Work installation

Abstract

To provide a work installation having a container arraying unit on which a plurality of containers are arrayed, allowing for easily carrying out loading / unloading operation of an article to / from the container.SOLUTION: A work installation comprises a container arraying unit 4 on which a plurality of containers 3 are arrayed, a work area, and a work-supporting device 5 that supports the loading / unloading work for an operator. The work-supporting device 5 comprises a display device 6 that allows an operator to wear in front of the eyes and to view an augmented reality image, an article-information acquiring system that acquires article information as information of an article W received in a container 3 arranged on the container arraying unit 4, and a control system that controls the display device 6. The control system generates a container transmission image 9 which is such an augmented reality image that allows the operator to view an external appearance of the article W received in the container 3 by transmission through at least part of the container 3 arranged on the container arraying unit 4 based on the article information acquired by the article-information acquiring system and makes the display device 6 display the container transmission image 9.SELECTED DRAWING: Figure 4

Description

Technical Field

[0001] The present invention relates to work equipment.

Background Art

[0002] For example, Japanese Patent Application Laid-Open No. 2014-043353 (Patent Document 1) discloses a technology related to work equipment. Hereinafter, the reference numerals shown in parentheses in the description of the background art are those of Patent Document 1.

[0003] The work equipment (picking equipment) of Patent Document 1 includes a storage shelf (3) for storing a plurality of containers, a work area for an operator to perform picking work on these containers, and a work support device (augmented reality device) for supporting the picking work. The work support device includes a display device (AR glasses 5) worn by the operator. On the display device, in addition to the scene of the real space, a work instruction image is displayed so as to overlap a part of this scene. The work instruction image includes information specifying the container to be picked and information such as the number of articles to be taken out from the container. The operator performs the picking work according to the content of the work instruction image displayed on the display device.

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0005] In the working equipment of Patent Document 1, an operator peeks into the inside of a container through the opening of the container to perform the operation of taking in and out articles while grasping the state inside the container (for example, the position and posture of the articles, etc.). However, there may be cases where the operator cannot easily see inside the container. In such a case, the operation of taking in and out articles is performed blindly without being able to grasp the state inside the container, which may take time to pick up the articles in the container or may accidentally take out articles of a different type from those specified in the operation instruction image, resulting in a possible decrease in work efficiency.

[0006] Therefore, in a working equipment provided with a container arrangement section in which a plurality of containers are arranged, a technology that can facilitate the operation of taking in and out articles with respect to the containers is desired.

Means for Solving the Problems

[0007] The working equipment according to the present disclosure is a working equipment including a container arrangement section in which a plurality of containers are arranged, a working area arranged adjacent to the container arrangement section where an operator performs the operation of taking in and out articles with respect to the containers, and a working support device that supports the operator in the taking in and out operation, The working support device includes a display device that the operator wears in front of the eyes and shows an extended reality image to the operator, an article information acquisition system that acquires article information which is information on the articles accommodated in the containers arranged in the container arrangement section, and a control system that controls the display device, Based on the article information acquired by the article information acquisition system, the control system generates a container penetration image which is an extended reality image that shows the appearance of the articles accommodated in the containers by making at least a part of the containers arranged in the container arrangement section transparent, and causes the display device to display the container penetration image.

[0008] According to this configuration, for example, when performing the operation of taking in and out articles with respect to the containers arranged in the upper stage of the shelf, even when the inside of the containers arranged in the container arrangement unit cannot be seen from the operator in the work area as it is, the operator can grasp the state inside the container by viewing the container transparent image as the augmented reality image displayed on the display device. As described above, according to this configuration, in a work facility provided with a container arrangement unit in which a plurality of containers are arranged, it is possible to easily perform the operation of taking in and out articles with respect to the containers.

[0009] Further features and advantages of the work facility will become apparent from the following description of exemplary and non-limiting embodiments described with reference to the drawings.

Brief Description of the Drawings

[0010]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

Modes for Carrying Out the Invention

[0011] Hereinafter, an embodiment of the work facility 1 will be described with reference to the drawings. As shown in FIGS. 1 and 2, the work facility 1 includes a container arrangement unit 4 in which a plurality of containers 3 are arranged, a work area 10 that is arranged adjacent to the container arrangement unit 4 and where an operator P performs the operation of taking in and out articles W with respect to the containers 3, and a work support device 5 that supports the operator P for the taking in and out operation. Further, the work facility 1 further includes a conveyor 15 arranged adjacent to the work area 10. Here, the container arrangement unit 4 is arranged so as to be adjacent to the work area 10 on the side opposite to the conveyor 15. Thereby, the work area 10 is arranged so as to be sandwiched between the container arrangement unit 4 and the conveyor 15 in the vertical view.

