Apparatus and method for processing information

Abstract

To provide an apparatus and method for processing information allowing for operating an unloading device with stability.SOLUTION: An apparatus for processing information according to an embodiment comprises a communication interface, a processor and a storage unit. The communication interface communicates with each unit the unloading device comprises. The processor, if there occurred a failure in unloading operation in the unloading device, generates failure-load information including a reason for the occurrence of the failure in unloading by information acquired from each unit of the unloading device through the communication interface. The storage unit stores the failure-load information the processor generated.SELECTED DRAWING: Figure 4

Description

[Technical field]

[0001] An embodiment of the present invention relates to an information processing device and an information processing method. [Background technology]

[0002] There is known an unloading device, which is an automated robot that unloads cargo loaded on a loading section such as a pallet. Conventional unloading devices specify in their product specifications which cargo they can handle and which cargo they cannot handle, but there is a problem in that it is not easy to determine whether a cargo is suitable for unloading by the unloading device or not, and individual experience and know-how of the operator are required.

[0003] In addition, when an inexperienced operator sets a load that cannot be handled as the load to be unloaded, the unloading device may fail to unload the load and an error may occur. When an error such as a load unloading failure occurs, the unloading device has a problem in that it takes time to recover. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] JP 2021-66578 A Summary of the Invention [Problem to be solved by the invention]

[0005] An object of the present invention is to provide an information processing device and an information processing method that enable stable operation of an unloading device. [Means for solving the problem]

[0006] According to an embodiment, the information processing device has a communication interface, a processor, and a storage unit. The communication interface communicates with each unit of the unloading device. When a failure occurs in an unloading operation in the unloading device, the processor generates failed baggage information including a reason for the unloading failure based on information acquired from each unit of the unloading device via the communication interface. The storage unit stores the failed baggage information generated by the processor. [Brief description of the drawings]

[0007] [Figure 1] FIG. 1 is a diagram showing an example of the configuration of an unloading system including an unloading device having a control device as an information processing device according to an embodiment. [Diagram 2] FIG. 2 is a perspective view showing a schematic configuration of an unloading device having a control device as an information processing device according to the embodiment. [Diagram 3] FIG. 3 is a schematic diagram showing a configuration example of each drive unit such as a moving mechanism, a support unit (rotating unit), and a gripping unit in the unloading device according to the embodiment. [Figure 4] FIG. 4 is a block diagram showing an example of the configuration of a control system of an unloading device having a control device as an example of an information processing device according to the embodiment. [Diagram 5] FIG. 5 is a block diagram showing an example of the configuration of a control system in a WCS as an example of an information processing device according to an embodiment. [Figure 6] FIG. 6 is a schematic diagram for explaining an example of the operation of the unloading operation by the unloading device according to the embodiment. [Figure 7] FIG. 7 is a schematic diagram for explaining an example of the operation of the unloading operation by the unloading device according to the embodiment. [Figure 8] FIG. 8 is a schematic diagram for explaining an example of the operation of the unloading operation by the unloading device according to the embodiment. [Figure 9] FIG. 9 is a flowchart for explaining an example of the operation of the control device of the unloading device as an example of the information processing device according to the embodiment. [Figure 10]FIG. 10 is a flowchart for explaining an example of the operation of the WCS as an example of the information processing device according to the embodiment. [Figure 11] FIG. 11 is a flowchart for explaining an example of the operation of the control device of the unloading device as an example of the information processing device according to the embodiment. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0008] Hereinafter, an unloading system 1 including an information processing device according to an embodiment will be described with reference to the drawings. First, the configuration of an unloading system 1 including an unloading device 2 and a WCS 3 according to the embodiment will be described. FIG. 1 is a diagram showing an example of the configuration of an unloading system 1 including an unloading device 2 and a WCS 3 according to an embodiment. 1, the unloading system 1 includes an unloading device 2, a WCS 3, a monitoring device 4, and a maintenance device 5. However, the monitoring device 4 and the maintenance device 5 may be a single terminal device.

[0009] The unloading device 2 is an unloading device (robot) that unloads cargo loaded on a placement unit such as a pallet. In addition to various drive units, the unloading device 2 has a control device 200 (see FIG. 4) as an information processing device for controlling these drive units. The control device 200 of the unloading device 2 not only controls the operation of each unit, but also performs sensing processing, recognition processing, operation control, error detection, robot condition determination processing, monitor display, and the like based on information detected by sensors. The control device 200 of the unloading device 2 is also communicatively connected to the WCS 3.

[0010] The WCS 3 is an example of an information processing device, and is configured by a computer such as a server device. The WCS 3 may include a NAS, a UPS, a router, and the like, in addition to a server device. The WCS 3 is communicably connected to the unloading device 2. The WCS 3 comprehensively manages the unloading work in the unloading device 2 and maintenance information of the unloading device 2 by communicating with the unloading device 2. For example, the WCS 3 has a function of managing various parts in the unloading device 2 and determining the condition of the unloading device 2 as a maintenance management function for the unloading device 2.

[0011] Furthermore, the WCS 3 has a function of communicating with the monitoring device 4 and the maintenance device 5. For example, the WCS 3 provides the monitoring device 4 with information (monitoring screen) for displaying the operating status of the unloading device 2 and the like. The WCS 3 uses the monitoring device 4 to notify the details of a failure (operation error) in the unloading operation of the unloading device 2, and to notify guidance on maintenance of the unloading device 2. The WCS 3 also accepts operation instructions, such as maintenance and inspection of the unloading device 2, from the maintenance device 5. For example, the WCS 3 obtains information on part replacement in the unloading device 2 input by the maintenance device 5.

[0012] The monitoring device 4 is a computer (PC) having a display unit and the like that is viewed by an operator such as a maintenance worker or a manager. The monitoring device 4 may include a router or the like, or may be a portable terminal device such as a tablet PC. The monitoring device 4 also displays the operating status of the unloading device 2 on the display unit under the control of the WCS 3, displays information regarding failures in unloading work that have occurred in the unloading device 2, and displays guidance regarding maintenance of the unloading device 2.

[0013] The maintenance device 5 is a computer equipped with an operation unit operated by an operator such as a maintenance worker or a manager. The maintenance device 5 may include a router or the like, or may be a portable terminal device such as a tablet PC. The maintenance device 5 accepts operation instructions such as maintenance and inspection for the unloading device 2. For example, information regarding the replacement of parts in the unloading device 2 (parts replacement information) is input to the maintenance device 5, and the maintenance device 5 transmits the input parts replacement information to the WCS 3.

[0014] Next, the configuration of the unloading device 2 according to the embodiment will be described. Fig. 2 is a diagram illustrating an example of the configuration of various drive units in the unloading apparatus 2 according to the embodiment. Fig. 3 is a diagram for explaining a first moving device 24, a support unit (rotating unit) 26, a second moving device 28, a gripping unit 30, and the like, which serve as drive units in the unloading apparatus 2 according to the embodiment.

[0015] 2 unloads a plurality of packages P from a placement section 8 such as a platform on which the packages P are placed, either one at a time or multiple packages P at a time, and carries the unloaded packages P out to the main conveyor 14. Here, the operation of removing packages from the placement section 8 and carrying them out to the main conveyor 14 is referred to as unloading work.

[0016] The unloading device 2 has a frame 22, a first moving device 24, a support section (rotating section) 26, a second moving device 28, and a gripping section 30. The unloading device 2 further has an intermediate conveyor section 32, a lifting section (intermediate conveyor section lifting section) 34, a first sensor 36, and a second sensor 38.

[0017] The unloading device 2 grasps each of the luggage P of the luggage group B loaded on the placement section 8 arranged near the unloading device 2, unloads the luggage onto the intermediate conveyor section 32, and carries the luggage from the intermediate conveyor section 32 to the main conveyor 14. Here, the loaded luggage group B is, for example, one or more tiers each containing a plurality of luggage P, each of which is a substantially rectangular parallelepiped, stacked on top of each other.

[0018] In the configuration example shown in FIG. 2, luggage P, which is an example of luggage to be unloaded, is stacked in three tiers to form luggage group B. Luggage group B includes three tiers: a top tier Us, a middle tier Ms, and a bottom tier Ls. The top tier Us, middle tier Ms, and bottom tier Ls each include multiple luggage P. The luggage P on the top tier Us may be indicated by the symbol P1. The luggage P on the middle tier Ms may be indicated by the symbol P2. The luggage P on the bottom tier Ls may be indicated by the symbol P3. The top surface of each luggage P is indicated by the symbol Pa, the side surface is indicated by the symbol Pb, and the bottom surface is indicated by the symbol Pc.

[0019] For example, the heights of the luggage P1 included in the top tier Us may be the same or different. The same applies to the luggage P2 included in the middle tier Ms and the luggage P3 included in the bottom tier Ls. The luggage P included in the same tier may have different vertical lengths (depth) and horizontal lengths (width). The orientations of the luggage P included in the same tier may be the same or different as long as the sides of the multiple luggage P face each other. For example, in FIG. 2, each tier Us, Ms, and Ls of the luggage group B includes multiple luggage P with different orientations. The placement section 8 for the loaded luggage group B is not limited to a flat pallet, and may be housed in a cage-shaped pallet with casters, a roll box pallet (RBP), or the like.

