Article packaging system, autonomous traveling robot, and program

Abstract

To provide a technique that is capable of reducing a space required for installation of a device for feeding a packaging material for packaging an article to be packaged, and of automating transportation and packaging of the article to be packaged to the device.SOLUTION: An article packaging system includes an autonomous traveling robot which has a mounting surface for placing an article to be packaged and is configured so that the mounting surface is rotatable about a rotation axis perpendicular to the mounting surface, and a packaging material delivery device which holds a sheet-shaped packaging material for packaging the article to be packaged so that the sheet-shaped packaging material can be delivered. The article packaging system has packaging start section arrangement means for arranging an end of the packaging material at a packaging start section, which is a location on the outer periphery of the article to be packaged and serves as a packaging start position, when the autonomous traveling robot and the packaging material delivery device are in a positional relationship satisfying a predetermined condition with the article to be packaged mounted on the mounting surface. By rotating the mounting surface in a state where the end of the packaging material is arranged at the packaging start section, the packaging material is wound around the article to be packaged, thereby packaging the article to be packaged.SELECTED DRAWING: Figure 2

Description

[Technical field]

[0001] The present invention relates to an item packaging system, an autonomous mobile robot, and a program. [Background technology]

[0002] Conventionally, a film packaging machine that wraps a packaging film around an item to be packaged and packages it is known (see, for example, Patent Document 1). The film packaging machine described in Patent Document 1 includes a base, a rotating table on which the item to be packaged is placed, and a film support device that supports the packaging film, with a rotation drive unit built into the base, and the film support device includes a vertically long support pole, a lift drive unit that is attached so as to be able to rise and fall along the support pole, and a support base that is integral with the lift drive unit and supports the packaging film so that it can be unwound. This makes it possible to wrap the packaging film around the item to be packaged while raising and lowering the packaging film along the support pole.

[0003] However, in the above-mentioned film packaging machine, since the film support device is connected to the base that supports the rotary table, the film packaging machine is large and requires a wide space for installation. In addition, a system in which this type of device is placed in the middle of the conveyor belt transport path to automate the transport and packaging of the packaged items is also known, but this type of configuration has the problem that it takes a lot of time and money to change the layout of the facility (e.g., factory, warehouse, etc.) in which the system is installed. For example, such problems are particularly likely to occur in food factories where layout changes are frequent. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] JP 2009-062053 A Summary of the Invention [Problem to be solved by the invention]

[0005] The technology disclosed herein has been made to solve the above problems, and its purpose is to provide technology that reduces the space required to install an apparatus that pays out packaging material for packaging items, and that can automate the transportation of the items to be packaged to the apparatus and the packaging of the items. [Means for solving the problem]

[0006] The present disclosure for solving the above problem includes an autonomous mobile robot having a placement surface on which an object to be packaged is placed, the placement surface being configured to be rotatable around a rotation axis perpendicular to the placement surface; A packaging material unwinding device that holds a sheet-like packaging material for packaging the packaged item in a manner that allows the packaging material to be unwound, a packaging start positioning means for positioning an end of the packaging material at a packaging start position that is a location on the outer periphery of the packaged item and that is a packaging start position for the packaged item when the autonomous mobile robot and the packaging material feed device are in a positional relationship that satisfies a predetermined condition, The packaging material is wrapped around the object to be packaged by rotating the placement surface while the end of the packaging material is disposed at the packaging start portion. Includes an article packaging system.

[0007] In addition, the above-mentioned "the placement surface is configured to be rotatable around a rotation axis perpendicular to the placement surface" The autonomous mobile robot may be provided with a mounting base on which a mounting surface is formed and the mounting base rotates, or the autonomous mobile robot itself may rotate on its own axis instead of the mounting base. In addition, when the autonomous mobile robot rotates on its own axis, the mounting surface may be the upper surface of the autonomous mobile robot body.

[0008] In addition, the above-mentioned "positional relationship that satisfies specified conditions" can be exemplified by, for example, a case in which the autonomous mobile robot is located within a specified distance from the packaging material dispensing device, or a case in which the autonomous mobile robot is located at a specific location near the packaging material dispensing device.

[0009] In the present disclosure, it is assumed that the article packaging system is used when packaging items collected at a site such as a factory or warehouse with a sheet-like packaging material. A specific example of the content executed using the article packaging system will be described below. After the autonomous mobile robot moves to an area where the packaged items are collected, the autonomous mobile robot places the packaged items on the placement surface of the autonomous mobile robot either manually or automatically using the robot. Here, the packaged items may be, for example, luggage to be shipped.