[0012] In this example, the "operation of taking in and out the article W with respect to the container 3" is the operation of taking out the article W from the container 3 arranged in the container arrangement unit 4 (picking operation). Specifically, the operator P takes out the article W from one of the plurality of containers 3 arranged in the container arrangement unit 4 and puts it into another container 3 arranged on the transport conveyor 15. In the present embodiment, as shown in FIG. 2, the container 3 is configured such that the upper surface is open. Therefore, the operator P performs the operation of taking in and out the article from the opening portion on the upper surface with respect to the inside of the container 3. Here, the container 3 is a rectangular parallelepiped carton, but it is not limited thereto. The container 3 may be, for example, a container (including a foldable one). Further, the shape of the container 3 may be a shape other than the rectangular parallelepiped shape (for example, a cylinder, etc.).

[0013] As shown in FIGS. 1 and 2, the container arrangement unit 4 is a working shelf 14 in which a plurality of shelves 41 are arranged in the vertical direction, and the containers 3 are arranged on each of the shelves 41. That is, the container arrangement unit 4 is configured to be able to arrange a plurality of containers 3 side by side in the vertical direction. Further, each of the plurality of shelves 41 is configured to be able to arrange a plurality of containers 3 in the horizontal direction. In this example, each stage of the shelf 41 is provided with an access port 40 for the operator P to perform the operation of taking out the article W with respect to the container 3. The access port 40 is configured such that a plurality of containers 3 can be arranged side by side. Here, in the access port 40, the direction in which a plurality of containers 3 are arranged side by side is defined as the arrangement direction Y. Further, the direction orthogonal to the arrangement direction Y in the vertical view is defined as the transfer direction X. In this example, the working shelf 14, the working area 10, and the transport conveyor 15 are arranged side by side in the transfer direction X in the order of description, the side where the working area 10 is arranged with respect to the working shelf 14 is defined as the first transfer side X1, and the opposite side (the side where the working shelf 14 is arranged with respect to the working area 10) is defined as the second transfer side X2.

[0014] As shown in FIGS. 1 and 2, the work shelf 14 includes a plurality of support columns 43 and a plurality of support portions 42 that support the containers 3 from below. The support portions 42 are plate-shaped members that are long in the transfer direction X, and can support the plurality of containers 3 arranged in the transfer direction X. The plurality of support portions 42 are arranged so as to be aligned in the vertical direction and the arrangement direction Y, and are supported by the plurality of support columns 43. The interval between the support portions 42 aligned in the vertical direction is larger than the vertical dimension of the container 3 supported by the support portion 42, and is dimensioned such that the operator P can insert his hand through the opening of the container 3 and take out the article W from inside the container 3. And, a plurality of support portions 42 aligned in the arrangement direction Y at the same stage and the space where the containers 3 are placed on these support portions 42 form a shelf portion 41 corresponding to one stage. In this example, the loading / unloading ports 40 are formed at the ends on the first transfer side X1 in the transfer direction of the shelf portions 41 of each stage (FIGS. 1 and 2).

[0015] In the illustrated example, each of the plurality of support portions 42 is arranged to be inclined downward as it goes toward the first transfer side. And, a plurality of containers 3 are arranged along the transfer direction X on one support portion 42, and due to the self-weight of the rearmost (the most second transfer side X2) container 3, the container 3 on the front side (the first transfer side X1) thereof is pushed and configured to move. Thereby, the loading / unloading port 40 is at the lowest vertical position in the shelf portion 41 of the same stage. Note that, on the second transfer side X2 with respect to the work shelf 14, for example, conveyance equipment or the like for conveying the article W to each support portion 42 may be arranged. Further, the support portion 42 may not be inclined as described above, and in that case, it is preferable that a conveyor or the like for moving the container 3 in the transfer direction X is provided on each support portion 42. Also, the loading / unloading port 40 may be provided at one end in the arrangement direction Y of the shelf portion 41, and in that case, it is preferable that the work area 10 is adjacent to one side in the arrangement direction Y with respect to the work shelf 14. Thus, the arrangement in the work equipment 1 can be changed as appropriate.

[0016] As shown in FIGS. 1, 2, and 3, the work equipment 1 includes a moving device 12 that moves the camera 17 along the arrangement direction Y of the containers 3 in the container arrangement section 4. In this example, the moving device 12 is provided so as to correspond to the loading and unloading port 40 at the uppermost stage of the work shelf 14 (container arrangement section 4). Here, the moving device 12 includes a rail 12a and a moving section 12b that supports the camera 17 from above. The moving section 12b is guided by the rail 12a and moves. As shown in FIGS. 1 and 2, the rail 12a is provided along the arrangement direction Y and above the containers 3 arranged at the loading and unloading port 40. Further, the rail 12a is provided so as to overlap the central region in the transfer direction X of all the containers 3 arranged at the loading and unloading port 40 when viewed in the vertical direction. The configuration of the camera 17 will be described later.

