarding the type and number of packages belonging to the reserved block. The information regarding regular blocks includes information regarding the type and number of packages belonging to the regular block. The information regarding reserved areas includes information regarding the placement position of each reserved block on the pallet PL, and information regarding the type and number of packages P belonging to the reserved block that will be placed at that placement position.

[0091] The temporary placement area priority placement information is information about packages that satisfy the temporary placement area priority placement conditions and that are to be preferentially placed on the temporary placement pallet TPL, and will be described in detail later.

[0092] (Program storage section) The program storage unit 48 stores programs for executing various processes performed by the control unit 3 of the information processing system 100. For example, the program storage unit 48 stores programs for causing the information processing device 1 to execute a stowage calculation process, a block creation process, a reservation setting information generation process, a placement destination setting process, and a robot control signal generation process.

[0093] [Control Unit] The control unit 3 performs various processes related to stacking of packages P on a pallet PL. The control unit 3 executes reservation setting information generation processing for stacking of packages on a pallet PL, and uses the generated reservation setting information to set a destination (placement position) for the package P to be stacked (destination setting processing), and generates a control signal for the stowage robot 9 so as to transport the package P to be stacked to the destination (robot control generation processing). In other words, the control unit 3 gives a stacking instruction to the stowage robot 9. This will be explained in detail below.

[0094] The control unit 3 has a stowage calculation unit 31, a block creation unit 32, a reservation setting information generation unit 33, a placement destination setting unit 35, and a robot control signal generation unit 36. The control unit 3 configures the stowage calculation unit 31, the block creation unit 32, the reservation setting information generation unit 33, the placement destination setting unit 35, and the robot control signal generation unit 36 ​​by the CPU 11 loading a program stored in the program storage unit 48 into the RAM 13 and executing it.

[0095] (Loading Calculation Department) The stowage calculation unit 31 performs stowage calculations using evaluation function information stored in the stowage calculation parameter table DB46, packing master information stored in the packing master DB41, packing order information including packing code information (packing type information), and stowage information including board state information stored in the stowage information DB44, and calculates the placement position information of the pack P.

[0096] Using various information, the stowage calculation unit 31 derives multiple candidates for the placement position of the package P as search positions 5 in accordance with calculation rules described later. Thereafter, using evaluation function information, the stowage calculation unit 31 calculates a score when it is assumed that package P is placed at each search position 5 within the scope of complying with constraints on stowage described later, and determines the search position 5 with the highest score as the placement position of package P.

[0097] The control unit 3 may be configured to receive the package code information of the package P to be stowed directly from the package identification sensor 8, but in this embodiment it obtains it from the package sequence information generated by the automated warehouse control server 6.

[0098] An example of the calculation rule is as follows. For example, in the stowage calculation, when placing the package P to be stowed on the pallet PL or the temporary placement pallet TPL, the calculation rule is that the space where the gripper 91 of the stowage robot 9 interferes with the packages already placed is not a target for placing the package P to be stowed. As shown in FIG. 19(b), when a package P3 (a package to be stowed) is to be newly placed in the space between the already-stowed packages P1 and P2, the gripper 91 interferes with the packages P1 and P2, so the space between the packages P1 and P2 is not a target for placing the package P3. On the other hand, as shown in FIG. 19(a), when the packages P1, P2, and P3 have already been stacked, and a package P4 (a package to be stowed) is to be newly placed in the space above the package P3 that is to be placed between the packages P1 and P2, the gripper 91 can place the package P4 without interfering with the packages P1 to P3, so the space above the package P3 between the packages P1 and P2 can be a target for placing the package P4.

[0099] The above-mentioned constraints will be explained below. The constraints include, for example, the following (1) to (4).

[0100] (1) It does not extend beyond the placement surface 20 of the pallet PL (which in this embodiment has dimensions of 1100 mm×1100 mm). (2) Do not exceed the height limit. (3) Do not stack bales in excess of their load capacity. (4) At least a certain percentage of the bottom surface of each bale (for example, at least 85% in this embodiment) is in contact with the placement surface of the pallet PL or other bales.

[0101] A supplementary explanation of (2) above. The height limit value is the "height limit value at the time of stacking calculation". The "height limit value at the time of stacking calculation" is set to the first height limit value a (1800 mm in this embodiment) or a second height limit value (indicated by the symbol b in Figs. 17 and 18) lower than the first height limit value a. Which of the first height limit value a and the second height limit value b is adopted as the "height limit value at the time of stacking calculation" is determined by the volume ratio. The volume ratio is the ratio (sum of the volumes of all packages / maximum volume) of the multiple packages to the maximum volume that can be stacked on the pallet based on the first height limit value when multiple packages are stacked on the pallet PL. If this floor area ratio is equal to or greater than a predetermined threshold, a first height limit value is adopted, and if it is less than the threshold, a second height limit value is adopted.

[0102] The "height limit value during stacking calculation" here can be calculated using the same method as the "height limit value for calculation" explained in [Maximum stacking number setting process for block creation] below. In the specification, the "height limit value during stacking calculation" and the "height limit value for calculation" used when creating a tower are described separately, but they are essentially the same and have the same numerical value.

[0103] In this embodiment, the threshold value of the volume ratio is set to 0.8. The volume ratio of the pallet PL of the package in the list in FIG. 4 is 0.71 (71%), which is less than the threshold value, so the second height limit value is adopted as the height limit value for stowage calculation. The second height limit value is calculated by formula (A) described later. In this embodiment, the height limit value for calculation (second height limit value) is 1530 mm.

[0104] The stowage calculation result by the stowage calculation unit 31, in other words, the placement position information of the package P to be stowed, is output to the robot control signal generation unit 36. The stowage calculation by the stowage calculation unit 31 is performed when a package P determined to be a normal product is stowed in the normal area 22 or when it is temporarily placed in the temporary placement area 25.

[0105] (Block Creation Department) The block creation unit 32 classifies multiple packages to be loaded onto a pallet PL using the shipping package information and package master information stored in the package master DB 41, and creates multiple blocks made up of packages whose dimensional and weight differences are equal to or less than a predetermined threshold. In detail, the creation of a block includes three processes: a grouping process, a tower creation process, and a block creation process. Below, the procedure for creating a block will be described with reference to FIG. 13, giving specific examples of each process. FIG. 13 shows an example of creating multiple blocks by classifying multiple packages P in the list of FIG. 4.

[0106] ((Grouping process)) In the grouping step, multiple packages P to be loaded onto a pallet PL in the list in Fig. 4 are classified into multiple groups according to their dimensions and weights. In detail, multiple packages whose size and weight differences are equal to or less than a threshold are classified into one group, and the multiple packages are classified into multiple groups. This grouping step corresponds to ST12 in the flow diagram in Fig. 8, which will be described later.

[0107] The thresholds for the dimensions can be set as appropriate. As an example, in this embodiment, the threshold for the difference in dimensions is set to less than 1 mm. In other words, packages whose dimensions match in increments of 1 mm can be grouped together. The threshold is not limited to less than 1 mm. In calculations using dimensional values ​​other than the grouping process (e.g., calculation of volume ratio, stowage calculation, etc.), the dimensions are converted to centimeters and rounded up to the nearest 1 cm.

[0108] In addition, the above "weight difference is equal to or less than a threshold value" means that the weight difference between multiple packages P belonging to the same group, calculated by the following formula (B), is equal to or less than a threshold value.

[0109] Weight difference within a block = (maximum value - minimum value) / maximum value … (B) In the formula, the "maximum value" is the weight value of the heaviest bale among the multiple bales belonging to the same group, and the "minimum value" is the weight value of the lightest bale among the multiple bales belonging to the same group. The threshold value related to the weight can be set appropriately. As an example, in this embodiment, the threshold value is set to 0.2.

[0110] In the example shown in Fig. 13, the block creation unit 32 groups together a package P of fabric softener K and a package P of fabric softener L, whose differences in size and weight are equal to or less than the threshold. The block creation unit 32 also groups together a package P of laundry detergent M and a package P of laundry detergent N, whose differences in size and weight are equal to or less than the threshold. In this embodiment, the block creation unit 32 groups together packages P of other products, each containing only packages of the same type, to create a total of 12 groups, groups 1 to 12.

[0111] (Tower creation process) In the tower creation process, the block creation unit 32 sets the maximum number of blocks to be stacked for each group using the live load limit and the height limit value for calculation, and creates a tower using the maximum number of blocks to be stacked for each group. Blocks are created in the block creation process described later using the created tower. The "height limit value for calculation" is 1530 mm in this embodiment. The tower creation process corresponds to ST8 and ST13 in the flow diagram of FIG. 8 described later.

[0112] The maximum number of stacks for block creation is the smaller of the maximum number of stacks based on the load limit of the bale and the maximum number of stacks based on the height limit value for calculation.

[0113] For example, the maximum stack count for Bleach A is 12 based on the bales' load limit.