[0010] After placing the packaged item on the placement surface, the autonomous mobile robot moves to the vicinity of the location where the packaging material unwinding device is installed and stops. Then, for example, when the packaging material unwinding device receives a signal notifying that the autonomous mobile robot is located within a predetermined distance from the packaging material unwinding device, preparations for packaging the packaged item with a sheet-like packaging material are started. Here, the sheet-like packaging material may be, for example, a film. Also, when the autonomous mobile robot is located within the predetermined distance from the packaging material unwinding device, an end of the packaging material is placed at the packaging start section by the packaging start section placement means. Here, the predetermined distance may be any distance within a range in which the end of the packaging material can reach the packaging start section. Also, the packaging start section placement means may be included in the autonomous mobile robot, or may be installed near the packaging material unwinding device independently of the autonomous mobile robot.

[0011] When the autonomous mobile robot rotates on the spot with the end of the packaging material positioned at the packaging start section, the packaging material is wrapped around the packaged item starting from the end of the packaging material. When the autonomous mobile robot stops rotating, the packaging of the packaged item is completed. The autonomous mobile robot then moves to an area where the packaged item is removed with the packaged item placed on the placement surface. Finally, the packaged item is removed from the placement surface either manually or automatically by using the robot.

[0012] As described above, the packaged goods are transported by the autonomous robot from the area where the packaged goods are collected to the area where the packaged goods are removed. In other words, when transporting the packaged goods within the site, it is not necessary to install a transport line such as a belt conveyor connecting each area. This makes it possible to reduce the cost required for installing the transport line, and even if the position of each area changes due to a layout change, it is possible to adapt to the changed route and transport the packaged goods along the correct route.

[0013] In addition, in the article packaging system, since the autonomous mobile robot and the packaging material dispensing device are independent devices, it is possible to reduce the space required to operate each of them compared to an integrated device. Also, since the autonomous mobile robot can rotate on the spot, it is possible to reduce the space required to operate the autonomous mobile robot. And, in addition to the transportation of the packaged items, it is possible to automate the packaging of the packaged items, and as a result, it is possible to improve the work efficiency at the site where the article packaging system is used.

[0014] In addition, in the present disclosure, after the packaged item is packaged, the packaging material is partially folded. The packaging material may further include a packaging material cutting means for cutting the packaging material in an unwound state, and a packaging material end holding means having a holding section for holding the vicinity of the end of the packaging material and configured to be capable of holding the vicinity of the end of the packaging material formed by cutting by the packaging material cutting means, such that the vicinity of the end of the packaging material is held by the holding section while the packaged item is not being packaged. Here, "the end of the packaging material formed by cutting by the packaging material cutting means" refers to the end of the packaging material held by the packaging material unwinding device (i.e., not the end of the packaging material wrapped around the packaged item).

[0015] The packaging material cutting means and the packaging material end holding means may be provided in the packaging material unwinding device, or may be installed independently of the packaging material unwinding device. Here, as an example, the packaging material cutting means may cut the packaging material by heat. That is, the surface of the packaging material cutting means that comes into contact with the packaging material is heated to a high temperature, and the packaging material is cut by this heat. The packaging material cutting means may perform a process of crimping the cut portion to the packaged item as the end portion of the packaging material. Also, by configuring the vicinity of the end of the packaging material to be held by the holding section while the packaged item is not being packaged, it is possible to instantly unwind the packaging material when starting preparations for packaging the packaged item.

[0016] In the present disclosure, the packaging start positioning means may include an arm having a gripping portion for gripping the packaging material, and the packaging start positioning means and the packaging material end holding means may be configured to be able to deliver the end of the packaging material to the arm by releasing the holding portion from the holding portion near the end of the packaging material when the gripping portion of the arm is gripping the packaging material, and the packaging start positioning means may place the end of the packaging material at the packaging start portion by moving the delivered end of the packaging material to the packaging start portion with the arm. This makes it possible to reliably and easily transfer the end of the packaging material from the packaging material end holding means to the packaging start positioning means. It is also possible to reliably and easily place the end of the packaging material at the packaging start portion.

[0017] In addition, in the present disclosure, the packaging material unwinding device may be configured to include a first lifting mechanism that changes the vertical unwinding position of the packaging material, and to be able to change the wrapping height of the packaging material around the packaged item. This makes it possible to freely determine the height position at which the packaging material is wrapped, thereby enabling packaging of a wide variety of packaged items.

[0018] In addition, in the present disclosure, the device may further include a first lifting mechanism control means for controlling at least the feeding position of the packaging material based on at least information on the packaged item. Here, the information on the packaged item may include, for example, the height, type, weight, shape, etc. of the packaged item (the shape of the packaged item may include the height of the packaged item). In addition, the feeding position, speed, etc. of the packaging material may be calculated each time based on the information on the packaged item, or may use a specified value registered in advance in a database (for example, as a table).