[0020] The placement unit 8 may have one or more luggage P directly placed thereon, or may have an appropriate sheet placed thereon and one or more luggage P indirectly placed thereon. In this embodiment, placing luggage P on the placement unit 8 includes both directly and indirectly placing luggage P on the placement unit 8.

[0021] As shown in Fig. 3, in order to prevent loads from shifting during transport by truck, for example, an anti-slip agent S such as a suitable adhesive may be applied between the bottom surface Pc of the upper and lower load P1 and the top surface Pa of the load P2, and between the bottom surface Pc of the load P2 and the top surface Pa of the load P3. The anti-slip agent S prevents or suppresses horizontal slippage between the bottom surface Pc of the load P1 and the top surface Pa of the load P2, but when the upper load P1 is lifted upward, frictional and adhesive forces may act between the upper and lower loads P1 and P2 that prevent the lower load P2 from being lifted together. In this way, the upper and lower loads P1 and P2, and the loads P2 and P3 are lightly adhered to each other by the anti-slip agent S.

[0022] There is a large variation in the adhesive strength between the upper and lower luggage P1, P2 and between the luggage P2, P3 due to the anti-slip treatment S. For this reason, when the upper luggage P1 is lifted upward, the lower luggage P2 may be lifted up together with it, which may cause a load to be applied to the exterior of the lower luggage P2. Furthermore, when the luggage P is removed from the luggage group B on the loading section 8, the upper and lower luggage P1, P2 may not separate but may be dragged together due to friction caused by the anti-slip agent S, causing the step to collapse.

[0023] Anti-slip agent S is not applied between front and rear and between left and right luggage P on the same level. In other words, anti-slip agent S is not applied to the sides of luggage P. Therefore, the anti-slip agent S prevents slippage between upper and lower luggage P1, P2, and between upper and lower luggage P2, P3. The anti-slip agent S may be applied in the form of dots or lines between the bottom surface Pc of the luggage P1 and the top surface Pa of the luggage P2, or may be applied in the form of a surface having an appropriate area. Similarly, the anti-slip agent S may be applied in the form of dots or lines between the bottom surface Pc of the luggage P2 and the top surface Pa of the luggage P3, or may be applied in the form of a surface having an appropriate area. One example of luggage P is a cardboard box containing multiple PET bottles.

[0024] As shown in FIG. 2, the frame 22 has, for example, a frame body 52 and a protrusion 54. As shown in Fig. 2, an XYZ coordinate system is used. The X-axis direction is the arrangement direction of the placement unit 8 relative to the frame 22, and the arrangement direction of the main conveyor 14 relative to the frame 22. As an example, the X-axis direction is the movement direction (front-back direction) of the luggage P when the luggage P is taken out from the luggage group B on the placement unit 8. The Y-axis direction is the width direction (left-right direction). The Z-axis direction is the up-down direction.

[0025] 2, the frame body 52 has, for example, four pillars 52a extending in the Z-axis direction and a plurality of beams 52b provided at the upper and lower ends of the four pillars 52a and extending in the X-axis direction and the Y-axis direction. The frame body 52 has a front opening 56a and a rear opening 56b in the front-rear direction. One or more pieces of luggage P are grasped from the placement portion 8 on the outside of the frame body 52, placed on the intermediate conveyor section 32 in the frame body 52 through the front opening 56a, and conveyed to the main conveyor 14 on the outside of the frame body 52 through the rear opening 56b.

[0026] The protrusion 54 is disposed above the position where the placement unit 8 is disposed. The first sensor 36 is attached to the protrusion 54. That is, the first sensor 36 is attached to the frame 22 and disposed above the position where the luggage group B on the placement unit 8 is disposed. The first sensor 36 is, for example, a stereo camera. The stereo camera as the first sensor 36 acquires a photographed image of the uppermost luggage P in the luggage group B on the placement unit 8, and measures the distance between the camera and each luggage P in the luggage group B based on the parallax when the images are captured from two different points. The first sensor 36 acquires a photographed image of the luggage loaded on the placement unit 8, and detects the position, size, and shape of each luggage P in the luggage group B. That is, the first sensor 36 acquires information (detection information) about the luggage P including the photographed image of the luggage P and the position information of the luggage P.

[0027] The second sensor 38 is located in the X-axis direction between the group of bags B loaded on the placement unit 8 and the intermediate conveyor unit 32. The second sensor 38 is attached to the bottom frame of the beam portion 52b of the frame main body 52 of the frame 22, for example.

[0028] The second sensor 38 is, for example, a laser range finder (LRF). The LRF as the second sensor 38 is, for example, an optical device that oscillates an infrared laser from a measurement position where the second sensor 38 is installed to irradiate laser light, and measures the distance to the luggage P based on the time from irradiating the laser light to receiving reflected light from the luggage P held by the gripper 30. The second sensor 38 measures the height of the bottom surface Pc of the luggage P by measuring the distance to the bottom surface Pc of the luggage P on the movement trajectory of the luggage P that is held by the gripper 30 and moved to the intermediate conveyor unit 32 by the gripper 30. The laser light is not limited to infrared laser light, and may be laser light such as visible light, ultraviolet light, or X-rays.

[0029] The height of each piece of luggage P can be calculated from information on the distance to the top surface Pa of the luggage P acquired by the first sensor 36 and the distance to the bottom surface Pc of the luggage P acquired by the second sensor 38. The main conveyor 14 is located on the opposite side of the frame 22 to the position where the first sensor 36 and the second sensor 38 are located along the X-axis. The conveying direction of the main conveyor 14 is, for example, the Y-axis direction.

[0030] As shown in FIG. 2, the first moving device 24 is supported by a frame body 52 of the frame 22 . The first moving device 24 has a lifting mechanism 62 that moves in the Z-axis direction, a horizontal moving device 64 that moves in the X-axis and Y-axis directions, and a connecting portion (rotation auxiliary portion) 66 that connects the horizontal moving device 64 and the support portion 26.

[0031] The lifting mechanism 62 has, for example, a shaft 72 that extends in the Y-axis direction and is supported by the beam portion 52b at the upper end of the frame main body 52, a Z-axis actuator 74 that is supported at one end of the shaft 72 and rotates the shaft 72, and a plurality of wires 76 wound around the shaft 72. The shaft 72 may extend in the X-axis direction instead of the Y-axis direction. When the Z-axis actuator 74 is driven, the shaft 72 rotates. When the shaft 72 rotates, the horizontal movement device 64 supported by the wires 76 moves up and down.

[0032] The lifting mechanism 62 is not limited to the above-mentioned configuration as long as it is configured to lift the horizontal moving device 64. For example, instead of rotating the shaft 72, a linear motor (Z-axis actuator) or the like may be used to directly support the wire 76 to lift the horizontal moving device 64.

[0033] The horizontal movement device 64 has a base 82 supported by, for example, wires 76, an arm 84 extending in the X-axis direction, and a movable part 86 that movably supports the arm 84. The arm 84 is movable in the X-axis direction relative to the base 82 by the movable part 86. The arm 84 is movable in the Y-axis direction relative to the base 82 by the movable part 86. The movable part 86 has an X-axis actuator 86a and a Y-axis actuator 86b (see FIG. 4).

[0034] 2 and 3, i.e., an orthogonal robot arm that moves linearly in the three axial directions (front-back direction), Y-axis direction (left-right direction), and Z-axis direction (height direction). The first moving device 24 can move the arm 84 independently in the X-axis direction, the Y-axis direction, and the Z-axis direction under the control of the gripping unit 30 by the control device 200 described later. The first moving device 24 moves the arm 84 in the X-axis direction, the Y-axis direction, and the Z-axis direction, for example, to move the gripping unit 30 to a position where it grips a piece of luggage P of the piece of luggage group B, and places the piece of luggage P gripped by the gripping unit 30 on the intermediate conveyor unit 32.

[0035] The support part 26 is supported at or near the tip of the arm 84 of the horizontal moving device 64. The support part 26 supports the gripper 30. The support part 26 is located on the opposite side to the main conveyor 14 along the X-axis direction of the first moving device 24. The support part 26 moves integrally with the movement of the arm 84 of the horizontal moving device 64 in the X-axis direction, the Y-axis direction, and the Z-axis direction. A part or the whole of the support part 26 can be moved by the first moving device 24 between a position where it is disposed in the space inside the frame main body 52 of the frame 22 and a position where it is disposed below the protrusion 54 on the outside of the frame main body 52 of the frame 22 through the front opening 56a of the frame main body 52.

[0036] The support portion 26 has a base portion 122 and a rotation shaft 124 that supports the base portion 122 on the arm 84 of the horizontal movement device 64 of the first movement device 24 . The base 122 is, for example, substantially L-shaped. The base 122 has an arm 122a configured as a rod extending in one direction, and an extension portion 122b extending from one end of the arm 122a in the longitudinal direction in a direction perpendicular to the longitudinal direction of the arm 122a. The arm 122a and the extension portion 122b are integrally formed, and it is preferable that the angle between the extension direction of the arm 122a and the extension direction of the extension portion 122b is constant.