[0114] On the other hand, the maximum stacking number based on the calculation height limit value is the number of bales stacked up just before the calculation height limit value is exceeded when the bales are stacked up one tier at a time. For example, when the calculation height limit value is 1530 mm, the height of the bales of Bleach A is 235 mm, so the maximum stacking number based on the calculation height limit value for the bales of Bleach A is 6. Note that here, the maximum stacking number was calculated assuming the height of the bales of Bleach A to be 24 cm.

[0115] As described above, in this embodiment, the maximum number of stacks for block creation in the group of packets of bleach A is set to 6. Similarly, for each of the other groups, the maximum number of stacks for block creation to be used when creating blocks for packets belonging to that group is set.

[0116] In the tower creation process, the block creation unit 32 creates a tower for each group using the maximum stacking number for block creation. In detail, bales belonging to the same group are virtually stacked up until the maximum stacking number for block creation is reached, and a positive number tower and / or a fractional number tower that does not reach the maximum stacking number for block creation is created. Each group takes the form of one or more positive number towers and one fractional number tower, one or more positive number towers, or one fractional number tower.

[0117] ((Block creation process)) In the block creation process, the block creation unit 32 creates a block for each group using towers. In detail, the created positive number towers are arranged adjacently together to form a full block, and the fractional number towers are formed as not-full blocks, and one or more blocks are created. A full block is a block composed only of positive number towers, and a not-full block is a block composed only of fractional number towers. This block creation process corresponds to ST14 in the flow diagram of FIG. 8 described later.

[0118] The blocks made up of bales whose dimensional and weight differences are below the threshold value and thus created become the reference unit when setting reserved blocks. By setting the placement positions of the reserved blocks on the pallet PL, it is possible to provide a space on the pallet PL where bales whose dimensional and weight differences are below the threshold value can be placed together. This can further increase the probability that bales to be loaded subsequently can be placed on the pallet PL. Furthermore, when virtually stacking bales to create blocks, the number of bales, bale dimensions, and maximum stacking number for block creation can be used to adjust so that objects are not stacked too high in the vertical direction, allowing for stable loading.

[0119] ((Example of block creation)) The specific block creation using the bales in the list in FIG. 4 will be explained below with reference to FIG. 13 and Table 1.

[0120] As shown in FIG. 13(a), the first group is made up of eight bleach A bales P. These eight bleach A bales are stacked to create a tower. In this embodiment, the maximum number of bleach A bales to be stacked for block creation is six. The block creation unit 32 divides the eight bleach A bales P belonging to the same group into one positive number tower T1 that has been stacked up to the maximum number to be stacked for block creation, and one fractional tower T2 that has not reached the maximum number to be stacked for block creation. The block creation unit 32 sets the block made up of the positive number tower T1 as the full block FBL, and sets the block made up of the fractional tower T2 as the not-full block NFBL. In this way, the first group made up of bleach A bales P is divided into two blocks, the full block FBL and the not-full block NFBL.

[0121] As shown in Figures 11(b) to 11(l), in each of the second to twelfth groups, a positive tower T1 and / or a fractional tower T2 are formed in the same manner as in the first group, and full blocks FBL and / or not-full blocks NFBL are created. Table 1 shows the number of positive towers, the number of fractional towers, the number of full blocks, the number of not-full blocks, the number of packs in each block, the base area of ​​each block, and the volume of each block for each group.

[0122] [Table 1]

[0123] As described above, the block creating unit 32 divides the bales on the last pallet into a total of 18 blocks.

[0124] In this embodiment, each full block is composed of one positive number tower, but may be composed of multiple positive number towers. When multiple positive number towers T1 are created, the multiple created positive number towers T1 are arranged adjacent to each other to form one full block FBL. An example of constructing a full block using multiple positive number towers T1 will be described with reference to Figures 21 and 22. The arrangement of towers when creating a full block is not limited to this. It is preferable to arrange a full block composed of multiple positive number towers so that it is as rectangular as possible when viewed in a plane.

[0125] As shown in Figures 21 and 22, the long sides of the virtual positive towers T1 are positioned so that they are parallel to the vertical direction, and the short sides are positioned so that they are parallel to the horizontal direction, and the positive towers T1 are lined up adjacent to each other to form a full block.

[0126] The full blocks consisting of multiple positive towers shown in Figures 21(a) to 21(g) are all rectangular in plan view. For example, as shown in Figure 21(e), when there are six positive towers T1, the full block is shaped with three positive towers arranged side by side in the left-right direction and two in the up-down direction.

[0127] For example, in the case where there are seven positive number towers T1, as shown in FIG. 22(a), seven positive number towers may be arranged adjacently in the left-right direction to form a rectangular full block in plan view. In this case, if multiple positive number towers are arranged in the up-down and left-right directions, a rectangular full block will not be formed. In such a case, as shown in FIG. 22(b) to (d), a planar rectangular block consisting of six positive number towers may be formed, and then the remaining positive number tower may be adjacent to the block to form a full block. Alternatively, as shown in FIG. 22(e), a planar rectangular block consisting of four positive number towers may be formed, and then the remaining three positive number towers may be adjacent to the block to form a full block as shown in FIG. 22(e), for example.

[0128] (Reservation setting information generation unit) The reservation setting information generating unit 33 executes a reservation block setting process to set each block as a reserved block or a normal block. Prior to the reservation block setting process, the reservation setting information generating unit 33 preferably executes a process to determine an index to be used in the reservation block setting process (referred to as an "index determination process"). The index determination process and the reservation block setting process will be described below in order, but a more detailed description will be given later.

[0129] ((Indicator determination process)) The index determination process will be described. The index determination process corresponds to steps ST17 to ST24 in FIG. 8, which will be described later. The reservation setting information generating unit 33 acquires reserved area ratio information, which is information related to the ratio y of the reserved area to the placement surface 20, which is information input in advance (input operation information). In this embodiment, an example is given in which the reserved area ratio y is 0.5 (50%). The area Y of the reserved area based on the reserved area ratio y is calculated by multiplying the area of ​​the placement surface 20 (12100 cm in this embodiment) by the area of ​​the placement surface 20. 2 ) multiplied by 0.5 (6050 cm in this embodiment) 2The value of the area of ​​the reserved area is the value used when setting the reserved block. The total of the bottom areas of the blocks actually set in the reserved block is the area Y of the reserved area used when setting the reserved block (6050 cm in this embodiment). 2 ) the value is as follows:

[0130] In this embodiment, the reservation setting information generating unit 33 sets 50% of the area of ​​the placement surface 20 as the reserved area 21 on the placement surface 20 based on the acquired reserved area ratio information. The reservation setting information generating unit 33 assigns the placement positions of the blocks to the reservation area 21 in descending order of the index values, using the number of packages belonging to each block created by the block creating unit 32, the base area of ​​the block, and the volume of the block as provisional indexes. The reservation setting information generating unit 33 sets the blocks assigned to the reservation area 21 as provisional reserved blocks. The setting of provisional reserved blocks is continued until the total base area of ​​the blocks set in the reserved block becomes the same as the area of ​​the reserved area set based on the reserved area ratio y, or immediately before it exceeds the area of ​​the reserved area. Then, when the reservation setting information generating unit 33 cannot place blocks in the reserved area set based on the reserved area ratio y, it sets the subsequent blocks as provisional normal blocks. The reservation setting information generating unit 33 also pre-plans and sets the placement positions of the provisional reserved blocks on the placement surface 20. In this way, information including the temporary reserved blocks and normal blocks set when determining the indexes, and information related to the placement positions of the temporary reserved blocks on the loading surface 20 is referred to as "temporary reservation setting information." Although details will be described later, the reservation setting information generating unit 33 determines the indexes to be used in the reserved block setting process using the stowage calculation results using the temporary reservation setting information for each index, which is performed for each of the multiple dummy transport patterns created.

[0131] ((Reserved block setting process)) The reserved block setting process will be described. The reserved block setting process corresponds to ST40 in Fig. 8 described later. The reservation setting information generating unit 33 performs a setting process of reserved blocks and normal blocks (referred to as "reserved block setting process") using information on the index determined in the index determination process.

[0132] Specifically, the reservation setting information generating unit 33 allocates blocks to spaces in the reservation area 21 in descending order of the index value determined in the index determination process, sets reserved blocks, sets normal blocks, and sets the placement positions of the reserved blocks on the placement surface 20 in a similar manner to the setting of the provisional reservation setting information described above. In this manner, information including information on the reserved blocks and normal blocks set based on the index determined in the index determination process, and the placement positions of each reserved block on the placement surface 20 (in other words, "placement destination") is referred to as "reservation setting information." The reservation setting information generating unit 33 sets packages belonging to reserved blocks as reserved items, and packages belonging to normal blocks as normal items.

[0133] The reservation setting information generating unit 33 stores the reservation setting information in the reservation setting information DB 47 .