[0019] In the present disclosure, the autonomous mobile robot may be provided with a second lifting mechanism that changes the position of the placement surface in the vertical direction, and may be configured to change the wrapping height of the packaging material around the packaged item. The article packaging system may be provided with a second lifting mechanism instead of or in addition to the first lifting mechanism. With this configuration, it is possible to freely determine the wrapping position of the packaging material around the packaged item, regardless of the height position at which the packaging material is unwound.

[0020] In addition, in the present disclosure, the packaging device may further include a second lifting mechanism control means for controlling at least the height of the placement surface based on at least information on the packaged items. The lifting mechanism control means may be capable of controlling not only the height of the placement surface but also the lifting speed of the placement surface. Also, in the present disclosure, the information on the packaged item may be calculated each time the packaged item is packaged, or may be a specified value registered in advance in a database (for example, as a table).

[0021] The technology disclosed herein is used in conjunction with a packaging material unwinding device that holds a sheet-like packaging material for packaging an item so that the sheet-like packaging material can be unwound, A placement surface on which the packaged item is placed; a packaging start positioning means for positioning an end of the packaging material at a packaging start position that is a location on the outer periphery of the packaged item and that is a packaging start position for the packaged item when the packaged item is placed on the placement surface; Equipped with With an end of the packaging material disposed at the packaging start portion, the placement surface is rotated around a rotation axis perpendicular to the placement surface, thereby wrapping the packaging material around the packaged item to package the packaged item. It can be considered an autonomous robot that has the following characteristics:

[0022] The technology disclosed herein also relates to a program for controlling at least an autonomous mobile robot that is used in cooperation with a packaging material unwinding device that holds a sheet-like packaging material for packaging an item to be packaged so that the sheet-like packaging material can be unwound, the autonomous mobile robot including: a placement surface on which the item to be packaged is placed; and a packaging start portion positioning means that, with the item to be packaged placed on the placement surface, positions an end of the sheet-like packaging material for packaging the item to be packaged at a packaging start portion that is a location on the outer periphery of the item to be packaged and serves as a packaging start position for the item to be packaged; and the autonomous mobile robot is configured to be able to rotate the placement surface around a rotation axis perpendicular to the placement surface, A process of moving the autonomous mobile robot to a position that satisfies a predetermined condition with respect to the packaging material feed device with the package placed on the placement surface; a process of placing an end of the packaging material at the packaging start portion by the packaging start portion placement means; a process of wrapping the packaging material around the object to be packaged by rotating the placement surface while an end of the packaging material is positioned at the packaging start portion, and packaging the object to be packaged; It can also be thought of as a program that executes the following:

[0023] Furthermore, the technology of the present disclosure can also be regarded as a computer-readable storage medium that non-temporarily stores the program.

[0024] The above means for solving the problems can be used in combination with each other whenever possible. Effect of the Invention

[0025] The technology disclosed herein makes it possible to reduce the space required to install an apparatus that pays out packaging material for packaging items, and to automate the transportation of the items to be packaged to the apparatus and the packaging of the items. [Brief description of the drawings]

[0026] [Figure 1] FIG. 1 is a schematic diagram showing the entire area in which an article packaging system according to an embodiment is used. [Diagram 2]FIG. 2 is a perspective view that shows a schematic configuration of an article packaging system according to an embodiment. [Diagram 3] FIG. 3 is a schematic diagram for explaining an example in which the controller according to the embodiment acquires information about a package and calculates parameters based on the information about the package. [Figure 4] FIG. 4 is a flowchart showing a process for controlling the AMR and the film payout device according to the embodiment. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0027] [Application example] An outline of an application example of the present disclosure will be described below with reference to some drawings. FIG. 1 is a schematic diagram showing an entire area in which an article packaging system 1 according to this application example is used. As an example, the article packaging system 1 according to this application example is used when packaging and carrying out luggage 2 collected at a facility such as a factory or warehouse. The article packaging system 1 according to this application example is broadly composed of an AMR (Autonomous Mobile Robot) 11 having a loading platform 111 on which the luggage 2 is placed, a film unwinding device 12 that holds a film 121 for packaging the luggage 2 so that it can be unwound, and a controller 13 that controls the operation of the AMR 11 and the film unwinding device 12. Note that in FIG. 1, the AMR 11 is simply shown as viewed from the front in the direction of travel, and the film unwinding device 12 is simply shown as viewed obliquely.