[0017] As shown in FIG. 3, the work support device 5 includes a display device 6 that is worn in front of the operator P and shows an extended reality image to the operator P, an article information acquisition system 7 that acquires article information, which is information on the article W stored in the container 3 arranged in the container arrangement section 4, and a control system 8 that controls the display device 6. Further, the work support device 5 further includes a container detection device 61 that detects the container 3 arranged at the loading and unloading port 40 and a voice guidance device 13.

[0018] In this embodiment, the display device 6 includes a display unit 6a on which an augmented reality image is displayed, a communication unit (not shown) that communicates with the control system 8, and a support member 6b that supports the display unit 6a and the communication unit. The communication unit performs wireless communication with the control system 8. In this example, the support member 6b is configured to be able to support the container detection device 61 and the voice guidance device 13. The support member 6b is configured to be wearable on the head of the operator P (here, the face of the operator P is also included in the head). Further, the communication unit is configured to be able to transmit and receive information between the display unit 6a, the container detection device 61, the voice guidance device 13, and the control system 8. And at least the display unit 6a, the container detection device 61, the voice guidance device 13, and the communication unit are provided on the support member 6b. Here, the display unit 6a, the container detection device 61, the voice guidance device 13, the communication unit, and the support member 6b may be collectively referred to as an external terminal 60. In the illustrated example, the external terminal 60 is a pair of goggles, and the display unit 6a (display screen) is provided in the lens portion (the portion disposed in front of the eyes of the operator P). The external terminal 60 may be, for example, a helmet having a lens portion or the like. Also, in this example, the display device 6 has the display unit 6a disposed in the lens portion of the goggles, but is not limited thereto. For example, the display device 6 may be a contact lens type device. In this case, the display device 6 is worn in a state of being in contact with the cornea of the eye. Therefore, in this specification, the phrase "worn in front of the eyes" shall include "worn in a state of being in contact with the eyes".

[0019] In this example, the container detection device 61 detects each of a plurality of containers 3 arranged at the uppermost loading / unloading port 40 in the container arrangement unit 4 (working shelf 14). Here, the container detection device 61 is a camera sensor (imaging device). The container detection device 61 is configured to detect at least the outer shape of the container 3. Also, the container detection device 61 can detect the container 3 targeted for the loading / unloading operation by the operator P as a target container 30. The voice guidance device 13 is provided in the external terminal 60 so as to correspond to the position of the ear of the operator P, and guides the operator P wearing the external terminal 60 with voice for work instructions and the like.

[0020] In this example, the work equipment 1 is provided with a control device 100 (Fig. 3). The control device 100 is configured to perform the respective functions of the article information acquisition system 7 and the control system 8. The control device 100 includes a processor such as a microcomputer and peripheral circuits such as a memory. And each function is realized by the cooperation of these hardware and a program executed on a processor such as a computer.

[0021] As shown in Figs. 1 and 3, the article information acquisition system 7 includes a camera 17 that photographs the inside of the container 3 from above with respect to the container 3, and an image recognition processing unit 71 that performs image recognition processing on the image photographed by the camera 17. The camera 17 is configured to be able to photograph the inside of each of a plurality of containers 3 arranged in the arrangement direction Y at the loading / unloading port 40 from above with respect to each container 3. In this example, as described above, the camera 17 is supported by the moving part 12b of the moving device 12 and moves in the arrangement direction Y by being guided by the rail 12a. Also, the movement locus of the camera 17 overlaps with the central region in the transfer direction X of each container 3 arranged at the loading / unloading port 40 when viewed in the vertical direction. Thereby, the camera 17 can photograph the entire opening portion of each of the plurality of containers 3 at the loading / unloading port 40 from above (Fig. 3). The image recognition processing unit 71 is provided in the control device 100. The control device 100 is configured to be able to communicate wirelessly with the camera 17, and the image recognition processing unit 71 acquires the image photographed by the camera 17 as imaging information D. The image recognition processing unit 71 acquires information (hereinafter, may be simply referred to as "in-container arrangement information") regarding the shapes and arrangements (more specifically, the shapes, postures, positions, and numbers of the articles W) of the plurality of articles W accommodated in the container 3 within the range that can be confirmed when viewed in the vertical direction from the imaging information D (image data).