[0134] Thus, in this embodiment, when setting reserved blocks or normal blocks, the control unit 3 uses one of the number of bales belonging to a block, the base area of ​​the bales, and the volume of the bales as an index, and sets blocks as reserved blocks in ascending order of the numerical value of the index. The control unit 3 continues to set reserved blocks until the total base area of ​​the blocks set as reserved blocks to the loading surface becomes the same as the area of ​​the reserved area set based on the ratio y of the reserved area, or just before it exceeds the area of ​​the reserved area, and sets the remaining blocks as normal blocks. The above "just before it exceeds the area of ​​the reserved area" means, in other words, "until the total base area of ​​the reserved blocks becomes the maximum area that does not exceed the area Y of the reserved area."

[0135] According to this configuration, a block having a larger number of objects, a larger base area, or a larger volume is preferentially set as a reserved block, and a placement position on the pallet PL for the reserved block is secured. In other words, a placement position on the pallet PL is secured preferentially for a block having a large number of objects, a large base area, or a large volume, which tends to make it difficult to secure placement space on the pallet PL. Therefore, such a parcel for which it is difficult to secure placement space can be placed on the pallet PL, and multiple parcels can be stacked on the pallet PL more efficiently.

[0136] In the same group, full blocks have a larger number of objects and a larger volume than not-full blocks, so it is difficult to secure space for them on the pallet PL. By setting full blocks as reserved blocks in descending order of index value, full blocks are more likely to be set as reserved blocks with priority over not-full blocks in the same group, so full blocks, which tend to be difficult to secure space for, can be more reliably placed on the pallet PL, and multiple packages can be stacked on the pallet PL more efficiently.

[0137] (Placement destination setting section) The package transported by the belt conveyor 92 is moved and placed on the pallet PL or the temporary placement pallet TPL. When loading onto the pallet PL, the destination setting unit 35 determines whether the package P to be loaded next is a reserved item or a regular item, based on the reservation setting information and package type information stored in the reservation setting information DB 47.

[0138] The placement destination setting unit 35 sets the placement destination of the package P to be stowed that has been determined to be a reserved item to the reservation area 21 that has been set as the area in which the reserved item is to be placed. The placement destination setting unit 35 calculates three-dimensional placement position information (coordinate information of the reservation area) on the pallet PL that is the placement destination of the package P to be stowed that has been determined to be a reserved item, using the reservation setting information stored in the reservation setting information DB 47 and the latest board state information of the pallet PL stored in the stowage information DB 44. The placement destination setting unit 35 outputs the placement position information on the pallet PL of the package P to be stowed that has been set as a reserved item to the robot control signal generation unit 36. The stowage robot 9 is operated based on the robot control signal generated by the robot control signal generation unit 36, and places the package P to be stowed that has been set as a reserved item in the corresponding reservation area 21.

[0139] On the other hand, the destination setting unit 35 sets the destination of the package P to be stowed that has been determined to be a normal item to the normal area 22 or the temporary placement pallet TPL. Information regarding this set destination is output to the stowage calculation unit 31. The stowage calculation unit 31 calculates placement position information in the normal area 22 (or the temporary placement area 25) of the package P to be stowed that has been determined to be a normal item. The stowage calculation unit 31 outputs the calculated placement position information in the normal area 22 (or the temporary placement area 25) to the robot control signal generation unit 36. The stowage robot 9 is operated based on the robot control signal generated by the robot control signal generation unit 36, and places the package P to be stowed in the normal area 22 (or the temporary placement area 25).

[0140] The following describes in more detail how to set the placement destination when the package P to be loaded is a normal product.

[0141] When the placement destination setting unit 35 determines that the package P to be stowed is a normal product, in the following cases (5) and (6), it sets the placement destination of the package P to be stowed to the normal area 22.

[0142] (5) The package to be loaded satisfies the condition that it is relatively lighter and has a relatively smaller base compared to the packages belonging to each group (hereinafter referred to as the temporary storage area priority placement condition), and cannot be placed in the temporary storage area 25, but can be placed in the normal area 22. (6) If the above temporary area priority placement conditions are not met and placement in normal area 22 is possible.

[0143] When the destination setting unit 35 determines that the package P to be loaded is a normal product, in the following cases (7) and (8), it sets the destination of the package to be loaded to the temporary storage area 25 of the temporary storage pallet TPL.

[0144] (7) When the package to be loaded meets the temporary storage area priority placement conditions and can be placed in the temporary storage area 25. (8) If the package to be loaded does not satisfy the temporary storage area priority placement conditions and cannot be placed in the normal area 22, but can be placed in the temporary storage area 25.

[0145] When the destination setting unit 35 determines that the package P to be loaded is a regular item and does not satisfy the temporary storage area priority placement conditions and cannot be placed in either the regular area 22 or the temporary storage area 25, or when it determines that the package P to be loaded satisfies the temporary storage area priority placement conditions and cannot be placed in either the regular area 22 or the temporary storage area 25, it determines whether the package already placed in the temporary storage area 25 can be placed in the regular area 22.

[0146] When the destination setting unit 35 determines that a package already placed in the temporary storage area 25 can be placed in the normal area 22, it places the package already placed in the temporary storage area 25 in the normal area 22, sets the destination of the package P to be loaded to the temporary storage area 25, and places the package P to be loaded in the vacant space in the temporary storage area 25.

[0147] On the other hand, when the placement destination setting unit 35 determines that the package already placed in the temporary placement area 25 cannot be placed in the normal area 22, the reservation setting information generation unit 33 changes the setting of the reservation area 21 to the normal area, and stores the changed reservation setting information in the reservation setting information DB 47. Then, the placement destination setting unit 35 sets the placement destination of the package P to be stowed to the normal area. This allows the package P to be stowed to be placed in the normal area 22.

[0148] Here, when changing the setting of the reserved area 21 to the normal area 22, the block set as the reserved block may be treated in the same way as a normal block. Alternatively, the block set as the reserved block may be changed to a normal block. In this embodiment, the reservation setting information generating unit 33 changes the setting of the reserved block to a normal block in the following description. In this case, the reservation setting information generating unit 33 stores the reservation setting information reflecting the change of the setting of the reserved area 21 to the normal area 22 and the change of the setting of the reserved block to a normal block in the reservation setting information DB 47.

[0149] ((Temporary Placement Area Priority Placement Conditions)) The temporary storage area priority placement condition is a condition for preferentially placing a package P to be loaded that is set as a normal item in the temporary storage area 25 (temporary storage pallet TPL). The decision as to whether or not to preferentially transport a package P to be loaded that is set as a normal item to the temporary storage area 25 is made using information about groups created during the block creation process in the block creation unit 32.

[0150] Using information on a plurality of groups (12 groups in the example shown in FIG. 11), the placement destination setting unit 35 determines groups that satisfy all of the following three conditions (9) to (11) as groups that satisfy the placement conditions for the temporary placement area, and determines the other groups as groups that do not satisfy the temporary placement area priority placement condition that gives priority to placement on the temporary placement pallet TPL.

[0151] (9) A group in which the maximum weight of parcels belonging to the same group is equal to or less than the 75th percentile of all groups. Since the weights of multiple parcels belonging to the same group may differ, the maximum parcel weight within the group is used as the representative value. (10) A group in which the short side of a package belonging to the same group is equal to or less than the 25th percentile of all groups. In this embodiment, packages that have the same dimension within 1 mm are in the same group, so the short side dimension value of the group and the short side dimension value of the package belonging to the group are the same. (11) A group in which the long side of bales belonging to the same group is equal to or less than the 25th percentile of all groups. In this embodiment, bales whose dimensions match within 1 mm are in the same group, so the long side dimension value of the group and the long side dimension value of the group are the same.

[0152] A supplement to (10) and (11) above: "Groups whose short side (long side) is at or below the 25th percentile of all groups" refers to the top 5 groups with the smallest numerical values ​​when the short side (long side) of the groups are sorted in ascending order, assuming that there are 20 total groups. Similarly, in (9) above, "groups whose maximum weight is at or below the 75th percentile of all groups" refers to the top 15 groups with the smallest numerical values ​​when the maximum weight of the groups is sorted in ascending order, assuming that there are 20 total groups.

[0153] Bamboos belonging to a group satisfying all of the above conditions (9) to (11) (a group satisfying the temporary storage area priority placement condition) are bamboos that satisfy the conditions of being relatively light and having a relatively small bottom surface. By preferentially placing such relatively light bamboos with small bottom surfaces in the temporary storage area, ultimately, stacking can be performed so that the relatively light bamboos with small bottom surfaces are placed at the top of the group of packages to be stacked on the pallet PL. This allows multiple bamboos to be placed on the pallet PL more efficiently, and also allows multiple bamboos to be placed on the pallet PL in a stable arrangement that is less likely to collapse.

[0154] The placement destination setting unit 35 stores information about packages to be preferentially placed in the temporary placement area (temporary placement area priority placement information), which is determined based on whether the temporary placement area priority placement condition is satisfied, in the reservation setting information DB 47. Specifically, the temporary placement area priority placement information includes a package code given to the package to be preferentially placed in the temporary placement area.