[0037] The base 122 thus configured is supported by the arm 84 of the first moving device 24 at the boundary between the arm 122a and the extending portion 122b so as to be rotatable about a rotation shaft 124 parallel to the Y-axis direction, as shown in Fig. 3. That is, the support part 26 is rotatable relative to the horizontal moving device 64 about the rotation shaft 124 in the Y-axis direction.

[0038] In the initial position, the arm 122a and the extension 122b have a positional relationship that allows the arm 122a to be parallel to the X-axis direction (front-rear direction) and the extension 122b to be in a position extending downward along the Z-axis direction. The end face of the arm 122a on the main conveyor 14 side of the rotation shaft 124 side is configured as a curved surface 122c that allows the arm 122a of the support unit 26 to rotate within an appropriate range relative to the arm 84 of the horizontal movement device 64, for example. The maximum amount of rotation of the base 122 (arm 122a and extension 122b) of the support unit 26 relative to the arm 84 of the horizontal movement device 64 may be specified by an appropriate stopper.

[0039] The base 122 is configured to be rotatable by a predetermined angle from an initial position in which the upper surface suction portion (upper surface holding portion) 142 and the side surface suction portion (side surface holding portion) 144 of the gripping portion 30 are not gripping or holding the load P. This predetermined angle is an angle at which the gripping portion 30 does not come into contact with the first moving device 24 when the base 122 of the support portion 26 rotates around the rotation shaft 124 due to the action of a rotation actuator 134 described later and the weight of the load P. In this embodiment, the predetermined angle is, for example, 10 degrees to 15 degrees. The maximum rotation angle of the base 122 may be the same as the predetermined angle or may be greater than it.

[0040] A second moving device (front-rear moving device) 28 is supported on the extension 122b of the base 122. The second moving device 28 is used to move a side surface adsorption part 144, which is supported below the base 122 of the support part 26, in the front-rear direction, as described later. The second moving device 28 has a base 126a fixed to, for example, the extension 122b of the base 122, a moving part 126b connected to the base 126a so as to be movable in the X-axis direction, and a driving part 126c of the moving part 126b. The driving part 126c is fixed to, for example, the base 126a. A side surface adsorption part 144, which is described later, of the grip part 30 is supported on, for example, the tip of the moving part 126b in the moving direction. The initial position of the moving part 126b is set to be the position furthest from the upper surface adsorption part 142 in the front-rear direction.

[0041] When the driving unit 126c is driven to move the moving unit 126b, the side surface adsorption unit 144 moves. The driving unit 126c is, for example, a motor. The second moving device 28 thus configured is fixed to the base 122 in a position in which the moving direction of the moving unit 126b is parallel to the front-rear direction when the base 122 is in the initial position.

[0042] The connecting portion 66 has, for example, an arm 132 extending forward along the X-axis direction from above the arm 84 of the horizontal movement device 64, and a rotation actuator 134 supported by the arm 132. An air cylinder, for example, is used as the rotation actuator 134. The rotation actuator 134 has a cylinder 134a and a piston 134b that can be moved in and out of the cylinder 134a by air supplied from an appropriate pump. For example, the cylinder 134a is supported by the arm 132. A protruding end 134c of the piston 134b is supported by an axis member 136a of a rotation fitting 136 to an arm 122a of the base 122 of the support portion 26.

[0043] The amount of rotation of the support part 26 about the rotation shaft 124 relative to the horizontal movement device 64 is adjusted by adjusting the amount of projection of the projection end 134c of the piston 134b relative to the cylinder 134a of the rotation actuator 134. Therefore, the unloading device 2 can actively move the support part 26 relative to the horizontal movement device 64 by the rotation actuator 134.

[0044] 2 where the piston 134b is retracted from the cylinder 134a, the amount of projection of the projection end 134c of the piston 134b from the cylinder 134a of the rotary actuator 134 is set to D0. When the piston 134b is pushed out from the initial position into the cylinder 134a in the rotary position shown in FIGS. 5 and 6, the amount of projection of the projection end 134c of the piston 134b from the cylinder 134a of the rotary actuator 134 is set to D1.

[0045] By adjusting the protruding amount (position) of the protruding end 134c of the piston 134b of the rotation actuator 134, the arm 122a of the base 122 is maintained in an initial position parallel to the front-rear direction when the gripper 30 is not gripping the luggage P. When the gripper 30 is gripping the luggage P, the support part 26 rotates around the axis of the rotation shaft 124, and the arm 122a of the base 122 moves to an inclined position inclined in the front-rear direction.

[0046] The weight of the base 122 of the support unit 26, the second moving device 28, the grip unit 30, and further the baggage P is loaded onto the rotation actuator 134. The piston 134b of the rotation actuator 134 can be pushed out and retracted into the cylinder 134a when the above-mentioned weight is loaded. It is preferable that the pushing speed and / or the retracting speed of the piston 134b can be adjusted with respect to the cylinder 134a when the above-mentioned weight is loaded.

[0047] In this embodiment, when the gripper 30 appropriately grips the load, and the protruding amount of the piston 134b with respect to the cylinder 134a is changed from D0 to D1, the supporter 26, the second moving device 28, the gripper 30, and the weight of the load P are freely rotated. As an example, a single-acting air cylinder is used as the rotation actuator 134. The rotation actuator 134 is used as a damper, and slowly rotates the base 122 of the supporter 26. When the protruding amount of the piston 134b with respect to the cylinder 134a is changed from D1 to D0, the supporter 26 is moved to the initial position (fixed position) at an appropriate speed against the weights of the supporter 26, the second moving device 28, and the gripper 30.

[0048] 3, the cylinder 134a is disposed on the arm 132 of the connecting portion 66, and the piston 134b is connected to the arm 122a of the base 122 of the support portion 26 via a rotating fitting 136. The cylinder 134a may be connected to the arm 122a of the base 122 of the support portion 26, and the piston 134b may be connected to the arm 132 of the connecting portion 66. The rotation actuator 134 may be an electric cylinder or an air cylinder.

[0049] In this embodiment, an example will be described in which an air cylinder is used as the rotation actuator 134 supported by the arm 132 of the connecting portion 66 of the first moving device 24, but the arm 132 of the connecting portion 66 may be rotated about an axis (Y axis) parallel to the rotation axis 124 relative to the arm 84 of the horizontal moving device 64. In this case, an appropriate motor can be used as the rotation actuator.

[0050] The gripping unit 30 grips a piece of luggage P of the luggage group B and releases the grip. The gripping unit 30 has, for example, an upper surface suction unit (first suction unit) 142 supported by the arm 122a of the support unit 26 and suctions the upper surface Pa of the piece of luggage P, and a side surface suction unit (second suction unit) 144 supported by the moving unit 126b of the second moving device 28 and suctions the side surface Pb of the piece of luggage P on the frame main body 52 side. The upper surface suction unit 142 faces downward in the initial position. The side surface suction unit 144 faces in a direction away from the frame 22 (to the rear side) in the initial position. The directions in which the upper surface suction unit 142 and the side surface suction unit 144 face can be changed by the rotation of the support unit 26. The upper surface suction unit 142 and the side surface suction unit 144 are fixed at a predetermined angle. The predetermined angle is, for example, 90 degrees. Therefore, the gripping unit 30 can grip the luggage P by suctioning the top surface Pa of the luggage P with the top surface suction portion 142 and by suctioning the side surface Pb of the luggage P with the side surface suction portion 144.

[0051] The upper surface suction portion 142 has a substantially rectangular parallelepiped first main body (block body) 142a and a plurality of first suction pads (upper surface suction portions) 142b supported by the first main body 142a. The first suction pads 142b face downward. The first suction pads 142b are connected to a negative pressure generating unit 40 (see FIG. 4) controlled by the control device 200, for example. Therefore, the upper surface suction portion 142 grips the upper surface Pa of the luggage P by suction.

[0052] The side suction portion 144 has a substantially rectangular parallelepiped second main body (block body) 144a and a plurality of second suction pads (side suction portions) 144b supported by the second main body 144a. The second main body 144a is supported, for example, by the moving portion 126b of the second moving device 28. The second suction pads 142b face in a direction away from the frame 22. The second suction pads 144b are connected, for example, to a negative pressure generating unit 40 (see FIG. 4) controlled by the control device 200. Therefore, the side suction portion 144 grips the side surface Pb of the luggage P by suction.

[0053] The number of the first suction pad 142b and the second suction pad 144b of the gripping unit 30 may be one or more. The first suction pad 142b and the second suction pad 144b grip the luggage P by vacuum suction by the negative pressure generating unit 40. When the first suction pad 142b and the second suction pad 144b are in contact with the surface of the luggage P and a negative pressure is created in the first suction pad 142b and the second suction pad 144b, the first suction pad 142b and the second suction pad 144b are vacuum-sucked to the surface of the luggage P. When the negative pressure in the first suction pad 142b and the second suction pad 144b is released, the suction pads release the luggage P. The gripping / releasing of the luggage P is performed by controlling the negative pressure generating unit 40 by the control device 200.