[0022] The article information acquisition system 7 further includes an inventory information acquisition unit 72 that acquires inventory information indicating the type and quantity of the articles W stored in each of the plurality of containers 3 arranged in the container array unit 4, and an appearance data acquisition unit 73 that acquires article appearance data which is data of the appearance images of the articles W for each type. The inventory information acquisition unit 72 and the appearance data acquisition unit 73 are provided in the control device 100. Here, the inventory information and the article appearance data are stored in the article database 99 provided in the control device 100. The inventory information acquisition unit 72 accesses the article database 99 to acquire the inventory information (here, the type of the article W and the quantity for each type) stored in each container 3. The article appearance data is acquired by accessing the article database 99. The article database 99 stores, as the article appearance data, an image showing the shape, size, pattern, etc. of the appearance of the article W in association with the type of the article W. Note that the article database 99 may store the shape, size, pattern, etc. of all the outer surfaces of the article W for one type, or may select and store the outer surfaces with characteristics in shape or pattern. Further, in this example, the article database 99 stores container information indicating the shape, size, etc. of the container 3. The shape and size of the container 3 include not only the appearance of the container 3 but also the shape and size of the inside of the container 3 (that is, the internal area where the article W is stored). Note that in this example, the plurality of containers 3 arranged at the loading and unloading port 40 are containers 3 of the same type (same shape, same size).

[0023] The article information acquisition system 7 specifies the container 3 that is the target of the loading and unloading operation by the operator P as the target container 30, and moves the camera 17 to a position where the inside of the target container 30 can be photographed by the moving device 12. Here, one of the plurality of containers 3 arranged at the loading and unloading port 40 is specified as the target container 30. In this example, the control device 100 includes a control unit 82. Then, the control unit 82 controls the moving device 12 to move the camera 17 to a position corresponding to the target container 30 (here, directly above the target container 30). In this way, the control unit 82 is configured to perform some functions of the article information acquisition system 7.

[0024] The control system 8 generates a container transmission image 9, which is an augmented reality image that shows the appearance of the article W stored in the container 3 to the operator P by transmitting at least a part of the container 3 arranged in the container arrangement unit 4 based on the article information acquired by the article information acquisition system 7, and causes the display device 6 to display the container transmission image 9. In the present embodiment, the control unit 82 controls the display device 6. That is, the control unit 82 causes the display device 6 to display the container transmission image 9. Thus, the control unit 82 is configured to perform a part of the functions of the control system 8 in addition to the article information acquisition system 7. Further, the article information includes information indicating the shape and arrangement of the article W, which is the result of the image recognition process. More specifically, the article information includes the shape and arrangement of the article W (the shape, posture, position, and number of the article W), which is the result of the image recognition process. Further, the article information includes the type and number of the article W shown in the inventory information, and the article appearance data acquired by the appearance data acquisition unit 73. Then, the control system 8 generates the container transmission image 9 based on the shape and arrangement of the article W, which is the result of the image recognition process, the type and number of the article W shown in the inventory information, and the article appearance data acquired by the appearance data acquisition unit 73.

[0025] In this example, the control system 8 further includes an image generation unit 81. And in the image generation unit 81, a container transmission image 9 is generated. Here, the image generation unit 81 is provided in the control device 100. Specifically, the image generation unit 81 obtains information (hereinafter referred to as "container internal arrangement information") regarding the shape and arrangement of the article W accommodated in the target container 30 (more specifically, the shape, posture, position, and number of the article W) within the range visible in the vertical view from the image recognition processing unit 71. Also, the image generation unit 81 obtains the inventory information of the target container 30 (the type of the article W accommodated in the target container 30 and the number for each type) from the inventory information acquisition unit 72. Further, the image generation unit 81 obtains article appearance data (image data showing the appearance shape, size, pattern, etc. of the article W) corresponding to each type of the article W included in the inventory information from the appearance data acquisition unit 73. Furthermore, the image generation unit 81 obtains container information from the article database 99. The image generation unit 81 generates the container transmission image 9 by associating the container internal arrangement information, the inventory information, the article appearance data, and the container information. Specifically, the image generation unit 81 identifies the type (here, the article name) of each of the plurality of articles W included in the container internal arrangement information by comparing the shape of the article W included in the container internal arrangement information, the article appearance data, and the article W included in the inventory information. When the image generation unit 81 identifies the type of the article W in the container internal arrangement information, it identifies the appearance of each identified type of the article W as image data. Then, the image generation unit 81 creates a container transmission image 9 for the article W facing the surface (inner end face 30a) arranged on the work area 10 side (first side X1 in the transfer direction) inside the target container 30. The image generation unit 81 creates the container transmission image 9 while estimating how the article W looks to the operator P based on the article appearance data, the container arrangement information, and the detection information of the container detection device 61. Here, the container transmission image 9 is displayed as a virtual appearance image corresponding to the position, posture, and size of the article W included in the container internal arrangement information for each article W facing the inner end face 30a (see FIG. 4). In this example, the peripheral portion and the pattern (including characters) forming the facing surface of the article W facing the inner end face 30a are displayed as the container transmission image 9.