[0155] (Robot control signal generator) The robot control signal generation unit 36 ​​generates a robot control signal for controlling the driving of the stowage robot 9, based on the placement position information of the package P to be stowed output from the stowage calculation unit 31, or the placement position information of the package P to be stowed set in the reserved item output from the placement destination setting unit 35. The placement position information of the package P to be stowed is information generated based on the placement destination setting result set by the placement destination setting unit 35. The robot control signal generation unit 36 ​​outputs the generated robot control signal to the stowage robot 9.

[0156] <Stacking robot> In the example shown in FIG. 1, the stowage robot 9 is a vertical articulated robot having a plurality of links 97, a plurality of joints 96, and a two-jaw gripper 91 that serves as a gripping portion attached to the tip portion.

[0157] As shown in Fig. 2, the stowage robot 9 has a robot drive unit 90. The robot drive unit 90 has a motor and a drive circuit for driving the motor. The drive circuit drives the motor based on a robot control signal output from the information processing device 1. This controls the position and posture of the gripper 91 and the opening and closing of the two claws of the gripper 91. A package P is clamped and gripped by the two claws of the gripper 91, and is transported from the belt conveyor 92 onto the pallet PL or the temporary placement pallet TPL.

[0158] In this embodiment, the gripping unit of the stacking robot is a two-jaw gripper, but is not limited to this. Any gripping unit capable of gripping and transporting the package P may be selected as appropriate depending on the shape, material, size, etc., of the package to be gripped. For example, the gripping unit may be a gripper having three or more jaws. Also, for example, the gripping unit may be a suction pad, and the package P may be sucked onto the suction pad and gripped. Note that suction pads are generally made of a flexible material and do not need to clamp the package, so they have the advantage of being less likely to damage the package. In addition, in this embodiment, a vertical articulated robot is used as an example, but a parallel link robot may be used as long as it is a robot capable of gripping and transporting the package P.

[0159] <Information processing method> The flow of information processing related to stacking of packages P onto a pallet PL in the information processing device 1 will be described with reference to Figs. 7 to 12. In Figs. 7 to 12, "ST" means "step." The information processing shown in Figs. 7 to 12 is processing that is mainly executed by the control unit 3. Also, the same step numbers are given to the same steps.

[0160] [Overall flow of information processing related to loading packages onto pallets] 7, when the process of stacking onto a pallet PL starts, the control unit 3 executes a reservation setting information generation process (ST1), and then executes a stacking process A (ST5). The reservation setting information generation process and the stacking process A will be described later.

[0161] When multiple types of packages that are transported in sequence are stacked on a pallet, the stacking process shown in FIG. 7 is executed, so that the packages in the list in FIG. 4 are stacked on the pallet as shown in FIGS.

[0162] [Reservation setting information generation process] The reservation setting information generation process (ST1) will be described with reference to Fig. 8. In the reservation setting information generation process, after a block is created, an "index determination process" is performed to determine an index for calculating the reservation setting information. Then, a "reserved block setting process" is performed using the index determined in the index determination process.

[0163] As shown in FIG. 8, when the reservation setting information generation process starts, the reservation setting information generation unit 33 acquires the stowage instruction information stored in the stowage instruction information DB 43 and the packing master information stored in the packing master DB 41 (ST10).

[0164] The reservation setting information generating unit 33 uses the shipping package information included in the stowage instruction information to create 50 dummy transport patterns with different package transport orders (ST11). The number of dummy transport patterns to be created is not limited to 50 and can be set as appropriate.

[0165] Next, the block creation unit 32 classifies the packages to be loaded onto the pallet into a plurality of groups according to their dimensions and weights based on the shipping package information and the dimension information and weight information of the package P included in the package master information (ST12). In this embodiment, the block creation unit 32 creates a total of 12 groups, the first to twelfth groups, as already described with reference to FIG.

[0166] Next, the block creating unit 32 sets a maximum stacking number for creating a block for each group (ST8).

[0167] Next, the block creation unit 32 creates a positive number tower T1 and / or a fraction tower T2 for each group using information related to the maximum stacking number for block creation (ST13).

[0168] Next, the block creation unit 32 creates a block for each group using the created tower (ST14). In this embodiment, a total of 18 blocks are created, as shown in FIG.

[0169] Next, the block creation unit 32 calculates the number of packages, the base area, and the volume of each block (ST15). The block creating unit 32 also acquires information on the ratio y of the reserved area to the placement surface set by the user through an input operation (ST16). The reservation setting information generating unit 33 sets the reserved area on the placement surface 20 based on the acquired reserved area ratio information.

[0170] Next, the reservation setting information generating unit 33 generates provisional reservation setting information by provisionally setting each block as a reserved block and a normal block using the number of packages in the block as a provisional index. Then, the stowage calculation unit 31 uses the provisional reservation setting information to perform stowage calculation for each dummy transport pattern (ST17).

[0171] In detail, the reservation setting information generating unit 33 sorts each block in descending order (from the block with the largest number of packages) using the number of packages in each block as a provisional index, allocates the blocks to the reserved area in descending order of the number of packages, and provisionally sets them as reserved blocks. The provisional setting of the reserved blocks is continued until the total bottom area of ​​the blocks provisionally set as reserved blocks is equal to the area Y of the reserved area or immediately before it exceeds the area Y of the reserved area. Blocks other than the blocks provisionally set as reserved blocks are provisionally set as normal blocks. Furthermore, the reservation setting information generating unit 33 provisionally sets the placement positions on the pallet PL of the blocks set as reserved blocks. In this way, the reservation setting information generating unit 33 generates provisional reservation setting information. Next, the stowage calculation unit 31 performs stowage calculation for each dummy transport pattern using the provisional reservation setting information.

[0172] If all packages to be loaded onto the pallet PL are loaded, the loading is successful. If all packages are not loaded, the loading is unsuccessful.

[0173] Next, the reservation setting information generating unit 33 uses the bottom area of ​​the block as a provisional index and generates provisional reservation setting information in the same manner as in ST17. Then, the stowage calculation unit 31 uses the provisional reservation setting information to perform stowage calculation for each dummy transport pattern (ST18).

[0174] Next, the reservation setting information generating unit 33 uses the volume of the block as a provisional index and generates provisional reservation setting information in the same manner as in ST17. The stowage calculation unit 31 uses the provisional reservation setting information to perform stowage calculation for each dummy transport pattern (ST19).

[0175] Next, in ST20, the reservation setting information generating unit 33 calculates the stowage success rate for each temporary index using the stowage calculation results from ST17 to ST19. The stowage success rate is the ratio of the number of dummy transport patterns that were successful in stowage to the number of dummy transport patterns that were created (here, 50). For example, if there are 40 dummy transport patterns that were successful in stowage, the stowage success rate is 0.8 (80%).

[0176] Furthermore, in ST20, for each provisional index, the provisional reservation setting information is used to calculate the spatial occupancy rate when the packages transported by each dummy transport pattern are stacked on the pallet PL, and the median value is calculated. The spatial occupancy rate is calculated by dividing the total volume of the stacked packages by the product of the loading surface area (here, 1100 mm x 1100 mm) and the maximum height of the entire pallet when the packages are stacked. It can be said that the higher the spatial occupancy rate, the higher the stacking stability.

[0177] Furthermore, in ST20, for each provisional index, the provisional reservation setting information is used to calculate the surface area of ​​the group of packages when the packages transported by each dummy transport pattern are stacked on the pallet PL. The surface area of ​​the group of packages is then used to calculate the surface area ratio, and the median value is calculated. The surface area ratio is calculated by dividing the surface area of ​​the group of packages by the total surface area of ​​each package. The lower the surface area ratio, the higher the space utilization efficiency and the higher the stacking stability.

[0178] Next, the reservation setting information generating unit 33 sorts the number of packages, the bottom area, and the volume in descending order based on the stowage success rate calculated in ST20 (ST21). Next, the reservation setting information generating unit 33 sorts the number of packages, the floor area, and the volume in descending order based on the median value of the space occupancy rate calculated in ST20 (ST22). Next, the reservation setting information generating unit 33 sorts the number of packages, the bottom area, and the volume in ascending order based on the median value of the surface area calculated in ST20 (ST23). The results of the processing in ST21 to ST23 in this embodiment are shown in FIG.

[0179] Next, an index is determined based on the processing results of ST21 to ST23 (ST24). In detail, the provisional index with the highest stowage success rate is determined as the index. If there are multiple provisional indices with the highest stowage success rate, the provisional index with the highest median space occupancy rate is determined as the index. Furthermore, if there are multiple provisional indices with the highest median space occupancy rate, the provisional index with the lowest median surface area is determined as the index. As shown in FIG. 14, in this embodiment, "volume" is determined as the index.

[0180] In this way, the control unit 3 creates multiple dummy transport patterns for multiple bales with different transport orders, and generates temporary reservation setting information by temporarily setting each block as a reserved block or a normal block for each temporary index, using the number of bales belonging to a block, the base area of ​​the block, and the volume of the block as temporary indexes. Then, based on the temporary reservation setting information for each temporary index, a stowage calculation is performed for each dummy transport pattern, a stowage success rate is calculated for each temporary index, and the temporary index with the highest stowage success rate may be determined as the index.