[0028] The following describes the areas where the article packaging system 1 is used and the operations carried out in those areas. First, in a loading area, collected luggage 2 is loaded onto the loading platform 111 of the AMR 11 together with a pallet P on which the luggage 2 is placed. At this time, the luggage 2 may be loaded manually or automatically using a robot. Next, the AMR 11 with the luggage 2 loaded thereon receives a command signal from the controller 13, moves to a waiting area, and waits until it receives the next command signal.

[0029] Upon receiving the next command signal, the AMR 11 moves to a packaging area where a plurality of film unwinding devices 12 are installed, and stops near one of the film unwinding devices 12. Then, when the film unwinding device 12 receives a signal notifying the AMR 11 that it is located within a predetermined distance from the film unwinding device 12, preparations for packaging the package 2 with the film 121 begin. Note that the film unwinding device 12 may receive this signal directly from the AMR 11, or may receive it from the AMR 11 via the controller 13. Note that the flow up to packaging the package 2 with the film 121 will be described in detail later with reference to FIG. 2.

[0030] When the cargo 2 is wrapped with the film 121, the AMR 11 again receives a command signal from the controller 13 and moves to the unloading area with the cargo 2 wrapped with the film 121 placed thereon. Then, finally, the cargo 2 wrapped with the film 121 is removed from the loading platform 111 together with the pallet P and carried out. At this time, in this area as well, as in the loading area, the lowering and carrying out of the cargo 2 may be performed manually or automatically using a robot. Here, the cargo 2 corresponds to the packaged article in this disclosure, and the upper surface of the loading platform 111 corresponds to the placement surface in this disclosure. Moreover, the film 121 corresponds to the sheet-like packaging material in this disclosure, and the film unwinding device 12 corresponds to the packaging material unwinding device in this disclosure.

[0031] As described above, the luggage 2 is transported from the loading area to the unloading area by the AMR 11. In other words, there is no need to install a transport line such as a conveyor belt connecting each area when transporting the luggage 2. This makes it possible to reduce the cost required for installing the transport line, and even if the position of each area changes due to a layout change, it is possible to adapt to the changed route and transport the luggage 2 along the correct route.

[0032] FIG. 2 is a perspective view showing a schematic configuration of an article packaging system 1 according to this application example. 2 is also a diagram for explaining the contents executed in the packaging area shown in FIG. 1 above. As described above, when the AMR 11 is located within a predetermined distance of the film unwinding device 12, preparation for packaging the luggage 2 with the film 121 begins, and specifically, the film catch part 112 of the AMR 11 grasps an end of the film 121 held so as to be unwound, and places the end at any point on the outer periphery of the luggage 2. This point becomes the packaging start position of the luggage 2, and hereinafter, this packaging start position is referred to as the packaging start part. Here, the predetermined distance may be any distance within a range in which the end of the film 121 reaches the packaging start part. Also, the film catch part 112 corresponds to the packaging start part placement means in this disclosure.

[0033] When the end of the film 121 is placed in the packaging start section by the film catch section 112, the AMR 11 rotates on the spot in the direction of the arrow around the rotation axis shown by the dashed line in FIG. 2. Note that this rotation axis extends vertically to the surface of the platform 111 on which the cargo 2 is placed, and passes near the center of gravity of the surface. The film unwinding device 12 is equipped with an elevator 123 that moves up and down vertically along a pole 122, which makes it possible to adjust the vertical unwinding position of the film 121. As the AMR 11 rotates on the spot, the cargo 2 placed on the platform 111 also rotates on the spot, and the vertical unwinding position of the film 121 is adjusted, making it possible to wrap the entire cargo 2 without moving the AMR 11. Here, the elevator 123 corresponds to the first elevator mechanism in this disclosure. The controller 13 that controls the position of the elevator 123 corresponds to the first elevator mechanism control means in this disclosure.

[0034] As described above, in the article packaging system 1 according to this application example, since the AMR 11 and the film unwinding device 12 are independent devices, it is possible to reduce the space required to operate each of them compared to an integrated device. In addition, it is possible to freely change the combination between multiple AMRs 11 and multiple film unwinding devices 12. In addition, since the AMR 11 can rotate on the spot, it is possible to reduce the space required to wrap the luggage 2 with the film 121. In addition to the transportation of the luggage 2 between each area shown in FIG. 1 above, it is also possible to automate the packaging of the luggage 2, and as a result, it is possible to improve the work efficiency of the site where the article packaging system 1 is used.

[0035] [Example] The article packaging system 1 according to the embodiment of the present disclosure will be described in more detail below with reference to the drawings (including the drawings once described in the above application example). Note that the article packaging system 1 according to the embodiment of the present disclosure is not intended to be limited to the following configuration.