[0054] Note that the gripping unit 30 may employ various gripping mechanisms other than suction pads. The gripping unit may include, for example, a gripper that grips the load P. The gripper includes a plurality of fingers and a plurality of joint mechanisms connecting the plurality of fingers. The joint mechanisms may be configured so that the fingers move in conjunction with the movement of the joint mechanisms. The gripper applies force to the load from a plurality of opposing directions, for example, at two or more contact points between the plurality of fingers. As a result, the gripping unit grips the load by friction generated between the fingers and the load. In this way, various gripping mechanisms capable of gripping the load P of the load group B may be used.

[0055] The gripping portion 30, i.e., the upper surface suction portion 142 and the side surface suction portion 144, are rotated within a predetermined range together with the base portion 122 of the support portion 26 and the second moving device 28 by the rotation axis 124 of the support portion 26 of the first moving device 24. A lifting section for lifting and lowering the intermediate conveyor section 32 is provided in the frame 22 of the unloading device 2. The intermediate conveyor section 32 is supported by the lifting section .

[0056] The lifting unit 34 has, for example, a shaft 92 that extends in the Y-axis direction and is supported by the beam portion 52b at the upper end of the frame main body 52, a Z-axis actuator 94 that is supported at one end of the shaft 92 and rotates the shaft 92, and a plurality of wires 96 wound around the shaft 92. The shaft 92 may extend in the X-axis direction instead of the Y-axis direction. When the Z-axis actuator 94 is driven, the shaft 92 rotates. When the shaft 92 rotates, the intermediate conveyor unit 32 supported by the wires 96 rises and falls.

[0057] The intermediate conveyor section 32 is, for example, a belt conveyor. The intermediate conveyor section 32 may be a roller conveyor. The intermediate conveyor section 32 has, for example, a belt 102 on which a package P can be placed, and a motor 104 that drives the belt 102. The belt 102 is an endless belt. An upper surface 102a of the belt 102 is movable, for example, in the front-rear direction (X-axis direction) by the motor 42. The package P gripped by the gripping section 30 is placed on the upper surface 102a of the intermediate conveyor section 32 by the movement of the gripping section 30 and the release of the grip.

[0058] One end of the belt 102 is located near the front opening 56a. The other end of the belt 102 is located near the rear opening 56b. The distance from one end of the belt 102 on the main conveyor 14 side to the upper surface 14a of the main conveyor 14 is smaller than the dimension of the luggage P in the X-axis direction and is set to a distance that moves the luggage P from the upper surface 102a of the belt 102 to the main conveyor 14. In other words, the gap between the belt 102 and the upper surface 14a of the main conveyor 14 is set to a gap that prevents the luggage P from falling through the gap.

[0059] The lifting section 34 lifts and lowers the intermediate conveyor section 32 so that the upper surface 102a of the belt 102 of the intermediate conveyor section 32 is positioned slightly higher than the upper surface 14a of the main conveyor 14. As the upper surface 102a of the belt 102 moves toward the main conveyor 14, the baggage P placed on the upper surface 102a is carried out to the main conveyor 14.

[0060] The lifting unit 34 has been described as an example in which the shaft 92 and the actuator 94 are disposed on the upper side of the frame 22. The lifting unit 34 may be disposed on the lower side of the intermediate conveyor unit 32 so that the upper surface 102a of the belt 102 of the intermediate conveyor unit 32 is positioned at a desired position. The lifting section 34 may be configured to be able to lift and lower the intermediate conveyor section 32. The above-described configuration of the lifting section 34 is merely an example and is not limiting.

[0061] Next, a configuration of the control device 200 as an information processing device in the unloading device 2 according to the embodiment will be described. The unloading equipment 2 has a control device (information processing device) 200 connected to each part, as exemplified in Fig. 4. The control device 200 controls the operation of each part of the unloading equipment 2. The main conveyor 14 may be controlled by the control device 200 or by another control device. The control device 200 may be disposed adjacent to the frame 22 and the main conveyor 14 of the unloading equipment 2, or may be located at a position away from the frame 22 and the main conveyor 14 of the unloading equipment 2.

[0062] The control device 200 includes a processor 201, a communication interface 202, a memory 203, a storage 204, and a higher-level communication unit 205. These can communicate with each other via a bus line 210. The control device 200 is also connected to a display unit 2221 and an operation unit 222 provided in the unloading device 12.

[0063] The communication interface 202 includes an interface for connecting to each part of the unloading device 12. The communication interface 202 is provided with terminals and circuits compatible with communication standards and the like for the control device 200 to communicate with each part of the unloading device 2. Based on the control of the processor 201, the communication interface 202 is communicatively connected via wire or wirelessly to each part of the first moving device 24, the gripping unit 30, the intermediate conveyor unit 32, the first sensor 36, and the second sensor 38.

[0064] The control device 200 (processor 201) controls the X-axis actuator 86a, the Y-axis actuator 86b, the Z-axis actuator 74, the rotation actuator 134, the drive unit 126c of the support unit 26, the gripper 30, the motor 42 of the intermediate conveyor unit 32, the Z-axis actuator 94 of the intermediate conveyor unit lifting unit 34, the first sensor 36, and the second sensor 38 of the first moving device 24 via the communication interface 202. The control device 200 (processor 201) also controls the display contents to be displayed on the display unit 221 and receives operation instructions input to the operation unit 222 via the communication interface 202. The display unit 221 and the operation unit 222 are, for example, display devices provided with a touch panel.

[0065] The processor 201 is configured, for example, by a CPU (Central Processing Unit). The memory 203 is a system memory, and includes a ROM (Read Only Memory), which is a read-only data memory, or a RAM (Random Access Memory) that temporarily stores data. The storage 204 is a data memory configured by a rewritable non-volatile storage device. The storage 204 may be, for example, a large-capacity storage device such as an HDD (Hard Disk Drive) or an SSD (Solid State Drive).

[0066] The memory 203 or the storage 204 stores control programs and various data for each device of the unloading device 2. The processor 201 performs various processes based on the programs stored in the memory 203 or the storage 204. In other words, the processor 201 executes various programs as a software functional unit. Instead of a CPU, an ASIC (Application Specific Integrated Circuit) or an FPGA (Field Programmable Gate Array) may be used as a hardware functional unit.

[0067] The upper communication unit 205 is a communication interface for communicating with the WCS 3, which is a higher-level device of the unloading device 2. The upper communication unit 205 includes, for example, a local area network (LAN) interface for communicating with the WCS 3 via a LAN. The control device 200 transmits and receives data to and from the WCS 3 via the upper communication unit 205.

[0068] Next, a configuration of the WCS 3 as an information processing device connected to the unloading device 2 according to the embodiment will be described. FIG. 5 is a block diagram showing an example of the configuration of a control system in the WCS 3 serving as an information processing device connected to the unloading device 2 according to the embodiment. 1, the WCS 3 is communicatively connected to the unloading device 2, the monitoring device 4, the maintenance device 5, etc. As shown in FIG. 5, the WCS 3 has a processor 301, a memory 302, a storage 303, a terminal communication unit 304, and a robot communication unit 305.

[0069] The processor 301 is configured with, for example, a CPU (Central Processing Unit). The processor 301 performs various processes based on programs stored in the memory 302 or the storage 303. In other words, the processor 301 executes various programs as a software functional unit. The processor 301 may use, instead of a CPU, an ASIC (Application Specific Integrated Circuit) or an FPGA (Field Programmable Gate Array) as a hardware functional unit.

[0070] The memory 302 is a system memory of the WCS 3. The memory 302 includes a ROM (Read Only Memory), which is a read-only data memory, and a RAM (Random Access Memory) that temporarily stores data.

[0071] The storage 303 is a data memory configured with a rewritable non-volatile storage device. The storage 303 may be a large-capacity storage such as a hard disk drive (HDD) or a solid state drive (SSD). The memory 302 or the storage 303 stores programs, various control data, and the like.

[0072] The storage 303 also has various databases. For example, the storage 303 stores the results of unloading work in the unloading device 2, information on luggage that has failed to be unloaded (failed luggage information), etc. The storage 303 also stores information on various parts in the unloading device 2. For example, the storage 303 stores information on the replacement of each part in the unloading device 2 (part replacement information).

[0073] The terminal communication unit 304 is a communication interface for communicating with the monitoring device (monitoring terminal) 4 and the maintenance device (maintenance terminal) 5. The robot communication unit 305 is a communication interface for communicating with the unloading device 2. The terminal communication unit 304 and the robot communication unit 305 may be configured, for example, as a local area network (LAN) interface for communicating with the monitoring device 4, the maintenance device 5, and the unloading device 2 via the LAN.