[0181] According to this configuration, the probability of successfully stacking objects on a pallet PL can be increased by determining the provisional index with the highest stacking success rate as the index.

[0182] Furthermore, as in this embodiment, the control unit 3 may use the provisional reservation setting information for each provisional index to calculate the space occupancy rate when the packages transported by each dummy transport pattern are stacked on a pallet PL, and if there are multiple provisional indexes with the highest stacking success rate, the provisional index with the highest median space occupancy rate may be determined as the index.

[0183] According to this configuration, the higher the median space occupancy rate, the higher the stacking stability. Therefore, when there are multiple provisional indicators with the highest stacking success rates, the provisional indicator with the highest median space occupancy rate is determined as the indicator, thereby enabling packages to be stacked onto the pallet PL with high stability.

[0184] Furthermore, as in this embodiment, the control unit 3 uses the provisional reservation setting information to calculate, for each provisional index, the surface area of ​​a group of packages when multiple packages transported by each dummy transport pattern are stacked on a pallet PL, and calculates a surface area ratio that represents the ratio of the surface area of ​​the group of packages to the sum of the surface areas of each package stacked on the pallet PL.If there are multiple provisional indexes with the highest median space occupancy rate, the provisional index with the lowest median surface area ratio may be determined to be the index.

[0185] According to this configuration, the lower the median surface area ratio, the more efficient the loading and the higher the loading stability. Therefore, when there are multiple provisional indicators with the highest median space occupancy rates, the provisional indicator with the lowest median surface area ratio can be selected as the indicator, thereby enabling the loading of packages onto the pallet PL to be performed efficiently and with high stability.

[0186] As described above, the reservation setting information generating unit 33 determines the index for calculating the reservation setting information in the index determination process (ST17 to ST24). After determining the index of the reservation setting information, the reservation setting information generating unit 33 performs the setting process of the reserved blocks and the normal blocks based on the index (ST40, referred to as the "reserved block setting process").

[0187] In the reserved block setting process ST40, the multiple blocks created in ST14 are sorted in descending order of the determined index value, and the blocks are allocated and placed in the reserved area in a similar manner to the generation of the provisional reservation setting information described above, thereby setting the reserved blocks.

[0188] The reserved block setting process (ST40) will be described below with reference to FIG. 13 as appropriate. In this embodiment, the determined index is "volume", so the case where the index is "volume" will be described as an example. Note that the same process is performed even if the index is "number of packages" or "area".

[0189] The reservation setting information generating unit 33 sets a plurality of blocks as reservation blocks in descending order of the determined index "volume" value (see Table 1 for volume values). A detailed description will be given below.

[0190] The reservation setting information generating unit 33 provisionally sets blocks as reserved blocks in ascending order of volume numerical value, calculates the bottom area of ​​the reserved blocks, and judges whether the calculation result is smaller than the area Y of the reserved area (ST41). In ST41, when the block with the largest index (here, volume) numerical value is provisionally set as the reserved block, the bottom area of ​​the block provisionally set as the reserved block becomes the "bottom area of ​​the reserved block" used in the judgment. In ST41, when a block other than the block with the largest index numerical value is provisionally set as the reserved block, the sum of the bottom area of ​​the block provisionally set as the reserved block and the bottom area of ​​the blocks that have been actually set as reserved blocks becomes the "bottom area of ​​the reserved block".

[0191] If the reservation setting information generating unit 33 determines that the area is smaller than the area Y of the reserved area (YES in ST41), the process proceeds to ST42.

[0192] In ST42, the reservation setting information generating unit 33 sets the block that was provisionally set as the reserved block as the reserved block (full setting). Furthermore, the reservation setting information generating unit 33 sets the number of packs of the block set as the reserved block among the packs of the group to which the reserved block belongs as reserved items. Furthermore, as shown in FIG. 15, the placement position of the reserved block is set on the placement surface 20.

[0193] Next, the process proceeds to ST41. The reservation setting information generating unit 33 repeats ST41 and ST42 until the total bottom area of ​​the blocks set in the reserved block becomes the area Y of the reserved area or immediately before it exceeds the area Y of the reserved area.

[0194] When the reservation setting information generating unit 33 determines that the area is not smaller than the area Y of the reserved area, that is, that the area is equal to or exceeds the area Y of the reserved area (NO in ST41), the process proceeds to ST43.

[0195] In ST43, the reservation setting information generating section 33 judges whether or not the total bottom area of ​​the blocks set in the reserved block is the same as the area Y of the reserved area.

[0196] When the reservation setting information generation unit 33 determines that the area is the same as the area Y of the reserved area (YES in ST43), it sets the blocks that were provisionally set as reserved blocks (officially set) as reserved blocks, sets all the remaining blocks (officially set) as normal blocks (ST44), and proceeds to ST46.

[0197] If the reservation setting information generation unit 33 determines that the area is not the same as the area Y of the reserved area (NO in ST43), it sets the blocks that were provisionally set as reserved blocks as normal blocks (final setting), and also sets the remaining blocks as normal blocks (final setting) (ST45), and proceeds to ST46.

[0198] In ST46, the reservation setting information generating unit 33 stores in the reservation setting information DB 47 information (reservation setting information) relating to the set reserved blocks, normal blocks, and arrangement positions of the reserved blocks on the pallet PL.

[0199] In this embodiment, the reservation setting information generating unit 33 sets the full blocks FBL of the 6th group, the full blocks FBL of the 8th group, the full blocks FBL of the 7th group, the full blocks FBL of the 1st group, and the not-full blocks NFBL of the 8th group as reserved blocks. Then, in each group, among the packages P belonging to the group, packages equal to the number of packages of the full blocks FBL (or not-full blocks NFBL) set as reserved blocks are set as reserved items. For the 8th group, both the full blocks FBL and the not-full blocks NFBL are set as reserved blocks, so all 18 packages belonging to the 8th group are set as reserved items. Furthermore, together with this, as shown in FIG. 15, the reservation setting information generating unit 33 sets the arrangement position of each reserved block on the pallet PL. 15, reserved area 21Ha indicates the location of full blocks in the seventh group, reserved area 21Hb indicates the location of not-full blocks in the seventh group, reserved area 21A indicates the location of full blocks in the first group, reserved area 21F indicates the location of full blocks in the sixth group, and reserved area 21G indicates the location of full blocks in the seventh group. The shape and size of each location in a plan view are the same as the bottom of the corresponding block.

[0200] In this embodiment, when setting the reserved blocks, the blocks are set as reserved blocks until the total area of ​​the blocks set as the reserved blocks becomes the same as the area Y of the reserved area or immediately before it exceeds the area Y of the reserved area, and the rest are set as normal blocks, but this is not limited to this. For example, the blocks may be set as reserved blocks until the total area of ​​the blocks set as the reserved blocks becomes the same as the area Y of the reserved area or until it exceeds the area Y of the reserved area for the first time, and the rest may be set as normal blocks. In this way, the reserved blocks can be set based on the ratio of the reserved area. Also, if the bottom area of ​​the first reserved block exceeds the area of ​​the reserved area, a warning may be displayed, or regular towers may be removed one by one until the bottom area of ​​the reserved block falls below the area of ​​the reserved area. In this case, the removed towers are treated as normal blocks.

[0201] As shown in FIG. 15, in this embodiment, a first reserved area group 211 and a second reserved area group 212 are provided on a pallet PL. The first reserved area group 211 is formed by contiguous four reserved areas 21, namely, a reserved area 21F, a reserved area 21G, a reserved area 21Ha, and a reserved area 21Hb, which are aggregated in one location. The second reserved area group 212 is located apart from the first reserved area group 211 and is formed by the reserved area 21A. A "reserved area group" is formed by reserved areas corresponding to the arrangement positions of one or more reserved blocks. Also, there may be one or more reserved area groups on a pallet PL. For example, as shown in FIG. 23, all reserved blocks may be aggregated in one location to form one reserved area group 213.

[0202] [Setting the maximum number of stacks for creating blocks] The maximum stacking number setting process for creating a block (ST8 in FIG. 8) will be described below. Here, the maximum stacking number setting process for creating a block will be described by taking two examples, a first example and a second example. Either the processing method of the first example or the second example may be used.

[0203] When the floor area ratio is equal to or greater than the threshold value, the first height limit value a is adopted as the "height limit value for stacking calculation" and the "height limit value for calculation" for creating the tower.

[0204] If the floor area ratio is less than the threshold, the second height limit value b is used as the height limit value for loading calculation and the height limit value for calculation. The second height limit value b is calculated according to the floor area ratio, and specifically, it is calculated by the following formula (A). Second height limit value = First height limit value x Floor area ratio x Prescribed coefficient ... (A) In the formula, the predetermined coefficient is a numerical value equal to or greater than 1, for example, 1.25 here. In the present embodiment, the first height limit value a is 1800 mm. In cases where the volume ratio is low like this, the height limit value during stacking calculation and the height limit value for calculation can be set to the second height limit value b, which is lower than the first height limit value a, to make adjustments so that the packages are not stacked too high in the vertical direction.