[0026] In the example of FIG. 4, as the article W, a box-shaped article W1, a bag-shaped article W2, a small article W3, and an unidentified article Wt are illustrated. For the box-shaped article W1, the bag-shaped article W2, and the small article W3, the pattern described on the surface (the opposing surface facing the inner end surface 30a) of each article W and the peripheral portion of the surface are displayed as the container-transmitted image 9. For the unidentified article Wt disposed below the small article W3, no pattern is attached as the container-transmitted image 9. Thus, when the type or the like of the article W is unknown from the imaging information D obtained by photographing with the camera 17, no pattern is displayed as the container-transmitted image 9. On the other hand, when the outer shape of the article W can be grasped from the imaging information D, as shown in the drawing, for the unidentified article Wt, the outer shape (peripheral portion) is displayed as the container-transmitted image 9. Further, when the image generation unit 81 cannot estimate the outer shape of the unidentified article Wt, the area where the unidentified article Wt is estimated to be disposed can be displayed, for example, by a broken line or gray filling. Note that when the type of the article W cannot be specified based on the imaging information D, regardless of whether the outer shape of the article W can be grasped, the container-transmitted image 9 for the article W may not be displayed. Also, when the presence of the article W can be grasped based on the imaging information D but the outer shape and the pattern cannot be grasped, as the container-transmitted image 9, a mark, a pattern, a color, or the like indicating simply the presence of the article W can also be displayed. Further, the closer the position of the article W in the target container 30 is to the inner end surface 30a, the darker the peripheral portion and the pattern of the article W can be displayed. Also, as the container-transmitted image 9, in addition to the peripheral portion and the pattern of the article W, the accommodation area of the article W in the target container 30 can be virtually displayed. Thus, it is preferable that the display content in the container-transmitted image 9 can be changed as appropriate.

[0027] In this example, the display unit 6a of the display device 6 has a transmissive display screen. Therefore, the container transmissive image 9 generated by the image generation unit 81 is arranged on the display unit 6a so as to be superimposed on the real scenery visible to the operator P. Specifically, on the display screen of the display unit 6a, the container transmissive image 9 is projected so as to be superimposed from the second side X2 in the transfer direction onto the surface (surface 30b) facing the work area 10 side (first side X1 in the transfer direction) of the target container 30 in reality. In this way, the container transmissive image 9 is projected so as to overlap the scenery of the real surface 30b, thereby generating an augmented reality image. Note that the augmented reality image may be generated by projecting the video captured by the container detection device 61 (camera sensor) onto the display screen of the display unit 6a and synthesizing the container transmissive image 9 with the video (generation of an image by composite reality). Thus, in this specification, the augmented reality image includes an image generated by composite reality as well.

[0028] In this embodiment, as shown in FIG. 1, the control system 8 causes the display device 6 to display a container transmission image 9 of a container 3 disposed at a height equal to or higher than a preset height H. Here, it is preferable that the height H is set according to the vertical position of the container 3 corresponding to the height of the line of sight of the operator P. In this example, the height H is set to the height of the support portion 42 corresponding to the uppermost loading / unloading port 40. Then, the control unit 82 controls the display device 6 so as to display the container transmission image 9 only on the target container 30 among the plurality of containers 3 disposed at the uppermost loading / unloading port 40. For this reason, the container detection device 61 is configured to detect only the containers 3 disposed at the uppermost loading / unloading port 40. With such a configuration, compared with the case where the container transmission image 9 is displayed for all the containers 3 at the uppermost loading / unloading port 40 regardless of whether they are the target container 30 or not, the additional arithmetic processing in the control device 100 can be reduced. In addition, the operator P can easily recognize the target container 30, and the efficiency of the loading / unloading operation can be improved. Here, when the target container 30 is detected by the container detection device 61, the surface 30b of the target container 30 can be visually recognized within the range of the display screen of the display unit 6a. When the container detection device 61 detects the target container 30, the container transmission image 9 is displayed in the range visible to the operator P on the surface 30b (that is, the region within the range of the display screen on the surface 30b). As described above, this container transmission image 9 is displayed so as to correspond to the position, posture, and size of the article W disposed inside the target container 30. Furthermore, it is preferable that the container transmission image 9 is displayed so as to correspond to a relative posture change of the surface 30b with respect to the display unit 6a. Specifically, for example, when the operator P wears the external terminal 60 and views the surface 30b obliquely from above, it is preferable that the container transmission image 9 is also changed and displayed in a posture corresponding to the posture of the surface 30b within the range of the display screen. That is, the image generation unit 81 creates the container transmission image 9 in real time, and the control unit 82 is configured to be able to change the container transmission image 9 displayed on the display unit 6a in real time. With such a configuration, the operator P can always view the container transmission image 9 as an augmented reality image in a natural state.Note that the control unit 82 can also display the container transmission image 9 for all the containers 3 at the uppermost loading / unloading opening 40, regardless of whether they are the target containers 30 or not.