[0074] Next, an example of the operation of the unloading operation by the unloading device 2 according to the embodiment will be described. 6 to 8 are explanatory diagrams illustrating a series of operations performed by the unloading device 2 according to the embodiment until it grips and lifts the luggage P. The processor 201 of the control device 200 first sets the unloading device 2 to an initial state. For example, the processor 201 sets the initial state to a state in which the intermediate conveyor unit 32 is located at a predetermined height and the rotary actuator 134 retracts the piston 134b into the cylinder 134a. The placement unit 8 is disposed at a predetermined position below the protruding unit 54 and the first sensor 36 of the unloading device 2. It is assumed that a plurality of luggage P (baggage group B) is placed on the placement unit 8.

[0075] The processor 201 captures images of multiple luggage P1 on the top shelf Us placed on the placement unit 8 using the first sensor 36 as a stereo camera. The first sensor 36 transmits detection information including the captured image to the processor 201. The processor 201 recognizes the position, size, and shape of the luggage P1 based on the captured image captured by the first sensor. The processor 201 stores information (luggage information) related to the luggage P1 including the captured image by the first sensor 36 and information recognized from the captured image in the memory 203 and / or the storage 204.

[0076] When the processor 201 recognizes that there is a package P1 to be unloaded, it performs operation settings for removing and carrying out (unloading) the package P1. For example, the processor 201 sets parameters for carrying out the package based on package information of the package P1, such as the position, size, and shape of the package P1. The processor 201 also determines the order in which the multiple packages P1 on the top shelf Us recognized from the captured image by the first sensor 36 are to be unloaded.

[0077] For example, the processor 201 determines the order of unloading of each piece of luggage P1 on the top tier Us so that each piece of luggage P1 on the top tier Us is unloaded onto the upper surface 102a of the belt 102 of the intermediate conveyor unit 32 in the shortest moving distance of the first moving device 24. In addition, the processor 201 sets whether to use a normal mode in which one piece of luggage P1 is held or a high-speed mode in which multiple pieces of luggage P1 are held simultaneously, based on the size (width in the left-right direction) and weight of the pieces of luggage P1.

[0078] The processor 201 moves the gripping unit 30 to a gripping position of the load P1 to be gripped on the top shelf Us by the first moving device 24 in accordance with the operation settings. The processor 201 operates the X-axis actuator 86a, the Y-axis actuator 86b, and the Z-axis actuator 74, and moves the gripping unit 30 to the gripping position of the load P1 by the first moving device 24. Here, the gripping position is a position where the first suction pad 142b of the upper surface suction unit 142 abuts on the upper surface Pa of the load P1 to be gripped placed on the placement unit 8.

[0079] The processor 201 controls the Z-axis actuator 94 of the intermediate conveyor section 32 to adjust the height position of the upper surface 102a of the belt 102 of the intermediate conveyor section 32 so that the upper surface 102a of the belt 102 of the intermediate conveyor section 32 does not come into contact with the first moving device 24, the support section 26, and the gripping section 30.

[0080] When the rotation actuator 134 is in a state where the piston 134b is retracted, the lower ends of the multiple suction pads 142b of the upper surface suction unit 142 are parallel to the XY plane. Therefore, the multiple suction pads 142b of the upper surface suction unit 142 come into contact with the upper surface Pa of the load P1 at approximately the same time. Just before, at the same time, or just after the multiple suction pads 142b of the upper surface suction unit 142 come into contact with the upper surface Pa of the load P1, the processor 201 drives the drive unit 126c of the second moving device 28 to control the moving unit 126b to move forward in the X-axis direction. In this case, the ends of the multiple suction pads 144b of the side surface suction unit 144 on the side surface Pb of the load P1 are parallel to the YZ plane. Therefore, the multiple suction pads 144b of the side surface suction unit 144 come into contact with the side surface Pb of the load P1 at approximately the same time. That is, the processor 201 controls the gripping portion 30 to contact the top surface Pa and the front side surface Pb of the baggage P1.

[0081] The processor 201 operates the negative pressure generating unit 40 and controls it to create a negative pressure inside the first suction pad 142b and the second suction pad 144b until the vacuum pressure becomes constant. The processor 201 causes the suction pads 142b, 144b of the gripping unit 30 to vacuum-suck and grip the top surface Pa and side surface Pb of the load P1 to be gripped. As a result, the processor 201 causes the gripping unit 30 located at the tip side of the first moving device 24 to grip the load P, as shown in FIG. 6.

[0082] At this time, the lower ends of the multiple suction pads 142b of the upper surface suction portion 142 are parallel to the XY plane. The ends of the multiple suction pads 144b of the side surface suction portion 144 on the side of the side surface Pb of the luggage P are parallel to the YZ plane.

[0083] The processor 201 controls the cylinder 134a of the rotation actuator 134 to release the piston 134b. The processor 201 operates the X-axis actuator 86a, the Y-axis actuator 86b, the Z-axis actuator 74, and the rotation actuator 134. In a state in which the upper surface Pa and the side surface Pb of the luggage P are adsorbed by the upper surface adsorption portion 142 and the side surface adsorption portion 144, the processor 201 controls the first moving device 24 to move the first moving device 24 above the luggage P along a direction intersecting the side surface Pb of the luggage P adsorbed by the side surface adsorption portion 144 or a plane virtually extending from the side surface Pb.

[0084] The processor 201 causes the first moving device 24 to move the rotation shaft 124 parallel to the Y-axis direction in a direction away from the frame 22 and upward along an appropriate trajectory. In this case, the unloading device 2 moves the luggage P1 while pressing the upper surface Pa of the lower luggage P2 downward with a downward force using the bottom surface Pc of the luggage P1 held by the gripping unit 30. Therefore, a downward pressing force acts on the lower luggage P2 due to the movement of the luggage P1, making it easier to peel off the bottom surface Pc of the luggage P1 from the anti-slip treatment agent S on the upper surface Pa of the luggage P2.

[0085] Since the processor 201 releases the piston 134b from the cylinder 134a of the rotation actuator 134, when the rotation shaft 124 is moved along an appropriate trajectory, the support portion 26 rotates relative to a fixed position due to the weight of the support portion 26, the gripping portion 30 (the upper surface suction portion 142 and the side surface suction portion 144), and further the luggage P1.

[0086] The processor 201 controls the cylinder 134a of the rotation actuator 134 so as to seemingly push out the piston 134b. While the arm 122a of the base 122 of the support unit 26 and the moving unit 126b of the second moving device 28 are kept parallel to each other, the arm 122a of the base 122 rotates around the rotation shaft 124 in the direction along the X-axis direction. As a result, the arm 122a of the base 122 is tilted. That is, the support unit 26 and the grip unit 30 rotate around the predetermined rotation shaft 124.

[0087] The processor 201 controls the gripper 30 to move from the front side to the back side (the side to be moved away) with the X-axis actuator 86a of the first moving device 24 with respect to the frame 22 of the unloading device 2, and presses the luggage P from the front side to the back side with the side suction part 144, and also controls the X-axis actuator 86a, the Y-axis actuator 86b, the Z-axis actuator 74, and the rotation actuator 134 of the first moving device 24 to be appropriately operated to raise the upper surface suction part 142. For this reason, the processor 201 moves the front side of the luggage P upward with respect to the back side of the bottom surface Pc of the luggage P while lifting the front side from the position shown in FIG. 6 to the position shown in FIG. 7. Here, the front side refers to the main conveyor 14 side along the X-axis direction with respect to the unloading device 2. The back side refers to the side away from the main conveyor 14 along the X-axis direction with respect to the unloading device 2.

[0088] As a result, the package P1 rotates toward the rear side around an edge Pd (the end of the bottom surface Pc of the package P1 away from the side surface Pb adsorbed by the side surface adsorption portion 144) along the Y-axis direction at the rear side of the package P1 as a pivot point. At this time, since the edge Pd maintains its position, the package P2 below the package P1 gripped by the gripping portion 30 is pressed downward by the edge Pd of the package P1, and its upward movement is restricted.

[0089] In this case, the angle between the bottom surface Pc of the load P1 held by the gripping unit 30 and the top surface Pa of the load P2 below it is, for example, 10 degrees to 15 degrees. The distance between the bottom edge of the side surface Pb of the load P1 held by the gripping unit 30 and held by the side surface suction unit 144 and the top surface Pa of the load P2 below it is about a few centimeters, for example, about 5 cm. The angle and distance may be such that the bottom surface Pc of the load P1 held by the gripping unit 30 can be separated from the anti-slip treatment S on the top surface Pa of the load P2 below it.

[0090] Depending on the gap between the luggage P held by the gripping unit 30 and the luggage P on the far side that is farther away from the frame 22 of the unloading device 2 than the luggage P held by the gripping unit 30, the luggage P on the far side is pressed toward the far side (the side to be separated) against the frame 22 of the unloading device 2. When the luggage P held by the gripping unit 30 presses the luggage P on the far side toward the far side, as shown in Fig. 7, the luggage P on the far side of the top tier Us elastically deforms while maintaining a state in which its bottom surface Pc is in contact with the top surface Pa of the luggage P on the intermediate tier Ms below it.