[0205] As described above, in this embodiment, the threshold value of the floor area ratio is set to 0.8. Since the floor area ratio of the package in the list in Fig. 4 is 0.71, the second height limit value b calculated by the above formula (A) is calculated and used as the height limit value for the loading calculation and the height limit value for calculation for creating the tower.

[0206] (Example 1) A first example of a maximum stacking number setting process for creating a block will be described with reference to FIG.

[0207] As shown in FIG. 9, when the process of setting the maximum stacking number for block creation starts, the block creating unit 32 acquires information on the live load limit and the first height limit value (ST80).

[0208] Next, the block creation section 32 calculates the floor area ratio (ST81), and then the block creation section 32 determines whether or not the floor area ratio is equal to or greater than a threshold value (ST82).

[0209] If the block creation unit 32 determines that the height is not equal to or greater than the threshold (NO in ST82), it uses the above formula (A) to calculate a second height limit value according to the volume ratio (ST84), and sets the second height limit value as the calculation height limit value (ST85). Next, the block creation unit 32 virtually stacks up multiple packages belonging to each group, and sets the number of packages stacked up to the maximum number that does not exceed the second height limit value as the maximum stack number for block creation (ST86).

[0210] On the other hand, if the block creating unit 32 determines that the height limit is equal to or greater than the threshold value (YES in ST82), it sets the first height limit value to the height limit value for calculation (ST83) and executes a process of setting the maximum stacking number for block creation (ST9).

[0211] In ST9, a maximum stacking number for creating a block is set for each group. In ST9, for each group, packages belonging to the group are virtually stacked one layer at a time, and for each layer, it is determined whether the load limit or the first height limit is exceeded in the order of the load limit and the first height limit, and the number of layers just before the load limit or the first height limit is exceeded is set as the maximum stacking number for creating a block.

[0212] Details of ST9 will be described with reference to the flow in Fig. 9. The block creation unit 32 virtually stacks the bales one layer at a time (ST90), and determines whether stacking one more layer will exceed the load limit (ST91).

[0213] When the block creating unit 32 determines that the number of stacked stages will be exceeded (YES in ST91), it sets the number of stacked stages just before the exceedance to the maximum number of stacked stages for block creation (ST92). On the other hand, if the block creation unit 32 determines that the number will not be exceeded (NO in ST91), the process proceeds to ST93. In ST93, the block creation unit 32 determines whether or not the calculation height limit value (the first height limit value in the first example) will be exceeded if another layer is stacked from the one-layer stacked state in ST90.

[0214] If the block creation unit 32 determines that the number will be exceeded (YES in ST93), it sets the current number of stacked levels to the maximum number of stacked levels for block creation (ST94). On the other hand, if the block creation unit 32 determines that the number will not be exceeded (NO in ST93), it returns to ST90 and repeats the process until the maximum number of stacked levels for block creation is set.

[0215] (Example 2) The second example of the maximum stacking number setting process for creating blocks will be described with reference to Fig. 10. Here, the differences from the first example will be mainly described.

[0216] In the first example, when the first height limit value is set as the calculation height limit value, the maximum stacking number for block creation is calculated through processing in ST9, and when the second height limit value is set as the calculation height limit value, the maximum stacking number for block creation is calculated in ST86 using the second height limit value (calculation height limit value).

[0217] In the second example, as shown in FIG. 10, when the first height limit value is set to the calculation height limit value, the maximum stacking number for block creation is calculated through the process of ST9, as in the first example. On the other hand, when the second height limit value is set to the calculation height limit value, the maximum stacking number for block creation is calculated through the process of ST9. In this way, when the second height limit value is set to the calculation height limit value, the maximum stacking number for block creation may be calculated through the process of ST9. Note that the maximum stacking number for block creation calculated through the process of ST9 when the second height limit value in the second example is set to the calculation height limit value will ultimately be the same as the calculation result in ST86 in the first example.

[0218] [Loading process A] The stowing process A (ST5 in FIG. 7) is executed when packs are stowing on a pallet PL. The stowing process A is a process for setting the placement destination of the packs to be stowing. The process will be described below with reference to the flow in FIG.

[0219] As shown in FIG. 11, when stacking process A starts, the placement destination setting unit 35 acquires work sequence information, reservation setting information and temporary placement area priority placement information stored in the reservation setting information DB 47, board state information stored in the stacking information DB 44, and stacking instruction information stored in the stacking instruction information DB 43 (ST50).

[0220] Next, the destination setting unit 35 acquires package type information of the package to be stowed from the work sequence information, and determines whether the package to be stowed is a package to be placed in the reservation area 21 based on the reservation setting information (ST51). In other words, in ST51, the destination setting unit 35 determines whether the package to be stowed is a reserved item or a regular item.

[0221] When the destination setting unit 35 determines that the package (reserved item) is to be placed in the reserved area (YES to S51), it sets the destination of the package to be loaded to the reserved area 21 (ST52) and calculates the placement position information (position coordinates) of the package to be loaded.

[0222] The placement position information of the package P (reserved item) to be stowed calculated by the placement destination setting unit 35 is output to the robot control signal generating unit 36. The robot control signal generating unit 36 ​​uses the placement position information to generate a robot control signal for controlling the driving of the stowage robot 9 (ST53), and outputs it to the stowage robot 9 (ST54). The stowage robot 9 drives based on the robot control signal, and transports the package P (reserved item) to be stowed to the corresponding reservation area 21. Next, the process proceeds to ST64.

[0223] When the placement destination setting unit 35 determines that the package to be loaded is not a package to be placed in the reserved area 21, in other words, that the package is a regular item (NO to S51), it uses the temporary placement area priority placement information to determine whether the package to be loaded is a package that satisfies the temporary placement area priority placement conditions (ST55).

[0224] When the placement destination setting unit 35 determines that the package to be loaded that has been determined to be a normal product does not satisfy the temporary placement area priority placement conditions (No in ST55), the process proceeds to ST56.

[0225] In ST56, the placement destination setting unit 35 uses the board state information to determine whether or not the package to be loaded can be placed in the normal area 22.

[0226] When the destination setting unit 35 determines that a package to be loaded that has been determined to be a normal item can be placed in the normal area 22 (Yes in ST56), it sets the destination of the package to be loaded to the normal area 22 (ST57).

[0227] Next, a stowage process B (ST7) is executed for the packages to be stowed that have been determined to be normal products. In this stowage process B, the placement position information of the packages to be stowed in the normal area 22 is calculated, and the stowage robot is controlled based on the calculation result, and the packages to be stowed are placed in the normal area 22. ST7 will be described later. When ST7 is completed, the process proceeds to ST64.

[0228] When the destination setting unit 35 determines that a package to be loaded that has been determined to be a normal item cannot be placed in the normal area 22 (No in ST56), it uses the board status information to determine whether or not the package to be loaded can be placed in the temporary storage area 25 (ST59).

[0229] When the destination setting unit 35 determines that the package to be loaded that has been determined to be a normal item can be placed in the temporary storage area 25 (Yes in ST59), it sets the destination of the package to be loaded to the temporary storage area 25 (ST60).

[0230] Next, a stowage process B (ST7) is executed. In the stowage process B, the placement position information of the package to be stowed in the temporary storage area 25 is calculated, and the stowage robot is controlled based on the calculation result, and the package to be stowed is placed in the temporary storage area 25. When ST7 ends, the process proceeds to ST64.

[0231] When the placement destination setting unit 35 determines that the package to be loaded that has been determined to be a normal product cannot be placed in the temporary placement area 25 (No in ST59), the process proceeds to ST61.

[0232] When the destination setting unit 35 determines that the package to be loaded, which has been determined to be a normal item, is package P that satisfies the temporary storage area priority placement conditions (Yes in ST55), it uses the board status information to determine whether or not the package to be loaded can be placed in the temporary storage area 25 (ST58).

[0233] When the destination setting unit 35 determines that the package to be stowed can be placed in the temporary storage area 25 (Yes in ST58), it sets the destination of the package to be stowed to the temporary storage area 25 (ST60). Next, stowage process B (ST7) is executed for the package to be stowed, and the package to be stowed is placed in the temporary storage area 25.

[0234] On the other hand, when the destination setting unit 35 determines that the package to be loaded, which has been determined to be a normal item, cannot be placed in the temporary storage area 25 (No in ST58), it uses the board status information to determine whether or not the package to be loaded can be placed in the normal area 22 (ST67).

[0235] When the destination setting unit 35 determines that the packages to be stowed can be placed in the normal area 22 (YES in ST67), it sets the destination of the packages to be stowed to the normal area 22 (ST57). Then, stowage process B (ST7) is executed for the packages to be stowed, and the packages to be stowed are placed in the normal area 22. Then, the process proceeds to ST64.

[0236] On the other hand, if the placement destination setting unit 35 determines that the package to be stowed cannot be placed in the normal area 22 (NO in ST67), the process proceeds to ST61.

[0237] In ST61, the placement destination setting unit 35 uses the board state information to determine whether or not a package that has already been placed in the temporary placement area 25 can be transferred and placed in the normal area 22.