[0029] In this embodiment, the article information acquisition system 7 further includes a work instruction information acquisition unit 74 that acquires work instruction information, which is information indicating the content of the instruction for the loading / unloading work for the operator P. Here, the work instruction information is set for each of the plurality of containers 3 arranged at the loading / unloading opening 40. Specifically, the type and quantity of the article W that the operator P should take out for each container 3 are stored in the work instruction information acquisition unit 74 as the work instruction information. Here, the work instruction information is input by the operator P in advance, and the work instruction information acquisition unit 74 acquires and stores the input work instruction information. Here, the name of the article (product name) is exemplified as the type of the article W (Fig. 4), but it is not limited thereto. Further, in this embodiment, as shown in Fig. 4, the control system 8 generates a work instruction image 11, which is an image indicating the work instruction information, and causes the display device 6 to display the work instruction image 11 in a form different from the container transmission image 9. The image generation unit 81 creates the work instruction image 11 based on the work instruction information in the target container 30. Here, the product name of the article W that the operator P should take out, the number of each product, and the number of the container designated for the target container 30 are displayed on the work instruction image 11. The work instruction image 11 is generated each time the target container 30 is changed and is displayed on the display screen of the display unit 6a. Therefore, a digital display (an example of a display device) for displaying the work instruction information is not provided at the uppermost loading / unloading opening 40 where the container 3 that is the target of the display of the container transmission image 9 is arranged. Also, as described above, the containers 3 arranged at the loading / unloading openings 40 other than the uppermost stage are not the targets of the display of the container transmission image 9. Therefore, it is preferable that a digital display is provided at the loading / unloading openings 40 other than the uppermost stage. Also, in this example, the voice guidance device 13 can also guide the content of the work instruction information by voice. The operator P can also perform the loading / unloading work according to the work instruction information guided by the voice guidance device 13.

[0030] As shown in FIG. 5, when the control device 100 sets the target container 30 (S01), it controls the moving device 12 to move the camera 17 to a position corresponding to the target container 30 (S02). After that, when the control device 100 acquires the in-container arrangement information based on the imaging information D (S03), it creates the container transmission image 9 based on the article information (in-container arrangement information, inventory information, article appearance data) (S04), and creates the work instruction image 11 based on the work instruction information (S05). After that, when the control device 100 acquires the information that the target container 30 has been detected by the container detection device 61 (S06: Yes), it causes the display device 6 to display the container transmission image 9 and the work instruction image 11 (S07). In addition, the control device 100 causes the content of the work instruction information to be announced by voice (S08). Although not shown in FIG. 5, when the target container 30 is no longer detected by the container detection device 61, the control device 100 controls the display device 6 not to display the container transmission image 9 and the work instruction image 11. Note that the timing for creating the container transmission image 9 and the work instruction image 11, and the timing for displaying the container transmission image 9 and the work instruction image 11 may be the same, or may be in an order different from that in FIG. 6.

[0031] Here, as shown in FIG. 3, a completion button 93 indicating the completion of the loading and unloading operation is displayed on the display device 6 (here, the display screen of the display unit 6a). In the illustrated example, the completion button 93 is arranged at the lower right of the display screen in the drawing. The container detection device 61 (here, a camera sensor) is configured to be able to detect the operation of the operator P. When the operator P completes the loading and unloading operation on the target container 30 according to the work instruction content, the operator P performs an operation of pressing the completion button 93 on the display screen. When the control device 100 receives the information that the operation of pressing the completion button 93 has been detected from the container detection device 61 (S09: Yes), it recognizes that the loading and unloading operation on the target container 30 has been completed (S10). When it is necessary for the control device 100 to newly set the next target container 30 (S11: Yes), it sets the target container 30 (S01). Note that the control device 100 may recognize the completion of the loading and unloading operation on the target container 30 by voice emitted by the operator P.

[0032] [Other Embodiments] (1) In the above embodiment, the operation of taking out the article W from the container 3 arranged in the container arrangement unit 4 is described by taking as an example the configuration in which the operation of taking in and out the article W with respect to the container 3 is performed. However, the present invention is not limited to this. The operation of putting the article W into the container 3 arranged in the container arrangement unit 4 may also be the operation of taking in and out the article W with respect to the container 3.

[0033] (2) In the above embodiment, the container 3 has an open upper surface, and the article information acquisition system 7 is described by taking as an example the configuration including the camera 17 that photographs the inside of the container 3 from above the container 3. However, the present invention is not limited to this. For example, the container 3 may have a sealed structure with a non-open upper surface, and the article information acquisition system 7 may be provided with a device (for example, an X-ray inspection device or the like) that detects the internal article W through the container 3 instead of the camera 17.