[0091] In this manner, the processor 201 performs control in the unloading device 2 to push the side surface Pb of the luggage P1 held by the gripping unit 30 toward the rear, while lifting the front top surface Pa of the luggage P1 upward relative to the rear top surface Pa, without substantially moving the rear side Pd of the luggage P1. That is, the processor 201 rotates the luggage P1 held by the gripping unit 30 in the unloading device 2 about the side Pd of the luggage P1 as a pivot. In this manner, the processor 201 performs control in the unloading device 2 to peel off the bottom surface Pc of the luggage P1 held by the gripping unit 30 from the anti-slip agent S on the top surface Pa of the luggage P2 below the luggage P1 held by the gripping unit 30.

[0092] The unloading device 2 raises the lower end of the side surface Pb of the bottom surface Pc of the luggage P1 that is adsorbed by the side surface adsorption portion 144 toward the end portion Pd of the bottom surface Pc of the luggage P1 that is distant from the side surface Pb that is adsorbed by the side surface adsorption portion 144. At this time, the end portion Pd is used as a fulcrum and the adsorption portions 142, 144 are used as points of force, and the bottom surface Pc that serves as the point of action is raised by the principle of leverage. Since the end portion Pd of the luggage P1 itself is not separated from the upper surface Pa of the luggage P2 below and is not actually lifted, the bottom surface Pc of the luggage P1 can be peeled off with a light force from the anti-slip treatment agent S on the upper surface Pa of the luggage P2 below the luggage P1 gripped by the gripping portion 30.

[0093] When the processor 201 reaches the position shown in Fig. 7, it controls the first moving device 24 to move the gripper 30 from the position shown in Fig. 7 to the position shown in Fig. 8. The processor 201 uses the second sensor 38 to measure the height of the bottom surface Pc of the luggage P1 that has been gripped by the gripper 30 and shifted to the position shown in Fig. 8. Based on the height of the bottom surface Pc of the luggage P1 measured by the second sensor 38, the processor 201 operates the Z-axis actuator 94 and controls the intermediate conveyor unit 32 to move to an appropriate height.

[0094] That is, the upper surface 102a of the belt 102 of the intermediate conveyor unit 32 is moved to a position equal to or slightly lower than the position of the bottom surface Pc of the luggage P1 by the lifting unit 34 that lifts and lowers the intermediate conveyor unit 32. Here, the height of the luggage P1 gripped by the gripping unit 30 can be calculated from information on the distance to the top surface Pa of the luggage P1 already acquired by the first sensor 36 and the distance to the bottom surface Pc of the luggage P1 acquired by the second sensor 38.

[0095] After adjusting the height of the upper surface 102a of the belt 102 of the intermediate conveyor section 32, the processor 201 causes the first moving device 24 to move the gripping section 30 to a position where the luggage P1 is to be placed (the upper surface 102a of the belt 102 of the intermediate conveyor section 32).

[0096] The processor 201 moves the first moving device 24 above the luggage P1 and rotates it around the side Pd as a pivot axis, and then when the first moving device 24 moves the gripping portion 30 to a position where the luggage P1 is to be placed (the upper surface 102a of the belt 102 of the intermediate conveyor section 32), it controls the first moving device 24 to move the side adsorption portion 144 in a direction away from the luggage P while the side Pb of the luggage P is adsorbed by the side adsorption portion 144.

[0097] For this reason, the processor 201 operates the first moving device 24 for the luggage P already held by the gripping unit 30, and controls it to move in a direction away from the side surface Pb of the luggage P when it is imagined that the luggage P is about to be held by the gripping unit 30. In other words, the direction in which the first moving device 24 moves away refers to the direction in which the second moving device 28 is operated to move the side surface suction unit 144 away from the side surface Pb of the luggage P when the support unit (rotating unit) 26 is in a fixed position. The direction in which the first moving device 24 is moved away coincides or approximately coincides with the horizontal direction.

[0098] The processor 201 controls the first moving device 24 to move the luggage P held by the gripping unit 30 horizontally or approximately horizontally, and moves the luggage P along the X-axis through the front opening 56a of the frame 22 to the upper surface 102a of the belt 102 of the intermediate conveyor unit 32. At this time, the processor 201 appropriately operates the X-axis actuator 86a, the Y-axis actuator 86b, and the Z-axis actuator 74 of the first moving device 24. In this case, the unloading device 2 pulls the luggage P1 held by the gripping unit 30 into contact with the upper surface Pa of the luggage P2 below, and pulls the luggage P1 above the upper surface 102a of the belt 102 of the intermediate conveyor unit 32 through the front opening 56a of the frame 22.

[0099] By such control, when the luggage P1 gripped by the gripping section 30 is pulled above the upper surface 102a of the belt 102 of the intermediate conveyor section 32, the side Pd of the luggage P1 comes into contact with the upper surface 102a of the belt 102 of the intermediate conveyor section 32. The processor 201 controls the negative pressure generating unit 40 to release the generation of negative pressure, releases the suction to the luggage P gripped by the gripping unit 30, and releases the luggage P onto the upper surface 102a of the belt 102 of the intermediate conveyor unit 32.

[0100] The processor 201 releases the gripped baggage P from the gripper 30 and operates the Z-axis actuator 74 of the first moving device 24 to move the upper surface suction part 142 of the gripper 30 upward. The processor 201 drives the drive part 126c of the second moving device 28 to move the moving part 126b toward the front along the X-axis direction, and retracts the side surface suction part 144 toward the front along the X-axis direction, i.e., toward the main conveyor 14, relative to the baggage P. At this time, the processor 201 operates the rotation actuator 134 to retract the piston 134b relative to the cylinder 134a, so that the arm 122a of the base 122 of the support part 26 is parallel to the X-axis direction and the extension part 122b of the base 122 is parallel to the Y-axis direction.

[0101] The processor 201 operates the Z-axis actuator 94 of the lifting unit 34 to adjust the height of the upper surface 102a of the belt 102 of the intermediate conveyor unit 32 to the height of the main conveyor 14. At this time, in order to prevent the first moving device 24 from contacting the luggage P, the processor 201 operates the Z-axis actuator 74 of the first moving device 24 as necessary to move the first moving device 24 further upward. The processor 201 drives the motor 42 of the intermediate conveyor unit 32 to operate the belt 102 of the intermediate conveyor unit 32. As a result, the luggage P is carried out to the outside of the frame 22 through the rear opening 56b of the frame 22 and placed on the main conveyor 14.

[0102] The processor 201 executes the above-mentioned unloading operation for each piece of luggage in each luggage group B on the placement unit 8. That is, the unloading device 2 unloads all luggage P1 at an appropriate height from the top tier Us of the luggage group B on the placement unit 8 one by one, or multiple luggage P1 such as two luggages lined up in the left-right direction (Y-axis direction) simultaneously, onto the upper surface 102a of the belt 102 of the intermediate conveyor unit 32, and carries out the unloaded luggage P1 to the main conveyor 14. After that, the unloading device 2 unloads all luggage P2 from the middle tier Ms of the luggage group B on the placement unit 8 one by one, or multiple luggage P2 such as two luggages lined up in the left-right direction (Y-axis direction) simultaneously, onto the upper surface 102a of the belt 102 of the intermediate conveyor unit 32, and carries out the unloaded luggage P2 to the main conveyor 14. Furthermore, the unloading device 2 then unloads all of the luggage P3 one by one from the bottom tier Ls of the luggage group B on the loading section 8, or simultaneously unloads multiple luggage P3, such as two luggage P3 lined up in the left-right direction (Y-axis direction), onto the upper surface 102a of the belt 102 of the intermediate conveyor section 32, and transports the unloaded luggage P3 to the main conveyor 14.

[0103] Next, a process to be performed when an unloading failure occurs during the unloading operation by the unloading device 2 according to the embodiment will be described. FIG. 9 is a flowchart for explaining an example of the operation of a process when an unloading failure occurs in the unloading operation by the unloading device 2 according to the embodiment. When the operation of the unloading device 2 is started, the processor 201 of the control device 200 confirms the baggage to be unloaded (step ST10). The processor 201 captures an image of the placement unit 8 with the first sensor 36, which is a stereo camera. The processor 201 recognizes the baggage to be unloaded based on the captured image captured by the first sensor 36. If there is baggage to be unloaded (step ST10, YES), the processor 201 recognizes the position, size, and shape of the baggage from the captured image, and stores information about the baggage (baggage information) including the captured image and the information recognized from the captured image in the memory 203 and / or the storage 204. When the processor 201 holds the baggage information including the captured image, it performs operation settings and executes the unloading work for the baggage as described above (step ST11).

[0104] The processor 201 monitors whether or not an unloading failure event (error) has occurred during the execution of the unloading operation (step ST12). If there is no unloading failure (step ST12, NO), the processor 201 returns to the above step ST10 and continues executing the unloading operation. If there are no more bags to be unloaded (step ST10, NO), the processor 201 ends the unloading operation.

[0105] If an unloading failure occurs during the unloading operation (step ST12, YES), the processor 201 identifies the content of the event that caused the unloading failure (step ST13). For example, the processor 201 identifies the content of the event that occurred based on error codes obtained from each unit when an unloading failure occurs. As a specific example, the processor 201 detects events (errors) such as failure to grip the baggage, retry, and load collapse based on the error codes.