[0036] <System configuration> Returning now to the explanation of Fig. 1. Note that the item packaging system 1 according to the embodiment has a similar configuration to the item packaging system 1 described in the application example, and therefore detailed explanation of the contents described in the application example will be omitted. Also, in this specification, the same components will be described using the same reference numerals.

[0037] When preparations begin for packaging the cargo 2 with film 121 in the packaging area shown in Fig. 1, the controller 13 calculates the number of rotations of the AMR 11 and the lifting speed and position of the elevator 123 of the film pay-out device 12 based on information about the cargo 2, and controls the AMR 11 and the elevator 123. Note that the number of rotations, lifting speed, position, etc. may be calculated each time based on information about the packaged item, or values ​​stored in advance in a database (for example, as a table) may be used. Note that Fig. 3, which will be described later, shows an example in which the controller 13 uses the height of the cargo 2 as an example of information about the cargo 2.

[0038] As described above, multiple film unwinding devices 12 are installed in the packaging area, and the controller 13 may control the AMR 11 to move to the vicinity of the most appropriate film unwinding device 12 based on the size and material of the film 121 unwound by the film unwinding device 12, or information about the above-mentioned luggage 2, etc.

[0039] Next, we will return to the description of FIG. 2. The article packaging system 1 according to the embodiment may include a film fixing unit 14 as a component independent of both the AMR 11 and the film unwinding device 12. The film fixing unit 14 has a holding unit 141 on its upper surface when installed. The holding unit 141 is composed of two members that are provided in a pair and have a surface shaped like a quadrant. The holding unit 141 opens and closes when these members move in the direction of the arrow. FIG. 2 shows the holding unit 141 in a closed state, holding the end of the film 121 so as to be sandwiched between the two members. By maintaining this state while the package 2 is not being packaged, it is possible to instantly unwind the film 121 when preparation for packaging the package 2 begins. When the holding unit 141 opens, the two members move to be housed inside the housing 142, and when the holding unit 141 opens completely, the two members are in a state in which they are 180 degrees upside down inside the housing 142 from the state shown in FIG. 2. Furthermore, the shape of holding portion 141 is not limited to this, and any shape may be used as long as it can hold film 121 in a manner that allows it to be unwound. Here, film fixing portion 14 corresponds to the packaging material end holding means in this disclosure.

[0040] Furthermore, film unwinding device 12 has cutter 124 that cuts film 121 while it is partially unwound after wrapping cargo 2. Cutter 124 is attached to two bases 125, and cuts film 121 by bringing cutter 124 into contact with film 121 as two bases 125 rotate in the direction of the arrow. The surface of cutter 124 that comes into contact with film 121 is heated to a high temperature, and film 121 is cut by this heat. The cut portion is then pressed against cargo 2 by a brush (not shown) or the like, as the winding end portion of film 121. Here, cutter 124 corresponds to the packaging material cutting means in this disclosure.

[0041] The film catch section 112 is configured to include an arm 114 having a gripping section 113 that grips the film 121. The gripping section 113 has a shape and configuration similar to that of the holding section 141, and grips the end of the film 121 so as to sandwich it between two members. When the gripping section 113 opens, the two members move to be housed inside the housing 115. In preparation for wrapping the baggage 2 with the film 121, the gripping section 113 releases the holding of the end of the film 121 by the holding section 141 while holding the end of the film 121, whereby the end of the film 121 is delivered from the film fixing section 14 to the film catch section 112. Then, the arm 114 expands and contracts in the direction of the arrow, and rotates around a fulcrum on the loading platform 111, so that the film catch section 112 moves the delivered end of the film 121 to the wrapping start section. This positions the end of the film 121 at the beginning of the packaging, making it possible to wrap the film 121 around the package 2.

[0042] When film catch portion 112 moves the end portion of delivered film 121 to the packaging start portion, gripping portion 113 is in a closed state to grip the end portion of film 121, but by the time package 2 finishes one rotation, gripping portion 113 opens completely and is housed inside housing 115. This makes it possible to prevent gripping portion 113 from being wrapped with film 121 from the outside together with package 2.

[0043] 3 is a schematic diagram for explaining an example in which the controller 13 according to the embodiment acquires information on the baggage 2 and calculates parameters based on the information on the baggage 2. The take-out device 12 and the luggage 2 are shown relatively and generally. As described above, in the embodiment, the height H of the luggage 2 is illustrated as an example of the information of the luggage 2. Examples of parameters calculated based on the height H include the number of rotations of the AMR 11, and the lifting distance D and lifting speed of the elevator 123. The number of rotations of the AMR 11 can be calculated by calculating the difference between the width W of the film 121 and the width of the overlapping film 121, and dividing the height H by the difference. The number of rotations of the AMR 11 is approximately equal to the number of turns of the film 121. The lifting distance D can be calculated from the difference between the height H and the width W. The lifting speed of the elevator 123 can be calculated by dividing the lifting distance D during one rotation of the AMR 11 by the time required for the AMR 11 to rotate once. The lifting distance D during one rotation of the AMR 11 can be calculated by dividing the total lifting distance D by the number of rotations of the AMR 11.