[0034] (3) In the above embodiment, the article information acquisition system 7 specifies the container 3 that is the target of the take-in and out operation by the operator P as the target container 30, and the configuration in which the camera 17 is moved to a position where the inside of the target container 30 can be photographed by the moving device 12 is described as an example. However, the present invention is not limited to this. For example, the article information acquisition system 7 may not include the moving device 12. In that case, a plurality of cameras 17 corresponding to a plurality of containers 3 can be arranged at the uppermost take-in and out port 40.

[0035] (4) In the above embodiment, the control system 8 is described by taking as an example the configuration in which the container transmission image 9 is generated based on the shape and arrangement of the article W, which is the result of the image recognition process, the type and number of the article W shown in the inventory information, and the article appearance data acquired by the appearance data acquisition unit 73. However, the present invention is not limited to this. For example, the control system 8 may generate the container transmission image 9 without using the article appearance data. In that case, for example, in the container transmission image 9, the container transmission image 9 can also be generated so that a product name or a mark indicating the product is displayed at a location where each article W is presumed to be arranged.

[0036] (5) In the above embodiment, the control system 8 has been described by taking as an example the configuration in which the control system 8 causes the display device 6 to display the container penetration image 9 of the container 3 arranged at a height equal to or higher than the preset height H. However, the present invention is not limited to this. For example, the control system 8 can also cause the display device 6 to display the container penetration image 9 for the containers 3 arranged at all the access openings 40 of the container arrangement unit 4 (the work shelf 14).

[0037] (6) In the above embodiment, the control system 8 has been described by taking as an example the configuration in which the control system 8 generates the work instruction image 11 which is an image indicating the work instruction information, and causes the display device 6 to display the work instruction image 11 in a form different from the container penetration image 9. However, the present invention is not limited to this. For example, the control system 8 can also output the work instruction image 11 to an output device different from the display device 6. For example, the control system 8 can directly display the work instruction image 11 on the surface 30b of the target container 30 without passing through the display device 6, and can also install a screen in the work area 10 and display a work instruction screen on the screen.

[0038] (7) In addition, the configurations disclosed in the above-described embodiments can be applied in combination with the configurations disclosed in other embodiments as long as no contradiction occurs. Regarding other configurations as well, all the embodiments disclosed in this specification are merely examples in all respects. Therefore, various modifications can be appropriately made without departing from the spirit of the present disclosure.

[0039] 〔Summary of the above embodiment〕 Hereinafter, a summary of the work equipment described above will be described.

[0040] The work equipment according to the present disclosure is a work equipment including a container arrangement unit in which a plurality of containers are arranged, a work area arranged adjacent to the container arrangement unit where an operator performs an operation of taking in and out articles with respect to the containers, and a work support device that supports the operator in the taking in and out operation, The work support device includes a display device that the worker wears in front of their eyes and shows an extended reality image to the worker, an article information acquisition system that acquires article information, which is information about the articles contained in the containers arranged in the container arrangement section, and a control system that controls the display device. The control system generates a container transparency image, which is an extended reality image that shows the appearance of the articles contained in the containers by making at least a part of the containers arranged in the container arrangement section transparent based on the article information acquired by the article information acquisition system, and causes the display device to display the container transparency image.

[0041] According to this configuration, for example, when performing the operation of taking in and out articles from a container arranged in the upper part of a shelf, even when the inside of the container arranged in the container arrangement section cannot be seen by the worker in the work area as it is, the worker can grasp the internal state of the container by looking at the container transparency image as the extended reality image displayed on the display device. Thus, according to this configuration, in a work facility equipped with a container arrangement section in which a plurality of containers are arranged, the operation of taking in and out articles with respect to the containers can be easily performed.

[0042] Here, the upper surface of the container is open. The article information acquisition system includes a camera that photographs the inside of the container from above the container, and an image recognition processing unit that performs image recognition processing on the image photographed by the camera. Preferably, the article information includes information indicating the shape and arrangement of the articles, which is the result of the image recognition processing.

[0043] According to this configuration, information indicating the shape and arrangement of the articles based on the actual state inside the container photographed by the camera can be acquired as the article information. Therefore, an appropriate container transparency image can be generated.

[0044] Furthermore, it is provided with a moving device that moves the camera along the arrangement direction of the containers in the container arrangement section. It is preferable that the article information acquisition system identifies the container that has been the target of the loading and unloading work by the worker as the target container, and moves the camera to a position where the inside of the target container can be photographed by the moving device.

[0045] According to this configuration, the number of cameras can be kept small compared to the number of containers in which a container penetration image can be displayed. Therefore, it is easy to reduce the cost of the work equipment.