[0106] When the processor 201 identifies the event that caused the unloading to fail, the processor 201 determines (estimates) the reason for the occurrence of the event (the reason for the occurrence) (step ST14). For example, the processor 201 determines whether the reason for the occurrence of the event is due to the design, color, shape, size, loading method, anti-slip properties, etc. of the cargo to be unloaded.

[0107] For example, when the processor 201 estimates that the gripping position is incorrect due to a difference in recognition (individual identification) of the luggage, it estimates that the design of the luggage is the reason for the occurrence of the event (error). As a specific example, the processor 201 estimates that the center of the luggage is not being gripped based on the variation in the weight applied to the multiple suction pads 142b, 144b. In this case, the processor 201 determines that the reason for the occurrence of the unloading failure event is the design of the luggage.

[0108] When it is estimated that the gripping position is poor due to an erroneous measurement of the distance to the luggage, the processor 201 estimates that the color of the luggage is the reason for the occurrence of the event. As a specific example, the processor 201 predicts that the time when the suction pad 142b will reach the luggage from the distance obtained as a result of recognizing (measuring) the luggage will be t seconds later, and estimates that the erroneous measurement of the distance has occurred if the elapsed time from the operation of the arm until the suction pad 142b reaches the luggage is not t seconds later. When the processor 201 recognizes (measures) the distance to the luggage from an image captured by the first sensor 36, which is a stereo camera, if the luggage has a color that is difficult to recognize, the erroneous measurement of the distance may occur. For this reason, when an unnecessary gripping position occurs due to an erroneous measurement of the distance, the processor 201 determines that the reason for the occurrence of the event is the color of the luggage.

[0109] When it is estimated that the gripping failure is due to the loosening of the suction pads 142b and 144b, the processor 201 estimates that the reason for the failure is the shape of the luggage. As a specific example, the processor 201 estimates that the gripping of the luggage was not possible due to insufficient pressure applied to the suction pads 142b and 144b. In this case, the processor 201 determines that the reason for the unloading failure is the shape of the luggage.

[0110] When it is estimated that the gripping of the luggage failed due to the gripping at the center of gravity being off, the processor 201 estimates that the size of the luggage is the reason for the occurrence of the event. As a specific example, when the pressure of some of the suction pads 142b, 144b is released, or when the pressure applied to the suction pads 142b, 144b becomes uneven, the processor 201 estimates that the gripping of the luggage failed due to the center of gravity. In this case, the processor 201 determines that the reason for the occurrence of the unloading failure event is the size of the luggage.

[0111] When it is estimated that the misalignment of the luggage caused poor suction even after a retry, resulting in failure to grip the luggage, the processor 201 estimates that the reason for the occurrence of the event is the way the luggage was loaded. As a specific example, when there are many retries or when the processor 201 detects a misalignment of the luggage from an image captured during a retry, the processor 201 determines that the reason for the occurrence of the unloading failure event is the way the luggage was loaded.

[0112] When the processor 201 estimates that the luggage has not moved after the anti-slip peeling operation as described above and has failed to grip the luggage, the processor 201 estimates that the reason for the occurrence of the luggage event is anti-slip (anti-slip treatment between luggage). As a specific example, when the pressure of the suction pads 142b, 144b is released while the luggage is being pulled out (after the anti-slip peeling operation), the processor 201 estimates that the luggage could not be gripped (transported out) due to the anti-slip of the luggage. In this case, the processor 201 determines that the reason for the occurrence of the unloading failure event is the anti-slip of the luggage.

[0113] Furthermore, when an unloading failure occurs, the processor 201 identifies the identification information (type of package) of the package from the captured image of the package where the unloading failure occurred (step ST15). For example, the processor 201 identifies the identification information of the package by recognizing the shape, design, etc. of the package in the captured image. The processor 201 may also identify the identification information of the package by reading a product (item) code attached to the package from the captured image.

[0114] When the processor 201 identifies the event, the reason for occurrence, the captured image, the identification information of the baggage, and the like, it compiles the information as failed baggage information (step ST16). For example, the processor 201 stores the failed baggage information including the event, the reason for occurrence, and the captured image in the memory 203 and / or the storage 204.

[0115] Furthermore, the processor 201 executes a self-diagnosis of various sensors equipped in the unloading device 2 (step ST17). The processor 201 determines whether the baggage can be unloaded by correcting its condition based on the reason for the occurrence of the event and the diagnosis results of the various sensors, or whether the baggage should be excluded from unloading (correction / exclusion) (step ST18). For example, if the various sensors are normal, the processor 201 determines that the baggage should be corrected (baggage that can be corrected) when the reason for the occurrence is the loading method, and determines that the baggage should be excluded (baggage that should be excluded) when the reason for the occurrence is the design, color, shape, size, or anti-slip property.

[0116] The processor 201 adjusts the failed parcel information including the pass / no pass determination result by referring to the self-diagnosis result of the sensor (step ST19). For example, when a failure is detected in a sensor related to the cause of the failure, the processor 201 adds information indicating the poor condition of the sensor together with the cause of the failure to the failed parcel information.

[0117] The processor 201 may acquire management information of each part in the unloading device 2 managed by the WCS 3, and adjust the failed baggage information based on the condition of each part estimated from the acquired management information of each part. For example, when a part related to the cause of the occurrence is due for replacement, the processor 201 may add information indicating the poor condition (needs maintenance) of the part to the failed baggage information together with the cause of the occurrence.

[0118] When the processor 201 determines the failed shipment information, it stores the determined failed shipment information in the storage 204 (step ST20). Here, the processor 201 shares the failed shipment information with the WCS 3 by transmitting the failed shipment information to the WCS 3 via the upper communication unit 205.

[0119] The processor 201 also displays a notification screen on the display unit 221 to notify the reason for the unloading failure based on the failed baggage information (step ST21). The notification screen may display not only the reason for the event included in the failed baggage information, but also the poor condition of the sensor or a guide to maintenance of the sensor if a poor condition of the sensor is detected. The processor 201 may also transmit the failed baggage information to the WCS 3, thereby notifying the monitoring device 4 of information related to the unloading failure.

[0120] As described above, the control device as an information processing device according to the embodiment compiles and accumulates information on unloading failures that occur in the unloading device as failed baggage information. This allows information indicating baggage that is not suitable for unloading by the unloading device supplied in actual operation to be accumulated and provided to the user. As a result, even a user who is unfamiliar with the operation of the unloading device can easily determine the reason for the failure of the unloading operation and recognize baggage that is not suitable for unloading from past examples.

[0121] Furthermore, when an unloading failure occurs at an unloading device, the control device as an information processing device according to the embodiment notifies the user of the unloading failure and the reason for the failure based on failed baggage information that summarizes information related to the unloading failure. This allows the user to easily check the reason for the unloading failure and recognize the baggage that is not suitable for unloading.

[0122] Next, the operation of the WCS 3 as an information processing device in the unloading system 1 according to the embodiment will be described. FIG. 10 is a flowchart for explaining an example of the operation of the WCS 3 as an information processing device in the unloading system 1 according to the embodiment. The WCS 3 acquires information regarding the replacement of each part in order to manage each part in the unloading device 2. For example, information regarding the replacement of each part is input by the maintenance device 5 as information regarding the maintenance work on the unloading device 2. In this case, the WCS 3 acquires information regarding the replacement of each part in the unloading device 2 input to the maintenance device 5 by the terminal communication unit 304 (step ST31).

[0123] When the processor 301 of the WCS 3 acquires information related to replacement (update) of a part in the unloading device 2 (step ST31, YES), it updates the management information of the part in the unloading device 2 stored in the storage 303 (step ST32). For example, the storage 303 is provided with a database that stores part information related to each part in the unloading device 2. In this case, when the processor 301 acquires part replacement information indicating that a part has been replaced in the unloading device 2, it updates the management information of the part stored in the database based on the part replacement information.

[0124] Furthermore, when an unloading failure occurs at the unloading device 2, the WCS 3 receives information indicating the occurrence of an unloading failure from the unloading device 2. When the processor 301 of the WCS 3 receives information indicating the occurrence of an unloading failure (step ST33, YES), it acquires failed baggage information as information relating to the failed baggage from the unloading device 2 (step ST34).

[0125] When the processor 301 acquires the failed baggage information, it adjusts the failed baggage information acquired from the unloading device 2 based on the parts management information stored in the database of the storage 303 (step ST35). For example, the processor 301 identifies the parts related to the operation that caused the unloading failure from information such as the event and the cause of the occurrence included in the failed baggage information, and reads out the management information of each part. The processor 301 adjusts the failed baggage information by referring to the management information of each part.

[0126] For example, when there is a part related to the unloading failure that is assumed to be in poor condition, the processor 301 adds information indicating that the part needs maintenance (replacement, cleaning, etc.) along with the reason for the failure to the failed cargo information. Here, the processor 301 determines whether the part is in poor condition (needs maintenance) based on whether the regular replacement period for each part has been exceeded.