[0044] The controller 13 controls the operation of the AMR 11 and the film unwinding device 12 based on the three calculated parameters. As described above, the relationship between H and D may be registered in advance in a database (for example, as a table). Furthermore, the information on the luggage 2 may include, instead of or in addition to H, the type, weight, shape, etc. of the luggage 2 (the shape of the luggage 2 may include H).

[0045] <Flowchart> FIG. 4 is a flowchart showing a procedure of a process for controlling the AMR 11 and the film unwinding device 12 according to the embodiment. First, in step S101, the AMR 11 acquires information on the luggage 2 being transported. Next, in step S102, the number of rotations of the AMR 11 and the lifting distance (D shown in FIG. 3) and lifting speed of the elevator 123 are calculated based on the information on the luggage 2. This enables the controller 13 to more appropriately control the AMR 11 and the film unwinding device 12. Next, in step S103, when the AMR 11 is located within a predetermined distance of the film unwinding device 12, the film unwinding device 12 receives a signal notifying the same. Next, in step S104, the end of the film 121 is handed over from the film fixing unit 14 to the film catch unit 112, more precisely, from the holding unit 141 to the gripping unit 113.

[0046] Next, in step S105, an end of the delivered film 121 is placed at the packaging start portion. This completes preparations for packaging the cargo 2 with the film 121. Next, in step S106, the AMR 11 rotates on the spot and the elevator 123 rises and falls according to the three parameters calculated in step S102. This causes the film 121 to be wrapped around the cargo 2. Then, in step S107, when the rotation of the AMR 11 and the rise and fall of the elevator 123 are completed, that is, when the film 121 has been wrapped around the cargo 2, in step S108, the film 121 is cut by the cutter 124, and the cut portion of the film 121 is crimped to the cargo 2 as the winding end portion of the film 121. This completes packaging of the cargo 2.

[0047] In the above, an example has been described in which elevator 123 rises and falls in conjunction with the rotation of AMR 11, thereby enabling packaging even at a height greater than the width of film 121, but elevator 123 can naturally rise and fall independently of the movement of AMR 11. In other words, it is also possible to adjust the payout position in the height direction of film 121 in advance using elevator 123 according to the size (height) of AMR 11 or package 2, and not raise or lower elevator 123 when film 121 is wrapped around it.

[0048] [Modifications] Next, a modified example of the above embodiment will be described. The item packaging system according to the modified example has many components in common with the item packaging system 1 of the embodiment, so those components will be described using the same reference numerals and will not be described again. The configuration of the system can be appropriately combined with the configuration of the article packaging system 1 of the embodiment.

[0049] 2 in the embodiment, in a modified example, instead of or in addition to the film unwinding device 12 being equipped with the elevator 123, the AMR 11 may be equipped with an elevator that changes the position of the platform 111 in the vertical direction. This makes it possible to freely determine the winding position of the film 121 around the luggage 2, regardless of the height position at which the film 121 is unwound. Here, the elevator equipped in the AMR 11 corresponds to the second elevator mechanism in this disclosure. Moreover, the controller 13 that controls the position of the elevator corresponds to the second elevator mechanism control means in this disclosure.

[0050] Also, as long as the end of the film 121 can be placed in the packaging start portion, the film catch portion 112 may be of any type, and furthermore, the AMR 11 may not have the film catch portion 112. For example, the film fixing portion 14 may be provided with an arm having the holding portion 141 as an end effector, and when the AMR 11 moves to a predetermined position, the arm may be moved to directly place the film 121 in the packaging start portion of the package 2. Also, the film fixing portion 14 may release the holding of the end of the film 121 held by the holding portion 141 so as to be able to be unwound, and may blow air onto the end of the film 121, or the like, to place the end of the film 121 in the packaging start portion. In this case, the mechanism for blowing air serves as the packaging start portion placement means. Also, the AMR 11 may align the package 2 with the film 121 in a state in which the end is held, and then the holding portion 141 may simply release the holding of the end of 121, and the AMR 11 may start rotating. In this case, the AMR 11 itself (and the controller 13) serves as the packaging start positioning means. Alternatively, a film catch unit 112 may be provided independent of the AMR 11. In addition, the film unwinding device 12 may include a film fixing unit 14, and a cutter 124 may be provided independent of the film unwinding device 12.