[0238] If the destination setting unit 35 determines that a package that has already been placed in the temporary storage area 25 can be placed (moved) to the normal area 22 (Yes in ST61), it sets the destination of the package that was placed in the temporary storage area to the normal area 22 (ST62). Next, a stacking process B (ST7) is executed for the package that was placed in the temporary storage area 25, and the package that was placed in the temporary storage area 25 is placed in the normal area 22. This changes the state of the board on the pallet PL and the temporary storage pallet TPL.

[0239] Thereafter, the placement destination setting unit 35 uses the board state information to determine whether or not the package to be loaded can be placed in the normal area 22 (ST69).

[0240] If the destination setting unit 35 determines that the package to be stowed cannot be placed in the normal area 22 (No in ST69), it sets the destination of the package to be stowed to the temporary storage area 25 (ST60). Next, stowage process B (ST7) is executed for the package to be stowed, and the package to be stowed is placed in the temporary storage area 25. Then, the process proceeds to ST64.

[0241] On the other hand, if the destination setting unit 35 determines that the packages to be stowed can be placed in the normal area 22 (Yes in ST69), it sets the destination of the packages to be stowed to the normal area 22 (ST57). Next, stowage process B (ST7) is executed for the packages to be stowed, and the packages to be stowed are placed in the normal area 22. Then, the process proceeds to ST64. In this way, when placement in the normal area 22 is possible, the placement destination of the package to be loaded is set to the normal area 22 rather than the temporary placement area 25, thereby ensuring that the package to be loaded is placed on the pallet PL.

[0242] If the placement destination setting unit 35 determines that the packages already placed on the temporary placement pallet TPL (temporary placement area) cannot be placed (moved) in the normal area 22 (No in ST61), the reservation setting information generating unit 33 cancels all the reserved area settings and changes the reserved areas to normal areas (ST63). As a result, the reserved area 21 does not exist on the pallet PL, and only the normal area 22 is set. In response to this, the reservation setting information generating unit 33 changes the setting of all subsequent packages to the package to be stowed that were set as reserved items to normal items. Furthermore, the reservation setting information generating unit 33 updates the reservation setting information in response to a change from a reserved item to a regular item or a change from a reserved area to a regular area, and stores the updated reservation setting information in the reservation setting information DB 47 (ST66).

[0243] Thereafter, the process returns to ST50 and is repeated. However, since the reservation setting information has been updated, it is determined in ST51 that the package to be stowed and the packages following it are not packages to be placed in the reservation area.

[0244] In this way, if the package to be loaded cannot be placed in either the normal area or the temporary storage area, the reserved area setting on the pallet PL can be cancelled and changed to the normal area setting, thereby securing a place for the package to be loaded.

[0245] In ST64, the destination setting unit 35 uses the transport order information and the stowage instruction information to determine whether or not there are any packages remaining to be stowed.

[0246] When the placement destination setting unit 35 determines that there are any bales remaining for stowage (Yes in ST64), it updates the board state information and stores the updated board state information in the stowage information DB 44 (ST65). After that, the placement destination setting unit 35 returns to ST50 and repeats the process until there are no more bales remaining for stowage.

[0247] When the destination setting unit 35 determines that there are no remaining packages to be stacked (No in ST64), it sets the destination of the packages placed in the temporary storage area 25 to the normal area 22 (ST68), and stacking process B (ST7) is executed for the packages that were placed in the temporary storage area 25, the packages that were placed in the temporary storage area 25 are placed in the normal area 22, and stacking process A ends.

[0248] [Loading process B] The stowage process B (corresponding to ST7 in FIG. 7 and FIG. 11) is executed to stow packages in the normal area and the virtual area. In the stowage process B, the placement position information of the packages to be stowed in the normal area on the pallet PL and the placement position information of the packages to be stowed in the virtual area are calculated.

[0249] As shown in FIG. 12, when the stowage process B starts, the stowage calculation unit 31 acquires evaluation function information to be stored in the stowage calculation parameter table DB46, packing master information to be stored in the packing master DB41, work sequence information, and board status information to be stored in the stowage information DB44 (ST70).

[0250] Next, the stowage calculation unit 31 uses the acquired various information to calculate placement position information of the package to be stowed (ST71). If the placement destination setting result information set by the placement destination setting unit 35 is a normal area or a temporary storage area, the placement destination setting result information is output from the placement destination setting unit 35 to the stowage calculation unit 31, and the process of ST71 is executed. The stowage calculation unit 31 outputs the calculated placement position information to the robot control signal generation unit 36.

[0251] Next, the robot control signal generator 36 generates a robot control signal for driving the stowage robot 9 based on the package placement position information (ST72), and outputs the robot control signal to the stowage robot 9 (ST73).

[0252] <Action and effect> As described above, when loading multiple objects (packages) onto a loading platform (pallet), the control unit of the information processing system of the present invention classifies the multiple objects (packages) into multiple blocks based on their dimensions and weight, and sets some of the multiple blocks as reserved blocks whose placement positions on the loading platform are scheduled.

[0253] With this configuration, a reserved area can be secured on the loading platform as a space where objects belonging to the same reserved block whose size and weight differences are less than a threshold can be concentrated and placed together. This allows multiple types of objects with different sizes and / or weights to be efficiently placed on the loading platform, further increasing the probability that subsequent objects to be loaded can be placed on the loading platform.

[0254] Furthermore, when creating blocks, the control unit groups a plurality of objects, sets a maximum number of stacks for block creation for each group, creates a positive number tower and / or a fractional number tower using the maximum number of stacks for block creation, and creates full blocks and / or not-full blocks using these towers. The blocks become the reference unit for setting reserved blocks. The maximum number of stacks for block creation is set using information related to the number of objects, the dimensions of the objects, the load limit, and the first height limit value. The maximum number of stacks for block creation is the maximum number of objects that can be stacked when virtually stacking objects. In this way, when objects are virtually stacked to create blocks that serve as the reference unit when setting reserved blocks, the maximum stacking number for block creation, which is set using information related to the number of objects, the dimensions of the objects, the load limit, and the first height limit value, can be used to adjust so that objects are not stacked too high in the vertical direction, allowing for stable stacking.

[0255] <Modification> Although the embodiment of the present invention has been described above, the present invention is not limited to the above-described embodiment, and it goes without saying that various modifications can be made without departing from the spirit of the present invention.

[0256] [Variation 1] In the above embodiment, an example has been given in which the packs P are loaded onto the pallets PL by the loading robot 9, but the loading may be performed by a worker.

[0257] For example, the control unit 3 may generate, based on the reservation setting information, a plan view of the pallet PL showing the positions of the reservation areas 21 where each reservation block will be placed as shown in Fig. 15, as well as image information showing type information of packages P to be placed in each reservation area 21 (e.g., the name of the product contained in the package) and number information, and cause the display unit 16 to display the image information. While referring to the image displayed on the display unit 16, the worker can place the reserved items, the placement destination of which has been determined in advance, in the reservation areas. This allows efficient stacking even if the worker lacks skill in stacking.

[0258] Furthermore, the image information may reflect information about the bales actually stacked on the pallet PL. For example, the information about the number of bales to be placed in a reserved area may display information about how many more tiers can be stacked in that reserved area. When stacking 10 bales in a reserved area, the number 10 is displayed at the start of stacking, and each time one bales is stacked, the number decreases by one, making it easy to know how many more tiers are left.

[0259] Furthermore, the control unit 3 may generate audio information in addition to or instead of the image information based on the reservation setting information, and output the audio information using an audio output unit such as a speaker. The audio information may include, for example, information on whether the package to be stowed is a reserved item or a regular item, and if the package to be stowed is a reserved item, position information of the reserved area in which the reserved item is to be placed, etc. In this way, stowage instructions may be given by audio information in addition to or instead of image information.

[0260] Furthermore, the control unit may generate video information indicating the position of the reservation area 21 in addition to or instead of the image information based on the reservation setting information, and project the video information onto the palette PL.

[0261] In this manner, the reservation setting information may be used to generate image information, audio information, video information for projection, and the like, to assist the worker in the stowing work.

[0262] [Variation 2] In the above embodiment, a flat pallet is used as an example of a loading platform, but the present invention is not limited thereto. The loading platform may be, for example, a box pallet, a roll box pallet, a post pallet, a dolly, etc., as long as it has a loading surface with a limited size. In addition, the present invention may be applied to tidying up objects by making a part of an area in a room function as a loading platform. In the above embodiment, the temporary placement area is provided on the temporary placement pallet, but the present invention is not limited to this. For example, the temporary placement area may be the ground having a placement surface of a predetermined area without providing a temporary placement pallet. In addition, in the above embodiment, a roughly rectangular parallelepiped package such as a cardboard box has been given as an example of an object, but the shape of the package is not limited to a roughly rectangular parallelepiped, and the present invention may be applied to packages of other shapes.

[0263] [Variation 3] In the above embodiment, the case where one pallet PL is required for one shipping destination has been described as an example, but a plurality of pallets PL may be required for one shipping destination.