[0127] When the processor 301 determines that there is a part requiring maintenance (step ST36, YES), it causes the display unit of the monitoring device 4 to display guidance for urging the maintenance of the part, etc. (step ST37). Furthermore, when the reasons for the unloading failure include a part determined to be in poor condition (requiring maintenance), the processor 301 sets the determination of "Yes / No" to "No" for the period until the maintenance of the part is performed (step ST38).

[0128] Furthermore, when the processor 301 determines the failed baggage information adjusted based on the parts management information, it causes the display unit of the monitoring device 4 to display a notification screen notifying the reason for the unloading failure based on the failed baggage information (step ST39). If it is determined that there is a part that requires maintenance, the processor 301 may cause the display unit of the monitoring device 4 to display, together with the failed baggage information, a guide for urging the maintenance of the part, etc.

[0129] In addition, the processor 301 of the WCS 3 communicates with the control device 200 of the unloading device 2 via the robot communication unit 305, thereby sharing with the unloading device 2 failed cargo information adjusted based on parts management information and information indicating parts determined to require maintenance.

[0130] As described above, the WCS as an information processing device according to the embodiment adjusts the failed cargo information indicating the failure of unloading at the unloading device based on the condition of each part of the unloading device. This makes it possible to identify the reason for the failure of unloading, taking into account the condition of each part of the unloading device.

[0131] Furthermore, the WCS as an information processing device according to the embodiment determines whether or not maintenance is required for the condition of each part related to the failed operation indicated by the failed baggage information, and provides guidance on carrying out maintenance (maintenance) if there is a part that requires maintenance. This makes it possible to announce the need for maintenance of the part in poor condition when there is a possibility that the reason for the failure of unloading at the unloading device includes a part in poor condition, and to encourage the replacement of the part in poor condition.

[0132] Next, an operation will be described in which the operation settings for the unloading operation by the unloading device 2 according to the embodiment are changed in accordance with past failed baggage information in the unloading operation. FIG. 11 is a flowchart for explaining an example of operation when the unloading device 2 according to the embodiment changes the operation settings for the unloading work in accordance with past failed cargo information. When the operation of the unloading device 2 is started, the processor 201 of the control device 200 confirms the cargo to be unloaded based on the image captured by the first sensor 36 or the like (step ST10).

[0133] When there is a load to be unloaded (step ST10, YES), the processor 201 identifies whether or not the load to be unloaded is the same (same type) as the load indicated in the past failed load information based on the captured image (step ST51). For example, the processor 201 identifies whether or not the load to be unloaded is the same type as the load that previously failed to be unloaded based on whether or not the identification information of the load recognized from the captured image matches the identification information of the load in the failed load information. The processor 201 may also determine whether or not the load to be unloaded is the same (same type) as the load that previously failed to be unloaded by image matching between the captured image of the load and the captured image included in the failed load information.

[0134] If the processor 201 determines that the cargo to be unloaded is the same cargo as a cargo that failed to be unloaded in the past (step ST52, YES), it determines whether the cargo is subject to correction or excluded in the past failed cargo information of the cargo determined to be the same (same type) as the cargo to be unloaded (step ST53).

[0135] If the same cargo as the cargo to be unloaded has been excluded in the past failed cargo information (step ST53, NO), the processor 201 determines that the cargo to be unloaded (the cargo on the pallet) should be excluded from the unloading operation by the unloading device 2, and stops the unloading operation. In this case, the processor 201 displays on the display unit 221 or notifies the WCS 3 that the unloading operation is to be stopped because the cargo loaded on the pallet is the cargo to be excluded.

[0136] If the same cargo as the cargo to be unloaded is subject to correction in the past failed cargo information (step ST53, YES), the processor 201 performs operation settings (optimal operation settings) based on the past failed cargo information so that the unloading operation for the cargo to be unloaded can be optimized (step ST53).

[0137] For example, the control device 200 stores in the memory 203 or storage 204 operation setting information indicating operation settings according to the event indicated by the failed baggage information and the reason for the occurrence. The processor 201 performs operation settings (optimum operation settings) based on the operation setting information according to the failed baggage information. Operation settings for unloading work according to the failed baggage information can include, for example, switching to a gripping mode (switching between a mode for gripping multiple bags and a mode for gripping a single baggage), switching the drive speed of the arm, switching the retraction amount, and the like.

[0138] When the processor 201 performs an optimal operation setting according to the past failed baggage information, or when it is determined that the baggage to be unloaded is not the same as the baggage in the past failed baggage information, the processor 201 executes the unloading operation as described above for the baggage to be unloaded (step ST11). Note that the processor 201 may execute the operation of steps ST12-21 shown in FIG. 9 following the unloading operation of step ST11 shown in FIG. 11.

[0139] As described above, the control device of the unloading device as an information processing device according to the embodiment can perform operation settings for unloading work according to the past failure luggage information for the same type of luggage as the luggage to be unloaded, when there is past failure luggage information for the same type of luggage as the luggage to be unloaded. As a result, the control device of the unloading device according to the embodiment can perform unloading work for luggage that is predicted to fail (error) with normal operation settings, using operation settings according to the past failure luggage information for the same luggage, and can avoid failure of the unloading work. As a result, it becomes possible to efficiently perform unloading work by the unloading device.

[0140] Although some embodiments of the present invention have been described, these embodiments are presented as examples and are not intended to limit the scope of the invention. These novel embodiments can be implemented in various other forms, and various omissions, substitutions, and modifications can be made without departing from the spirit of the invention. These embodiments and their modifications are included in the scope and spirit of the invention, and are included in the scope of the invention and its equivalents described in the claims. [Explanation of symbols]

[0141] 1...unloading system, 2...unloading device, 3...WCS, 4...monitoring device, 5...maintenance device, 8...placement section, 14...main conveyor, 22...frame, 24...first moving device, 26...support section, 28...second moving device, 30...gripping section, 32...intermediate conveyor section, 34...intermediate conveyor section lifting section, 40...negative pressure generating section, 52...frame body, 54...projection section, 62...lifting mechanism, 64...horizontal moving device, 66...connecting section, 122...base section, 122a...arm, 122b...extending section, 124...rotating shaft, 126a...base section, 126b...moving section, 126c...driving section, 132...arm, 1 34...rotating actuator, 134a...cylinder, 134b...piston, 134c...protruding end, 136...rotating metal fitting, 136a...shaft member, 142...upper surface suction portion, 142a...main body, 142b...suction pad, 144...side surface suction portion, 144a...main body, 144b...suction pad, 200...control device, 201...processor, 202...communication interface, 203...memory, 204...storage, 205...upper communication unit, 221...display unit, 222...operation unit, 301...processor, 302...memory, 303...storage, 304...terminal communication unit, 305...robot communication unit.

Claims

1. a communication interface for communicating with each unit of the unloading device; a processor that, when a failure occurs in an unloading operation in the unloading device, determines a reason for the unloading failure based on information acquired from each unit of the unloading device via the communication interface, and generates failed baggage information including the reason for the unloading failure; A storage unit that stores the failed shipment information generated by the processor; An information processing device having the above configuration.

2. The failed baggage information includes an event of unloading failure, a reason for the occurrence of the unloading failure, and a photographed image of the baggage that has failed to be unloaded; The processor causes a display unit to display information regarding the baggage that has failed to be unloaded based on the failed baggage information. The information processing device according to claim 1 .

3. When a failure occurs in the unloading operation of the unloading device, the processor acquires a self-diagnosis result of a sensor used in the unloading operation by the unloading device via the communication interface, and adjusts the failed baggage information based on the self-diagnosis result of the sensor. The information processing device according to claim 1 .

4. the processor, when the cargo to be unloaded is the same type of cargo as the cargo of the failed cargo information stored in the storage unit, performs operation setting for the unloading device based on the failed cargo information of the same type of cargo as the cargo to be unloaded; The information processing device according to claim 1 .

5. A communication unit that communicates with the unloading device; A storage unit that stores part management information related to each part in the unloading device; a processor that acquires failed cargo information indicating a failure in unloading generated when a failure occurs in an unloading operation by the unloading device, identifies a condition of a part related to the failure indicated by the failed cargo information based on part management information stored in the storage unit, and adjusts the failed cargo information based on the condition of the part; An information processing device having the above configuration.

6. A terminal communication unit that communicates with the monitoring device, The processor causes the monitoring device, which communicates with the terminal communication unit, to display information regarding the baggage that has failed to be unloaded, which is indicated by the failed baggage information. The information processing device according to claim 5 .

7. A terminal communication unit that communicates with the monitoring device, The processor determines whether or not a part related to the failure content indicated by the failed shipment information needs maintenance based on the part management information stored in the storage unit, and provides guidance on maintenance of the part determined to need maintenance. The information processing device according to claim 5 .

8. An information processing method for processing information in an unloading device, comprising: Communicate with each part of the unloading device, When a failure occurs in an unloading operation in the unloading device, a reason for the failure is determined based on information acquired from each unit of the unloading device; Generate failed load information including the reason for the unloading failure; The failed shipment information is stored in a storage unit. Information processing methods.

Images