[0046] Further, the article information acquisition system further includes an inventory information acquisition unit that acquires inventory information indicating the type and quantity of the articles stored in each of the plurality of containers arranged in the container arrangement unit, and an appearance data acquisition unit that acquires article appearance data that is data of the appearance images of the articles for each type. It is preferable that the control system generates the container penetration image based on the shape and arrangement of the articles that are the result of the image recognition process, the type and quantity of the articles indicated in the inventory information, and the article appearance data acquired by the appearance data acquisition unit.

[0047] According to this configuration, since it is based on the shape and arrangement of the articles that are the result of the image recognition process, the type and quantity of the articles indicated in the inventory information, and the article appearance data acquired by the appearance data acquisition unit, a container penetration image that reproduces the inside of the container with high accuracy can be generated. Therefore, the worker can grasp the internal state of the container in more detail by looking at such a container penetration image.

[0048] Further, the container arrangement unit is a work shelf in which a plurality of shelves are arranged in the vertical direction, and the containers are arranged on each of the shelves. It is preferable that the control system causes the display device to display the container penetration image of the container arranged at a height equal to or higher than a preset height.

[0049] According to this configuration, in the workbench, for a container that is arranged on a relatively upper stage and is difficult for an operator to see inside, a container transparent image can be displayed on the display device. Therefore, it is possible to facilitate the loading and unloading work of articles for a plurality of containers arranged on the workbench.

[0050] Further, the article information acquisition system further includes a work instruction information acquisition unit that acquires work instruction information, which is information indicating the instruction content of the loading and unloading work for the operator. It is preferable that the control system generates a work instruction image that is an image indicating the work instruction information, and causes the display device to display the work instruction image in a form distinguishable from the container transparent image.

[0051] According to this configuration, since a work instruction image is further displayed on the display device separately from the container transparent image, the operator can perform the loading and unloading work of articles for the container only by looking at the image displayed on the display device. Thereby, it is easy to improve the efficiency of the loading and unloading work of articles for the container.

[0052] The work equipment according to the present disclosure may exhibit at least one of the above-described effects.

Explanation of Signs

[0053] 1: Work equipment 3: Container 4: Container arrangement unit 5: Work support device 6: Display device 7: Article information acquisition system 8: Control system 9: Container transparent image 10: Work area 11: Work instruction image 12: Moving device 17: Camera 30: Target container 41: Shelf part 71: Image recognition processing unit 72: Inventory information acquisition unit 73: Appearance data acquisition unit 74: Work instruction information acquisition unit H: Height P: Operator W: Article Y: Array direction

Claims

1. A work facility comprising: a container array section in which a plurality of containers are arranged; a work area arranged adjacent to the container array section where an operator performs loading and unloading operations of articles into and out of the containers; and a work support device that supports the operator in the loading and unloading operations, wherein the work support device includes a display device worn in front of the operator's eyes to show an augmented reality image to the operator, an article information acquisition system that acquires article information which is information on the articles stored in the containers arranged in the container array section, and a control system that controls the display device, and the control system generates a container transparency image, which is an augmented reality image that shows the appearance of the articles stored in the containers by making at least a part of the containers arranged in the container array section transparent based on the article information acquired by the article information acquisition system, and causes the display device to display the container transparency image.

2. the containers have open upper surfaces, the article information acquisition system includes a camera that photographs the interior of the containers from above the containers, and an image recognition processing unit that performs image recognition processing on the images photographed by the camera, and the article information includes information indicating the shape and arrangement of the articles, which is the result of the image recognition processing, according to the work facility of Claim 1.

3. a moving device that moves the camera along the arrangement direction of the containers in the container array section, wherein the article information acquisition system identifies the container targeted for the loading and unloading operation by the operator as a target container, and moves the camera to a position where the interior of the target container can be photographed by the moving device, according to the work facility of Claim 2.

4. the article information acquisition system further includes an inventory information acquisition unit that acquires inventory information indicating the types and quantities of the articles stored in each of the plurality of containers arranged in the container array section, and an appearance data acquisition unit that acquires article appearance data which is data of the appearance images of the articles for each type, and the control system generates the container transparency image based on the shape and arrangement of the articles, which is the result of the image recognition processing, the types and quantities of the articles indicated in the inventory information, and the article appearance data acquired by the appearance data acquisition unit, according to the work facility of Claim 2.

5. The container array unit is a work shelf in which a plurality of shelves are arranged in the vertical direction, and the containers are arranged on each of the shelves. The control system causes the display device to display the container transmission image of the container arranged at a height equal to or higher than a preset height, for the work equipment according to any one of claims 1 to 4.

6. The article information acquisition system further includes a work instruction information acquisition unit that acquires work instruction information, which is information indicating the content of the instruction for the loading and unloading work for the worker. The control system generates a work instruction image, which is an image indicating the work instruction information, and causes the display device to display the work instruction image in a form distinguishable from the container transmission image, for the work equipment according to any one of claims 1 to 4.

Images