[0264] For example, when there are multiple pallets PL and packing information for loading onto each pallet is obtained for each pallet, a reservation setting information generation process according to the present invention and a loading process using the set reservation setting information may be performed for each pallet PL.

[0265] Also, for example, when there are multiple pallets PL and packing information for stacking on each pallet cannot be obtained, the reservation setting information generation process according to the present invention and the stowage process using the set reservation setting information may be performed only on the last pallet Last PL. Packing information allocated for stacking on the last pallet Last PL can be obtained by excluding the packing information for the shipment up to the pallet immediately preceding the last pallet Last PL. With this configuration, the effect of efficient stacking of packing on pallets can be maximized.

[0266] [Variation 4] In the above embodiment, an example was given in which the index used to acquire reservation setting information is selected from three options: the number of bales belonging to a block, the base area of ​​the block, and the volume of the block. However, the present invention is not limited to this. For example, an index may be selected from two options: the number of bales and base area, two options: the number of bales and volume, or two options: base area and volume. In this way, one of the number of packages, the base area, and the volume may be determined as an index from options including two or more of the number of packages, the base area, and the volume.

[0267] [Variation 5] In the above embodiment, an example was given in which the information processing system 100 is configured by a plurality of servers such as the automated warehouse control server 6, the shipping management server 7, and the information processing device (loading server) 1, but it may also be configured by, for example, a single server. Conversely, the control unit 3 does not need to be a single information processing device, and the operations of the control unit 3 may be performed by a plurality of information processing devices working together.

[0268] In the above embodiment, an example has been given in which the information processing device 1 has the control unit 3 and the memory unit 4, but the DB unit 40 included in the memory unit 4 may be configured as a separate server different from the information processing device 1. In addition, the DB unit 40 of the information processing device 1, the various DBs 73-75 of the shipment management server 7, and the work sequence information DB 63 of the automated warehouse control server 6 may be configured as one server or multiple servers. [Explanation of symbols]

[0269] 3. Control section 21…Reserved area 100...Information processing systems FBL: Block, full block NFBL…block, not-full block P…Package (Object) PL…Pallet (loading platform)

Claims

1. 1. An information processing system for stowage of objects, comprising: acquire information regarding the number of objects of each type, the dimensions of the objects, the weights of the objects, and the load capacity limits of the objects, for a plurality of objects of different types having different dimensions and / or weights that are transported sequentially, information regarding a first height limit value when the objects are stacked on a loading platform having a loading surface on which the plurality of objects are stacked, and information regarding the ratio of a reserved area to the loading surface; using information about the object dimensions and the object weights to classify the plurality of objects into a plurality of groups, each group consisting of objects whose size and weight difference is equal to or less than a predetermined threshold; using information about the number of objects, the dimensions of the objects, the load weight limit, and the first height limit value, to set a maximum stacking number for block creation that represents a maximum stacking number for block creation of the objects for each group, which is used when virtually stacking the objects for each group to create a block; For each group, objects belonging to the same group are virtually stacked up until the maximum number of stacks for block creation is reached, and one or more positive number towers and / or one fractional number tower that does not reach the maximum number of stacks for block creation are created; For each group, if there is one positive tower, this is used as a full block, and if there are multiple positive towers, the adjacent towers are used as a not-full block. Then, one or more blocks are created. Using any one of the number of objects belonging to the block, the bottom area of ​​the block, and the volume of the block as an index, each of the blocks is set as a reserved block whose placement position on the loading platform is scheduled in the reserved area, or as a normal block whose placement position on the loading platform is not scheduled. Control Unit An information processing system comprising:

2. The control unit In setting the reserved blocks and the normal blocks, The blocks are set as the reserved blocks in descending order of the index value, and the setting of the reserved blocks is continued until the total bottom area of ​​the blocks set as the reserved blocks relative to the placement surface becomes the same as the area of ​​the reserved area calculated based on the ratio information of the reserved area, or until it immediately exceeds the area of ​​the reserved area, and the remaining blocks not set as the reserved blocks are set as the normal blocks. The information processing system according to claim 1 .

3. The control unit creating a plurality of dummy transport patterns for the plurality of objects with different transport orders using information about the types and numbers of the objects; the number of objects belonging to each of the blocks, the base area of ​​the block, and the volume of the block are used as provisional indicators, and each of the blocks is provisionally set as a reserved block or a normal block for each of the provisional indicators; performing a loading calculation for loading objects to be transported by each of the dummy transport patterns onto the loading platform using temporary reservation setting information, which is information relating to the reserved area and the temporarily set reserved blocks and regular blocks, for each of the temporary indicators; For each of the provisional indicators, using the results of the stacking calculation, a stacking success rate is calculated, which is the ratio of the number of dummy transport patterns that have been successfully stacked to the number of the plurality of dummy transport patterns that have been created; The provisional index with the highest loading success rate is determined as the index.

3. The information processing system according to claim 1 or 2.

4. The control unit calculating, for each of the temporary indicators, a space occupancy rate when the objects transported by each of the dummy transport patterns are loaded onto the loading platform using the temporary reservation setting information; If there are multiple provisional indicators with the highest stacking success rate, the provisional indicator with the highest median space occupancy rate is determined as the provisional indicator. The information processing system according to claim 3 .

5. The control unit using the temporary reservation setting information for each of the temporary indicators, calculate a surface area of ​​the group of objects when the plurality of objects transported by each of the dummy transport patterns are stacked on the loading platform, and calculate a surface area ratio that represents the ratio of the surface area of ​​the group of objects to the sum of the surface areas of the objects stacked on the loading platform; If there are multiple provisional indices with the highest median value of the space occupancy rate, the provisional indices with the lowest median value of the surface area ratio are determined as the index. The information processing system according to claim 4 .

6. The control unit In setting the maximum number of stacks for creating blocks, calculating a volume ratio, which is a ratio of the plurality of objects to a maximum volume that can be loaded onto the loading platform based on the first height limit value when the plurality of objects are loaded onto the loading platform; When the floor area ratio is less than a threshold value, a second height limit value that is lower than the first height limit value according to the floor area ratio is calculated, and the second height limit value is set as a calculation height limit value; If the floor area ratio is equal to or greater than a threshold value, the first height limit value is set to the calculation height limit value; The object is virtually stacked one layer at a time, and each time one layer is stacked, it is determined whether or not the load weight limit or the height limit value for calculation will be exceeded if the object is stacked one more layer, and the number of stacked layers when it is determined that at least one of the load weight limit or the height limit value for calculation will be exceeded is set as the maximum number of stacked layers for block creation.

3. The information processing system according to claim 1 or 2.

7. the plurality of objects are stacked on the loading platform in the order of their transport; a placement destination of each of the plurality of objects is the loading platform or the temporary storage area; the loading platform has the reserved area and a normal area that is not the reserved area, The temporary storage area is provided in an area different from the loading platform, The control unit Setting the objects belonging to the reserved block as reserved items and the objects belonging to the normal block as normal items; determining whether the object to be transported and loaded is the reserved item or the regular item; If it is determined that the object is a reserved item, the object to be loaded is placed in the reserved area by setting a placement destination of the object to be loaded in the reserved area; If it is determined to be a normal product, If the object to be stacked satisfies the conditions that it is relatively light and has a relatively small bottom surface when compared with the objects belonging to each of the plurality of groups, and is not placeable in the temporary storage area but is placeable in the normal area, or if the object does not satisfy the conditions but can be placed in the normal area, placing the object to be stacked in the normal area by setting a placement destination of the object to be stacked in the normal area; If the object to be stacked satisfies the condition and can be placed in the temporary storage area, or if the object does not satisfy the condition and cannot be placed in the normal area but can be placed in the temporary storage area, the object to be stacked is placed in the temporary storage area by setting the placement destination of the object to be stacked to the temporary storage area.

3. The information processing system according to claim 1 or 2.

8. The control unit determining that the object to be stacked is the normal item, and determining that the object to be stacked does not satisfy the condition and cannot be placed in either the normal area or the temporary storage area, or, if determining that the object to be stacked satisfies the condition and cannot be placed in either the temporary storage area or the normal storage area, determining whether or not an object already placed in the temporary storage area can be placed in the normal area; If it is determined that the reserved area cannot be arranged in the normal area, the reserved area is changed to a normal area; When it is determined that the object can be placed in the normal area, an object already placed in the temporary storage area is placed in the normal area, and then it is determined whether or not the object to be stacked can be placed in the normal area. When it is determined that the object can be placed, the object to be stacked is placed in the normal area by setting the placement destination of the object to be stacked in the normal area, and when it is determined that the object cannot be placed, the object to be stacked is placed in the temporary storage area by setting the placement destination of the object to be stacked in the temporary storage area. The information processing system according to claim 7 .

9. The control unit setting a placement destination for the object to be stacked based on information about the reserved block, the normal block, and the reserved area; Based on information about the set placement destination, a stowage robot is controlled to transport the object to be stowed to the set placement destination.

3. The information processing system according to claim 1 or 2.

Images