[0051] 4 in the embodiment, in a modified example, information on the film 121 may be acquired instead of or in addition to the information on the luggage 2, and the number of rotations of the AMR 11, etc. may be calculated based on the information on the film 121. Here, the information on the film 121 may include information on the size (width equivalent to height, etc.), strength, material, etc. of the film 121. For example, when it becomes clear from the acquired information on the film 121 that the strength of the film 121 is smaller than a specified value, the controller 13 can execute control to increase the number of turns of the film 121, i.e., to increase the number of rotations of the AMR 11.

[0052] In addition, in the above embodiment, the AMR 11 is configured to rotate on its axis to wrap the film 121 around the luggage 2, but the AMR 11 body may stop on the spot and rotate the loading platform 111 to wrap the film 121 around the luggage 2.

[0053] [Appendix 1] an autonomous mobile robot (11) having a placement surface (111) on which an item to be packaged (2) is placed, the placement surface being configured to be rotatable around a rotation axis perpendicular to the placement surface; and a packaging material unwinding device (12) that holds a sheet-like packaging material (121) for packaging the packaged item in such a manner that the sheet-like packaging material (121) can be unwound. and a packaging start positioning means (112) for positioning an end of the packaging material at a packaging start position that is a location on the outer periphery of the packaged item and that is a packaging start position for the packaged item when the autonomous mobile robot and the packaging material feed device are in a positional relationship that satisfies a predetermined condition, The packaging material is wrapped around the object to be packaged by rotating the placement surface while the end of the packaging material is disposed at the packaging start portion. Product packaging system (1). [Appendix 2] a packaging material cutting means (124) for cutting the packaging material in a state where the packaging material is partially unwound after the packaged items are packaged; a packaging material end holding means (14) configured to hold the vicinity of the end of the packaging material formed by cutting the packaging material by the packaging material cutting means, The vicinity of the end of the packaging material is held by the holding portion while the packaged item is not being packaged. 2. An item packaging system as described in claim 1. [Appendix 3] The packaging start positioning means includes an arm (114) having a gripping portion (113) for gripping the packaging material, the packaging start positioning means and the packaging material end holding means are configured to be able to deliver the end of the packaging material to the arm by releasing the holding portion from the holding portion when the gripping portion of the arm grips the packaging material, the packaging start portion placement means places the end portion of the packaging material at the packaging start portion by moving the end portion of the delivered packaging material to the packaging start portion with the arm; 3. An item packaging system as described in claim 2. [Appendix 4] The packaging material unwinding device is provided with a first lifting mechanism (123) that changes the vertical unwinding position of the packaging material, and is configured to be able to change the wrapping height of the packaging material around the packaged item. 4. An article packaging system according to any one of claims 1 to 3, [Appendix 5] The method further includes a first lifting mechanism control means (13) for controlling at least the payout position of the packaging material based on at least the information of the packaged item. 5. An item packaging system as described in claim 4. [Appendix 6] The autonomous mobile robot is provided with a second lifting mechanism that changes the position of the placement surface in a vertical direction, and is configured to be able to change the wrapping height of the packaging material around the packaged item. 6. An article packaging system according to any one of claims 1 to 5, [Appendix 7] Further comprising a second lifting mechanism control means (13) for controlling at least the height of the placement surface based on at least the information of the packaged items. 7. An item packaging system as described in claim 6. [Appendix 8] The packaging material dispenser (12) is used in cooperation with a packaging material dispenser (12) that holds a sheet-like packaging material (121) for packaging an item (2) so that the sheet-like packaging material (121) can be dispensed. A placement surface (111) on which the packaged item is placed; a packaging start positioning means (112) for positioning an end of the packaging material at a packaging start position that is a location on the outer periphery of the packaged item and that is a packaging start position for the packaged item when the packaged item is placed on the placement surface; Equipped with With an end of the packaging material disposed at the packaging start portion, the placement surface is rotated around a rotation axis perpendicular to the placement surface, thereby wrapping the packaging material around the packaged item to package the packaged item. An autonomous mobile robot (11). [Appendix 9] a packaging start section positioning means (112) for positioning an end of the sheet-like packaging material (121) for packaging an item (2) at a packaging start section positioning means (112) that is used in cooperation with a packaging material unloading device (12) that holds a sheet-like packaging material (121) for packaging an item (2) in a manner that allows the material to be unloaded, the packaging start section positioning means (112) for positioning an end of the sheet-like packaging material (121) for packaging the item (2) at a packaging start section that is a location on the outer periphery of the item and that serves as a packaging start position for the item, when the item is placed on the packaging surface, and the autonomous mobile robot (11) is configured to be rotatable around a rotation axis perpendicular to the packaging surface, A process of moving the autonomous mobile robot to a position that satisfies a predetermined condition with respect to the packaging material feed device with the package placed on the placement surface; a process of placing an end of the packaging material at the packaging start portion by the packaging start portion placement means; a process of wrapping the packaging material around the object to be packaged by rotating the placement surface while an end of the packaging material is positioned at the packaging start portion, and packaging the object to be packaged; A program that executes. [Explanation of symbols]

[0054] 1. Product packaging system 11. AMR 111...Cargo bed 112 Film catch part 113...Gripping part 114 Arm 115... Enclosure 12 Film unwinding device 121...Film 122 Paul 123...Elevator 124···Cutter 125...Base 13. Controller 14 Film fixing section 141...Holding part 142... Enclosure 2. Baggage

Claims

1. an autonomous mobile robot having a placement surface on which an object to be packaged is placed, the placement surface being configured to be rotatable around a rotation axis perpendicular to the placement surface; A packaging material unwinding device that holds a sheet-like packaging material for packaging the packaged item in a manner that allows the packaging material to be unwound, a packaging start positioning means for positioning an end of the packaging material at a packaging start position that is a location on the outer periphery of the packaged item and that is a packaging start position for the packaged item when the autonomous mobile robot and the packaging material unwinding device are in a predetermined positional relationship with each other while the packaged item is placed on the placement surface, The packaging material is wrapped around the object to be packaged by rotating the placement surface while the end of the packaging material is disposed at the packaging start portion. Product packaging system.

2. a packaging material cutting means for cutting the packaging material in a state where the packaging material is partially unwound after the packaged items are packaged; a packaging material end holding means configured to hold the vicinity of the end of the packaging material formed by cutting the packaging material by the packaging material cutting means; The vicinity of the end of the packaging material is held by the holding portion while the packaged item is not being packaged.

2. An article packaging system as claimed in claim 1.

3. The packaging start portion placement means includes an arm having a gripping portion that grips the packaging material, the packaging start positioning means and the packaging material end holding means are configured to be able to deliver the end of the packaging material to the arm by releasing the holding portion from the holding portion when the gripping portion of the arm grips the packaging material, the packaging start portion placement means places the end portion of the packaging material at the packaging start portion by moving the end portion of the delivered packaging material to the packaging start portion with the arm; 3. An article packaging system as claimed in claim 2.

4. The packaging material unwinding device is provided with a first lifting mechanism that changes the vertical unwinding position of the packaging material and is configured to be able to change the wrapping height of the packaging material around the packaged item.

2. An article packaging system as claimed in claim 1.

5. The device further includes a first lifting mechanism control means for controlling at least the feeding position of the packaging material based on at least the information of the packaged item.

5. An article packaging system as claimed in claim 4.

6. The autonomous mobile robot is provided with a second lifting mechanism that changes the position of the placement surface in a vertical direction, and is configured to be able to change the wrapping height of the packaging material around the packaged item.

2. An article packaging system as claimed in claim 1.

7. Further comprising a second lifting mechanism control means for controlling at least the height of the placement surface based on at least the information of the packaged item.

7. An article packaging system as claimed in claim 6.

8. The packaging material dispenser is used in cooperation with a packaging material dispenser that holds a sheet-like packaging material for packaging an item so that the sheet-like packaging material can be dispensed. A placement surface on which the packaged item is placed; a packaging start positioning means for positioning an end of the packaging material at a packaging start position that is a location on the outer periphery of the packaged item and that is a packaging start position for the packaged item when the packaged item is placed on the placement surface; Equipped with With the end of the packaging material disposed at the packaging start portion, the placement surface is rotated around a rotation axis perpendicular to the placement surface, thereby wrapping the packaging material around the packaged item to package the packaged item. An autonomous robot characterized by:

9. a packaging start positioning means for positioning an end of the sheet-like packaging material that packages an item to be packaged at a packaging start position that is somewhere on the outer periphery of the item to be packaged and that serves as a packaging start position for the item to be packaged when the item is placed on the packaging surface, and a program for controlling at least an autonomous mobile robot configured to rotate the placement surface around a rotation axis perpendicular to the placement surface, the program comprising: A process of moving the autonomous mobile robot to a position that satisfies a predetermined condition with respect to the packaging material feed device with the package placed on the placement surface; a process of placing an end of the packaging material at the packaging start portion by the packaging start portion placement means; a process of wrapping the packaging material around the object to be packaged by rotating the placement surface while an end of the packaging material is positioned at the packaging start portion, and packaging the object to be packaged; A program that executes.

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